JPH0390232A - Feeding device for work to be pressed - Google Patents
Feeding device for work to be pressedInfo
- Publication number
- JPH0390232A JPH0390232A JP1227579A JP22757989A JPH0390232A JP H0390232 A JPH0390232 A JP H0390232A JP 1227579 A JP1227579 A JP 1227579A JP 22757989 A JP22757989 A JP 22757989A JP H0390232 A JPH0390232 A JP H0390232A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- work
- press
- press machine
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims description 12
- 230000008030 elimination Effects 0.000 abstract 1
- 238000003379 elimination reaction Methods 0.000 abstract 1
- 230000032258 transport Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/30—Feeding material to presses
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】 （産業上の利用分野〉 本発明はプレス加工用ワークの送給装置に関する。[Detailed description of the invention] (Industrial application field) The present invention relates to a feeding device for press workpieces.
（従来の技ＶＳ＞
一般にワークをプレス加工する場合、複数のプレス機に
より連続的に異なるプレス加工を行い、最終プレス製品
を得る。このようなプレス加工を実行す１場舎、各プレ
ス機を、互いに所定の間隔を置いて配置し、ワーク送給
装置により各プレス機のプレス加工用ワークを順に送給
するようになっている。(Conventional technique VS) Generally, when pressing a workpiece, different pressing processes are performed continuously using multiple press machines to obtain the final pressed product. , are arranged at a predetermined distance from each other, and the workpieces for press processing of each press machine are sequentially fed by a workpiece feeding device.
従来の送給装置は、例えば、各プレス機に設けられたロ
ボットと、プレス機間に配置されたコンベアとを有して
いる。この装置では、前工程のプレス機から、一方をロ
ボットによりワークを取出してコンベアに載せ、コンベ
アで搬送されてきたワークを、他方のロボットでつかん
で後工程のプレス機へ供給する。A conventional feeding device includes, for example, a robot provided in each press and a conveyor placed between the presses. In this device, one robot takes out a workpiece from a press machine in the preceding process and places it on a conveyor, and the workpiece conveyed by the conveyor is grabbed by the other robot and supplied to the press machine in the subsequent process.
また、ロボットによって前工程のプレス機からワークを
取出して、プレス機間に配置されたテーブルの上に載せ
、次に、上記ロボットまたは他のロボットにより、テー
ブルに載せられたワークをつかんで後工程のプレス機に
供給するものもある（発明が解決しようとしている問題
点）上記構成では、ワークが、ロボットからテーブルま
たはコンベア（以下、テーブル等と称す）へ、さらにテ
ーブル等からロボットへと受は渡されるので、テーブル
等においてガイドビン等を有する位置決め機構にワーク
の位置決めを行う必要がある。このため、プレス加工に
先立って、位置決め機構のガイドピン等の位置をワーク
の寸法に応じて調節したり、テーブル等を上下方向に位
置調節して段取りを行う必要があり、この段取り作業に
手間がかかる欠点があった。また、プレス機やロボット
の保守作業の際に、テーブル等が障害になっていた。In addition, the robot takes out the workpiece from the press machine in the previous process and places it on a table placed between the press machines, and then the above robot or another robot grabs the workpiece placed on the table and carries it out in the subsequent process. (Problem to be Solved by the Invention) In the above configuration, the workpiece is transferred from the robot to the table or conveyor (hereinafter referred to as a table, etc.), and from the table etc. to the robot. Since the workpiece is handed over, it is necessary to position the workpiece using a positioning mechanism having a guide bin or the like on a table or the like. Therefore, prior to press working, it is necessary to adjust the position of the guide pins of the positioning mechanism according to the dimensions of the workpiece, and to adjust the position of the table etc. in the vertical direction. There was a drawback that it took a while. Additionally, tables and the like have been an obstacle during maintenance work on presses and robots.
（問題点を解決するための手段）
本発明は上記問題点を解消するためになされたもので、
その要旨は、前工程から後工程へと加工工程順に隔置さ
れた複数のＣ型フレームのクランク式プレス機のうち、
ワーク供給源近傍のプレス機のワーク取入れ側と、次工
程のプレス機のワーク取入れ側と、さらにワーク排出部
近傍のプレス機の前工程からのワーク取入れ側及びワー
ク排出側とにそれぞれ多関節型ロボットを設け、これら
各多関節型ロボットのワーク保持部が各プレス機の加工
？ａＺに交互に移動しあってワークの搬出入を行うこと
を特徴とするプレス加工用ワーク送給装置にある。(Means for Solving the Problems) The present invention has been made to solve the above problems.
