JPH05229665A - Alignment device for odd-shaped blank - Google Patents
Alignment device for odd-shaped blankInfo
- Publication number
- JPH05229665A JPH05229665A JP9272392A JP7239292A JPH05229665A JP H05229665 A JPH05229665 A JP H05229665A JP 9272392 A JP9272392 A JP 9272392A JP 7239292 A JP7239292 A JP 7239292A JP H05229665 A JPH05229665 A JP H05229665A
- Authority
- JP
- Japan
- Prior art keywords
- odd
- robot
- magazine
- blanks
- blank
- 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.)
- Pending
Links
Landscapes
- Stacking Of Articles And Auxiliary Devices (AREA)
- Delivering By Means Of Belts And Rollers (AREA)
- Manipulator (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は異形ブランク材の整列装
置に係り、詳しくはプレス加工を終えた異形ブランク材
を移動し、かつ一定方向に整列する装置に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for arranging profile blanks, and more particularly to a device for moving profile blanks that have been pressed and aligning them in a fixed direction.
【0002】[0002]
【従来の技術】従来、プレス機によってプレス加工され
た加工品の取出しには、重力、エアエジェクタ、シュー
ト、トレイアンローダ、コンべア等の搬送手段が使用さ
れており、これらは単に加工品を一箇所に集結するため
だけのものであるが、異形ブランク材にあっては、続く
工程でバンド掛け等の加工を行わねばならない場合が多
く、そのためには一定の姿勢に整列してずれのないよう
に積み重ねる必要があって、従来はこのたいへんな作業
を人手で行っていた。2. Description of the Related Art Conventionally, a conveyor, such as a gravity machine, an air ejector, a chute, a tray unloader, or a conveyor, has been used to take out a processed product pressed by a pressing machine. It is only for gathering in one place, but in the case of deformed blank material, it is often necessary to perform processing such as banding in the subsequent process, for that purpose it is aligned in a certain posture and there is no deviation It has to be stacked up like this, and in the past, this great work was done manually.
【0003】[0003]
【発明が解決しようとする課題】プレス加工を終ったブ
ランク材、特に異形ブランク材と称せられるものは形状
が複雑で、しかも種類が多いために機械により整列作業
を行うことはできないとされており、従って今まではそ
の殆んどがコンべアの終端に到達したブランク材を人手
によって別の集積場所に数枚まとめて移動し、1枚づつ
整列作業を行っていたので、これらの移動と整列作業は
非常に重労働であって、手間のかかる非能率的なもので
あった。It is said that blanks that have been pressed, particularly deformed blanks, are complicated in shape and cannot be aligned by a machine because of their many types. Therefore, until now, most of the blank materials that reached the end of the conveyor were moved to another stacking place by hand by hand, and they were aligned one by one. Alignment work was very hard work and was inefficient and inefficient.
【0004】[0004]
【課題を解決するための手段】本発明は前記の問題点を
解決するためになされたものである。つまり本発明はプ
レス機で加工された異形ブランク材を所定位置まで搬送
するコンベア、該コンベア上の所定位置から該異形ブラ
ンク材を吸着し、位置出しを行いながら最短距離で移動
して、後工程用マガジンの所定位置に投入する多関節ロ
ボット(スカラ・ロボット)および異形ブランク材をき
ちんと収納できる後工程用マガジンよりなることを特徴
とする異形ブランク材の整列装置であって、本発明によ
ってはじめて従来人手で行っていた異形ブランク材の移
動と整列作業を機械化することができた。The present invention has been made to solve the above problems. That is, the present invention is a conveyor that conveys a deformed blank material processed by a press machine to a predetermined position, adsorbs the deformed blank material from a predetermined position on the conveyor, and moves at the shortest distance while performing positioning, and a post-process. An apparatus for arranging deformed blank materials, which comprises an articulated robot (scalar robot) to be inserted into a predetermined position of a magazine for post-processing and a magazine for post-process capable of properly storing the deformed blank material. It was possible to mechanize the movement and alignment work of the deformed blank material that was manually performed.
【0005】[0005]
【作用】以上述べたように本発明は、プレス機から排出
する異形ブランク材をコンベアで搬送し、ついでプレス
機とサイクルを同期させた多関節ロボットで移動と整列
をし、後工程用マガジンに投入するものであって、本発
明によって、従来人手にたよっていた重労働がなくな
り、人員の合理化が達成できた。またこの異形ブランク
材の移動と整列作業の自動化により、作業速度が平均化
し、かつアップしたので、生産性が著しく向上した。As described above, according to the present invention, the deformed blank material discharged from the press machine is conveyed by the conveyer, and then it is moved and aligned by the articulated robot whose cycle is synchronized with the press machine, and is used as a magazine for the post-process. The present invention eliminates the heavy labor conventionally required by human labor, and rationalizes personnel. In addition, the work speed was averaged and improved by automating the movement and alignment work of the deformed blank material, so that the productivity was remarkably improved.
