JPS5988273A - Machining system with industrial robot - 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] This invention provides an industrial robot systemized by combining an industrial robot, a machine tool such as a bending machine, a work positioner, a mold support 'JAN, and a grip part support device. 1-Regarding the Canidistem.

An object of the present invention is to provide a cutting system having a T-collection robot 1 which automatically processes workpieces and replaces molds and has high work efficiency.

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in Fig. 1, industrial [1 bot 3
, machine tool 5, work supply device 7, work positioner 9
, a workpiece re-gripping device 11, a mold rack 13 as a mold support device, and a handle rack 15 as a gripping portion support device are fixed. A control device 17 and a workpiece mounting table 19 are provided outside the base 1.

The industrial robot 3 has a lifting section 21 (J) in FIGS. 2 and 3. It has a rotating part 22, an extendable part 23, a head rotating part 25, a swinging part 27, and a mounting plate rotating part 29.

In the elevating part 21, as shown in FIG. 4, an elevating part outer cylinder 33 is provided upright on an elevating part base 31, and an opening 33a is formed in one side of the elevating part outer cylinder 33 by the elevating part outer cylinder 33. (See Figure 5). At the center of the elevating part outer cylinder 33, there is a four-part screw shaft 3 rotatably supported with respect to the elevating part base 31.
5 is provided. An elevating portion nut 37 is screwed onto the elevating portion screw shaft 35 . On the other hand, inside the elevating section outer cylinder 33, an elevating inner cylinder 39 is provided so as to be movable up and down. IM inside the elevator
On the inside of the lower part of 139, there is a roughly disc-shaped lifting inner tube (= 1 plate 4
1 is integrally bridged, and the elevating inner cylinder mounting plate 41 is screwed to the elevating part)--butt 37.

A pair of field R group guide blocks 43 erected on the elevating portion base 31 are fitted inside the elevating inner cylinder 39 . The outer side 43a of the elevating section guide block 43 is formed to correspond to the elevating inner cylinder 39 shown in FIG. Lifting inner cylinder 3
An elevating inner cylinder guide groove 398h is provided on the outer surface of the elevating portion outer cylinder 9, and a convex portion 33b protruding from the inside of the elevating portion outer cylinder 33 is fitted into the back elevating inner cylinder guide groove 39a. The elevating portion base 31 is provided with an elevating portion pulse motor 45. is supported, and the drive shaft 45a of the elevating part pulse motor 45 and the elevating part helical shaft 35 are interlocked with each other by a timing belt 47. 49 is a damper. Therefore, the forward and reverse drive of the pulse motor 45 leads to the drive shaft 45a and the timing bell 1 to the 41
The elevating portion screw shaft 35 is rotated in forward and reverse directions, and this forward and reverse rotation causes the elevating portion nut 37 to rise and fall along the elevating portion screw shaft 35, and the elevating inner cylinder 39 to move up and down. When the elevating inner tube 39 moves up and down, the elevating section guide block 43 and the convex portion 33b guide and support the elevating inner tube 39 from the inside and outside.

The swivel section 22 has a swivel section housing 51 having a dimension f of 1 in the elevating inner cylinder 39 of the elevating section 21 . A revolving part pulse motor 5 is provided at the lower end of the revolving part housing 51.
3 is attached, and a drive shaft 53a of the swing part pulse motor 53 is provided to protrude inside the swing housing 51.

On the other hand, a rotating block 5 is provided on the inner periphery of the rotating portion housing 51.
5 is a drive shaft 53a via a cross roller bearing 57
The swing block 55 is supported so as to be able to turn around the drive shaft 53a, and the swing block 55 is configured to be interlocked with the drive shaft 53a via a reduction gear device 59.

A turning plate 61 is fixed to the turning block 55. By driving the rotating part pulse motor 53,
The swing play 1-61 swings around the axis of the drive shaft 53a via the drive shaft 53a, the speed reducer 59, and the swing block 55.

The telescopic part 23 is J in FIGS. 8 and 9: Sea urchin turning part 22
It has an extendable part base 63 fixed to a pivot plate 61 of. A telescopic part bracket 65 is attached to the telescopic part base 63.
A telescopic part nut 67 is fixed via the. The telescopic part nut 67 has a telescopic part screw shaft 69 having an axis in a substantially horizontal direction.
are screwed together, and the telescopic portion screw shaft 69 is rotatably supported within the telescopic portion outer cylinder 71 arranged approximately horizontally. The telescopic part outer cylinder 71 is slidable (3) with respect to the telescopic part bracket 65.
: Supported. A telescopic part pulse motor 73 is attached to one end side of the telescopic part outer cylinder 71. J: It is configured to be interlocked.Therefore, by forward and reverse driving of the telescopic part pulse motor 73, the telescopic part screw shaft 6 is connected via the drive shaft 73a1 and the timing bell 1-75.
9 is rotated in forward and reverse directions, and the telescopic part screw shaft 69 extends and contracts in the left-right direction in FIG. 8 with respect to the telescopic part nut 67. Due to the telescopic movement of the telescopic portion screw shaft 69, the telescopic portion outside 1n71 is telescopically moved in the Jril direction.

