JPS6344187Y2 - - Google Patents
Info
- Publication number
- JPS6344187Y2 JPS6344187Y2 JP1982167736U JP16773682U JPS6344187Y2 JP S6344187 Y2 JPS6344187 Y2 JP S6344187Y2 JP 1982167736 U JP1982167736 U JP 1982167736U JP 16773682 U JP16773682 U JP 16773682U JP S6344187 Y2 JPS6344187 Y2 JP S6344187Y2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- pneumatic
- piston rod
- telescoping device
- contraction
- 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.)
- Expired
Links
- 230000008602 contraction Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Description
【考案の詳細な説明】
〔産業上の利用分野〕
本考案は、プレス機による２段加工用の工業ロ
ボツトに関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an industrial robot for two-stage processing using a press machine.
危険防止と生産性向上のため、プレス機には、
材料移送用の工業ロボツトが広く併用されてい
る。
To prevent danger and improve productivity, press machines are equipped with
Industrial robots are widely used for material transfer.
しかし、加工された製品の取出し作業を行いな
がら、未加工材をも同時に、加工場所へ搬送する
ようにした従来の工業用ロボツトは、構造が相当
に複雑であるとともに、動作の迅速性において、
必ずしも満足しうるものではなかつた。
However, conventional industrial robots, which transport unprocessed materials to the processing site while taking out processed products, have fairly complex structures and lack speed in operation.
It wasn't necessarily satisfying.
本考案によると、基体の前端に、基端部を前後
軸まわりに180゜回転しうるようにして枢設された
第１アームと、
第１アームと等長で、かつ基端部が、第１アー
ムの回動量の２倍回動しうるようにして、第１ア
ームの遊端に枢支された第２アームと、
第１アームが基体に対して回動したとき、第２
アームに対してそれと同じ回動量を維持するよう
に回動するようにして、第２アームの遊端に取付
けられた空気圧式垂直伸縮装置と、
垂直伸縮装置のピストン杆の下端に取付けられ
た空気圧式水平伸縮装置と、
水平伸縮装置のピストン杆の先端に支枠を介し
て取付けられた左右の材料把持装置
とを備える２段加工用工業ロボツトにより上記課
題は解決される。
According to the present invention, the first arm is pivotally mounted on the front end of the base body so that the base end can rotate 180 degrees around the front-back axis; A second arm is pivoted to the free end of the first arm so that it can rotate twice as much as the first arm;
a pneumatic vertical telescoping device attached to the free end of the second arm, and a pneumatic vertical telescoping device attached to the lower end of the piston rod of the vertical telescoping device, so as to maintain the same amount of rotation with respect to the arm; The above-mentioned problem is solved by a two-stage processing industrial robot equipped with a horizontal telescoping device and left and right material gripping devices attached to the tip of the piston rod of the horizontal telescoping device via a supporting frame.
工業用ロボツトの基体１の前端に、基端部が前
後軸まわりに180゜回動しうるよにして枢設した第
１アーム２の遊端には、第１アーム２と等長で、
かつ第１アーム２が基体１に対して角度θ回動し
たとき、第１アーム２に対して角度2θ回動しうる
ようにした第２アーム３の基端部が枢支されてい
る。
The first arm 2 is pivotally mounted on the front end of the base body 1 of the industrial robot so that the base end can rotate 180 degrees around the front-rear axis.
Further, when the first arm 2 rotates at an angle of θ relative to the base body 1, the base end portion of the second arm 3 is pivotally supported so as to be able to rotate at an angle of 2θ relative to the first arm 2.
第２アーム３の遊端には、第１アーム２が基体
１に対して角度θ回動したとき、第２アーム３に
対して角度θを維持するように回動する空気圧式
垂直伸縮装置４が枢設されている。 At the free end of the second arm 3, a pneumatic vertical telescoping device 4 is provided which rotates to maintain an angle θ relative to the second arm 3 when the first arm 2 rotates at an angle θ relative to the base body 1. is installed at the center.