【0006】[0006]
【実施例】図1は本発明の異形ブランク材の整列装置の
一実施例の平面図である。また図2は本発明の移動位置
決めロボットの側面図である。プレス機(1)で加工さ
れた異形ブランク材(2)はプレス機と接続して付設さ
れたコンベア(3)の上に排出され、その終端の所定位
置まで搬送されると、コンべア終端の所定位置の近傍に
設置した画像処理カメラ(4)がその映像をとらえ、視
覚コントローラで重心位置と回転位置を演算し、そのデ
ータをロボットコントローラへ転送する。その移動デー
タによって、コンべア終端の後方に、コンベアと交差す
る状態で設置した多関節ロボット(5)のロボットアー
ム(6)は、前記コンベア(3)の所定位置にある異形
ブランク材(2)の重心まで移動し、その多関節ロボッ
ト(5)の吸着装置(7)にて異形ブランク材(2)を
吸着したのち、ロボットアーム(6)は、多関節ロボッ
ト(5)の前方に設置したマガジン(8)の所定位置ま
で最短距離で移動し、位置出しを行ってから、吸着を断
って異形ブランク材(2)をマガジン(8)へ投入す
る。以上の操作を繰り返すことにより、プレス機(1)
で加工された異形ブランク材(2)は、人手の助けをか
りることなしに自動的に整列して後工程用マガジン
(8)にきちんと収納できるようになった。本発明で
は、移動位置決めのロボットとして、多関節ロボット
(スカラ・ロボット)(5)を使用するが、これは、移
動動作を高速化するためにである。またこの多関節ロボ
ット(5)は、下部にスペースを大きく設けて大きな異
形ブランク材(2)でも処理できるように工夫した。1 is a plan view of an embodiment of an apparatus for aligning odd-shaped blanks according to the present invention. FIG. 2 is a side view of the mobile positioning robot of the present invention. The deformed blank material (2) processed by the press machine (1) is discharged onto a conveyor (3) attached to the press machine and attached to it, and when it is conveyed to a predetermined position at the end thereof, the conveyor finishes. The image processing camera (4) installed in the vicinity of the predetermined position captures the image, calculates the center of gravity position and the rotational position with the visual controller, and transfers the data to the robot controller. According to the movement data, the robot arm (6) of the articulated robot (5) installed in the state of intersecting the conveyor behind the end of the conveyor has the deformed blank material (2) at the predetermined position of the conveyor (3). ) Is moved to the center of gravity, and the deformed blank material (2) is sucked by the suction device (7) of the articulated robot (5), and then the robot arm (6) is installed in front of the articulated robot (5). After moving to the predetermined position of the magazine (8), which has been positioned the shortest, and performing positioning, the suction is cut off and the deformed blank material (2) is put into the magazine (8). By repeating the above operation, the press machine (1)
The deformed blank material (2) processed in (4) can be automatically aligned and properly stored in the post-process magazine (8) without the help of humans. In the present invention, a multi-joint robot (scalar robot) (5) is used as a robot for moving and positioning, in order to speed up the moving operation. Further, this articulated robot (5) is devised so that a large space is provided at the bottom so that a large deformed blank material (2) can be processed.
【0007】[0007]
【発明の効果】以上述べたように、本発明はプレス機で
加工された異形ブランク材をコンベアで所定位置まで移
送し、多関節ロボットで移動・位置出しして後工程用マ
ガジンに収納するもので、従来人手で行われていた作業
が完全に自動化できたので、人の合理化に役立っただけ
でなく、プレス機とサイクルを同期させるため高速整列
が実現し、能率が大きく向上した。また本発明により、
段取替えが容易となったので、多品種の異形ブランク材
の生産が能率よく行えるようになった。さらに本発明は
品質管理、生産管理、多品種異形ブランク材のデータ管
理にも極めて有効である。As described above, according to the present invention, a deformed blank material processed by a press machine is transferred to a predetermined position by a conveyor, moved and positioned by a multi-joint robot, and stored in a post-process magazine. Since the work that was conventionally done manually could be fully automated, it not only helped rationalize people, but also realized high-speed alignment by synchronizing the cycle with the press machine, greatly improving efficiency. Also according to the invention,
Since setup change has become easy, it has become possible to efficiently produce a wide variety of deformed blanks. Further, the present invention is extremely effective for quality control, production control, and data control of multi-product variant blank material.
【図面の簡単な説明】[Brief description of drawings]
【図1】本発明の異形ブランク材の整列装置の平面図で
ある。FIG. 1 is a plan view of an apparatus for arranging modified blanks according to the present invention.
【図2】本発明の移動位置決めロボットの側面図であ
る。FIG. 2 is a side view of the mobile positioning robot of the present invention.