The head rotation part 25 is J in FIG.
It has a head rotation part base 77 fixed to 1. The head rotation unit base 77 is formed in a hollow shape, and a hollow head rotation unit 79 is rotatably supported inside. - A hollow head rotating tube 81 is rotatably supported within the tip side of the head rotating section base 77, and a head rotating plate 83 is attached to the tip of the head rotating tube 81. The head rotation λ cylinder 81 is configured to be interlocked with the seven head rotating shafts via a reduction gear device 85. Further, a head rotation part pulse motor 87 is attached to the telescopic part outer cylinder 71.
], and the drive shaft 8 of the head rotating part pulse motor 87
7a and the head rotating shaft 79 are interlocked by a timing belt 89.

Therefore, the drive shaft 87a, timing belt 89, head rotation shaft 79,
The head rotation play 1 83 rotates in forward and reverse directions via the deceleration device 85 and the head rotation WI 81.

The oscillating portion 27 has a oscillating portion base 91 attached to the head rotating plate 83 as shown in FIG. The head rotation play 1-83 is mounted on the swing part base 91.
A swing center axis 93 that is substantially perpendicular to the rotation center of the swing center shaft 93 is rotatably supported, and swing blocks 95a, 9 are provided at both ends of the swing center axis 93 and are concentric with the swing center axis 93.
5b is rotatably supported. Swing block 95
A is configured to be interlocked with the swinging center shaft 93 via a speed reduction device 97. A swinging arm 99 is fixed to the swinging block 95a, 951).
A swinging play 1-101 is fixed to the tip of the ball 9. On the other hand, 1) the head rotating part 25 is attached to the center part of the head rotating tube 81 of the closed head rotating part 25 (the vertical drive shaft 10
3 is rotatably supported, and the swing drive shaft 103
The proximal end side of is rotatably supported by the telescopic portion outer cylinder 71. The tip side of the swing drive shaft 103 is Bebergie S710
It is configured to be linked to the swing center @ 93 via 5. A swing pulse motor 107 is attached to the extendable outer cylinder 71 on the base end side of the swing drive shaft 103, and the drive shaft 107a of the neck shooting pulse motor 107 and the swing drive shaft 103 are connected to a timing belt. 109 and 109. Therefore, the drive shaft 107a and the timing bell 109 are connected by the forward and reverse drive of the oscillating pulse motor 107.
, the oscillating drive shaft '103, the bevel gear 105, the oscillating center shaft 93, the speed reducer 97, and the oscillating block 95a. The swinging motion is made in the direction of σ, and along with this, the swinging play +−i o i moves in the same direction.

The mounting plate rotation part 29 is fixed to the swinging plate 101 (J in FIG. 12) and has a hollow mounting plate 1.
- has a base 111. Mounting play 1 to base 11
A rotary shaft 113 is rotatably supported on the base side of the plate 1, and a concentric mounting plate rotary cylinder 115 is rotatably supported on the tip side. Ru. On the base end side of the mounting plate rotating shaft 113, a pulse motor 117 is installed in the swing replays 1 to 101. The drive shaft 117a of 117 and the mounting plate rotating shaft 113 are interlocked by a timing belt 119. The mounting plate 1-rotating shaft 113 and the mounting plate rotating cylinder 115 are interlocked via a speed reduction device 121. A mounting plate 123 is attached to the distal end side of the mounting plate rotating cylinder 115. Therefore, the forward and reverse drive of the four-plate rotation part pulse motor 117 causes the drive shaft 117a, timing belt 119, mounting plate rotation shaft 113, reduction gear 121. The mounting plate is removed via the rotating cylinder 115 (=I brake 1-123 rotates forward and backward).

