JPH08141969A - Conveying device - Google Patents

Abstract

PURPOSE: To provide a conveying device wherein the cycle time for press working can be shortened. CONSTITUTION: A suction gripping device 24 for gripping a work W is supported to a moving plate 22, and this moving plate 22 is attached to a slider 20. In starting of a press machine, the end 20a of the slider 20 interferes with the press machine. The slider 20 is moved by a multishaft robot 85 and slid by a servo motor 30, and the end 20a of the slider 20 is evacuated in the position not to interfere with the press machine for a short time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for transferring a work between press machines. More specifically, the work is taken out from the press machine in the previous process between press working steps performed in several steps. The present invention relates to a transfer device that transfers a work to a press machine in the next step.

[0002]

2. Description of the Related Art For example, a press-formed product having a three-dimensional free-form surface made of a thin steel plate, such as an outer plate of an automobile, is usually processed in several steps such as drawing, blanking, bending, and punching a flat plate material. The shape is made through the process. At this time, the operation for taking out the work from the narrow gap between the upper mold and the lower mold in each process, and transferring it to the narrow gap between the upper mold and the lower mold in the next process (hereinafter, referred to as
These operations are referred to as inter-press conveyance).

In recent years, the conveyance between the presses has been carried out by using a multi-axis robot in order to improve the productivity, quality and safety. As a technique for transporting between presses by this multi-axis robot, one of the inventors of the present invention has proposed a technique of 4-423
No. 90 was proposed. The carrying device disclosed in Japanese Utility Model Laid-Open No. 4-42390 will be described with reference to FIGS. 9 and 10. This transfer device is a multi-axis robot 1 as shown in FIG.
85 and a slider 120, which are arranged between two press machines 183 and 184 arranged in a straight line.
The slider 120 is the tip axis 1 of the multi-axis robot 185.
It is attached to 86. The slider 120 will be described with reference to FIG. Here, FIG. 10A is a partially cutaway side view of the slider 120.
(B) is a plan view. The slider 120 is fixed to the tip shaft 186 of the multi-axis robot 185 via a bracket 136. A screw screw 132 is arranged inside the slider 120, and is rotated by the servo motor 130. This screw 1
The moving plate 1 is attached to the female screw 134 moved by 32.
22 is attached, and a suction holding device 124 for holding the work W is attached to the moving plate 122. The suction tube 124 is attached to the air tube 13
Negative pressure air is supplied via 8. The air tube 138 is wound by a winding device 126 in order to prevent loosening due to the movement of the suction gripping device 124.

Next, the carrying operation of the carrying device will be described with reference to FIG. When the press machine 183 in the previous step finishes the processing and raises the ram 192 to which the upper die 190 is attached, the work W is left on the lower die 191 in a fixed posture, and the upper die 190 and the lower die 191 are separated from each other. Opens the gap. At this time, the multi-axis robot 1 follows the operation taught in advance.
85 is driven, the slider 120 is carried in, and the work W
Carry out.

First, the upper mold 190 and the lower mold 191 are carried out.
Insert the slider 120 between the and
The suction gripping device 124 moved to the tip of 0 is the work W
The workpiece W is held by moving downward until it touches. In the next operation after the suction gripping device 124 holds the work W, the work W is lifted up to a position where the work W and the slider 120 do not interfere with the upper mold 190 and the lower mold 191, and the lower mold 191 of the work W is lifted. The removal from is completed.

Next, the carrying operation is performed. First, the multi-axis robot 185 moves the slider 120 toward the press machine 184 in the next process, and the servo motor 1
30 is rotated, and the suction gripping device 124 is slid along the slider 120. Press machine for the next process 18
4 is transferred to directly above the lower mold 194 to complete the transfer operation. Then, a carry-in operation is performed. In the carry-in operation, the work W is moved downward until the work W is fitted into the lower mold 194, the holding function of the suction gripping device 124 is stopped, and the work W is opened and placed on the lower mold 194. To do. After that, the slider 120 is returned to the original position by following the trajectory reverse to the above-described operation, and the series of inter-press conveyance operations are completed.

