JPH0760663A - Inter-press carrying robot - Google Patents

Abstract

PURPOSE:To increase carrying speed by driving a first driving device in forward and backward rotation, swinging a first arm around a first shaft, driving a second driving device in forward and backward rotation, and swinging a second arm so as to be superposed on the first shaft with the second shaft in parallel with the first shaft as its center through a link mechanism. CONSTITUTION:When the first driving device 12 is driven in forward and backward rotation by a control device 90, the first arm 21 swings in the clockwise direction (right direction) or the counterclockwise direction (left direction). At this time, when the second driving device 15 is not driven, the second arm 22 moves while holding a posture to a reference plane (floor surface) by a parallel link mechanism composed of the first link 31 and the second link 32. When the second driving device 15 is driven in forward and backward rotation, the parallel link mechanism composed of the first link 31 and the second link 32 is operated in the forward or the backward direction by a gear mechanism, and swings the second arm 22 in the forward or backward direction. In this case, swinging of the first and the second arms 21 and 22 and swinging of a hand part 24 are synchronized with each other by the control device 90.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press for picking up a work piece from a press machine in the previous step, transporting the work piece to the press machine in the next step, and inputting the work piece between press steps performed in a plurality of steps. The present invention relates to an inter-transport robot.

[0002]

2. Description of the Related Art Conventionally, a press-to-press transfer robot that picks up a workpiece from a press machine in the previous step, transfers the workpiece to the press machine in the next step, and puts the workpiece in between press steps performed in a plurality of steps. 14, a 6-axis general-purpose robot 500 is arranged on a rotary table 501 rotatable about an axis 502, and has a total of 7 axes, and is disclosed in JP-A-63-251180. There are things.

Generally, there are the following requirements in the robot for transferring between presses. That is, the inter-press transfer robot itself is made compact, and the entire equipment is made compact. Work transfer is moved linearly to increase the speed of work transfer. Ensure versatility for any distance between press machines. To reduce the manufacturing cost of the robot for transport between presses. The above four are required.

[0004]

However, the above-mentioned conventional inter-press transfer robot has the following problems. In other words, the former transfer robot between presses, when the laying distance between press machines is within the drive range of the robot arm,
This general-purpose robot 500 is used alone, and when the laying distance between the press machines becomes large, a rotary table 501 is provided, and the general-purpose robot 500 is arranged and used on this rotary table. In this case, when the laying distance between the press machines becomes large, it is necessary to enlarge the rotary table 501 accordingly, and a large-capacity drive device is required, and the equipment becomes large. In addition, this also limits the increase in the speed of transporting the workpiece.

Further, the latter transfer robot between presses is
Although the workpiece can be moved linearly and conveyed, the drive of the second arm cannot transmit a large stroke because the belt is transmitted, and a moving device that moves the robot itself is required. become. Therefore, equipment such as rails is required and the equipment becomes large. In addition, there is a problem that it is necessary to provide an elevating device that elevates and lowers the height of the robot itself in order to take out the work from the press machine and put the work into the machine tool.

[0006]

In a robot transfer device which is provided between press machines and linearly transfers a workpiece from one side of a robot body to the other side, the inter-press transfer robot is arranged. A base portion supported by a base portion, a first arm that is swingably supported by the base portion about a horizontal first axis that is orthogonal to the workpiece transfer direction, and the first arm A second arm supported so as to be overlapped with each other and supported by the first arm about a second axis parallel to the first axis; and a second arm provided on the base part for swinging the first arm. 1 drive device, a link mechanism rotatably supported on the one end side by the second arm and the other end side by the base part, and the second arm provided on the base part and via the link mechanism. Rock the first Consisting of a drive unit.