13 to 16 show the chuck 125 that is attached to the mounting plate h 123 of the industrial robot 3. The chuck 125 has a chuck hole 127 in the center, and pressure chambers 129 are formed above and below the chuck hole 127, respectively. The pressure chamber 129 is divided into an extension side pressure chamber 129a and a contraction side pressure chamber 129b by a screw 131, and each is connected to a fluid supply/discharge device (not shown) via hoses 133a and 133b. Bis 1-131
A clamp J-1 portion 135 is provided on the side of the chuck hole 127 and is slidably supported by a rotation hole 137 communicating with the chuck hole 127. When fluid is supplied to the extension side pressure v129a through 133a, the screw 131 slides toward the chuck hole 127, and the clamping portion 135 protrudes into the chuck hole 127 as shown in FIG. Conversely, if fluid is supplied from the fluid supply IJ1 device to the contraction side pressure chamber 129b via the hose 133t+, the opposite action will occur and the clamping portion 135 will sink into the first movement hole 137. A valve hole 1/I3 is opened in the feeding surface 141 of 1255, and a valve hole 143 is opened in the small space 145.
It is connected to a fluid supply/discharge device d (not shown) via. Check ball 1 is inserted into the valve hole 143 from inside the check 125.
47 is abutted, and the check ball 147 is urged toward the valve hole 143 by the spring 149 (=l force).

Inside the valve hole 143 is a slider 1 that covers an axial groove around the periphery.
51 is fitted in a state where it is in contact with the check ball 147. 153 is the gasket, 155 is the position 1 hole C
be.

17 to 20 show a lower die hand 157 that is selectively attached to and detached from the chuck 125. Lower hand 157
has a lower band bouncing 159, and a 1XJ hand support shaft 16 is installed in the width direction in the lower band bousing 159 and is attached in the longitudinal direction of the T-collection robot 3.
1 is provided. A pair of clamping hands 163 whose tips protrude from the tip side of the lower band bousing 159 are attached to the hand support shaft 151 .
It is supported so that it can move freely in the width direction. Clamping hand 16
A spring receiver 165a which is erected on the other side (right side in Figure 18) is integrally provided at the 11th corner of 3 (left side in Figure 18), and a clamping hand 165a on the other side (right side in Figure 18) 163 has a spring receiver 165h erected on one side (left side in Fig. 18).
are built in one piece. Both spring retainers 1. 'j165a
, 165b] is interposed with a spring 167. Therefore, when both clamping hands 163 slide in the direction away from each other, both clamping hands 163 move toward each other due to the elasticity of the coil spring 167! is urged in the direction of approaching the surface. A clamping protrusion 169 is provided protruding from a surface facing the distal end of the clamping hand 163 . Clamping hand 16317) A cam 171 is provided protruding from the opposing surface inside the housing. Is the cam 171 facing downward? They are formed so as to be inclined so as to be spaced apart from each other by 7. On the other hand, lower band bouncing 159
A hand cylinder 173' is provided at the bottom of the
The hand cylinder 173 has hand screws 1 to 1 that can come out and go out.
75. A frame-shaped support 177 is attached to the tips of the hand screws 1 to 175, and the support 17
A roller 17 that abuts between the two cams 171 is located in the middle of the
9 is rotatably supported. A top hand 183 is attached to the top of the support body 177 via a bolt 181, and the top hand 183 is attached to the lower band bousing 1.
J protruding from the tip side of 59: Extends to the sea urchin. A top hand guide sleeve 185 is vertically provided in the middle of the top hand 183, and the top hand guide sleeve 185 is slidably supported by a guide boss 187 provided in the lower band bousing 159. Therefore, J
: The double-edged arm 171 moves in a direction away from each other against the coil spring 167 via the support member 177 and the wheel 179, and the clamping hand 163 is moved away from the other. At the same time, the top hand 18 is connected to the support body 177 and the long bolt 181.
3 goes up. Conversely, as the hand screw 1-175 descends, the clamping node 163 approaches, and the 10-piece hand 183 continues to descend.

A chuck 125 is attached to the base end side of the lower band bousing 159.
A mounting piece 189 that is supported by the chuck hole 127 is provided in a protruding manner. Further, a communication hole 191 that communicates with a pressure chamber (not shown) of the hand cylinder 173 is formed on the base side of the lower hand cylinder 159, and the communication hole 191 is in a state where the inside and outside of the communication hole 191 can communicate with each other. Hollow communicating bottle 1
93 units have been installed. One end of the communication pin 193 is protruded from the proximal end side of the striped lower band bousing 159, and the removable piece 189 is inserted into the hole 1 of the chuck 125.
27 (when pulled, the slider 151 on the chuck 125 side is pressed against the spring 149) A fluid supply/discharge device (not shown) and a pressure chamber of the hand cylinder 173 of the lower mold hand 157 are communicated via the fluid supply/discharge device 191 .

