JPS5832533A - Automatic feeder for workpiece - Google Patents
Automatic feeder for workpieceInfo
- Publication number
- JPS5832533A JPS5832533A JP13174781A JP13174781A JPS5832533A JP S5832533 A JPS5832533 A JP S5832533A JP 13174781 A JP13174781 A JP 13174781A JP 13174781 A JP13174781 A JP 13174781A JP S5832533 A JPS5832533 A JP S5832533A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- arms
- elevation frame
- shafts
- base
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は、被加工物を一方の載置場所から他方の載置
場所に自動的に送る被加工物の自動送り装置に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic feeder for a workpiece that automatically feeds the workpiece from one mounting location to another.
従来、この種の自動送シ装置として、例えば一方のプレ
ス機の加工位置から他方のプレス加工機の加工位置まで
被加工物を自動的に送るもの祉次のようＫなっている。Conventionally, this type of automatic feeding device has been used to automatically feed a workpiece from the processing position of one press machine to the processing position of another press machine, for example, as follows.
すなわち、両プレス機を結ぶＩＩＫ沿って長く位置する
ガイド機構によって、被加工物を吸着可能な吸着体を往
復移動させるように構成されている。That is, a guide mechanism that is located long along IIK connecting both presses is configured to reciprocate an adsorbent that can adsorb a workpiece.
しかしながら、このような従来の自動送シ装置によれば
、ガイド機構が大掛りのため装置全体が大型と々シ、こ
の大型の装置自体の装備場所を両プレス機間にて確保す
ることが難しいという間馳があった。However, with such conventional automatic feeding devices, the guide mechanism is large-scale, so the entire device is quite large, and it is difficult to secure a place to install this large device itself between the two press machines. There was a pause.
この発明は、上記事情に鑑みてなされたもので、小型か
つ簡単な構成でしかも充分に大きく移動する特別なアー
ム機構によって、被加工物を吸着可能な吸着体を被加工
物０載皺場所相互間にて往復移動させるととによｐ１装
装置体を小型かつ簡単Ｋ１１ｌｌ成することができると
共に、その装備場所の確保が容易な被加工物Ｏ自動送シ
装置を提供することを目的とする。This invention was made in view of the above circumstances, and uses a special arm mechanism that has a small and simple structure and can move sufficiently large to move an adsorbent that can adsorb a workpiece to a place where the workpiece is placed without wrinkles. It is an object of the present invention to provide an automatic feeder for a workpiece O, in which a p1 loading device body can be formed in a small and simple manner by reciprocating between the two, and a place for installing the device can be easily secured. .
以下、この発ｗＡｏ−実施例を図面に基づいて説明する
。Hereinafter, this embodiment of wAo will be described based on the drawings.
本実施例装置は、一方のプレス機から他方のプレス機に
被加工物を移動させるものである。図中符号ｌは本装置
取付吋用のペースを示し、一方のプレス機に固定されて
いる。このペース１ Ｏｉ［１ｉ１１には、ガイド部材
２．２によって上下方向に沿う一対のガイド溝３．３が
形成されている。これらのガイド溝３．３０間Ｋａ昇降
フレーム４が昇降自在に取付社られていると共に、ペー
ス１の上部には昇降フレーム４ｔ−昇降駆動する大めの
シリンダ（例えば各ｍｓ体圧シリンダ）５、が備見られ
ている。The apparatus of this embodiment is for moving a workpiece from one press machine to another press machine. In the figure, reference numeral 1 indicates a pace for installing this device, which is fixed to one of the presses. A pair of guide grooves 3.3 extending in the vertical direction are formed in this pace 1 Oi[1i11 by a guide member 2.2. Between these guide grooves 3 and 30, an elevating frame 4 is installed so as to be able to rise and fall freely, and on the top of the pace 1 there is an elevating frame 4t - a larger cylinder (for example, each ms body pressure cylinder) 5 that drives the elevating and lowering. is being observed.