1 プレス機 2 異形ブランク材 3 コンベア 4 画像処理カメラ 5 多関節ロボット(スカラ・ロボット) 6 ロボットアーム 7 吸着装置 8 マガジン 9 コントローラボックス 1 Press machine 2 Deformed blank material 3 Conveyor 4 Image processing camera 5 Articulated robot (scalar / robot) 6 Robot arm 7 Adsorption device 8 Magazine 9 Controller box
フロントページの続き (51)Int.Cl.5 識別記号 庁内整理番号 FI 技術表示箇所 B65H 29/32 B 9147−3F Continuation of the front page (51) Int.Cl. 5 Identification number Office reference number FI technical display location B65H 29/32 B 9147-3F
Claims (2)
所定位置まで搬送するコンべア、コンべア上の所定位置
から異形ブランク材を吸着し、最短距離で移動したの
ち、位置出しを行って、後工程用マガジンの所定位置に
投入する多関節ロボット(スカラ・ロボット)および異
形ブランク材を収納する後工程用マガジンよりなること
を特徴とする異形ブランク材の整列装置。1. A conveyer that conveys a deformed blank material processed by a press machine to a predetermined position, adsorbs the deformed blank material from a predetermined position on the conveyer, moves it at the shortest distance, and then performs positioning. An apparatus for arranging deformed blanks, which comprises a multi-joint robot (scalar robot) to be inserted into a predetermined position of a magazine for post-processes, and a magazine for post-processes that stores deformed blanks.
ンべア所定位置からマガジン所定位置まで、最短距離で
移動できるところに配置されていることを特徴とする請
求項1に記載の異形ブランク材の整列装置。2. The deformed blank material according to claim 1, wherein the articulated robot is arranged at a position where the deformed blank material can be moved at a shortest distance from a predetermined position of the conveyor to a predetermined position of the magazine. Alignment device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9272392A JPH05229665A (en) | 1992-02-20 | 1992-02-20 | Alignment device for odd-shaped blank |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9272392A JPH05229665A (en) | 1992-02-20 | 1992-02-20 | Alignment device for odd-shaped blank |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH05229665A true JPH05229665A (en) | 1993-09-07 |
Family
ID=13487961
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9272392A Pending JPH05229665A (en) | 1992-02-20 | 1992-02-20 | Alignment device for odd-shaped blank |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH05229665A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017189862A (en) * | 2016-04-15 | 2017-10-19 | 株式会社安川電機 | Work robot and work system |
CN115571596A (en) * | 2022-12-09 | 2023-01-06 | 昆明途恒科技有限公司 | Article steering mechanism |
-
1992
- 1992-02-20 JP JP9272392A patent/JPH05229665A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017189862A (en) * | 2016-04-15 | 2017-10-19 | 株式会社安川電機 | Work robot and work system |
CN115571596A (en) * | 2022-12-09 | 2023-01-06 | 昆明途恒科技有限公司 | Article steering mechanism |
CN115571596B (en) * | 2022-12-09 | 2023-05-19 | 昆明途恒科技有限公司 | Article steering mechanism |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10081089B2 (en) | Method for the multi-stage grinding of workpieces, and vacuum table, storage container, stripping device and plant for carrying out the method | |
JP6530710B2 (en) | Stacking line system and method of stacking blanks output from blanking shear or blanking press | |
KR102174570B1 (en) | Food bagging system, stacking device, transfer device | |
CN108321022A (en) | Contactor assembly and its intelligence manufacture production method | |
WO2015107389A1 (en) | Line and method for the production of covered cardboard boxes and an apparatus for the management of the line | |
CN108381164A (en) | The intelligence manufacture production system of electric component | |
JPH06143084A (en) | Operating method for twin arm robot | |
JPS6216818A (en) | Method and device for automatically operating metallic platein folding work | |
JPH05229665A (en) | Alignment device for odd-shaped blank | |
CN110722070B (en) | Robot workstation of bending | |
US3601396A (en) | Method and system for stacking and feeding workpieces of limp material | |
JP2004136300A (en) | Press line | |
CN107856349B (en) | Full-automatic processing carton equipment | |
JPH05238557A (en) | Automatic lining device for deformed blank material | |
CN109500185A (en) | Large-scale material carries punching press assembly line | |
JPH0584431U (en) | Gripper change device | |
CN108296766A (en) | The flexible production equipment of contactor component | |
JPH05228865A (en) | Control method of different blank aligning device | |
JP2656886B2 (en) | Post-processing equipment for pressed plate | |
CN209958002U (en) | Manipulator intelligent overedger workstation | |
CN210792644U (en) | Mosaic assembling line | |
JPH08332565A (en) | Method and device for product taking out of heat cutting machine | |
JP2901782B2 (en) | Hand holding packing material | |
JPH02299005A (en) | Operation device with visual function | |
JPH02192834A (en) | Transfer press |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
LAPS | Cancellation because of no payment of annual fees |