195 is a positioning pin that fits into the positioning hole 55 on the chuck 125 side. A plurality of hand support bins 197 for supporting the handle rack 15 are protruded from both sides of the lower band bousing 159 in the width direction.

FIG. 21 shows the upper mold hand 199 and the lower mold hand 157.
The individual configurations are substantially the same as those of the lower die hand 157, and the lower mold hand 157 has a configuration that is substantially upside down.

In place of the top hand 1830 of the lower mold hand 157, a lower hand 201 is provided. In addition, lower mold hand 1
Components that are the same as those of 57 are designated by the same reference numerals and their explanations will be omitted.

22 to 25 selectively attach to the chuck 125; 1
;(C shows the work hand 203 to be processed.

The work hand 203 has a work hand frame 207 with a work support portion 205 on the tip side.

In the work hand frame 207, guide rods 209 extending from the distal end side to the proximal end side are arranged in parallel in the width direction.

A sliding bracket 211 is slidably attached to the guide 209, and a lower part of the intermediate link 213 is rotatably supported on the upper part of the sliding bracket 211.

On the other hand, the tip of the work hand frame 207 is attached to the work support part 2.
Approaching 05, bowing J: Sea urchin pressing arm 21
5 is rotatably supported in the intermediate portion thereof. T and L on both sides of the base end of the pressing arm 215
The upper end of 3 is rotatably supported. A work hand cylinder device 21 is provided at the lower end of the sliding bracket 211.
7 is installed [). A flange portion 219 is provided at the tip of the piston rod 217a of the work hand cylinder device 217, and is disposed between the contact walls 223a and 223b of the reaction block 221 fixed to the tip side of the work hand frame 207 from the flange portion 219t. ing. The contact walls 223a, 223b are brought into contact with the flange portion 219 to restrict movement. Note that the same components in the work hand as those in the lower die hand are designated by the same reference numerals, and a description thereof will be omitted. When the piston rod 217a of the work hand cylinder device 217 extends, the flange portion 219 of the work hand 203 comes into contact with the contact wall 223a on the distal end side, and after the contact, the work hand cylinder device 217 itself moves toward the proximal end side due to the reaction force. Moving. This movement causes the sliding bracket h 211 to move along the guide rod 209 1. ! The pressing arm 215 moves to the end side and presses the pressing arm 215 via the intermediate link 213.
The proximal end of the body is pushed up. Therefore, the pressing arm 215 rotates in the direction indicated by the arrow in FIG.
Approach the 5th side so that it touches the 5th side. If the screw I/rod 217a is retracted from this state, the flange portion 219 will come into contact with the abutment wall 223b on the proximal end side, as shown by the chain line in FIG. 22, and the work hand cylinder device 217 itself will be moved toward the distal end side. 1! Ru. Therefore, contrary to the above, the pressing arm 21
5 rotates so that its tip is removed from the workpiece support part 205 by 1tllll. Therefore, "the workpiece is placed between the workpiece support part 205 and the pressing arm 215, or between the contact wall 222.
3a and the flange portion 209. .

The T machine tool 5 is a bending machine that bends a plate-shaped workpiece (described later) between a lower mold 225 and an upper mold 227.

The work supply device 7 is shown in FIGS. 26, 27, and 2.
As shown in FIG. 8, it has a workpiece supply device outer cylinder 231 erected on a workpiece supply device base 229. A workpiece supplying device inner cylinder 233 whose tip end protrudes from the top of the workpiece supplying device screw 231 is supported by the workpiece supplying device outer cylinder 231 so as to be movable up and down. Work supply device inner cylinder 233
At the lower end of the feeder screw 1-rod 2 of the feeder cylinder 235 provided in the outer cylinder 231 of the workpiece feeder.
37 are connected. The extension side pressure chamber (not shown) and the contraction side pressure chamber (not shown) of the supply device cylinder 235 are supplied with fluid through hoses 239a and 239b.
! It is connected between i. An arm support shaft 241 is erected at the top of the inner cylinder 233 of the work supply device, and the supply arm 243 is supported by the arm support shaft 241 so as to be freely rotatable in the horizontal direction. The supply arm 243 has a supply arm 2 at its tip.
43, a suction arm support shaft 2715 hangs down, and a plurality of suction arms 247 extending in the direction of the outlet port 1 are fixed to the lower end of the suction arm support shaft 245. At the tip of each suction arm 247, a suction member 24 is attached.
9 is provided. Each suction part 249 is connected to the hose 2
51, each is connected to a suction device, and a plate-shaped workpiece (described later) is suctioned and supported by the suction of the suction device.
It is. On the other hand, sprockets 1-2 and 53 having the same diameter are fixed to the arm support shaft 241 and the suction arm support shaft 245, and a chain 255 is wound around both sprockets 253. A swing drive cylinder device 257 fixed to the supply arm 243 is interposed on the chain 255 .