昇降フレーム４の内部には、上下方向の軸線を中心とし
て同転自在０２つのシャフト６．６が軸受７を介して配
備されている。各シャフト６ＫＩｄ、したがって、名シ
ャフト６は互いに反対方向に同期して回転するようにな
っている。また、昇降フレーム４の上部にはモードル９
と、その減速機ｌＯが配備されている。そして、この減
速機ｌＯは一方のシャフト６の上端に連結されている。Inside the elevating frame 4, two shafts 6.6 are disposed via bearings 7, which are rotatable in the same direction about an axis in the vertical direction. Each of the shafts 6KId, and thus the main shafts 6, are configured to rotate synchronously in mutually opposite directions. In addition, a moder 9 is provided at the top of the elevating frame 4.
and its reducer lO are installed. This speed reducer lO is connected to the upper end of one shaft 6.
各シャフト６の下端には、それぞれ水平方向に延出する
上側の鋲１アーム１１の基端がナツト１２によって固定
されている。これら合計２つの第１アーム１１の先端の
下側には、それぞれ水平方向に延出する下側の第２アー
ム１３０基端が軸受１４と連結ビン１５を介して回転自
在に連結されている。これら合計２つのＭ２アーム１３
の先端には、それぞれ下方へ突出する連結ビジー１６が
設けられている。これら合計２つの連結ビン１６の下端
同志り、それぞれ軸受１７１に介して１つの連結体１８
によって相対回転自在に連結されている。At the lower end of each shaft 6, the base end of an upper rivet arm 11 extending horizontally is fixed by a nut 12. Base ends of lower second arms 130 extending in the horizontal direction are rotatably connected to the lower ends of these two first arms 11 via bearings 14 and connection pins 15, respectively. These two total M2 arms 13
A connecting bus 16 that projects downward is provided at each tip. The lower ends of these two connecting bins 16 are connected to one connecting body 18 via bearings 171, respectively.
are connected for relative rotation.
まえ、各連結ビン１６には、互いに噛合する同型のギヤ
１９が固定されている。したがって、各謔２アーム１３
の先端は、対応する連結ビン１６ｔ−中心として互いに
反対方向に同期して回１するようＫたっている。In front, gears 19 of the same type that mesh with each other are fixed to each of the connecting bins 16. Therefore, each song 2 arms 13
The tips of the two screws are angled so that they rotate synchronously in opposite directions about the center of the corresponding connecting bottle 16t.
連結体１８の先端側には、略Ｔ字状の基プレート２０が
ねじ２１によって適宜交換可能に取付けられている。こ
の基プレート２０の両側には、支持プレー）２２．２２
を介して吸着カップ２３．２３が下向きに支持されてい
る。各吸着カップ２３は、図示しないバキュームレータ
に管接続されていて、被加工物を吸着および吸着解除可
能となっている。重要、各支持プレート２２は、そレソ
れねじ２４によって基プレート２０に対し回動調整自在
とされていて、各吸着カップ２３の配備形態を被加工物
の形体に対応して適宜調整可能となっている。A substantially T-shaped base plate 20 is attached to the distal end side of the connecting body 18 with screws 21 so as to be replaceable as appropriate. On both sides of this base plate 20, support plates) 22.22
The suction cup 23.23 is supported downward through the suction cup 23.23. Each suction cup 23 is pipe-connected to a vacuum generator (not shown), and is capable of suctioning and releasing suction of a workpiece. Importantly, each support plate 22 is rotatably adjustable with respect to the base plate 20 by means of a set screw 24, so that the deployment form of each suction cup 23 can be adjusted as appropriate according to the shape of the workpiece. ing.
次に１上記構成装置の作動について説明する。Next, the operation of the above-mentioned component device will be explained.
第３図に示すように１各アーム１１，１１．１３．１３
が左方へ延びきっている時、吸着カップ２３．２３ｉｔ
一方Ｏプレス機における下金型の上方に位置している
。1 each arm 11, 11.13.13 as shown in Figure 3
When fully extended to the left, the suction cup is 23.23 it
On the other hand, it is located above the lower mold in the O press machine.
このような状態において、まずシリンダ５のピストンロ
ッドが下方へ仲供することにより、引降フレーム４が下
端し１、吸潅カップ２３．２３が一方のプレス機の下金
型上の被加工物に接する。この被加工物は、一方のプレ
スＪＩにおいてプレス加工された後のものである。その
仕、吸着カップ２３．２３が被加工物の上部を真空吸着
する。それから、シリンダ５のピストンロッドが上方へ
退縮して、昇降フレーム４が上ｔ１６！帰する。このと
き、吸着カップ２３．２３は被加工物を吊り下けた状紗
にｅ着保持していえ。In this state, first, the piston rod of the cylinder 5 moves downward, so that the lower end of the lowering frame 4 is moved to the lower end 1, and the suction cup 23 is attached to the workpiece on the lower mold of one of the press machines. come into contact with This workpiece has been pressed in one of the presses JI. During this process, the suction cups 23.23 vacuum-suction the upper part of the workpiece. Then, the piston rod of the cylinder 5 retracts upward, and the elevating frame 4 moves upward t16! Return. At this time, the suction cups 23 and 23 hold the workpiece attached to the suspended gauze.
その後、モードル９が回転すゐことＫより、一方（第３
図中上方ＩＩＩりのシャフト６が右方へ徐々に回転し、
カ一つこれに同期して他方（第３Ｍ中下方側）のシャフ
ト６が左方へ回転する。したがって、一方（第３Ｍ中上
方側１の上アーム１１が一方のシャフト６を中心として
右方へ回転し、他方（館３図中下方側）の上アーム１１
が他方のシャフト６管中心として左方へ回転する。この
結果、まずこれら両方の上アームｔｉ、１１′の先端同
志が相対的に徐々に＃１．関しく第４図１１、そしてこ
れら両方の上アーム１１．１１が９０°ずつ回転したと
きそれらの先端同志が最大に離間しく第５図参照）、そ
れからは、それらの先端同志が相対的に徐々に近接しく
第６図参照）、そしてこれら両方の上アーム１１，１１
が１８０°ずつ回転したときそれらの先端同志が最も近
接する（第７図参照）。この時点でモードル９０回転が
停止する。このような両方の上アーム１１，１１０先端
同志の相対変位によって、両方の下アーム１３．１３が
連結ビン１５．１５ｔ−中心として互いに反対の方向に
同期回転する。そして、第７図に示すような状１１ＡＪ
ＩＣおいて、各アーム１１．１１，１３．１３が右方へ
延びきる。After that, the moder 9 rotates from one side (the third
The shaft 6 at the top in the figure gradually rotates to the right,
In synchronization with this, the other shaft 6 (lower side in the third M) rotates to the left. Therefore, the upper arm 11 on one side (upper side 1 in 3rd M) rotates to the right around one shaft 6, and the upper arm 11 on the other side (lower side in Figure 3)
rotates to the left about the other shaft 6 tube. As a result, first, the tips of both upper arms ti and 11' gradually become #1. (See FIG. 4, 11, and when both upper arms 11.11 are rotated by 90 degrees, their tips are separated from each other at a maximum (see FIG. 5), and then their tips gradually become relatively closer to each other. (see FIG. 6), and both upper arms 11, 11
When rotated by 180°, their tips come closest to each other (see Figure 7). At this point, the moder stops rotating 90 times. Due to such relative displacement between the tips of both upper arms 11 and 110, both lower arms 13.13 synchronously rotate in opposite directions about the connecting bin 15.15t. Then, the shape 11AJ as shown in FIG.
In the IC, each arm 11.11, 13.13 fully extends to the right.
結局、連結体１８が＃！３図に示す状態の１１゜ベース
ｌの左方側からその右方＠に直線的に水平移動される。In the end, the connector 18 is #! It is horizontally moved linearly from the left side of the 11° base l in the state shown in Figure 3 to its right side @.
ゆえに、吸着カップ２３．２Ｂは、吸着保持し友被加工
暢を水平状態のｔまベースｌＯ右方側に移す。Therefore, the suction cup 23.2B suctions and holds the workpiece and moves it to the right side of the horizontal base 10.
ところで、ＷＡＹ＠ｌＫ示すように１吸着カップ２３．
２３が右方へ移動したとき、この吸着カップ２３．２３
に吸着保持された被加工物は他方のプレス機における下
金型の上方に位置する。By the way, as shown in WAY@lK, 1 suction cup 23.
When 23 moves to the right, this suction cup 23.23
The workpiece held by suction is located above the lower die of the other press machine.
その後、シリンダ５のピストンロンドが下方へ伸張する
ことＫよシ、昇降フレーム４が下降し、吸着カップ２３
．２３に吸着保持されている被加工物が他方のプレス機
の下金型上に載る。それから、吸着カップ２３．２３は
被加工物の真空吸着を解除する。Thereafter, as the piston rod of the cylinder 5 extends downward, the elevating frame 4 descends and the suction cup 23
．． The workpiece held by suction 23 is placed on the lower die of the other press. The suction cup 23.23 then releases the vacuum suction of the workpiece.
したがって、一方のプレス機にてブレス加工された被加
工物が他方のプレス機に自動的に移される。Therefore, a workpiece pressed by one press machine is automatically transferred to the other press machine.
その装、シリンダ５のピストンロンドが上方へ退縮して
、昇降フレーム４が上動復帰し、それからモードル９が
逆回転して、各アーム１１，１１．１３．１３が前述と
逆の動作によシ元の第３図に示す状態のｔまで復帰する
。In this case, the piston rod of the cylinder 5 retracts upward, the elevating frame 4 returns to its upward movement, and then the moder 9 rotates in the opposite direction, and each arm 11, 11, 13, 13 moves in the opposite manner to the above. The state returns to the state t shown in FIG. 3.
以降、同様の動作を自動的１ｆＣｈシ返す。Thereafter, the same operation is automatically repeated for 1fCh.
なお、基プレート２０に対する各支持プレート１１１
２２の回動調整によって行なう各吸着カップ２３の配備
形態の調整、および支持プレート２２、吸着カップ２３
などと共に一体的に行なう基プレート２０自体の交換に
よって、各種形体の被加工物の吸着保持が可能である。Note that the adjustment of the deployment form of each suction cup 23 is performed by adjusting the rotation of each support plate 111 22 with respect to the base plate 20, and the support plate 22 and suction cup 23 are adjusted.
By replacing the base plate 20 itself integrally with the above, it is possible to suction and hold workpieces of various shapes.
以上説明したように１ この発明に係る被加工物の自動
送シ装置によれば、小型かつ簡単な構成でしかも充分に
大きく移動するアーム機構によつし被加工物を吸着可能
な吸着体を支持し、そして仁のアーム機構によって吸着
体を被加工物の場所相互間にて往復移動させる構成であ
るから、装置自体を小型かつ簡単に構成することができ
ると共に、その装備場所の確保が容異であシ、しかも各
種被加工物等の物体を適宜の２箇所間にて自動送ルする
ための装置としてきわめて広範囲に適応可能である勢の
効果を奏する。As explained above, (1) the automatic feeder for workpieces according to the present invention has a small and simple structure, and has an arm mechanism that moves sufficiently large, and has a suction body capable of adsorbing the workpieces. Since the suction body is supported and reciprocated between the locations of the workpiece using the arm mechanism, the device itself can be constructed compactly and easily, and it is easy to secure a space for its installation. This device is different from the conventional one, and has the advantage of being extremely widely applicable as a device for automatically transporting objects such as various workpieces between two appropriate locations.
図面はこの発明の一実施例を示し、ｆＩＩＪ１図はその
要部の平面図、第２図はその要部の側面図、鮪３図乃至
第７図はその動作ｔ−観明するために示す要部の平面図
である。
ｌ・・・・・・ベース、４・・・・・・昇降フレーム、
６・・・・・・シャフト（回転体）、１１・・・・・・
上アーム（ｍｌアーム）、１３・・・・・・下アーム（
＠２アーム）、１８・・・・・・連結体、２３・・・・
・・吸着カップ（吸着体）。
特許出願人 株式会社
第３図
第４図The drawings show one embodiment of the present invention, and Fig. 1 is a plan view of the main part thereof, Fig. 2 is a side view of the main part, and Figs. 3 to 7 are shown for observing its operation. FIG. 3 is a plan view of main parts. l... Base, 4... Lifting frame,
6...Shaft (rotating body), 11...
