JPH07299774A - Work handling device of inter-press transport robot - Google Patents
Work handling device of inter-press transport robotInfo
- Publication number
- JPH07299774A JPH07299774A JP9479194A JP9479194A JPH07299774A JP H07299774 A JPH07299774 A JP H07299774A JP 9479194 A JP9479194 A JP 9479194A JP 9479194 A JP9479194 A JP 9479194A JP H07299774 A JPH07299774 A JP H07299774A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- hand
- shaft
- work
- sprocket
- 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
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、プレス間搬送ロボッ
トにおけるワークハンドリング装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work handling device for a transfer robot between presses.
【０００２】[0002]
【従来の技術】一般に、ロボット本体に水平旋回アーム
が設けられ、アームの先端に上下旋回ハンドが設けられ
ているプレス間搬送ロボットは、知られている。2. Description of the Related Art Generally, there is known an inter-press transfer robot in which a horizontal swing arm is provided in a robot body and a vertical swing hand is provided at the tip of the arm.
【０００３】上記ロボットにおけるワークハンドリング
装置としては、ハンドの先端部に、ワーク保持部材を固
定した従動Ｈ軸が設けられ、ハンドのＨ軸から所定距離
を隔てたところに駆動Ｔ軸がＨ軸と平行に設けられ、Ｈ
軸とＴ軸がリンク機構によって連結されているものが知
られている。As a work handling device in the above-mentioned robot, a driven H-axis having a work-holding member fixed thereto is provided at the tip of the hand, and the drive T-axis and the H-axis are located at a predetermined distance from the H-axis of the hand. Provided in parallel, H
It is known that the shaft and the T-axis are connected by a link mechanism.
【０００４】[0004]
【発明が解決しようとする課題】上記ワークハンドリン
グ装置では、Ｔ軸の駆動力がリンク機構によってＨ軸に
同期伝達されるため、Ｈ軸の回転範囲が制限され、ワー
ク保持部材によるワークの回転範囲が最大でも９０度程
度で、自在に回転角度を変更することができない。その
ため、隣り合うプレス同しで金型の向きを変更して加工
をした方が好ましい場合等に対応することができなかっ
た。In the work handling device described above, since the driving force of the T-axis is synchronously transmitted to the H-axis by the link mechanism, the rotation range of the H-axis is limited and the rotation range of the work by the work holding member is limited. Is 90 degrees at the maximum, and the rotation angle cannot be freely changed. Therefore, it has not been possible to cope with a case where it is preferable to perform processing by changing the direction of the mold with the adjacent presses.
【０００５】この発明の目的は、プレス間で搬送される
ワークを任意の角度で自在に方向転換させることができ
るワークハンドリング装置を提供することにある。An object of the present invention is to provide a work handling device which can freely change the direction of a work conveyed between presses at an arbitrary angle.
【０００６】[0006]
【課題を解決するための手段】この発明によるワークハ
ンドリング装置は、ロボット本体に水平旋回アームが設
けられ、アームの先端に上下旋回ハンドが設けられてい
るプレス間搬送ロボットにおいて、ハンドの先端部に、
ワーク保持部材を固定した従動Ｈ軸が設けられ、ハンド
のＨ軸から所定距離を隔てたところに駆動Ｔ軸がＨ軸と
平行に設けられ、Ｈ軸に従動スプロケットが、Ｔ軸に駆
動スプロケットがそれぞれ固定され、従動スプロケット
および駆動スプロケットにベルトが巻き掛けられている
ものである。In a work handling apparatus according to the present invention, a horizontal swivel arm is provided on a robot body, and a vertical swivel hand is provided at the tip of the arm. ,
A driven H-axis to which a work holding member is fixed is provided, a drive T-axis is provided in parallel with the H-axis at a predetermined distance from the H-axis of the hand, and a driven sprocket for the H-axis and a drive sprocket for the T-axis are provided. Each is fixed, and a belt is wound around the driven sprocket and the drive sprocket.