The swing drive cylinder device 257 has pressure chambers formed on both sides of a swing drive piston (not shown) provided therein. The swing drive screws I/N fixed on both sides of the swing drive piston are each connected to a chain 25.
It is connected to the end of 5. 263 is a tension adjustment device iH that adjusts the tension of the chain 255. Therefore, if fluid is supplied from the fluid supply device to the extension side pressure chamber or contraction side pressure chamber of the supply device cylinder 235 via the hose 239a or 239b, the supply screws 1 to 2
37, the supply arm 243 is raised and lowered via the workpiece supply device inner cylinder 233 and the arm support shaft 241. In addition, during the supply of fluid to both pressure chambers of the swing drive cylinder fiX257, the swing drive screw 1 rods 259 and 261 alternately appear and retract, and the supply arm 243 is passed through the chain 255 and the sprocket 253 to the supply arm 243. rotates forward and backward 11 times around the arm support shaft 241, and the suction arm 247 rotates around the suction arm support shaft 245.
The supply arm 243 rotates forward and backward in a direction opposite to that of the supply arm 243 . At this time, the rotation angle of the supply arm 243 and the suction arm 2
The rotation angles of 47 are approximately the same.

The workpiece positioner 9 has a substantially rectangular position table 267 on a position base 265, as shown in FIGS. 1, 29, and 30. Also, the position base 265 has a position table 267.
J: A support frame 269 is attached to the lower position of the rim.

On the other hand, a position roller 2 is placed in one corner of the position table 267 along one side edge of the position table 267.
70a, 270, and b are provided. position [l
- The rollers 27Qa and 270b are slightly protruded from the table surface of the position table 267, and
One side of the workpiece 67-1- is placed on the position table 267
There is a guide along one side edge of the holder. One position roller 270a is connected to the first XL "1 section block [1 section 27
1, and the first adjustment block 271 is screwed into a first adjustment screw 273 attached to the support frame 269 side. Therefore, by adjusting the rotation of the first adjusting screw 273, one position roller 270a can be moved toward or away from one side edge of the position table 267 via the first adjusting block 271. Similarly, the other position roller 270b is adjusted to the second adjustment block 27.
5, and the second adjustment block 275 is screwed into a second adjustment screw 277 attached to the support frame 269 side. Therefore, the position of the other position roller 270b can also be changed in the same direction as the one position roller 270a. The other side edge perpendicular to one side edge of the position table 267 is provided with a positioning protrusion 279 that receives and stops the work guided by the position rollers 270a and 270b. - height, and has a predetermined distance from the other side edge of the position table 267. The positioning protrusion 279 is connected to the third adjustment block 28
1 and is screwed into the third adjustment screw 283. Therefore, the positioning protrusion 279
Position table 2 is created in substantially the same way as 0a and 270b.
The position can be changed toward or away from the other side edge of 67. The support frame 2691- has an IQ positioning cylinder device 28 at one corner of the positive control table 267.
5 is provided. Is the positioning cylinder device 285 support 1? The i frame 269 J is fixed to a cylinder support arm 287 supported in a substantially horizontal direction at a rotation angle i, and the positioning protrusions 2 such as the position rollers 270a and 270h
79 in a substantially diagonal direction of the position table 267. A spring receiver IJ pin 289 is suspended from the cylinder support arm 287, and the fourth adjustment screw 2 attached to the support frame 269 side includes the spring receiver GJ pin 289.
A spring 293 is interposed between the cylinder support arm 287 and the cylinder support arm 287 to bias the positioning cylinder device 285 in the substantially diagonal direction. (fl On the upper side of the positioning cylinder device 285, there is a movable plate 2 connected to the piston rod 295 of the positioning cylinder device 285.
97 is provided. Both sides of the movable plate 2970 are supported by guide rollers 299 attached to a cylinder support arm 297 (J in FIG. 31). Movable plate 29
The lower part of the cylinder device 301 is supported rotatably in the direction of expansion and contraction of the screw rod 295.