Further, in a robot transfer device which is provided between press machines and linearly transfers a workpiece from one side of the robot body to the other side, the robot is supported by a base portion on which the inter-press transfer robot is arranged. A base portion, a first arm that is swingably supported by the base portion about a horizontal first axis that is orthogonal to the workpiece transfer direction, and is supported so as to overlap the first arm. A second arm supported by the first arm about a second axis parallel to the first axis, a main gear fixed to the first arm about the first axis, and the base portion. A rotatably supported first gear and a second gear that mesh with the main gear, a first drive device that is provided on the base portion and that rotates the first gear, and a first drive device that is provided on the base portion. And the second gear A second drive device that rotates, a link mechanism that is rotatably supported on the second arm on one end side and on the base portion on the other end side, and provided on the base portion, and via the link mechanism. A third drive device that swings the second arm, and in particular, the drive shaft of the third drive device is disposed on the first shaft that is the swing shaft of the first arm, and the first drive device is provided. A first drive shaft that is a drive shaft of the device and a second drive shaft that is a swing shaft of the second drive device are arranged in parallel with the first shaft, and the first shaft has the first shaft as an apex. The first drive device and the second drive device are attached to the base portion so that the drive shaft and the second drive shaft form an isosceles triangle.

Further, the base portion supported by the base portion is swingably supported about an axis in a direction orthogonal to the first axis which is the swing axis of the first arm.

[0009]

First, the operation of the first inter-press transfer robot will be described. By driving the first drive device in the normal and reverse directions, the first arm is swung around the first axis. By driving the second drive device in the forward and reverse directions,
The arm is oscillated about a second axis parallel to the first axis via a link mechanism so as to overlap the first axis. Since the swinging motion of the second arm is not restricted by the swinging motion of the first arm, the first arm and the second arm can be driven separately.

Since the driving axes of the first and second arms described above are parallel to each other, they move linearly in the carrying direction,
Further, by swinging the first and second arms in synchronization with driving the first driving device and the second driving device, it is possible to linearly carry the workpiece in the height direction. . Next, the operation of the second inter-press transfer robot will be described.

By driving the first drive device and the second drive device in the same direction in synchronization with each other, the first arm is swung about the first axis via the gear mechanism. This has the effect of distributing the load applied to the drive device that drives the first arm and reducing the size of each drive device. By driving the third drive device in the normal and reverse directions, the second arm is swung about the second axis parallel to the first axis via the link mechanism. The swinging motion of the second arm is not restricted by the swinging motion of the first arm.
The arms can be driven separately.

Since the drive axes of the first and second arms described above are parallel to each other, they move linearly in the carrying direction,
Further, by swinging the first and second arms in synchronization with driving the first driving device and the second driving device, it is possible to linearly carry the workpiece in the height direction. .

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An inter-press transfer robot according to a first embodiment of the present invention will be described below with reference to the drawings. 1 and 2 are overall configuration diagrams of a press-to-press transfer robot according to the first embodiment. FIG. 1 is a front view and FIG. 2 is a side view.

The base portion 11 is fixed to the robot mounting portion 50 provided between the press machines.
1, a first arm 21 is supported so as to be swingable around a horizontal first axis O1 which is orthogonal to the workpiece transfer direction. At the tip of the first arm 21, the second arm 22 is the first
It is swingably supported about a second axis O2 that is an axis parallel to the axis O1. At the tip of the second arm 22,
A third arm 23 rotatably supported about a third axis O3 which is a central axis of the second arm 22 is provided, and further,
The hand portion 24 is fixed to the tip of the third arm 23. The hand portion 24 has a fourth portion orthogonal to the third axis O3.
It can swing about the axis O4, and its tip can swing about a fifth axis O5 orthogonal to the fourth axis. The control device 90 is configured to drive the first to fifth axes O1 to O5 and drive the shift device 60 described later. The above-described configuration constitutes the inter-press transfer robot 10.