従つて、基体１に内設した駆動装置（図示省
略）をもつて、第１アーム２を回動させると、空
気圧式垂直伸縮装置４は、垂直方向を向いたま
ま、一定高さを保つて、水平方向に往復移動す
る。 Therefore, when the first arm 2 is rotated using a drive device (not shown) installed in the base body 1, the pneumatic vertical expansion/contraction device 4 maintains a constant height while facing in the vertical direction. , move back and forth horizontally.
空気圧式垂直伸縮装置４における下方を向くピ
ストン杆５の下端には、左方を向く空気圧式水平
伸縮装置６が固着されている。 A leftward-facing pneumatic horizontal telescopic device 6 is fixed to the lower end of the downward-facing piston rod 5 of the pneumatic vertical telescopic device 4 .
空気圧式水平伸縮装置６のピストン杆７の先端
には、支枠８を介して、左右１組をなし、かつ前
後４列に並ぶ左方吸盤９と、同じく右方吸盤１０
が下向きに設けられ、各吸盤９，１０は、図示を
省略した真空源に接続されている。 At the tip of the piston rod 7 of the pneumatic horizontal expansion/contraction device 6, a left suction cup 9 and a right suction cup 10 are attached via a support frame 8, forming a pair of left and right suction cups arranged in four rows in the front and back.
is provided facing downward, and each suction cup 9, 10 is connected to a vacuum source (not shown).
１１は、２段加工用プレス機、１２，１３は、
それぞれプレス機１１の左方下型と右方下型で、
両下型に対応する上型は、図示を省略してある。 11 is a two-stage processing press machine, 12 and 13 are
The lower left die and the lower right die of the press machine 11, respectively.
Upper molds corresponding to both lower molds are not shown.
第３ａ図乃至第３ｈ図は、上述のロボツトの動
作を略示するもので、休止時には、第３ａ図に示
すように、両アーム２，３は、一直線状に右方へ
向き、かつ両空気圧式伸縮装置４，６は短縮して
おり、右方の吸盤１０は、ベルトコンベヤ１５の
上方に位置している。 Figures 3a to 3h schematically show the operation of the above-mentioned robot. When at rest, both arms 2 and 3 are directed to the right in a straight line, and both air pressures are The telescopic devices 4, 6 are shortened, and the right suction cup 10 is located above the belt conveyor 15.
プレス加工を開始するには、まず、材料１４ａ
を、プレス機１１の左方下型１２上に、手動また
は適宜の装置により供給し、ついで第１次プレス
加工を施す。 To start pressing, first, the material 14a
is fed onto the left lower die 12 of the press 11 manually or by an appropriate device, and then subjected to primary pressing.
ついで、第３ｂ図に示すように、第１アーム２
を左方へ180゜回動させ、第２アーム３との枢着部
を上方に屈曲させながら、空気圧式伸縮装置４を
垂直状態を保つたまま水平方向に左進させるとと
もに、空気圧式水平伸縮装置６を伸長させる。す
ると、両アーム２，３は一直線をなして左方を向
くとともに、両吸盤９，１０は、それぞれ両下型
１２，１３の上方に達する。 Then, as shown in FIG. 3b, the first arm 2
is rotated 180 degrees to the left, bending the pivot point with the second arm 3 upward, and moving the pneumatic expansion/contraction device 4 horizontally to the left while maintaining the vertical position, and the pneumatic horizontal expansion/contraction device 4 Extend the device 6. Then, both arms 2 and 3 form a straight line and face leftward, and both suction cups 9 and 10 reach above both lower molds 12 and 13, respectively.
ついで、第３ｃ図に示すように、空気圧式垂直
伸縮装置４のピストン杆５を伸長すれば、空気圧
式水平伸縮装置６とともに両吸盤９，１０が下降
し、左方吸盤９が、第１次プレス加工の終つた材
料１４ａに当接して、これを吸着する。 Next, as shown in FIG. 3c, when the piston rod 5 of the pneumatic vertical telescoping device 4 is extended, both the suction cups 9 and 10 descend together with the pneumatic horizontal telescoping device 6, and the left suction cup 9 moves to the primary position. It comes into contact with the material 14a that has been pressed and adsorbs it.