The base of the lower clamping arm 303 is integrally attached to the rotating support part of the clamping cylinder device 3010, and the upper clamping arm 30 is attached to the middle part of the lower clamping arm 303.
5 legs 305a are rotatably supported. 307 is a stopper that restricts rotation of the leg 305a. The tip side of the upper clamping arm 305 is connected to the lower clamping arm F [arm 303
The rear end side is opposed to the piston rod 301a of the compression cylinder device 301. 309a
, 309b are the first adjustment blocks 271. This is a sensor supported by the second adjustment block 275. Therefore, when a workpiece is supplied onto the position table 267 and its negative side comes into contact with the position rollers 270a and 270b, one side of the workpiece is positioned on the lower holding arm 303 and the sensor 309a senses the workpiece. Upon detection by the sensor 309a, the piston rod 301a of the clamping cylinder device 301 expands, and the rear end side of the negative side clamping arm 305 is ground. Therefore, one side of the workpiece is supported by pinching between the upper and lower pinching arms 303 and 305. The piston rod 295 of the positioning cylinder device 285 then extends and the workpiece is pulled through the lower clamping arm 303,305. Due to this tension of the workpiece, one side of the C workpiece is pressed against the position rollers 270a and 270b,
A component of force moves in the direction along the position rollers 270a and 270b on the workpiece. This force causes the workpiece to move toward the positioning protrusion 279, and the position at which it abuts against the positioning protrusion 279 is determined. When moving the workpiece, the positioning cylinder device 285 moves in the direction of movement of the workpiece through rotation of the cylinder support arm 287 against the spring 293. When the position 1a of the workpiece is determined, the sensor 3
09b senses, the screw 1- of the clamping cylinder device 301
When the locking rod 301a is retracted, the - side clamping arm 305 rotates to lower its rear end. Due to this rotation, the lower part of the leg 305a of the upper clamping arm 305 is pushed away from the collar 307 as shown by the chain line in FIG. The two lower clamping arms 303 and 305 are centered around the rotating support part of the clamping cylinder unit 301 so that the two lower clamping arms 303 and 305 descend together. .305 is #J? Ill. This rotation causes the leg 305a of the 1-side pinching arm 305 to
It is regulated by coming into contact with 07. Therefore, the surface of the tip of the lower clamping arm 303 is on the position table 26.
The upper and lower clamping arms 303.
The clamping support of the workpiece by 305 is released. 4T oh
When clamping and supporting a workpiece, use the - side clamping arm 30.
5 is positioned in contact with the stopper 307, and the lower clamping arm 303 rotates on its back so as to clamp the workpiece, so that the workpiece does not bend due to clamping support. When the clamping support of the workpiece is released, the positioning cylinder device 285 is restored to the state shown in FIG. 29 by the bias of the spring 293.

As shown in FIGS. 32 and 33, the workpiece re-gripping device 11 has a re-gripping housing 313 on a re-gripping base 311. In the regripping housing 313, the middle part of the regripping arm 315 facing downwardly is connected to the regripping housing 313.
It is supported rotatably in the direction opposite to N1.

The tip side of the regrip arm 315 is the regrip housing 3
13 protrudes outside, and grips and presses on the opposite side of the tip 31
5a is provided protrudingly. One end of a curved intermediate arm 317 is rotatably connected to the proximal end of the gripping arm 315, and the other end of the intermediate arm 317 is rotatably connected to a pin 319. A sliding body 321 rotatably supported within the housing 313 is attached to both ends of the pin 319.

Also, a connecting bracket 323 is attached to the bin 319 [
is being pulled. On the other hand, a regrip cylinder device 315 supported by a regrip housing 313 is provided between the regrip arms 315 . The screws 1 to 325a of the regripping cylinder device 325 are screwed to the connection plackets 1 to 323.
Due to the extension of Henrod 325a, J: is the connection bracket h.
323, the bottle 319 is guided by the sliding body 321 and moves to position 1a as shown by the chain line in FIG. pin 319
This movement causes the intermediate arm 317 to pivot around the bin 319 as shown by the chain line in FIG. This rotation of the intermediate arm 317 draws the proximal ends of both gripping arms 315 toward the opposite open side, and the gripping arm 313 rotates and the gripping and pressing parts 315a of the gripping arms 315 mutually press the bean paste 1. Contrary. Conversely, when the screw rod 325a contracts, the gripping and pressing portions 315a come into contact with each other due to the opposite effect.

As shown in FIGS. 34 and 35, the mold rack 13 has a rack housing 329 on a rack base 327. Ejection openings 331 are formed at two locations on the front surface of the rack housing 329. rack base 3
27, a lower mold rack 333 and a "-" mold rack 335 are provided within the rack housing 329.