[0007]

In this carrying apparatus, it is necessary to lengthen the slider 120 in accordance with the distance between the press machine 183 and the press machine 184.
However, if the slider 120 is lengthened, it takes a long time to retract from the press machine, and there is a problem that the start of the press is delayed. This will be described in more detail with reference to FIG. FIG. 11A shows a state in which the work W is loaded by the slider 120, and FIG. 11B shows a state in which the slider 120 is retracted from the press machine 184. To start the press machine 184,
As shown in FIG. 11B, the slider 120 is moved by the multi-axis robot 186 until the right end 120a of the slider 120 on the press machine side crosses a non-interference line (H in the figure) with the press machine 184. Must be evacuated. That is, the slider 12 for the distance D1 shown in the figure
0 had to be moved, and this movement took time, so the cycle time of the press machine was long.
Further, when the slider 120 is lengthened, the weight becomes heavy and the vibration also becomes large.

Further, if the slider 120 is lengthened, it becomes necessary to lengthen the air tube 138 for supplying negative pressure air to the suction gripping device 124 as shown in FIG. It is indispensable to provide the winding device 126 in order to prevent the slack accompanying the movement.

The present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to provide a conveying device capable of shortening the cycle time of a press machine.

[0010]

In order to achieve the above-mentioned object, the transport apparatus of the present invention is configured so that each axis can be driven, stopped and positioned linearly or in the rotational direction at a pre-instructed amount and timing. A multi-axis robot 85 having at least three or more axes, a fixed part 36 supported by the tip of the multi-axis robot 85, a first slide member 20 slid in the press transport direction with respect to the fixed part 36, A first slide driving device 30 for driving the first slide member 20, a second slide member 22 attached to the first slide member 20 and slid in the same direction as the sliding direction of the first slide member 20, Second slide member 2
A second slide drive device 46 for driving the second
A gripping device 24 that is supported by the slide member 22 and grips the workpiece W. Further, in a preferred aspect of the present invention, the first slide member 20 is configured so that the second slide drive device 46 moves the second slide member 22 by the movement of the first slide member 20.
The second slide member 22 and the second slide member 22 are constituted by a scale mechanism. Still further, in a preferred aspect of the present invention, the second
The slide driving device 46 is composed of a belt passed between the fixing portion 36 and the gripping device 24, and is a pair of first tubular members attached to the first slide member 20 to stretch the belt. The bodies 44a are arranged at both ends along the moving direction of the first slide member 20, and the first tubular body 44a
Of at least one of the
Second for suspending line 38 for wiring or piping to
It has a tubular body 44b. Further, in another preferred aspect of the present invention, the second slide drive device 46 includes a belt passed between the fixing portion 36 and the gripping device 24, and the gripping device 24 sucks a workpiece by air suction. A pair of first tubular members 44a attached to the first slide member 20 for gripping W and stretching the belt are arranged at both ends of the first slide member 20 in the moving direction, A line 38 is provided coaxially with at least one of the first tubular bodies 44a and is for air piping to the gripping device 24.
Has a second tubular body 44b for stretching.

[0011]

In the transporting device constructed as described above, the gripping device 24 for gripping the work W is supported by the second slide member 22, and the second slide member 22 is attached to the first slide member 20. Therefore, when the press machine is started, the end portion 2 of the first slide member 20 on the press machine side is
0a interferes with each other, and in order to shorten the cycle time of the press machine, the end portion 2 of the first slide member 20 is
0a must be quickly retracted to a position where it does not interfere with the press. However, if the first slide member 20 is moved only by the multi-axis robot 85, it cannot be retracted in a short time.