The gist is that out of multiple C-frame crank press machines spaced apart in the order of processing steps from the front process to the back process,
The workpiece intake side of the press machine near the workpiece supply source, the workpiece intake side of the press machine for the next process, and the workpiece intake side and workpiece discharge side from the previous process of the press machine near the workpiece discharge section are each multi-jointed. Is it possible to install robots and use the workpiece holding parts of these articulated robots to process each press machine? A workpiece feeding device for press working is characterized in that the workpieces are loaded and unloaded by alternately moving to aZ.
（作用）
多関節型ロボットのワーク保持部によってワーク供給源
からワークを取出して、ワーク供給源近傍のプレス機加
工部に供給し、さらに次工程のプレス機のワーク取入れ
側に設けられた多関節型ロボットのワーク保持部によっ
て前工程のプレス機で加工されたワークをその次工程の
プレス機に搬送する。この次工程への搬送が加工工程に
応じて複数回行われ、次いでワーク排出部近傍のプレス
機の前工程からのワーク取入れ側及びワーク排出側とに
それぞれ設けられた多関節型ロボットのワーク保持部に
よって前工程のプレス機で順次加工されたワークをこの
プレス機加工部に供給するとともに、その加工部で加工
されたワークを排出部に搬出する。(Function) The workpiece holding section of the articulated robot takes out the workpiece from the workpiece supply source, supplies it to the press machine processing section near the workpiece supply source, and then transfers the workpiece to the workpiece intake side of the press machine for the next process. The work holding section of the mold robot transports the work processed by the press machine in the previous process to the press machine in the next process. This transport to the next process is performed multiple times depending on the processing process, and then the work is held by an articulated robot installed on the workpiece intake side and workpiece discharge side from the previous process of the press machine near the workpiece discharge section. The workpieces sequentially processed by the press machine in the previous process are supplied to the press processing section by the section, and the workpieces processed at the processing section are carried out to the discharge section.
（実施例）
以下１本発明の詳細を図示した実施例に基づいて説明す
る。(Example) The details of the present invention will be explained below based on an illustrated example.
第１図中、Ｃ型フレームのクランク式プレス機がＩＡ、
ＩＢ、ＩＣ１ＩＤの順で前工程から後工程順に適宜間隔
を置いて横に並設されている。各プレス機ＩＡ、ＩＢ、
ＩＣ，ＩＤはワークを載せる下型４と、上下移動する上
型５とを有している各プレス機ＩＡ、ＩＢ、ＩＣ１ＩＤ
へのプレス加工用ワークＷの送給は、本発明の要旨をな
すワーク送給装置により行われる。ワーク送給装置は、
５台の多関節型ロボット１１．１２．１３．１４．１５
を有している。多関節型ロボット１１はワーク供給源Ｘ
近傍のプレス機１Ａの片側に設置され、多関節型ロボッ
ト１２．１３は次工程のプレス機ＩＢ、ＩＣのワーク取
入れ側片側に設置されている。多関節型ロボット１４．
１５はワーク排出部近傍のプレス機ＩＤのワーク取入れ
側およびワーク排出側にそれぞれ設置されている。In Figure 1, the C-frame crank press machine is IA,
They are arranged horizontally in the order of IB and IC1ID from the previous process to the post process with appropriate intervals. Each press machine IA, IB,
IC and ID are press machines IA, IB, and IC1ID each having a lower die 4 on which a work is placed and an upper die 5 that moves up and down.
The workpiece W for press working is fed to the workpiece W by a workpiece feeder, which constitutes the gist of the present invention. The workpiece feeding device is
5 articulated robots 11.12.13.14.15
have. The articulated robot 11 is a workpiece supply source
It is installed on one side of the nearby press machine 1A, and the articulated robot 12.13 is installed on one side of the workpiece intake side of the press machines IB and IC for the next process. Articulated robot 14.