Upper arm (ml arm), 13...lower arm (
@2 arm), 18...connection body, 23...
...Suction cup (adsorbent). Patent applicant: Co., Ltd. Figure 3 Figure 4
Claims (1)
に移動させる被加ニー〇自動送シ装置において、前記２
つの載置場所の中間位置に設けられたペースと、該ペー
、スに昇降可能に設けられた昇降フレームと、骸昇降フ
レームに設けられた上下方向の軸線を中心として互いに
反対方向に同期して回転可能な２つの回転体と、＃２つ
の回転体のそれぞれに取付けられ九第１アームと、皺合
計２つの第１アームのそれぞれの先端に回転自在に取付
けられた第２アームと、骸合計２つの第２７−ムＯ先端
同志を相対回転自在に連結する連結体と、該連結体に投
砂もれて前記被加工物ｔａ着および吸着解除可能な吸着
体とを具備してな９、前記２つの回転体の回転によって
、前記吸着体を前記２つの載置場所相互に水平移動させ
るようＫし九ことを特徴とする被加工物の自動送シ装置
。In an automatic feeding device for applying knee to which a workpiece is automatically moved from one mounting location to another mounting location, the above-mentioned 2.
A pace provided at an intermediate position between two loading places, an elevating frame provided on the pace so that it can be raised and lowered, and a skeleton elevating frame provided with a vertical axis in synchronization in opposite directions. Two rotatable rotating bodies, a first arm attached to each of the two rotating bodies, a second arm rotatably attached to the tip of each of the two first arms, and a skeleton. 9, comprising a connecting body that connects the tips of the two 27-mu O so that they can rotate relative to each other, and an adsorbent that can attach and release the workpiece by adhering sand to the connecting body; An automatic feeder for a workpiece, characterized in that the suction body is horizontally moved between the two mounting locations by rotation of the two rotating bodies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13174781A JPS6045970B2 (en) | 1981-08-22 | 1981-08-22 | Automatic feeding device for workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13174781A JPS6045970B2 (en) | 1981-08-22 | 1981-08-22 | Automatic feeding device for workpieces |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5832533A true JPS5832533A (en) | 1983-02-25 |
| JPS6045970B2 JPS6045970B2 (en) | 1985-10-14 |
Family
ID=15065239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13174781A Expired JPS6045970B2 (en) | 1981-08-22 | 1981-08-22 | Automatic feeding device for workpieces |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6045970B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6048276A (en) * | 1983-08-25 | 1985-03-15 | 日本電気株式会社 | Link type robot |
| FR2559411A1 (en) * | 1984-02-09 | 1985-08-16 | Hurth Masch Zahnrad Carl | WORKPIECE INSTALLATION, IN PARTICULAR FOR LOADING AND UNLOADING MACHINE TOOLS |
| JPS6356321A (en) * | 1986-08-26 | 1988-03-10 | Toyoda Kogyo Kk | Industrial robot |
| JPH04152078A (en) * | 1989-02-17 | 1992-05-26 | Brooks Autom Inc | Articulated arm moving device |
-
1981
- 1981-08-22 JP JP13174781A patent/JPS6045970B2/en not_active Expired
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6048276A (en) * | 1983-08-25 | 1985-03-15 | 日本電気株式会社 | Link type robot |
| FR2559411A1 (en) * | 1984-02-09 | 1985-08-16 | Hurth Masch Zahnrad Carl | WORKPIECE INSTALLATION, IN PARTICULAR FOR LOADING AND UNLOADING MACHINE TOOLS |
| JPS6356321A (en) * | 1986-08-26 | 1988-03-10 | Toyoda Kogyo Kk | Industrial robot |
| JPH04152078A (en) * | 1989-02-17 | 1992-05-26 | Brooks Autom Inc | Articulated arm moving device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6045970B2 (en) | 1985-10-14 |
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