Therefore, in the structure of claim 1, the first slide member 2 supported by the fixed portion 36 of the multi-axis robot 85.
0 is driven by the first slide drive device 30,
The end portion 20a of the first slide member 20 can be retracted to a position where it does not interfere with the press machine in a short time. Also,
In the structure of claim 2, since the first slide member 20 and the second slide member 22 are constituted by the double-scale mechanism, the work W can be transported at high speed. Further, claim 3
In the above configuration, the line 38 for wiring or piping to the gripping device 24 is stretched over the second cylindrical body 44b that rotates in synchronization with the first cylindrical body 44a for stretching the belt of the double-scale mechanism. Therefore, the winding device for the line 38, which is conventionally required, becomes unnecessary. Furthermore, in the configuration of claim 4, the second tubular body 44b coaxially arranged with the first tubular body 44a for stretching the belt of the double-scale mechanism is provided with air piping to the gripping device 24. Since the line 38 is stretched, the winding device for the line 38, which is conventionally required, is not required.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a carrying device according to an embodiment of the present invention. This transfer device is composed of a 6-axis multi-axis robot 85 and a slider 20, and is arranged between two press machines 183 and 184 which are linearly arranged. The slider 20 is fixed to the tip shaft 86 of the multi-axis robot 85 via the bracket 36. The slider 20 will be described with reference to FIGS. 2, 3, and 4. Here, FIG. 2 is a partially cutaway plan view of the slider 20, FIG. 3 is a sectional view taken along line BB of FIG. 2, and FIG. 4 is C of FIG.
FIG. As shown in FIG. 2, the slider 20
Are slidably supported on the bracket 36 by a slider guide 37. This slider 20
Is composed of a pair of side plates 40, 40.
Are connected by a plurality of connecting members 42. The rack 32 is fixed to the connecting member 42. On the other hand, the servo motor 30 is fixed to the bracket 36 via the speed reducer 31, and the rotation of the servo motor 30 is controlled by the speed reducer 3.
The speed is reduced by 1 and the pinion 34 is rotated. The pinion 34 meshes with the rack 32 so that the rack 32, that is, the slider 20 can be moved in the horizontal direction in FIG.

As shown in FIG. 3, a pair of integral pulleys 4
4, 44 are arranged at both ends in the moving direction of the slider 20, and a pair of timing belts 46, 46 are passed over the integrated pulleys 44, 44. One end of the timing belts 46, 46 is fixed to the moving plate 22 that supports the suction gripping device 24, and the other end is fixed to the slider guide 37. This suction gripping device 24
A plurality of suction cups 24a for adsorbing the work W on the lower end of the
Is attached. One end 38 a of an air tube 38 connected to an air supply device (not shown) is attached to the slider guide 37.
The other end 38b of the suction holding device 24 is connected to the suction cup 24a side.

As shown in FIG. 4, the integral pulley 44 is a timing pulley 4 for stretching the timing belt 46.
4a and a piping pulley 44b for stretching the air tube 38, and is attached to the shaft 48 via a pair of bearings 50. The shaft 48 is fixed to the pair of side plates 40, 40 of the slider 20. In addition, the air tube 38 is stretched by an integral pulley 44 together with the timing belt 46 as shown in FIG.

The operation of the slider 20 will be described below with reference to FIGS. 3 and 5. Here, FIG. 5 shows a state in which the slider 20 is moved to the left. When the servomotor 30 is driven, this output is decelerated by the speed reducer 31 to rotate the pinion 34. As a result, the rack 32 meshing with the pinion 34 is fed in the horizontal direction (here, it is assumed that it is fed in the left direction in the drawing). With the movement of the rack 32, the slider 20 is sent to the left. When the slider 20 is sent to the left, one end of the timing belt 46 is fixed to the slider guide 37, so the moving plate 22 fixed to the other end of the timing belt 46 is sent to the left. . That is, the rack 32, the pinion 34, and the timing belt 46 form a double-scale structure, and when the rack 32 (slider 20) moves 1 cm with respect to the bracket 36, the moving plate 22 (suction gripping device 24) causes the bracket 36 to move. It will be moved by 2 cm.