Reference numerals 15 are installed on the workpiece intake side and the workpiece discharge side of the press machine ID near the workpiece discharge section, respectively.
各多関節型ロボット１１〜１５は、同一の構造を有して
おり、その詳細な構造を以下で説明する第２図に示すよ
うに、多関節型ロボット１１〜１５は、６つの自由度を
もつ６軸間節型ロボットであり、各プレス機ＩＡ、ＩＢ
、ＩＣ１ＩＤの側面に固着された支持盤２０から突出し
て形成された取付は部２１に取着固定されている。Each of the articulated robots 11 to 15 has the same structure, and as shown in FIG. 2, the detailed structure of which will be explained below, the articulated robots 11 to 15 have six degrees of freedom. It is a 6-axis articulated robot with each press machine IA and IB.
, an attachment formed protruding from a support plate 20 fixed to the side surface of the IC1ID is attached and fixed to a portion 21.
多関節型ロボット１５は、プレス機１Ｄのワーク排出側
側面の取付は部２１に、ロボット基台２２が固設され、
そのロボット基台２２にプレス機ＩＤの正面手前に向か
うようにして水平方向に延びる第１回動軸２３を中心に
して略２７０度回動自在に設けられた腕部２４、腕部２
４先端部に直交して挿着された第２回動軸２５を中心に
略９０度回動自在に設けれた第１関節部２６、第１関節
部２６の先端部に上記第２回動軸２５と平行で直交して
挿着された第３回動軸２７を中心に略１２０度回動自在
に設けらえた第２関節部２８、第２関節部２８の軸心を
第４回動軸２９としてこの第２関節部２８に連結して同
軸方向に装着されて第４回動軸２９を中心に略３００度
回動自在に設けられた第３ｒＪ１１節部３０、第３関節
部３０の先端部に基本座標系におけるＺ軸方向に直交し
て設けられた第５日動軸３１を中心に略１２０度回動自
在に設けられるとともに、基本座標系におけるＸ軸方向
に直交する軸線方向に挿着された第６回動軸３２を中心
に略３００度回動自在な第４関節部３３が連接された所
謂６軸多関節型ロボットを形成している。また上記第４
関節部３３の先端部にはワーク保持部３４が形成されて
いる。このワーク保持部３４には互いに平行をなす図示
しない一対のブラケットが取付けられ、各ブラケットに
設けられた吸着盤（吸着部）によりワークを吸着する槽
底でもよい、この場合、ワーク保持部３４のブラケット
は、常に水平な状態を保持しながら上記腕部２４、第１
関節部２６、第２間節部２８、第３関節部３０、第４１
１１１節部３３の動きに従動する上記構成の多関節型ロ
ボットにおいて、ワークの搬送作業を行わせる場合には
、第４関節部３３先端部のワーク保持部３４に適宜なブ
ラケットを取付は纂、その取付けが完了したら、腕部２
４、第１関節部２６、第２ｒＩｌｉ節部２８、第３関節
部３０、第４関節部３３を回動させてそれぞれの微調整
を行って、その後プログラムに従って所定の作業を行わ
せる。したがって、ワークの搬送に際して、ワーク保持
部３４がワークの水平状態を保持したまま各プレス機に
搬送したり、ワークを反転したりしてワークの姿勢を自
由に任意に変えて各プレス機に搬送できる。第２図中、
プレス機の頭部に仮想線で描かれた関節部は退避状態を
示し。The articulated robot 15 has a robot base 22 fixedly attached to a mounting portion 21 on the side surface of the work discharge side of the press machine 1D.
An arm 24 and an arm 2 are provided on the robot base 22 so as to be rotatable approximately 270 degrees about a first rotation shaft 23 extending horizontally toward the front of the press ID.