ついで、第３ｄ図に示すように、両空気圧式伸
縮装置４，６を順に短縮すれば、材料１４ａを吸
着した左方吸盤９が、右方下型１３の上方に移動
する。この状態で、空気圧式垂直伸縮装置４を再
度伸縮させれば、材料１４ａを、右方下型１３上
に載置することができる。 Next, as shown in FIG. 3d, by sequentially shortening both the pneumatic expansion and contraction devices 4 and 6, the left suction cup 9 that has absorbed the material 14a moves above the right lower mold 13. In this state, if the pneumatic vertical expansion/contraction device 4 is expanded/contracted again, the material 14a can be placed on the right lower mold 13.
ついで、第３ｅ図に示すように、第１アーム２
を右へ180゜回動させ、両吸盤９，１０を、上述の
作動と逆の作動で右限まで移動させるとともに、
左方下型１２上に材料１４ｂを供給して、プレス
加工を施せば、両材料１４ａ，１４ｂは、それぞ
れ、第２次と第１次のプレス加工を同時に施され
る。 Then, as shown in FIG. 3e, the first arm 2
is rotated 180 degrees to the right, and both suction cups 9 and 10 are moved to the right limit by the operation opposite to the above-mentioned operation,
When the material 14b is supplied onto the left lower die 12 and pressed, both materials 14a and 14b are simultaneously subjected to the second and first pressing, respectively.
ついで、第３ｆ図に示すように、第１アーム２
を左方へ180゜回動させ、両吸盤９，１０を上述の
場合と同様にして、左限まで移動させた後下降さ
せて、両材料１４ｂ，１４ａを吸着する。 Then, as shown in Fig. 3f, the first arm 2
is rotated 180 degrees to the left, both suction cups 9 and 10 are moved to the left limit in the same manner as described above, and then lowered to suck both materials 14b and 14a.
ついで、第３ｇ図に示すように、両空気圧式伸
縮装置４，６を順に短縮すれば、左方吸盤９に吸
着された材料１４ｂは、右方下型１３の上方に移
動するので、空気圧式垂直伸縮装置４を伸縮させ
て、材料１４ｂを右方下型１３上に載置すること
ができる。 Next, as shown in Fig. 3g, if both pneumatic expansion and contraction devices 4 and 6 are shortened one after another, the material 14b sucked by the left suction cup 9 moves above the right lower mold 13, so that the pneumatic expansion and contraction devices 4 and 6 are shortened in order. The material 14b can be placed on the lower right mold 13 by expanding and contracting the vertical expansion and contraction device 4.
ついで、第３ｈ図に示すように、第１アーム２
を右方へ180゜回動させ、かつ両吸盤９，１０を右
限まで移動させ、左方下型１２に材料１４ｃを供
給して、両材料１４ｂ，１４ｃに、それぞれ第２
次と第１次のプレス加工を施すとともに、右方吸
盤１０が吸着している第２次プレス加工の終了し
た材料１４ａを、下方のベルトコンベヤ１５上に
落下させ、次工程に移送する。 Then, as shown in Fig. 3h, the first arm 2
is rotated 180 degrees to the right, and both suction cups 9 and 10 are moved to the right limit, and the material 14c is supplied to the left lower mold 12, and the second material 14b and 14c are respectively
At the same time, the material 14a, which has been subjected to the second press process and which is adsorbed by the right suction cup 10, is dropped onto the belt conveyor 15 below and transferred to the next process.
以下、第３ｆ図より第３ｈ図に示すように、ロ
ボツトを繰返し動作させることにより、左方下型
１２に供給した材料１４を、自動的に第１次、第
２次のプレス加工を施して、ベルトコンベヤ１５
により次工程に移送することができる。 Hereinafter, as shown in FIGS. 3F to 3H, by repeatedly operating the robot, the material 14 supplied to the left lower mold 12 is automatically subjected to first and second press working. , belt conveyor 15
can be transferred to the next process.
本考案のロボツトは、各アームの運動は、左方
と右方に回動させる動作の繰返しのみであつて、
中間で停止させたり、前後に移動させたりするこ
とがなく、甚だ単純であるため、構造が簡単でよ
く、従つて故障の恐れがなく、かつ安価に製作す
ることができる。
In the robot of the present invention, the movement of each arm is only a repetition of rotation to the left and right.