On the other hand, when the moving plate 22 is fed by the timing belt 46, the integral pulley 44 described above with reference to FIG. 4 causes the timing pulley 44a and the piping pulley 44b to rotate integrally. Therefore, together with the timing belt 46, the air tube 3
Since the moving plate 22 is fed in a state where 8 is stretched, the air tube 38 does not loosen.

The carrying operation of the carrying apparatus of this embodiment will be described with reference to FIGS. 1, 3 and 6. Here, FIG. 6 shows one cycle of conveyance between the presses. [1] Pre-process operation The press machine 183 in the pre-process shown in FIG.
When the ram 192 to which the upper die 190 is attached is lifted, the gap between the upper die 190 and the lower die 191 is opened while the work W is left on the lower die 191 in a fixed posture. At this time, the multi-axis robot 85 sends the slider 20 to the press machine 183 side (hereinafter referred to as the left side) according to the operation taught in advance, and at the same time, drives the servo motor 30 to drive the slider 2
Slide 0 to the left. Along with this, the suction gripping device 24 attached to the moving plate 22 is sent to the left side by the timing belt 46 that constitutes the slider 20 and the scale mechanism.

[2] Slider Insertion / Unloading Operation When the slider 20 is inserted between the upper die 190 and the lower die 191, and the suction gripping device 24 is transferred to just above the lower die 191 of the press machine 183 in the previous step, Start the carry-out operation.
First, the suction gripping device 24 moved to the tip of the slider 20 is moved downward until it contacts the work W, and a negative pressure is applied to the suction gripping device 24 via the air tube 38 to hold the work W. The suction gripping device 124 is the work W.
In the next operation after holding, the work W is lifted upward to a position where the work W and the slider 20 do not interfere with the upper mold 190 and the lower mold 191, and the removal of the work W from the lower mold 191 is completed.

[3] Conveying Operation In the conveying operation, first, the multi-axis robot 85 transfers the slider 20 in the direction of the press machine 184 in the next process (hereinafter referred to as right direction), and the servo motor 30 is rotated to move the slider. Slide 20 to the right. Along with this, the suction gripping device 24 attached to the moving plate 22 is sent to the right side by the timing belt 46 that constitutes the slider 20 and the scale mechanism. This suction gripping device 124 is used for the lower die 19 of the press machine 184 in the next process.
4 is transferred to a position right above and the transfer operation is completed.

[4] Loading Operation In the loading operation, the work W and the lower die 194 face each other with an appropriate gap therebetween, or the work W is moved downward until the workpiece W is fitted into the lower die 194. Then, the negative pressure supply to the suction gripping device 24 is stopped, the work W is opened, and the work W is put on the lower mold 194.

[5] Slider evacuation + press start operation The slider 20 is moved to the press machine 1 by the multi-axis robot 85.
At the same time as sending to the 83 side, the servo motor 30 is driven to slide the slider 20 to the left. Along with this, the suction gripping device 24 is sent to the left side. And the slider 20
Is retracted from the press machine 184 side to a position where it does not interfere, the press of the work W carried in by the press machine 184 is started.

[6] Returning operation The slider 20 is further moved to the left by the multi-axis robot 85, and the servo motor 30 is driven to move the slider 2
0 is slid to the left, and the suction gripping device 24 is sent to the left. The above operation completes one cycle of conveyance between presses.

The effects of the press machine of this embodiment will be described with reference to FIGS. 7 and 8. FIG. 7 shows a moving distance until the slider 20 retracts from the press machine 184, and FIG. 8 shows a relationship between the moving distance and time.
Here, description will be made in comparison with FIG. 11 referred to in the description of the related art. As described with reference to FIG.
In the prior art, since the slider 120 is fixed to the tip shaft 186 of the multi-axis robot 185, the press machine 18
In order to start No. 4, the right end portion 120a of the slider 120 must be retracted by the multi-axis robot 185 to a position beyond a non-interference line (H in the figure) with the press machine 184. That is, the slider 120 had to be moved by the distance D1 shown in the figure.