4. The first joint part 26 is provided to be rotatable approximately 90 degrees around a second rotation shaft 25 inserted perpendicularly to the distal end part. The second joint portion 28 is rotatable approximately 120 degrees around the third rotation shaft 27 inserted parallel to and orthogonal to the shaft 25, and the axis of the second joint portion 28 is rotated a fourth time. The 3rd rJ11 joint 30 is connected to the second joint 28 as a shaft 29 and is mounted coaxially so as to be rotatable approximately 300 degrees about the fourth rotation axis 29. It is provided at the tip portion so as to be rotatable approximately 120 degrees around a fifth rotation axis 31 provided perpendicular to the Z-axis direction in the basic coordinate system, and is inserted in an axial direction perpendicular to the X-axis direction in the basic coordinate system. A so-called six-axis multi-jointed robot is formed by connecting a fourth joint portion 33 that is rotatable approximately 300 degrees about a sixth rotation shaft 32 attached thereto. Also, the fourth
A workpiece holding portion 34 is formed at the distal end of the joint portion 33 . A pair of brackets (not shown) that are parallel to each other are attached to the workpiece holding section 34, and a suction cup (suction section) provided on each bracket may be installed at the bottom of the tank to suck the workpiece.In this case, the workpiece holding section 34 The bracket always maintains a horizontal state while the arm portion 24 and the first
Joint part 26, second interphalangeal part 28, third joint part 30, 41st
In the articulated robot having the above configuration that follows the movement of the 111-joint part 33, when carrying out a workpiece transfer operation, an appropriate bracket must be attached to the workpiece holding part 34 at the tip of the fourth joint part 33. Once the installation is complete, arm 2
4. Rotate the first joint 26, second joint 28, third joint 30, and fourth joint 33 to make fine adjustments, and then perform a predetermined work according to the program. Therefore, when transporting the workpiece, the workpiece holding section 34 may transport the workpiece to each press machine while maintaining its horizontal state, or may freely change the posture of the workpiece by inverting the workpiece and transport it to each press machine. can. In Figure 2,
The joints drawn with imaginary lines on the head of the press indicate the retracted state.
金型交換あるは段取り作業に際して適宜実施できる。な
お、上記の実施例においては、多関節ロボットをプレス
機ＩＡ〜ＩＤの各側面に支持盤の取付は部を介して取着
固定されているが、これをプレス機側面近傍の床面上に
固設してもよい。This can be carried out as appropriate during mold replacement or setup work. In the above embodiment, the support plates are attached and fixed to each side of the press machines IA to ID through the parts, but the articulated robot is attached to the floor near the side of the press machine. It may be fixed.
（発明の効果）
以上説明したようにこの発明によれば、前工程から後工
程へと加工工程順に隔置された複数のＣ型フレームのク
ランク式プレス機のうち、ワーク供給源近傍のプレス機
のワーク取入れ側と、次工程のプレス機のワーク取入れ
側と、さらにワーク排出部近傍のプレス機の前工程から
のワーク取入れ側及びワーク排出側とにそれぞれ多関節
型ロボットを設け、これら各多関節型ロボットのワーク
保持部が各プレス機の加工位置に交互に移動しあってワ
ークの搬出穴を行うようにしたので、テーブルを必要と
せず、テーブルでのワークに応じたガイドビン合わせ或
はテーブルの位置調整などの段取り作業を省くことがで
きるなど省力化ができる。また、多関節型ロボットによ
るワーク搬送を行うので、作業に伴う各関節部の作業領
域が最少スペースで済み、プレス加工ラインのスペース
セーブをもたらすとともに、作業者の作業環境を向上せ
しめ、作業の安全性を向上し得る。(Effects of the Invention) As explained above, according to the present invention, among a plurality of C-frame crank type press machines spaced apart in the order of processing steps from the front process to the back process, the press machine near the work supply source An articulated robot is installed on the workpiece intake side of the press machine in the next process, the workpiece intake side of the press machine for the next process, and the workpiece intake side and workpiece discharge side from the previous process of the press machine near the workpiece discharge section, and these multi-joint robots are installed on each side. The workpiece holding part of the articulated robot alternately moves to the processing position of each press machine to carry out the workpiece delivery hole, so there is no need for a table, and the table can be used to align guide bins according to the workpiece. Labor can be saved by eliminating setup work such as adjusting the table position. In addition, since the workpiece is transported by an articulated robot, the working area of each joint during work is minimized, which saves space on the press processing line, improves the working environment for workers, and improves work safety. It can improve sex.