【０００７】[0007]
【作用】この発明によるワークハンドリング装置では、
ハンドの先端部に、ワーク保持部材を固定した従動Ｈ軸
が設けられ、ハンドのＨ軸から所定距離を隔てたところ
に駆動Ｔ軸がＨ軸と平行に設けられ、Ｈ軸に従動スプロ
ケットが、Ｔ軸に駆動スプロケットがそれぞれ固定さ
れ、従動スプロケットおよび駆動スプロケットにベルト
が巻き掛けられているから、Ｔ軸の駆動力がスプロケッ
トおよびベルトによってによってＨ軸に任意の回転角度
で同期伝達される。In the work handling device according to the present invention,
A driven H-axis to which a work holding member is fixed is provided at the tip of the hand, and a drive T-axis is provided parallel to the H-axis at a predetermined distance from the H-axis of the hand. Since the drive sprockets are fixed to the T-axis and the belt is wound around the driven sprocket and the drive sprocket, the driving force of the T-axis is synchronously transmitted to the H-axis by the sprocket and the belt at an arbitrary rotation angle.
【０００８】[0008]
【実施例】この発明の実施例を、図面を参照してつぎに
説明する。Embodiments of the present invention will be described below with reference to the drawings.
【０００９】図１を参照すると、前工程プレス11と後工
程プレス12の間に、ロボット13が配置されている。Referring to FIG. 1, a robot 13 is arranged between a pre-process press 11 and a post-process press 12.
【００１０】図２を参照すると、ロボット13は、床上に
設けられているロボット本体21と、ロボット本体21に設
けられている水平旋回アーム22と、アーム22の先端に設
けられている上下旋回ハンド23とを備えている。Referring to FIG. 2, the robot 13 includes a robot body 21 provided on the floor, a horizontal turning arm 22 provided on the robot body 21, and a vertical turning hand provided at the tip of the arm 22. It has 23 and.
【００１１】アーム22は、ロボット本体21に垂直Ｓ軸31
によって取付けられているアッパアーム32と、アッパア
ーム32の先端に垂直Ｅ軸33によって連結されているロア
アーム34とよりなる。ロアアーム34の先端には水平Ｗ軸
35によってハンド保持筒36が上下旋回自在に設けられて
いる。The arm 22 has an S axis 31 perpendicular to the robot body 21.
The upper arm 32 is attached to the upper arm 32, and the lower arm 34 is connected to the tip of the upper arm 32 by a vertical E-axis 33. Horizontal W axis is attached to the tip of the lower arm 34.
A hand holding cylinder 36 is provided by 35 so as to be vertically rotatable.
【００１２】ハンド23は、ハンド保持筒36にはめ入れら
れ回転中心Ｒ軸41を有する回転ハンド42と、回転ハンド
42の先端に、Ｒ軸41と直交するＢ軸43によって連結され
ている固定ハンド44とよりなる。The hand 23 includes a rotary hand 42 fitted in a hand holding cylinder 36 and having a rotation center R axis 41, and a rotary hand 42.
At the tip of 42, a fixed hand 44 is connected by a B shaft 43 orthogonal to the R shaft 41.
【００１３】図３を参照すると、固定ハンド44の先端に
は筒状部51が設けられ、これに、ベアリング52を介して
Ｈ軸53がはめ入れられている。一方、固定ハンド44の基
端には筒状部54が設けられ、これに、Ｔ軸55がはめ入れ
られている。Ｈ軸53およびＴ軸55は互いに平行で、Ｂ軸
43とは直交させられている。Ｈ軸53には従動スプロケッ
ト56が、Ｔ軸55には駆動スプロケット57がそれぞれ固定
されている。従動スプロケット56および駆動スプロケッ
ト57には歯付ベルト58が巻き掛けられている。そして、
従動スプロケット56にはこれと一体的にワーク保持部材
59が設けられている。Referring to FIG. 3, a cylindrical portion 51 is provided at the tip of the fixed hand 44, and an H shaft 53 is fitted into this through a bearing 52. On the other hand, a tubular portion 54 is provided at the base end of the fixed hand 44, and a T shaft 55 is fitted therein. H-axis 53 and T-axis 55 are parallel to each other and B-axis
It is orthogonal to 43. A driven sprocket 56 is fixed to the H shaft 53, and a drive sprocket 57 is fixed to the T shaft 55. A toothed belt 58 is wound around the driven sprocket 56 and the drive sprocket 57. And
The driven sprocket 56 is integrally formed with the work holding member.