The lower mold rack 333 and the upper mold rack 335 have a substantially cylindrical shape, and driven shafts 333a and 335a are fixed to their lower ends. The driven shafts 333a and 335a are connected to the rack base 327.
is rotatably supported. On the other hand, Rack Base 327
A rack pulse motor 339 is supported via a septa bracket 337, and the rack pulse motor 339
As shown in FIG.
41 are interlocked by -b τ. Therefore, the rack pulse motor 339 is driven by the lower rack 333. Jl type rack 335 rotates 1°. A plurality of rack parts 343 are arranged around the outer periphery of the lower die rack 333 as shown in FIG.

As shown in FIG. 39, a plurality of rack portions 345 are also arranged on the outer periphery of the upper mold rack 335, and each rack portion 345 removably supports a plurality of types of small-sized −L shapes 227.

The handle 15 is not shown in FIGS. 40 and 41.
In other words, a plurality of hand support parts 349 are provided on the handle base 347. The hand support portion 349 has a relative orientation 1
At the upper part of each support wall 35) 1, on the opposite side, a pair of retainers 11: intermediate portions of pieces 353 are rotatable in the direction along the support wall 351, respectively. The locking piece 353 has a bell crank shape,
The tips are configured to rotate in directions away from each other from the upright state as shown in FIG. 40. Locking piece 3
The lower end side of 53 is connected to the support wall 351 via a vertical spring 355. Therefore, for example, if the hand support pin 197 of the lower hand 157 is placed against the tip of the locking piece 353 and pushed in, the lock 11: piece 353 will open against the spring 355 and the hand support pin 197 will be locked to the locking piece 353. be done. The lower hand 157 is the 41st
It is supported by a hand support section 349 as shown in the figure. Upper die hand 199 and work hand 203 are supported in the same way.

The control device 17 controls the I-type pots 1-3, the machine tool 5, the work supply device 7, the work positioner 9, the workpiece re-gripping device 11, and the mold rack 13 according to a predetermined program. It is automatically controlled.

It is also possible to operate each part separately using the control device 17. The workpiece mounting table 19 is arranged adjacent to the workpiece supply device 7, and a plurality of plate-shaped works W are placed thereon. In addition, 357 in FIG. 1 is a mud switch that turns off the power when the worker stands on it, and 359 is a cover for a harness (not shown) of the T-riding vehicle [1/3].

Next, the addition process will be explained.

When a command is issued by operating the control device 17, the supply arm 243 of the workpiece supplying device 7 rotates and the suction arm 247 picks up the workpiece W on the workpiece mounting table 19 according to a preset program. Place 16 above. At this position, the inner cylinder 233 of the workpiece supply device is released, and the workpiece W is attracted to the suction arm 247.

Next, the work supply device n233 is fed once again, and the supply arm 243 rotates toward the work positioner 9 to supply the work W to the position table 267-1. In this case, as the supply arm 243 rotates, the suction arm 247
Since the workpiece W rotates once at the same angle in the direction opposite to the rotational direction of the supply arm 243, the workpiece W becomes in a state as if it were moved in parallel from the workpiece mounting table 19 onto the position table 267. On the position table 267, there are position rollers 270a, 2701) and position U, J determining protrusions 279.
niJ: The position can be determined by twisting.

When the workpiece W is positioned, the collection robots 1 to 3 selectively move the lifting section 21, the turning section 22, the telescopic section 23, the swinging section 27, the head rotating section 25, and the mounting plate rotating section 29). The work hand 20 is moved and supported by the chuck 125.
Between the work support part 205 and the pressing arm 215 of No. 3,
The position table 267 clamps the edge of the work W protruding from the ground toward the positioning protrusion 279 side. The industrial robot 3 again selectively moves the lifting section 21, the rotating section 22, etc.
The workpiece W is placed between the lower die 225 and the upper die 227 of the machine tool 5, and the workpiece W is placed between the lower die 225 and the upper die 227. Bending process [is performed. Next, the workpiece W is placed between the gripping arms 315 of the workpiece changing device 11 by the movement of the bot 3, and is held between the gripping arms 315. On the other hand, the work hand 203 is regrasped to a predetermined position different from the above due to the movement of the industrial robot 3.The workpiece W that has been regrasped is The lower die 2251 of the machine tool 5 due to the movement
．． 1 and the mold 227, and bending of the workpiece W is performed at a different portion from the above. The workpiece W that has been processed is placed on an industrial wagon (not shown) by the movement of the industrial wheels 1-3.