【図面の簡単な説明】
図面は本発明の一実施例を示すもので、第１図はワーク
送給装置の正面図、第２図はプレス機側面に設けた多関
節型ロボットの側面図である。
１Ａ、ＩＢ、ＩＣ１ＩＤ・・・プレス機、１１〜１５・
・・多関節型ロボット、３４・・・ワーク保持部特許出
−大 株式会社 オリイ[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show one embodiment of the present invention. Figure 1 is a front view of a workpiece feeding device, and Figure 2 is a side view of an articulated robot installed on the side of a press machine. be. 1A, IB, IC1ID...Press machine, 11-15.
...Articulated robot, 34...Work holding part patent issued Ori Co., Ltd.
Claims (1)
型フレームのクランク式プレス機のうち、ワーク供給源
近傍のプレス機のワーク取入れ側と、次工程のプレス機
のワーク取入れ側と、さらにワーク排出部近傍のプレス
機の前工程からのワーク取入れ側及びワーク排出側とに
それぞれ多関節型ロボットを設け、これら各多関節型ロ
ボットのワーク保持部が各プレス機の加工位置に交互に
移動しあつてワークの搬出入を行うことを特徴とするプ
レス加工用ワーク送給装置。Multiple Cs spaced apart in the order of processing steps from the front process to the back process
In a crank type press machine with a mold frame, the workpiece intake side of the press machine near the workpiece supply source, the workpiece intake side of the press machine in the next process, and the workpiece intake side from the previous process of the press machine near the workpiece discharge part. A press characterized in that an articulated robot is provided on each of the articulated robots and the workpiece discharge side, and the workpiece holding parts of these articulated robots alternately move to the processing positions of each press machine to carry in and take out the workpieces. Workpiece feeding device for processing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1227579A JPH0647136B2 (en) | 1989-09-04 | 1989-09-04 | Work feeding device for press working |
| KR1019900013236A KR930008595B1 (en) | 1989-09-04 | 1990-08-27 | Workpiece ffeding device for press machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1227579A JPH0647136B2 (en) | 1989-09-04 | 1989-09-04 | Work feeding device for press working |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0390232A true JPH0390232A (en) | 1991-04-16 |
| JPH0647136B2 JPH0647136B2 (en) | 1994-06-22 |
Family
ID=16863130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1227579A Expired - Lifetime JPH0647136B2 (en) | 1989-09-04 | 1989-09-04 | Work feeding device for press working |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPH0647136B2 (en) |
| KR (1) | KR930008595B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009226436A (en) * | 2008-03-21 | 2009-10-08 | Kanto Auto Works Ltd | Press work system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100419622B1 (en) * | 1998-12-24 | 2004-04-17 | 주식회사 포스코 | A method of preparing an asphalt concrete aggregate |
| KR100352215B1 (en) * | 2000-03-03 | 2002-09-12 | 세연에스앤알 주식회사 | Reprocessing method of industrial wastes |
| KR100387105B1 (en) * | 2000-07-14 | 2003-06-12 | 원하종합건설 주식회사 | Self-Leveling and backfill settlement-free material, manufacturing method thereof and construction method using the same |
| CN103341998B (en) * | 2013-06-28 | 2016-12-28 | 苏州菱欧自动化设备有限公司 | Battery hot press |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60158929A (en) * | 1984-01-27 | 1985-08-20 | Meikikou:Kk | Conveying device |
| JPS63194832A (en) * | 1987-02-06 | 1988-08-12 | Mitsubishi Motors Corp | Work transfer device |
-
1989
- 1989-09-04 JP JP1227579A patent/JPH0647136B2/en not_active Expired - Lifetime
-
1990
- 1990-08-27 KR KR1019900013236A patent/KR930008595B1/en not_active IP Right Cessation
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60158929A (en) * | 1984-01-27 | 1985-08-20 | Meikikou:Kk | Conveying device |
| JPS63194832A (en) * | 1987-02-06 | 1988-08-12 | Mitsubishi Motors Corp | Work transfer device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009226436A (en) * | 2008-03-21 | 2009-10-08 | Kanto Auto Works Ltd | Press work system |
Also Published As
| Publication number | Publication date |
|---|---|
| KR930008595B1 (en) | 1993-09-10 |
| KR910006004A (en) | 1991-04-27 |
| JPH0647136B2 (en) | 1994-06-22 |
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