First, the structure of the drive portion of the first arm 21 and the second arm 22 will be described with reference to FIG. FIG. 3 is a view seen from the direction AA ′ in FIG. 1. However, the first
Arm 21 and first and second links 31, 32 described later
The position of is described when it moves to the opposite side. A first drive device 12 for swingingly driving the first arm 21 is fixed to the base portion 11 about the first axis O1. The first drive device 12 is composed of a motor and a speed reducer. When the motor rotates, the first support member 13 supported by the base portion 11 via the bearing 14 is rotated. Has become. The first arm portion 21 is fixed to the first support member 13, and the first arm portion 21 is directly driven by driving the first drive device 12.
The arm 21 is adapted to swing. A second drive unit 15 for driving the second arm unit 22 is fixed to the base unit 11 with its drive axis parallel to the first axis O1. The second driving device 15 is the first driving device 12
Similarly, it is composed of a motor and a speed reducer. By rotating this motor, the first gear 16 provided at the tip of the drive shaft of the second drive device 15 is rotated. A second gear 17, which is supported on the outer periphery of the first drive device 12 by a bearing 18 and is rotatably supported about the first axis O1, meshes with the first gear 16. The second gear 17 is rotated by driving. Further, a T-shaped link attachment portion 17a as shown in FIG. 4 is attached to the second gear 17. The second arm 2 is attached to the link attachment portion 17a.
One ends of the first link 31 and the second link 32, which transmit the power of the swing drive of 2, are swingably supported by pins. In addition, the first link 31 and the second link 32 do not interfere with each other so that the link mounting portion 1
It is supported on the other side by sandwiching 7a.
The link 31 is provided with a bent portion 31a so that the support portion of the second link 32 on the second arm 22 side does not interfere. Then, the first link 31 and the second link 3
Each of the two is swingably supported by a link support member 22b fixed to the second arm 22 by a pin,
A parallel link mechanism is formed, and the second drive device 15 is driven to swing the second arm 22 separately from the swing of the first arm 21.

A cylinder 41 is swingably supported between the base portion 11 and the first arm 21, and the entire arm is supported by an accumulator (not shown) provided inside the first arm 21. Gravity compensation of 21, 22, 23, 24 is performed. The third arm 23 is rotatably supported by the second arm 22 about the third axis O3, and is provided inside the second arm 22 and has a third unillustrated structure.
The drive device allows rotation about the third axis O3. Further, a hand portion 24 that is rotatable around a fourth axis O4 and a fifth axis O5 that are orthogonal to each other is fixed to the tip of the third arm 23, and a fourth drive device 18 causes a fourth portion to move to a fourth position.
Rotation about the axis O4 is performed, and rotation about the fifth axis O5 is performed by a fifth driving device (not shown). Then, when actually transferring the workpiece, a shift device 6 described later
0 is fixed to the tip of the hand portion 24 for use.

As shown in FIG. 5, the shift device 60 includes a suction cup 60a for holding the workpiece W by suction and a moving device 60b attached to the hand 24 for moving the suction cup 60a.
There are two types depending on the method of transporting the workpiece W. That is, the shift device 60 in the case of reversing the direction of the workpiece W and carrying in the next press machine is as shown in FIG.
As shown in [A], the suction device 60 is moved by the moving device 60b.
It is possible to move a in the direction of the fifth axis O5 of the hand portion 24. On the other hand, as shown in FIG. 5B, the shift device 60 when the work W is carried into the next press machine with the same orientation is constituted by the moving device 60b which is an elongated member for guiding the suction cup 60a. The midpoint of the moving device 60b is supported by the hand section 24, so that the suction cup section 60a can be moved equidistantly to the opposite side across the fifth axis O5 of the hand section 24.

Next, FIG. 6 shows the movable range of the transfer robot 10 of the first embodiment. The shaded area in FIG. 6 is the movable range L1 of the transfer robot 10 of the first embodiment. The length of the arm is up to the fourth axis O4 of the hand portion 24, and the maximum length is 6 from the neutral position C of the first arm 21 to the left and right.
0 degree, the second arm 22 is maximum 1 with respect to the first arm 21.
The movable range when it can swing by 20 degrees is shown, and the inter-press transfer robot 10 is configured to be freely driven within this range.

The operation of the inter-press transfer robot 10 according to the first embodiment having the above structure will be described. When the control device 90 drives the first drive device 12 to rotate the support member 13 in the normal direction (clockwise), the first arm 21 fixed to the support member 13 rotates in the clockwise direction (right direction in FIG. 1).
Rock to. On the contrary, when the first drive device 12 is driven in the reverse direction, the first arm 21 swings counterclockwise (leftward in FIG. 1). At this time, if the second drive device 15 is not driven, the second arm 22 moves without changing its posture relative to the reference plane (floor surface) by the parallel link mechanism of the first link 31 and the second link 32. .

When the control device 90 drives the second drive device 15 to rotate the gear 16 in the normal direction, the second gear 17 meshing with this is reversely rotated, and the parallel link mechanism of the first link 31 and the second link 32 causes , The second arm 22 is swung counterclockwise (to the left in FIG. 1). On the contrary, when the second drive device is driven in the reverse direction, the second arm 22 is swung in the clockwise direction (rightward in FIG. 1).