59 are provided.
【００１４】図示しないが、ロボット本体21にはモータ
が収められ、これを駆動源とし、アッパアーム32、ロア
アーム34および回転ハンド42内をのびた動力伝達機構に
よってＴ軸55が駆動される。Although not shown, a motor is housed in the robot body 21, and the T-axis 55 is driven by a power transmission mechanism extending inside the upper arm 32, the lower arm 34 and the rotary hand 42, using the motor as a drive source.
【００１５】Ｔ軸55が回転駆動されると、従動スプロケ
ット56、駆動スプロケット57および歯付ベルト58によっ
てＨ軸53がＴ軸と同期して回転駆動され、Ｈ軸53ととも
にワーク保持部材59が回転させられる。固定ハンド44に
対するワーク保持部材59の回転角度は、任意に設定可能
である。When the T-axis 55 is rotationally driven, the driven sprocket 56, the drive sprocket 57 and the toothed belt 58 rotationally drive the H-axis 53 in synchronization with the T-axis, and the work holding member 59 rotates together with the H-axis 53. To be made. The rotation angle of the work holding member 59 with respect to the fixed hand 44 can be set arbitrarily.
【００１６】再び図１を参照すると、前工程プレス11に
略台形状のワークＢが実線で示されている。後工程プレ
ス12には、前工程プレス11のワークＢを、後工程プレス
12まで回転させないで搬送したワークＢ1 が１点鎖線
で、９０度回転させて搬送したワークＢ2 が２点鎖線
で、１８０度回転させて搬送したワークＢ3 が３点鎖線
でそれぞれ示されている。Referring again to FIG. 1, the work B having a substantially trapezoidal shape is shown by the solid line in the pre-process press 11. The work B of the pre-process press 11 is transferred to the post-process press 12 by the post-process press 12.
The work B1 conveyed without being rotated up to 12 is shown by a one-dot chain line, the work B2 rotated by 90 degrees and conveyed by a two-dot chain line, and the work B3 rotated by 180 degrees and conveyed by a three-dot chain line.
【００１７】[0017]
【発明が解決しようとする課題】この発明によれば、Ｔ
軸の駆動力がスプロケットおよびベルトによってによっ
てＨ軸に任意の回転角度で同期伝達されるから、プレス
間で搬送されるワークを任意の角度で自在に方向転換さ
せることができる。According to the present invention, T
Since the driving force of the shaft is synchronously transmitted to the H-axis by the sprocket and the belt at an arbitrary rotation angle, it is possible to freely change the direction of the work conveyed between the presses at an arbitrary angle.
【図１】この発明によるハンドリング装置を装備したロ
ボットをプレスとともに示す平面図である。FIG. 1 is a plan view showing a robot equipped with a handling device according to the present invention together with a press.
【図２】同ロボットの斜視図である。FIG. 2 is a perspective view of the robot.
【図３】この発明によるハンドリング装置の縦断面図で
ある。FIG. 3 is a vertical sectional view of a handling device according to the present invention.