On the other hand, in this embodiment, as shown in FIG. 7, the slider 20 is moved leftward by the multi-axis robot 85 and the slider 20 itself is slid to the left end. Therefore, in order to retract the right end portion 120a from the non-interference line (H in the drawing) with the press machine 184, the multi-axis robot 35 may move the slider 20 by the distance D2 shown in the drawing. Robot 8
The travel distance by 5 is halved. Further, in this embodiment, since the two-stage slide system using the double-scale mechanism is adopted, the length of the slider 20 is set to the conventional slider 12
It can be about half of zero.

Further, referring to FIG. 8, a comparison will be made regarding the save time. Here, first, the multi-axis robot 18
The comparison in the state in which Nos. 5 and 85 are not driven will be described.
For comparison, the moving plate 122 (adsorption gripping device 124) of the related art shown in FIG. 11 and the moving plate 22 (adsorption gripping device 24) by the slider 20 of the transporting device of this embodiment have the same speed. Will be described as.
FIG. 8A shows the prior art, and FIG. 8B shows the present embodiment. In the figure, Δ indicates the moving plate 2
2 and 122 represent the center positions, and the ∘ mark indicates the positions of the right ends 20a and 120a of the sliders. Since the moving plates 22 and 122 have the same speed as described above,
The slopes of the lines e and f indicating the displacements of the moving plates 22 and 122 are equal. Further, since the multi-axis robots 185 and 85 are not driven, the position of the right end portion 120a of the slider 120 does not change with time as shown by the line g in FIG. On the other hand, in FIG. 8B showing the present embodiment, the position of the right end portion 20a for sliding the slider 20 is displaced over time as indicated by the line j.

Next, the displacement when the sliders 120, 20 are sent by the multi-axis robots 185, 85 will be described. Regarding the transportation according to the conventional technique described above, FIG.
Conveyance according to the present embodiment will be described with reference to [C] and FIG. 8D. The multi-axis robot 1
The description will be made assuming that the conveying speeds of 85 and 85 are equal.
Here, in the conventional technique shown in FIG.
Since the 20 is conveyed only by the multi-axis robot 185, the time t4 is required as shown by the line k before the right end portion 20a is retracted from the non-interference line (H in the figure) with the press machine 184. On the other hand, in this embodiment, since the slider 20 is moved to the left by the multi-axis robot 85 and the slider 20 is slid, the evacuation is completed at t2, which is half the time t4, as indicated by the line l. That is, since the time until evacuation is shortened, the press machine 184 can be started up quickly.

Although the moving plate 122 is moved by the screw screw 132 in the structure of the prior art, it may be considered that the moving plate 122 is moved by using the timing belt as in the present embodiment. However, in the configuration of the related art, when the slider 120 is lengthened in order to extend the transport distance, the timing belt becomes longer, and there is a problem in that the timing belt vibrates. On the other hand, in the present embodiment, since the double scale mechanism is adopted, the length of the timing belt 46 is shortened and the vibration can be reduced.

Further, in this embodiment, a double-scale mechanism for driving the timing belt 46 between the slider 20 and the moving plate 22 is adopted, and the air tube 38 is supported by the integral pulley 44 supporting the timing belt 46. Therefore, the air tube 38 is not loosened. Therefore, a winding device for removing the slack of the air tube is not required, and the piping of the air tube becomes easy.

In the embodiment described above, the 6-axis multi-axis robot 85 is used, but the present invention can be suitably applied to any multi-axis robot having 3 or more axes. Further, although the rack 32 and the pinion 34 are used to drive the slider 20, it is also possible to use the screw screws referred to in the description of the prior art instead. Although the timing belt 46 is used to drive the moving plate 22, a chain, a steel belt or the like may be used instead of the timing belt. Further, in this embodiment,
Although the slider 20 and the moving plate 22 are constituted by the double-scale mechanism, it is of course possible to drive the slider 20 and the moving plate 22 by separate driving sources. For example, the slider 20 can be driven by using a screw screw, and the moving plate 22 can be driven by a linear motor. Further, in the above-described embodiment, the suction gripping device 24 sucks the work W by negative pressure, but the work W may be magnetically attracted by an electromagnet or the like. In this case, it is preferable that the power feeding line to the electromagnet is supported by the integral pulley 44 instead of the air tube 38.

[0031]

As described above, according to the carrying apparatus of the present invention, the retracting time from the press machine is shortened, so that the press cycle can be shortened and the press working productivity can be improved. Further, since the length of the slider can be reduced to about half that of the conventional slider, the weight can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a carrying device according to an embodiment of the present invention.

2 is a partially cutaway plan view of the slider shown in FIG. 1. FIG.

3 is a sectional view taken along line BB of FIG.

FIG. 4 is a sectional view taken along line CC of FIG.

FIG. 5 is a cross-sectional view showing a driving state of a slider.

FIG. 6 is an explanatory diagram showing one cycle of conveyance between presses.

FIG. 7 is an explanatory diagram showing how the slider is retracted from the press machine.

FIG. 8 is a graph showing a relationship between time and displacement.

FIG. 9 is a perspective view of a conventional conveying device.

FIG. 10 is a plan view and a side view of the slider shown in FIG.

FIG. 11 is an explanatory diagram showing how the conventional slider moves away from the press machine.

[Explanation of symbols]

 20 slider 22 moving plate 24 suction gripping device 30 servo motor 32 rack 34 pinion 36 bracket 38 air tube 44 integrated pulley 46 timing belt 85 multi-axis robot

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Koji Nagumo 1-1, Asahi-cho, Kariya city, Aichi Toyota Koki Co., Ltd. (72) Inventor Toshiyuki Chikusa 1-1, Asahi-cho, Kariya city, Aichi Toyota Koki Co., Ltd. (72) Inventor Toshiyoshi Ichikawa 1-1, Asahi-cho, Kariya city, Aichi Toyota Koki Co., Ltd. (72) Inventor Hirokazu Okada, Toyota-cho, Aichi prefecture Toyota-cho, Ltd. (72 ) Inventor Masahiko Inoue 7 Itohoncho Higashimukaiyama, Anjo City, Aichi Prefecture Toyotomi Kiko Co., Ltd.

Claims (4)

[Claims] 1. A multi-axis robot having at least three or more axes configured so that each axis can be driven, stopped and positioned linearly or rotationally at a pre-instructed amount and timing, and a tip of the multi-axis robot. A fixed part supported by the first fixed part, and a first part slid in the press transport direction with respect to the fixed part
A slide member; a first slide drive device for driving the first slide member; a second slide member attached to the first slide member and slid in the same direction as the slide direction of the first slide member; A transport device comprising: a second slide driving device that drives two slide members; and a gripping device that is supported by the second slide member and that grips a workpiece. 2. The first slide member and the second slide member are constituted by a scale mechanism so that the second slide drive device moves the second slide member by the movement of the first slide member. Claim 1 characterized by the above-mentioned.
Transport device. 3. The second slide driving device comprises a belt passed between the fixing portion and the gripping device, and a pair of pair is attached to the first slide member to stretch the belt. The first tubular body is arranged at both ends along the moving direction of the first slide member, rotates in synchronization with at least one of the first tubular body, and connects the wiring to the gripping device or the line for piping. The carrier device according to claim 2, further comprising a second tubular body for stretching. 4. The second slide driving device comprises a belt passed between the fixing portion and the gripping device, the gripping device gripping a work by air suction and stretching the belt. A pair of first tubular members attached to the first slide member are disposed at both ends along the moving direction of the first slide member, and are disposed coaxially with at least one of the first tubular members, 3. The transfer device according to claim 2, further comprising a second tubular body for suspending a line for air piping to the gripping device.