Within the movable range L1 shown in FIG. 6 described above, the controller 90 synchronizes the swing of the first and second arms 21 and 22 with the swing of the hand portion 24 around the fourth axis O4. When activated, the transfer robot 10 between presses
As shown in FIG. 7, with the tip of the hand portion 24 always facing the floor surface, the work W is taken out as an ascending operation a, the work W is transported as a horizontal operation b, and the work W is lowered. It is possible to perform the input c of the work W which is an operation.

Next, the operation of transporting the workpiece will be described separately for the method of loading the workpiece W. As shown in FIG. 8A, when the workpiece W is carried in the reverse direction and carried into the press machine in the next step, the shift device 60 shown in FIG. 5A is used. First, the work W is held on the hand portion 24 by the suction cup 60a, and the work W is conveyed to the press machine of the next step by the combined movement of the first arm 21 and the second arm 22 (see FIG. 7). At the same time, the suction device 60a holding the workpiece W is moved in the direction of the fifth axis O5 by the shift device 60b, and when the workpiece W reaches the vicinity of the neutral position C, the hand section 24 is moved around the fifth axis O5. Rotate and shift device 6
Rotate the workpiece W in the conveying direction by 180 degrees every 0. Then, the workpiece W is moved to the tip of the shift device 60 by the moving device 60b before the hand portion 24 reaches the position of the next press machine, and the loading operation is performed when the workpiece W reaches the predetermined position. The shift device 60 reduces the radius of gyration of the workpiece W and minimizes the centrifugal force generated by the rotation of the workpiece W. Also, FIG.
As shown in FIG. 5B, when the workpiece W is conveyed to the press machine in the next process with the same conveyance direction, the above-mentioned FIG.
The shift device 60 is used. By the combined movement of the first arm 21 and the second arm 22, the workpiece W is conveyed to the press machine of the next process. At the same time, the transfer device 60b moves the workpiece W from one end to the other end of the shift device 60, and when the workpiece W reaches a predetermined position, the loading operation is performed.

Next, an inter-press transfer robot which is a second embodiment of the present invention will be described. 9 and 10 are overall configuration diagrams of the inter-press transfer robot of the second embodiment, FIG. 9 is a front view, and FIG. 10 is a side view. The base portion 111 is attached to the robot attachment portion 50 provided between the press machines.
Is rotatably supported about a sixth axis O6 which is a direction perpendicular to the floor surface, and the base portion 111 is rotated by a sixth drive device 118 attached to the base portion 111 and a gear mechanism (not shown). It is designed to move. The base 111 includes a first axis O1 orthogonal to the sixth axis O6.
The first arm 121 is swingably supported about the center of the swing. At the tip of the first arm 121, a second arm 122 is supported swingably around a second axis O2 that is an axis parallel to the first axis O1. This second arm 12
A second arm 122 is provided at the tip of the second arm 122 so as to be rotatable about a third axis O3 which is the central axis of the second arm 122. Further, a hand portion 124 is provided at the tip of the third arm 123. Is fixed. This hand part 124 is
It can swing about a fourth axis O4 orthogonal to the third axis O3, and its tip can rotate about a fifth axis O5 orthogonal to the fourth axis O4. The controller 190 controls the driving around the first to sixth axes O1 to O6 and the driving of the shift device 60 attached to the hand portion 124 as in the first embodiment. The above-described structure constitutes the inter-press transfer robot 110.

First, the structure of the drive portion of the first arm 121 and the second arm 122 will be described with reference to FIGS. 11 and 12. 11 is a view seen from the direction BB ′ in FIG. 10, and FIG. 12 is a view seen from the direction CC ′ in FIG. 9. A first drive device 112a and a second drive device 112b for swinging and driving the first arm 112 are provided on the base portion 111, as shown in FIG.
Each drive shaft is fixed at a position where 1 is an apex and each drive shaft forms an isosceles triangle. The first drive device 112a and the second drive device 112b are each composed of a motor and a speed reducer. Further, the first gear 145a is fixed to the drive shaft of the first drive device 112a, and the second gear 145b is fixed to the drive shaft of the second drive device 112b, respectively. The second gears 145a and 145b are each rotated. The first and second gears 145a and 145b are provided with a bearing (not shown) in the base portion 11 so that the first shaft O1
The main gears 146 rotatably supported about the respective gears mesh with each other, and the main gear 146 is rotated by rotating the first gear 145a and the second gear 145b in synchronization in the same direction. It is designed to let you.
The first arm portion 21 is fixed to the main gear 146, and the first drive device 112a and the second drive device 112b.
The first arm 121 is swung by synchronously driving. Thereby, the individual drive devices 11
The load on 2a and 112b is distributed. In addition, a third drive unit 115 for driving the second arm unit 122 is provided on the base unit 111, and a drive shaft thereof is a first shaft O1.
Has been fixed as. The third drive device 115 is composed of a motor and a speed reducer like the first and second drive devices 122a and 112b. A link support member 117 is fixed to the drive shaft of the third drive device 115, and the link support member 117 is rotated by rotating the motor. This link support member 117
Includes a T-shaped link mounting portion 11 as shown in FIG.
7a is attached. This link mounting portion 117a
One end of each of the first link 131 and the second link 132, which transmits the power for swinging the second arm 122, is swingably supported by a pin. The first link 131 and the second link 132 are supported on opposite sides of the link mounting portion 117a so as not to interfere with each other. The first link 131 and the second link 1
Each of 32 is swingably supported by a link support member 122b fixed to the second arm 122 by a pin, forms a parallel link mechanism, and drives the third drive device 115 to move the second arm 122 to the first arm. It swings separately from the swing of 121.

Further, the base portion 111 and the first arm 121
Cylinder 141 is swingably supported between the first and second arms 121 and 121, 122, 122, by the accumulator (not shown) provided inside the first arm 121.
The gravity compensation of 123 and 124 is performed. The third arm 123 is rotatably supported by the second arm 122 about the third axis O3, and the third arm 123 is centered on the third axis O3 by a fourth drive device (not shown) provided inside the second arm 122. It can be rotated. Further, at the tip of the third arm 123, a fourth axis O4 and a fifth axis O5 orthogonal to each other are provided.
A hand unit 12 which is rotatable by a drive device (not shown)
4 is fixed. A shift device 60 similar to that of the first embodiment is detachably fixed to the tip of the hand portion 124, and different shift devices 60 are used according to the workpiece W. There is.

Next, the movable range of the inter-press transfer robot 110 of the second embodiment will be shown. Regarding the direction of the oscillating surface of the first and second arms 121 and 122, the shaded area in FIG. 6 is the movable range L1 as in the movable range of the inter-press transfer robot 10 of the first embodiment described above. . Also, the first
In addition, since the second arm 121, 122 can swing about the sixth axis O6 in the direction of the plane orthogonal to the swing plane, the second arm 121, 122 can move within the shaded area (movable range L2) shown in FIG. It has become. This movable range L2 describes the movable range when the first and second arms 121 and 122 swing about the reference position C at a maximum of 30 degrees and in the opposite direction at a maximum of 60 degrees.

The operation of the inter-press transfer robot 110 according to the second embodiment having the above configuration will be described. When the workpiece W is transferred by the inter-press transfer robot 110, the control device 190 drives the sixth drive device 118 to swing the base portion 111 about the sixth axis O6 so that the first axis O1 moves. Make sure that it is perpendicular to the workpiece transfer direction.

The control device 90 drives the first arm 121.
Thus, the first drive device 112a and the second drive device 11
2b are synchronously driven to drive the first gear 145a and the second gear 145a.
When the gear 145b is normally rotated (clockwise), the main gear 117 meshed with the first and second gears 145a, 145b is reversely rotated (counterclockwise), and the first arm 121 fixed to the main gear 117 is moved. It swings counterclockwise (to the left in FIG. 9). On the contrary, when the first drive device 112a and the second drive device 112b are driven in the reverse direction, the first arm 21 is swung clockwise (rightward in FIG. 9). At this time, if the third drive device 115 is not driven, the second arm 22 moves without changing its posture relative to the reference plane (floor surface) by the parallel link mechanism of the first link 131 and the second link 132. .

The second arm 122 is driven by the controller 90.
As a result, the third drive device 115 is driven to drive the link support member 1
When 17 is rotated in the forward direction, the parallel link mechanism of the first link 131 and the second link 132 swings the second arm 122 in the clockwise direction (left direction in FIG. 9). On the contrary, when the third drive device 115 is driven in the reverse direction, the second arm 122 is swung counterclockwise (rightward in FIG. 9).

Then, similarly to the above-described first embodiment, the first and second movements are performed within the movable range L1 shown in FIG.
When the swing of the arms 121 and 122 and the swing of the hand part 124 about the fourth axis O4 are operated in synchronization with each other, the inter-press transfer robot 110 causes the hand part robot to move as shown in FIG. With the tip of 124 always facing the floor surface, a take-out operation a of the workpiece W that is an ascending operation, a conveying operation b of the workpiece W that is a horizontal moving operation, and a loading c of the workpiece W that is a descending operation are performed. be able to.

When the shift device 60 is replaced, the press die of the press machine is replaced, and the inter-press transfer robot 110 is maintained, the control device 190 drives the sixth drive device 118 to drive the sixth shaft. The base portion 111 is swung within the movable range L2 around the center of O6 and directed in a predetermined direction. As described above, the inter-press transfer robots 10 and 110 of the first and second embodiments swing about the first axis O1 which is orthogonal to the transfer direction of the workpiece W and horizontal. 1 arm 21,121 and the 1st arm 21,12
The second axis O2 parallel to the first axis O1 so as to overlap with 1.
The second arm 22 and 122 swingably supported by the first arms 21 and 121 around the
Since the second arm 22, 122 is driven by the two link mechanisms of 1, 131 and the second link 32, 132, the second arm 22, 122 causes the first arm 21,
The first arm 21 and the first arm 21 can be moved to the opposite side by passing through the upright positions of the first arms 21 and 121.
By synchronously driving the first arms 121 and 121 and the second arms 22 and 122, the work W can be linearly conveyed to the opposite side across the upright position of the first arms 21 and 121.

Further, the inter-press transfer robot 110 of the second embodiment acts on each driving device by providing the first driving device 112a and the second driving device 112b as the driving device for driving the first arm 121. The load can be distributed and the individual drive units 112a and 112b can be downsized. Furthermore, the central axis of the main gear 146 that drives the first arm and the second axis
Since the drive shaft of the third drive device 115 that drives the arm 122 is coaxially arranged, and the first drive device 112a and the second drive device 112b are arranged on both sides of the drive shaft, the base part 111 is very compact. There is an advantage that can be. Further, when the inter-press transfer robot 110 is used, the shift device 60 is exchanged according to the type of the workpiece W, but the inter-press transfer robot 110 of the second embodiment is mounted on the robot mounting portion 50. On the other hand, by making the base portion 111 rotatable about the sixth axis O6,
The swinging direction of the first and second arms 121 and 122 can be changed, and there is an effect that it is easy to dispose a device for automatic replacement of the shift device 60. Further, there is an advantage that the inter-press transfer robot 110 can be retracted to a position where it does not interfere with the work when the press die of the press machine is replaced or maintenance is performed.

[0033]

As described above, the inter-press transfer robot of the present invention comprises the first arm which is orthogonal to the work transfer direction and swings about the horizontal first axis, and the first arm. A second arm swingably supported by the first arm about a second axis parallel to the first axis so as to overlap the first arm, and the second arm swings independently of the first arm. Due to the enabled configuration, the following effects are obtained. That is, the combined swing of the first and second arms allows the workpiece to be linearly conveyed over any conveyance distance, and further, the lifting and lowering operations for taking out and loading the workpiece can be performed without providing a special lifting device. There is an effect that can be done.

Further, the inter-press transfer robot of the present invention has a structure in which the second drive device for swinging the second arm is not provided on the first arm but on the base portion, so that the weight of the robot arm is reduced. The work can be carried out at high speed. Further, in the transfer robot in which two driving devices for driving the first arm are provided and the first arm is driven by the two driving devices via the gear mechanism, each driving device can be downsized, and the robot itself The effect is that it can be made compact.

Further, in the inter-press transfer robot according to the fourth aspect, since the base portion can swing with respect to the base portion about the axis in the direction orthogonal to the first axis,
The swinging direction of the first arm can be changed, and there is an effect that it is easy to deal with replacement of the robot hand attached to the tip of the robot arm, replacement of the press die of the press machine, maintenance and inspection, and the like.

[Brief description of drawings]

FIG. 1 is a front view of an inter-press transfer robot showing a first embodiment of the present invention.

FIG. 2 is a side view of the inter-press transfer robot showing the first embodiment of the present invention.

FIG. 3 is a view seen from the direction A-A ′ in FIG. 1.

FIG. 4 is a diagram showing behaviors of a first link and a second link.

FIG. 5 is a diagram showing a shift device.

FIG. 6 is a diagram showing a movable range of a transfer robot between presses.

FIG. 7 is a diagram showing the behavior of the first arm and the second arm during the workpiece transfer.

FIG. 8 is a diagram showing a behavior of a shift device and a work transfer.

FIG. 9 is a front view of an inter-press transfer robot showing a second embodiment of the present invention.

FIG. 10 is a side view of the inter-press transfer robot showing the second embodiment of the present invention.

FIG. 11 is a view seen from the direction BB ′ in FIG.

FIG. 12 is a view seen from the direction C-C ′ in FIG. 9.

FIG. 13 is a diagram showing a movable range of the inter-press transfer robot.

FIG. 14 is a diagram showing a conventional transfer robot between presses.

[Explanation of symbols]

 10 Robot for Transporting between Presses 11 Base Part 12 First Driving Device 15 Second Driving Device 16 First Gear 17 Second Gear 17a Link Support 21 First Arm 22 Second Arm 22b Link Support Member 24 Hand Part 31 First Link 32 2nd link 60 Shift device 90 Control device 110 Transfer robot between presses 111 Base part 112a 1st drive device 112b 2nd drive device 115 3rd drive device 117 Link support member 117a Link support part 121 1st arm 122 2nd arm 131 1st link 132 2nd link 145a 1st gear 145b 2nd gear 146 Main gear 190 Control device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiro Shiraki 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd.

Claims (4)

[Claims] 1. A robot transfer device which is provided between press machines and linearly transfers a workpiece from one side of a robot body to the other side, and is supported by a base portion on which the inter-press transfer robot is arranged. A base portion, a first arm that is swingably supported by the base portion about a horizontal first axis that is orthogonal to the workpiece transfer direction, and is supported so as to overlap the first arm. And a second arm supported by the first arm about a second axis parallel to the first axis, and a first drive device provided on the base portion for swinging the first arm. A link mechanism rotatably supported on the one end side by the second arm and on the other end side by the base portion, and provided on the base portion, and swings the second arm via the link mechanism. Equipped with a second drive A robot for transporting between presses that is characterized. 2. A robot transfer device which is provided between press machines and linearly transfers a workpiece from one side of a robot body to the other side, and is supported by a base portion on which the inter-press transfer robot is arranged. A base portion, a first arm that is swingably supported by the base portion about a horizontal first axis that is orthogonal to the workpiece transfer direction, and is supported so as to overlap the first arm. A second arm supported by the first arm about a second axis parallel to the first axis, and a first centered on the first axis.
A main gear fixed to an arm and a first gear and a second gear that are rotatably supported by the base portion and mesh with the main gear, respectively, and the first gear that is provided on the base portion and rotates the first gear. A first drive device and the base portion,
A second drive device that rotates the second gear, a link mechanism that is rotatably supported at the one end side by the second arm and at the other end side by the base portion, and provided on the base portion,
A third inter-press transfer robot comprising: a third drive device that swings the second arm via the link mechanism. 3. The inter-press transfer robot according to claim 2, wherein the drive shaft of the third drive device is arranged on a first shaft that is a swing shaft of the first arm, and 1
A first drive shaft that is a drive shaft of a drive device and a second drive shaft that is a swing shaft of the second drive device are arranged parallel to the first shaft, and the first shaft is the apex. The inter-press transfer robot, wherein the first drive device and the second drive device are attached to the base part so that the first drive shaft and the second drive shaft form an isosceles triangle. 4. The inter-press transfer robot according to claim 1, claim 2, or claim 3, wherein the base portion supported by the base is the first
An inter-press transfer robot, which is swingably supported about an axis in a direction orthogonal to a first axis that is an oscillation axis of an arm.