21 ロボット本体、 22 アーム 23 ハンド 53 Ｈ軸 55 Ｔ軸 56 従動スプロケット 57 駆動スプロケット 58 ベルト 59 ワーク保持部材 21 Robot main body, 22 Arm 23 Hand 53 H axis 55 T axis 56 Driven sprocket 57 Drive sprocket 58 Belt 59 Work holding member
Claims (1)
けられ、アーム22の先端に上下旋回ハンド23が設けられ
ているプレス間搬送ロボットにおいて、 ハンド23の先端部に、ワーク保持部材59を固定した従動
Ｈ軸53が設けられ、ハンド23のＨ軸53から所定距離を隔
てたところに駆動Ｔ軸55がＨ軸53と平行に設けられ、Ｈ
軸53に従動スプロケット56が、Ｔ軸55に駆動スプロケッ
ト57がそれぞれ固定され、従動スプロケット56および駆
動スプロケット57にベルト58が巻き掛けられているワー
クハンドリング装置。1. A transfer robot between presses in which a horizontal swing arm 22 is provided on a robot body 21 and a vertical swing hand 23 is provided at the tip of the arm 22, and a work holding member 59 is fixed to the tip of the hand 23. The driven H-axis 53 is provided, and the drive T-axis 55 is provided parallel to the H-axis 53 at a position separated from the H-axis 53 of the hand 23 by a predetermined distance.
A work handling device in which a driven sprocket 56 of a shaft 53 and a drive sprocket 57 are fixed to a T shaft 55, and a belt 58 is wound around the driven sprocket 56 and the drive sprocket 57.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6094791A JP2726977B2 (en) | 1994-05-09 | 1994-05-09 | Work handling device for transfer robot between presses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6094791A JP2726977B2 (en) | 1994-05-09 | 1994-05-09 | Work handling device for transfer robot between presses |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07299774A true JPH07299774A (en) | 1995-11-14 |
| JP2726977B2 JP2726977B2 (en) | 1998-03-11 |
Family
ID=14119907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6094791A Expired - Lifetime JP2726977B2 (en) | 1994-05-09 | 1994-05-09 | Work handling device for transfer robot between presses |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2726977B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003053684A (en) * | 2001-08-10 | 2003-02-26 | Toshiba Corp | Medical manipulator system |
| JP2010513040A (en) * | 2006-12-19 | 2010-04-30 | アーベーベー・リサーチ・リミテッド | Parts handling apparatus, system and method |
| US8079800B2 (en) | 2007-03-01 | 2011-12-20 | Honda Motor Co., Ltd. | Articulated robot |
| CN113696222A (en) * | 2021-08-27 | 2021-11-26 | 张金燕 | Industrial robot and application thereof in printing production |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58137581A (en) * | 1982-02-09 | 1983-08-16 | 株式会社日立製作所 | Prefabricated robot |
| JPH04348895A (en) * | 1991-02-25 | 1992-12-03 | Orii:Kk | Multi-joint robot for transferring workpiece |
-
1994
- 1994-05-09 JP JP6094791A patent/JP2726977B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58137581A (en) * | 1982-02-09 | 1983-08-16 | 株式会社日立製作所 | Prefabricated robot |
| JPH04348895A (en) * | 1991-02-25 | 1992-12-03 | Orii:Kk | Multi-joint robot for transferring workpiece |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003053684A (en) * | 2001-08-10 | 2003-02-26 | Toshiba Corp | Medical manipulator system |
| JP2010513040A (en) * | 2006-12-19 | 2010-04-30 | アーベーベー・リサーチ・リミテッド | Parts handling apparatus, system and method |
| JP2012148401A (en) * | 2006-12-19 | 2012-08-09 | Abb Research Ltd | Part handling device, system and method |
| US8855817B2 (en) | 2006-12-19 | 2014-10-07 | Abb Research Ltd. | Parts handling device, system and method |
| US8079800B2 (en) | 2007-03-01 | 2011-12-20 | Honda Motor Co., Ltd. | Articulated robot |
| CN113696222A (en) * | 2021-08-27 | 2021-11-26 | 张金燕 | Industrial robot and application thereof in printing production |
| CN113696222B (en) * | 2021-08-27 | 2022-12-16 | 张金燕 | Industrial robot and application thereof in printing production |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2726977B2 (en) | 1998-03-11 |
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