When replacing the lower mold 225 or 1!1!227,
Due to the movement of industrial robot 3, J: Zu work hand 2
03 to the empty hand support part 34 of the handbook 15
9 to support the work hand 203 while holding the chuck 125.
Makes me happy. Then, the lower die hand 157 or the upper die hand 199 is supported by the chuck 125 by the movement of the industrial bot 3. When this support is completed, the industrial robot 3 moves toward the machine tool 5 side, and moves the lower die 225 or the lower die 227 of the machine tool 5 in response to the supported lower die hand 157 or upper die hand 199. Grab either one as shown in Figure 17 or Figure 21. The lower mold 225 or the lower mold 227 gripped in this way is inserted from either of the take-out openings 331 of the mold rack 13 by the movement of the T-collection robot 3, and is inserted into either the lower mold rack 333 or the L-shaped rack 335. It is supported by rack parts 343 and 345.

With this support, the lower die 225 or the upper die 227 is removed from the lower die hand 157 or the tJ 10-type hand 199, and the movement of the industrial robots 1 to 3 causes the lower die 225 or the upper die 227 to be replaced with the lower die hand 157 or the 2-type hand 199. Lower mold 225 or upper mold 227
is supported and mounted on the machine tool 5 in the opposite manner to the above. Then, the work hand 203 is again exchanged and supported by the chuck 125, and the same bending process as described above is performed on the work W.

As is clear from the above, according to the configuration of the present invention, a machine tool, a work positioner, a mold support device, and a gripping portion support device are arranged around an industrial pot, so that processing of the workpiece and transfer to the machine tool is possible. Mold replacement can be done automatically and efficiently, improving work efficiency! It is possible to

Note that the present invention is not limited to the above-mentioned embodiments.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, with Fig. 1 showing a perspective view of the overall layout, Fig. 2 a side view of an industrial pot, Fig. 3 a plan view thereof, and Fig. 4 the same. Fig. 5 is an enlarged sectional view of the cast part, Fig. 6 is an enlarged sectional view of the cast part, Fig. 4 is a sectional view taken along the line ■-■; Figure 8 is an enlarged plan view of the telescopic part, Figure 9 is an enlarged side view of the telescopic part,
Fig. 10 is an enlarged sectional view of the rotating part of the same head, Fig. 11 is an enlarged sectional view of the cylinder swing part, Fig. 12 is an enlarged sectional view of the intermediate mounting plate 1 to the rotating part, Fig. 13, Fig. 1/I, Figure 15 is a cross-sectional view, front view, and back view of the chitoku, Figure 16 is Figure 14
VI-XVI line arrows partially omitted...I side view, Figures 17 to 2
Figure 0 is a sectional view, front view, back view, and top view of the lower hand.
Figure 21 is a sectional view of the lower die hand, Figures 22 to 25 are side views, sectional views, top views, rear views, and second
Figure 6 is a cross-sectional view of the workpiece (1) feeding device, Figure 27 is a cross-sectional view of the supply arm, Figure 28 is a plan view of the suction arm, and Figure 29 is a workpiece positioner partially omitted and partially cut away. Figure 100 and Figure 30 are side views with the same parts omitted and partially cut away, Figure 31 is a directional view of Figure 30 XXX T-XXX ll-8fl omitted, and Figure 32 is a partially omitted sectional view of the workpiece re-gripping device. , Fig. 33 is the same part omitted, a partially cutaway rear view, Fig. 34 is a front view of the mold rack, Fig. 35 is the same part, a cutaway plan view, and Fig. 34 is a partially cutaway rear view.
Figure 6 is a sectional view of the mold rack, Figure 37 is a perspective view of the upper mold rack, Figure 38 is a partially enlarged sectional view of the lower mold rack, and Figure 39 is a part of the mold rack. Enlarged sectional view,
FIG. 40 is a side view of the handler, and FIG. 41 is a rear view thereof. (Explanation of symbols that do not represent the main parts of the drawing) 3...T passenger robot 5...T machine tool 9...work body"
P13... Mold rack (mold support device) 15... Hand rack (grip support device) Fig. 17 Fig. 18 QI Fig. 19 1, 7 No. 201m 1/l l// No. 241!1 203 Figure 25 Figure 27 Figure 28 Figure 35 Figure 37 Figure 38 Figure 4 Figure 39 Figure 40 -487-

Claims (1)

[Claims] An industrial robot 1 having one of a plurality of types of gripping parts selectively detachable at its tip and capable of moving the gripping part in multiple directions; Industrial [1
A machine tool that performs predetermined machining on the workpieces supplied from batches 1 to 1, a work positioner that positions the workpieces at a predetermined position where they can be gripped by the gripper, and a workpiece positioner that supports multiple molds and holds the molds by the gripper. A mold support device that can be selectively placed at a position where the mold can be gripped, and a gripping portion support device that replaceably supports the plurality of gripping portions with respect to a gripping portion provided at the tip of the industrial robot i. A Canadian system having an industrial robot 1 characterized in that: