JPH0732239A - Work transport/processing mechanism using industrial robot - Google Patents

Abstract

PURPOSE:To provide a work transport/processing mechanism in which trasport of a work between working machines and taking-out of a work are carried out by utilizing robots mounted therein, and the cycle time is shortened. CONSTITUTION:This transport/processing mechanism is constituted so that a rotary table 13 is arranged in the central territory of working machines 11, 12, a plurality of industrial robots 15, 25 are loaded and arranged on a plurality of positions on a table 14 centering around the rotational center of the rotary table 13, and taking out, transport, and mounting of a work are carried out by cooperation of rotation of the rotary table 13 and robot motion of both the robots 15, 25.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer and processing mechanism using an industrial robot, and more particularly, to transfer and transfer a work between a first work machine and a second work machine on a rotary table. The present invention relates to a work transfer and processing mechanism which is improved so that it can be performed with high efficiency corresponding to the work efficiency of a machine through an industrial robot mounted on the machine.

[0002]

2. Description of the Related Art Conventionally, a work transfer and processing mechanism has been used in which a work is transferred between two press machines on a press line or the like, and a work is transferred from one press machine to another press machine by an industrial robot. Widely adopted by For example, FIG. 3 shows two press working machines 5, 6
A well-known single articulated arm type industrial robot 7 is arranged at a central position between the two, and a work hand 8 of the robot 7 grips the work and attaches and detaches the work to and from the work machine. A mechanism for carrying a work from one work machine 5 to the other work machine 6 by the multi-joint movement of 9 and the turning of the body 10 is configured. In the case of this mechanism, the robot 7 takes out a work semi-finished by one work machine 5, and the robot 7 sets it on the other work machine 6 to obtain a finished press product.

Further, in the conventional work transfer and processing mechanism shown in FIG. 4, when two working machines 5, 6 such as a press machine are separated from each other, two industrial robots 7, 7 are arranged. Then, one of the robots 7 takes out the work semi-finished by the work machine 5 from the same machine 5 and turns, while the other robot 7 also turns and positions the workpiece at the delivery position. At the point, the robots pass the work together and hand the semi-finished work to the other robot 7. At this time, the other robot 7 turns the handed semi-finished work to the other work machine 6 side. It is configured to be transported to and set on the machine 6. In addition, during this time, the robot 7 on the side of the work machine 5 is also swung to prepare for the transfer and transfer of the next semi-finished work.

[0004]

However, in the case of the work transfer and processing mechanism shown in FIGS. 3 and 4 as described above,
The operating speed of the industrial robot is likely to be delayed as compared with the working speed of a work machine such as a press machine or other peripheral equipment other than the robot, and therefore, the working capacity of the work machine or the like can be fully exhibited. There are cases in which it is impossible to do so, and as a result, the operating rate of the entire mechanism decreases. Also, if the operating speed of the industrial robot is continuously used at the maximum speed,
Since the industrial robot continues the continuous operation for a long time and at a high speed, the industrial robot is apt to cause a failure and has a short operating life.

Therefore, the present invention solves such a problem and further improves the operating speed of the industrial robot without speeding it up, while maintaining the conventional robot function.
It is intended to provide a work transfer and processing mechanism using an industrial robot capable of quickly performing work transfer and transfer processing between two work machines and effectively utilizing the operation rate of the work machines. is there.

[0006]

In view of the above-mentioned object, the present invention has a rotary table arranged in the central region of two or more working machines, and the workpieces are arranged at a plurality of positions around the rotation center of the rotary table. A plurality of industrial robots having movable elements that perform transfer and transfer processing are mounted and arranged, and the work is taken out from one working machine by the cooperation of the rotation of the rotary table and the robot operation of both robots, and the other The work is transferred to the work machine and mounted on the other work machine, and in particular, the work can be transferred with high efficiency by rotating the rotary table.

That is, according to the present invention, in the work transfer and processing mechanism using the industrial robot, the work transfer and the work transfer processing between the plurality of work machines are performed by the industrial robot. A rotary table is provided at a predetermined position in the central region of the machine so as to face the respective working units of the both working machines, and the rotary table is mounted and installed at a plurality of positions on the rotary table around the rotation center of the rotary table. Industry comprising a plurality of industrial robots each having a work transfer and processing means, and a control means for controlling the rotation of the rotary table and the work transfer and processing timing of the plurality of industrial robots That is, a work transfer and processing mechanism is provided by using a robot.

[0008]

The work is taken out from the work section of one work machine by the robot operation of one industrial robot and is gripped, while the other industrial robot is moved to the work section of the other work machine at the previous time. When the work taken out from the work machine is mounted, and then the turntable rotates, the positions of the robots change, so the work taken out from one work machine by the above-mentioned one industrial work is carried out to the work of the next work machine. At the same time, the other industrial robot takes out the next work from the working part of the one working machine. Since such an operation cycle is repeated and the rotation of the rotary table assists the work transfer action of the robot, it is possible to carry out the transfer of the work efficiently and the transfer processing of taking out and mounting the work.

Hereinafter, the present invention will be described in more detail based on the embodiments shown in the accompanying drawings.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic mechanism diagram showing a work transfer and processing mechanism using an industrial robot according to the present invention, and FIG.
FIG. 3 and FIG. 4 are flow charts showing the operation of the work transfer and processing mechanism, and FIGS. 3 and 4 are schematic mechanism diagrams showing the work transfer and processing mechanism using the conventional industrial robot.

In FIG. 1, for example, one rotary table device 13 is provided at a predetermined position in an intermediate area between two working machines 11 and 12 each composed of a press machine. A table 14 is provided which is rotatable in both left and right directions about an axial center of rotation, and two articulated industrial robots are provided on the table surface of the table 14 at substantially symmetrical positions across the center of rotation. 1
5, 25 are provided. In this illustrated example, both industrial robots 15 and 25 are substantially the same, and have a configuration including swivel barrels 16 and 26, upper arms 17 and 27, forearms 18 and 28, and robot hands 19 and 29, respectively. ing. Both of these robots 15 and 25 are configured such that their respective robot bodies 16 and 26 themselves are rotatable, and at the same time, are rotatably mounted integrally with the table 14 of the rotary table device 13.

The two industrial robots 15 and 2 are also used.
In the work transfer and processing mechanism using 5, a predetermined robot operation is performed in the same manner as a robot controller conventionally provided in an industrial robot in order to control the robot operation of the robots 15 and 25. The robot control devices 20 and 30 that can store and store the teaching data for performing the predetermined robot operation and that perform the predetermined robot operation according to the teaching data are connected and provided. Further, in connection with a predetermined work such as a press work performed in these work machines 11 and 12, general control for performing desired work transfer and work transfer processing work at appropriate timing is performed. A control device 40 is provided, which is connected to the robot control devices 20 and 30 of the respective robots described above and also to the two work machines 11.
It is connected to 12.

Next, the operation of the work transfer and processing mechanism having the above-mentioned structure will be described. Here, two work machines 1
In Nos. 1 and 12, the work that has undergone a predetermined machining process such as press machining in the other work machine 11 is
It is assumed that the desired working process is further carried out by the work machine 12 by carrying it to the other work machine 12 side and handing it over, and the work transfer and transfer between the work machines are carried out by the two industrial robots 15 and 25. Explain the case.

In a general work cycle, the work machine 11
After completing a predetermined work process on one work A (not shown), the work A is taken out from the work machine 11 by one of the robots 15, and the work A is removed from the work machine 12.
The robot 25 transfers the work B to the work machine 12 and mounts it on the work machine 12. During this time, the other robot 25 mounts the work B (not shown) previously taken out of the work machine 11 and carried on the work machine 12, and mounts the work B on the work machine 12. After that, in order to take out the next work C (not shown) again, the work is conveyed and transferred in the order of performing the operation toward the work machine 11. While the work is in progress, the work B handed last time by the other work machine 12 as well.
That is, (not shown), that is, as shown in FIG. 2, a process in which the robot 15 takes out the work A from the work machine 11, and a process in which the robot 25 attaches the work B previously taken out from the work machine 11 to the work machine 12. Is performed under the control of the respective robot controllers 20, 30 and controller 40 (step 1).

At this time, the timing of the work taking-out work and the work mounting work between the robots 15 and 25 and the corresponding work machines 11 and 12 are controlled by the control device 40.
Has overall control. Next, when the removal of the work A by the robot 15 and the mounting of the work B by the robot 25 are completed, the turntable 13 turns around the rotation center under the control of the control device 40 (step 2).

As a result, the robot 15 reaches a position substantially opposite to the work machine 12 opposite to the one shown in FIG. 1, and the other robot 25 reaches a position substantially opposite to the work machine 11. Then, the robot hands 19 and 29 of both robots 15 and 25 are moved to the positions where they can exchange work with the working units of the respective working machines 11 and 12 through the robot operations of the respective movable elements. Two
Accurate positioning is performed by controlling 0 and 30 (step 3).

Next, the robot 15 performs the mounting process of the work A on the work machine 12 by the robot controller 20,
It is performed under the control of the controller 40, and the robot 25
Performs the work process of taking out the next work from the work unit of the work machine 11 under the control of the robot controller 30 and the controller 40 (step 4). Here, it should be noted that the work performed by each of the robots 15 and 25 in step 4 is substantially the same as the work process in step 1, so that the work transfer process of the two industrial robots 15 and 25 is , Rotary table 1 in step 2
Since it is practically operated with 3 rotations and the work transfer through the work transfer process by robots can be eliminated,
In the conventional work transfer and processing mechanism using robots (Figs. 3 and 4), the turning operation of both robots can significantly reduce the work cycle time compared to the process that was essential for the work transfer. In addition, even when the working speeds of the working machines 11 and 12 are high, it is possible to avoid the occurrence of inconveniences such as the forced stopping of the work in the both machines 11 and 12.

In the embodiment described above, the rotary table 13 is arranged in the intermediate area between the two work machines 11 and 12, and the two industrial robots 1 are mounted on the rotary table 13.
5 and 25 are mounted, for example, a rotary table is arranged at the center of the circumferential route of, for example, three working machines arranged along the circumferential route, and, for example, three units are mounted on the rotary table. As an embodiment in which the industrial robot of (1) is arranged to sequentially perform the work transfer and the transfer process, the work transfer and processing mechanism that contributes to the improvement of the work efficiency of each work machine can be configured.

[0019]

As described above, the present invention has been described based on the embodiments. According to the present invention, the rotary table is arranged in the central region of two or more working machines, and the rotary center of the rotary table is set as the center. A plurality of industrial robots with movable elements that perform work transfer and transfer processing at multiple positions are mounted and arranged, and the rotation of the rotary table and the robot movements of both robots cooperate with one work machine. The work is taken out, and the work is transferred to the other work machine and mounted on the other work machine. In particular, by rotating the rotary table, the work can be transferred with high efficiency.
Since the work transfer process is substantially performed by the rotation of the rotary table and the transfer of the work between robots can be omitted, the work transfer and transfer processing time can be shortened, and the table rotation speed can be increased. Thus, the work transfer speed can be increased, and as a result, the work efficiency of each work machine can be improved, and the productivity in the case of a processing machine can be improved.

[Brief description of drawings]

FIG. 1 is a schematic mechanism diagram showing a work transfer and processing mechanism using an industrial robot according to the present invention.

FIG. 2 is a flowchart showing the operation of the work transfer and processing mechanism.

FIG. 3 is a schematic mechanism view showing a work transfer and processing mechanism using an industrial robot according to a conventional example.

FIG. 4 is a schematic mechanism view showing a work transfer and processing mechanism using an industrial robot according to another conventional example.

[Explanation of symbols]

 11 ... Work machine 12 ... Work machine 13 ... Rotary table 14 ... Table 15 ... Industrial robot 19 ... Robot hand 20 ... Robot control device 25 ... Industrial robot 29 ... Robot hand 30 ... Robot control device 40 ... Control device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takeshi Okada 3580 Koshinoba, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture FANUC CORPORATION (72) Inventor Tsutomu Miyagawa 3580, Kobaba, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture Local FANUC Co., Ltd.

Claims (2)

[Claims] 1. A work transfer and processing mechanism using an industrial robot, wherein an industrial robot performs transfer and transfer of a work between a plurality of work machines, wherein a predetermined area in a central region of the plurality of work machines is used. A rotary table is provided at a position facing the respective working units of the both working machines, and the rotary table is mounted and installed at a plurality of positions on the rotary table around the rotation center of the rotary table. An industrial robot, comprising: a plurality of industrial robots having processing means; and a control means for controlling the rotation of the rotary table, the work transfer of the plurality of industrial robots, and the operation timing of the processing means. Work transfer and processing mechanism using robots. 2. A work transfer and processing mechanism using an industrial robot, wherein an industrial robot carries out transfer and transfer of a work between a first and a second work machine. One rotary table is provided so as to face the respective working parts of the two working machines in the intermediate region of the working machine, and the two positions are separated by about 180 degrees on the rotating table about the rotation center of the rotating table. Installed and installed in
And an industrial robot having a work transfer and processing means, respectively, and a control means for controlling the rotation of the rotary table and the work transfer and processing timing of the industrial robot. Work transfer and processing mechanism using an industrial robot.