JPS58223575A - Apparatus for conveying press processing material - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a processing material conveying device for supplying and discharging a next or secondary processing material to a press machine.

Supply processing material to press machines, or.

A variety of devices have been developed in the past to transport processed materials from one press to another in multiple press machines.9 Examples include transfer feed, pressure feed, magazine feed, dia 2 reflex feed, and shuttle feed. Feeds, etc. are used, and in recent years, industrial robots have also been used.

However, all of these conventional presses are controlled by a central management system along with the press machine, so if you try to add a conveyance device to a press machine that is not system-managed, you will need to significantly modify the entire machine. ,
It was difficult to configure a single transport device.

In view of these circumstances, the present invention provides a processing material conveyance device using an industrial robot that can be easily applied to any press machine.

The objective is to provide a compact device that can improve efficiency and save labor in press work while minimizing capital investment.

The present invention will be explained in detail below based on illustrated embodiments.

Referring to FIGS. 1 to 5, an oil tank 21 is provided at the bottom of the housing, and a cylindrical guide n is installed at the bottom of the housing.
A rotary actuator 5 is provided at the upper end of a cylindrical slider which is fixedly tightened at 23 and 23 and supported by this guide n so as to be able to rise and fall freely. A vertical output shaft 26 projects from the upper end of the rotary actuator 5.

The lifting cylinder 27 is actuated by connecting the upper end of the piston rod 29 provided on the piston 4 of the lifting cylinder 27 fixed to the bottom of the housing with the lower end of the rotary actuator section via a floating joint 30. Rotary actuator 25
is raised and lowered.

The elevating cylinder n is located at the center of the slider 24, and on the outside of each slider there is a rotation prevention guide 31 which is parallel to the slider row and fixed to connecting plates 32 and 33 provided at the upper and lower ends of each slider. .

This anti-rotation guide 31 is inserted into a guide sleeve 34 formed integrally with the guide 22 so as to be able to move up and down, so that the slider 24 can be moved up and down while being prevented from freely rotating. 35 is a rack formed on the side surface of the rotation stopper guide 31; 36 is a pinion meshed with the like 35; the pinion shaft is fixed to the guide 22;
A rotary encoder 37 provided on the guide 22 is driven to detect the amount of vertical movement of the rotary actuator 5 and the like.

A turning table 40 is fixed to the output shaft 26 of the rotary actuator 5, and an arm body 41 is fixed to the turning table 40, and the arm body 41 can turn around the output shaft 26.

Referring to FIGS. 6 to 8, the arm body 41 is composed of a main arm 42 which is a cylindrical body with a bottom, and a sub arm 43 which is partially slidably housed in the main arm 42. ,
The lower surface of the front end of the main arm '42 is fixed to the turning table 40 via bearings 44, 44 provided around the output shaft 26. Further, the sub arm 43 is provided with flanges 45 and 46 at the base part accommodated in the main arm 42 and at the tip part projected from the main arm 42. Furthermore, the main arm 4
A block 47 with a part protruding below the main arm 42 is attached to the bottom of the main arm 42 with a pin 48.→This block 347 has a telescopic cylinder 49 parallel to the arm. The piston (
The piston rod 51 of the secondary arm 43 is made to protrude from the secondary arm 43, and the piston rod 51 and the flange 46 are connected to the pin 52.
When the arm is attached, the arm body 41 is extended and contracted by the operation of the telescopic cylinder 49.

the rotational phase of the rotary actuator δ;

That is, to detect the turning angle of the arm body 41.

A rotary encoder 54 is provided at the upper end of the rotary actuator 5 via a bracket 53, and a pinion 55 of the encoder is meshed with an internal gear 56 provided on the periphery of the turning table 40 to detect the rotation angle of the arm body 410. There is.

A guide rod 58 is provided on flanges 45 and 46 provided at the front and rear of the sub-arm 43, and is parallel to the sub-arm and inserted into a through hole 57 provided in the main arm 42 so as to be freely movable.
Furthermore, a plurality of pipes 59.59 are provided at positions surrounding the telescopic cylinder 49 within the sub-arm 43 to prevent and reinforce the rotation of the reed and sub-arm 43. It is installed at the tip and used as piping for control signal lines, power lines, etc. to the grip mechanism with a joint structure.

Two passages 60 supplying hydraulic pressure to the block 47 provided at the bottom of the main arm 42 to extend and retract the arm body 41.
．． 61, one passage 60 is connected to the telescopic cylinder 49, and the other passage 61 is connected to an oil pipe 92 which is parallel to the telescopic cylinder 49 and opens in front of the piston connection, and is provided in the block 47. A hydraulic pressure supply vibro 3.64 is provided on each base, and the upper base of an oil feed vibro 5, 66 provided vertically penetrating inside the rotation stopper guide 31 is connected to the hydraulic pressure supply vibro 3.64. There is.

In addition, in order to detect the amount of expansion and contraction of the arm body 41, the main arm 4
A rotary encoder 67 is provided near the tip of 2,
The pinion 68 of the encoder is connected to the rack 6 between the guide rods.
The rotary encoder is driven by the s movement of the sub arm 43.

Referring to FIGS. 9 and 10, a grip mechanism for gripping a workpiece is provided at the tip of a sub-arm 43 that constitutes a part of the arm body 41. A swinging arm 76 is superimposed on the tip of the joint arm J-75 fixed to the 7-lunge 46 of the sub arm 43, with the tip of the arm sandwiched therebetween.

Both arms are connected by a hinge pin 77 so that the swinging arm 76 can perform reverse swinging motion around the hinge pin 77. A step motor 78 equipped with a rotary encoder is provided in the articulated arm 75, and a worm gear 80 provided on the drive shaft of the step motor is meshed with a worm wheel 81 of the hinge pin 77 to drive the step motor 78. The swinging arm 76 is caused to make a oscillating motion by rotating the connecting member 8 provided on the drive shaft of the motor 9.
Gritsuba 84 is attached to 3 in a replaceable manner.

The gripper 84 is capable of performing a reversing motion, which is a torsional motion. In the drawings, the gripper 84 is shown as one that suctions and conveys the processed material using a vacuum suction tool 85, but instead of these, a mechanical grit mechanism or a suction type gripper using a magnet may be used.

Further, referring to FIG. 11, a motor 90 and a hydraulic pump 91 are provided on the bottom wall located behind the guide 22 provided in the housing 2o, and the two are connected by a coupling 92. The pressurized oil is supplied to the cylinders used in this equipment. That is, although the piping method is not shown, the lifting cylinder 27 moves up and down the arm body 41 including the rotary actuator 5.
゜Pressure oil generated by the hydraulic pump 91 is supplied to the rotary actuator section that rotates the arm body 41 and the telescopic cylinder 49 that extends and contracts the arm body 41 within the housing.
The oil is distributed and supplied through a control valve mechanism 93 provided on a pair of hydraulic pumps 91, respectively.

Furthermore, a computer box 95 for controlling all operations of the apparatus is installed inside the housing, and this computer box 95 has a built-in microcomputer.

Control panel 96 formed on the rear wall of the housing mark
The computer box 95 is provided with operation buttons (not shown) for operating the apparatus, and is connected to a teaching pendant 978 which serves as a controller for remotely teaching and inputting work procedures for the transport apparatus.

Referring to FIGS. 12 and 13, a teaching pendant 97 is equipped with a cord 98 for connection to the computer box 95, and is provided with a character display 99 and an input keyboard 100 for displaying teaching contents in characters above. The keyboard displays the operation contents of each mechanism on the right side, and keys for selecting operations and editing functions are arranged on the left side, as well as a character display 99 and a keyboard 100.
An emergency stop button 101. A RESET button 102 is provided between the emergency stop button 101. Further, a hanging plate 104 having a retaining hole 103 for retaining the teaching pendant 97 to the housing 2° is formed.

To memorize the operation details using this teaching pendant 9, first, when the power is turned on, the display will display "Set", so press MANUAL INCH, and the display will display " The message "Sudunite Gentenfutsuki Seyo" appears.

Then, use the right operation button to return each mechanism to its original position. In other words, GRIP is performed by supplying and releasing air to the gripper 84 provided at the tip of the swinging arm 76.

UP, m is the lifting and lowering movement of the arm body 41, ' OUT
, IN is the expansion and contraction movement of the arm body 41, ROTAT
ION rotates the arm body 41, and WRlST rotates the swing arm 76. After confirming that each mechanism has returned to its original position by operating these keys, the IT
When you press EM NUMBER, display 1 changes to "Kioku Bunch City Seyo".

Next, press MEMORY INCR to display the memory that can be stored. Then, by pressing the above-mentioned right-hand operation key, the user sequentially teaches each mechanism the desired operation. In this case, first TEACHIN
Press 9 and then divine the operation keys. After teaching the movement of 1 step, press TEACH0VER and the display will show "Kioku Dosa Junbi OKJ".

So, if you press ONE 5TEP to confirm that the movements you have entered so far are in the desired order, each movement you have entered so far will be performed one by one, so the 3° lay will be "One Step Sequence". 1 until it is displayed.
Press ONE 5TEP for each operation. When all the input movements have been completed, the display will show "One step completion", so if you press 9 and then 匪P廓, this time the movement you have input so far will be performed one step continuously and the display will be displayed. "Untenjunbikanryo?"
is displayed.

If the one-stroke operation described above is the desired operation.

Press REPTtT again and the display will show “Lanten O”.
KJ will be displayed to indicate that it is ready to drive, so
A control panel 96 provided on the housing. Press the 5TART button to begin work operation. When the device is in continuous operation, the display shows rRUNJ.

Furthermore, it is possible to change part of the work content during the teaching operation of the work content described above, or to insert a new action in the middle of two tasks.

Furthermore, when continuous operation is started, the number of strokes is detected by a counter, and the conveyance device is stopped when a predetermined work is completed.

The computer drives the motor 90 based on commands from the teaching pendant 97, and when the motor 90 is operated,
Hydraulic pump 91 is driven to supply the desired reel actuator. That is, when pressure oil is supplied to the lifting cylinder 27, the piston rod 29 moves up and down, so that the arm body 4
A rotary actuator 5 supporting the rotary actuator 1 moves up and down.

Further, when pressure oil is supplied to the rotary actuator 5, the turning table 40 horizontally rotates about the output shaft 26, and the arm body 41 turns left and right.

Furthermore, when pressure oil is supplied to the telescopic cylinder 49, the sub arm 43 moves in and out of the main arm 42, and the swinging arm 7 including the gripper 84 at the tip of the arm body 41
5 moves back and forth.

Additionally, according to instructions from the computer, a step motor 78 installed in the articulated arm 75 and another step motor 82 installed in the swinging arm 76 perform swinging and twisting operations of the grip 84, and these actions are integrated. The arm body and the grip mechanism are made to make desired movements to automatically convey the processed material.

As explained above, according to the present invention, the actuating section 9 of the material feeding device. The drive unit and control unit are housed in separate blocks within the same housing.

Not only can the entire device be made compact, but also the press operation can be made more efficient and labor-saving by operating in synchronization with the press machine.

[Brief explanation of the drawing]

FIG. 1 is a side view showing the entire conveying device of the present invention, and FIG.
The figure is a plan view of the same, and FIG. 8 is a front view of the same. Figure 4 is a back side view of the same, Figure 5 is a cross-sectional view of the Uzing,
Fig. 6 is a cross-sectional view of the central part of the arm body, Fig. 7 is a cross-sectional view of the base of the arm body, Fig. 8 is a cross-sectional view taken along line 8-8 in Fig. 6,
Figure 9 d is a plan view of the swing arm, Figure 10 is Figure 9 10-
11 is a sectional view taken along line 11-11 in FIG. 5, FIG. 12 is a perspective view of the teaching box, and FIG.
Figure 3 is the same plan view. 20... Housing 76... Swinging arm 5... Rotary actuator 78.82... Step motor 27... Lifting cylinder 84...
・Grip 41...Arm body 95...Computer box 49...Extension cylinder 97...
Teaching Pendant Patent Applicant: AIDA Engineering Co., Ltd. Representative Patent Attorney: Nakayama
Kiyoshi (and 1 other person) Figure 72

Claims (2)

[Claims] (1) a housing, a lifting mechanism provided vertically on the housing, a rotating mechanism supported by the lifting mechanism, and an extendable arm body provided horizontally on the rotating mechanism;
The arm body includes a telescopic mechanism provided in the arm body, a grip portion provided at one end of the arm body capable of swinging and twisting movements, and a swinging and twisting movement mechanism provided in the grip portion. Along with. A computer box containing a computer for operating and controlling each of the mechanisms is installed in the housing, and a teaching pendant is connected to the computer to teach the computer the work contents of each mechanism of the conveying device and input the work contents. A press processing material conveying device characterized by the following: (2) The teaching pendant has a character display that displays operating procedures in text and an input keyboard, and teaches work contents to each mechanism of the conveyance device through the keyboard based on the operating procedures displayed on the character display. input data into the computer sequentially as the screen moves. 2. The press processing material conveyance apparatus according to claim 1, wherein each of the mechanisms is operated repeatedly according to an input program.