Since it is extremely simple without having to stop in the middle or move back and forth, the structure is simple, there is no risk of failure, and it can be manufactured at low cost.
また、左右の下型の上方間の材料の移動は、空
気圧式水平伸縮装置が行なうので、移動位置精度
が良好であり、かつ動作が迅速で、プレス機の生
産性が向上する。 Further, since the material is moved between the upper parts of the left and right lower molds by a pneumatic horizontal expansion and contraction device, the movement position accuracy is good and the operation is quick, improving the productivity of the press.
なお、吸盤に代えて、例えば電磁石により材料
を吸着、離脱するようにした、その他の材料把持
装置を用いてもよい。 Note that in place of the suction cup, other material gripping devices may be used, such as one that uses an electromagnet to attract and release the material.
第１図は、本考案の一実施例の正面図、第２図
は、同じく平面図、第３ａ図乃至第３ｈ図は、本
考案のロボツトの動作を略示する図で、第３ａ図
は、本考案のロボツトの使用開始時の状態を示
し、第３ｂ図は、吸盤移動途中の状態を示し、第
３ｃ図は、第１次プレス加工を終了した第１枚目
の材料を吸着した状態を示し、第３ｄ図は、第１
枚目の材料を第２下型へ移送中の状態を示し、第
３ｅ図は、吸盤がプレス機より退避した状態を示
し、第３ｆ図は、両下型上のプレス加工の終了し
た両材料を吸着中の状態を示し、第３ｇ図は、第
１次プレス加工を終了した材料を第２下型へ移送
中の状態を示し、第３ｈ図は、吸盤がプレス機よ
り退避するとともに、第２次加工の終了した材料
をベルトコンベヤに転送する状態を示す。
１……基体、２……第１アーム、３……第２ア
ーム、４……空気圧式垂直伸縮装置５……ピスト
ン杆、６……空気圧式水平伸縮装置、７……ピス
トン杆、８……支枠、９……左方吸盤、１０……
右方吸盤、１１……プレス機、１２……左方下
型、１３……右方下型、１４ａ，１４ｂ，１４ｃ
……材料、１５……ベルトコンベヤ。
Figure 1 is a front view of an embodiment of the present invention, Figure 2 is a plan view, Figures 3a to 3h are diagrams schematically showing the operation of the robot of the present invention, and Figure 3a is a diagram schematically showing the operation of the robot of the present invention. , shows the state of the robot of the present invention at the start of use, Fig. 3b shows the state in the middle of moving the suction cup, and Fig. 3c shows the state in which the first sheet of material has been suctioned after the first pressing process has been completed. and Figure 3d shows the first
Figure 3e shows the state in which the first sheet of material is being transferred to the second lower mold, Figure 3e shows the state in which the suction cup has been retracted from the press machine, and Figure 3f shows both materials on both lower molds that have been pressed. Fig. 3g shows the material being transferred to the second lower mold after the first press working, and Fig. 3h shows the material being sucked away from the press machine and This shows the state in which the material that has undergone secondary processing is transferred to the belt conveyor. DESCRIPTION OF SYMBOLS 1... Base body, 2... First arm, 3... Second arm, 4... Pneumatic vertical expansion/contraction device 5... Piston rod, 6... Pneumatic horizontal expansion/contraction device, 7... Piston rod, 8... ...Support frame, 9...Left suction cup, 10...
Right suction cup, 11...Press machine, 12...Left lower mold, 13...Right lower mold, 14a, 14b, 14c
...Materials, 15...Belt conveyor.
Claims (1)
転しうるようにして枢設された第１アームと、 第１アームと等長で、かつ基端部が、第１アー
ムの回動量の２倍回動しうるようにして、第１ア
ームの遊端に枢支された第２アームと、 第１アームが基体に対して回動したとき、第２
アームに対してそれと同じ回動量を維持するよう
に回動するようにして、第２アームの遊端に取付
けられた空気圧式垂直伸縮装置と、 垂直伸縮装置のピストン杆の下端に取付けられ
た空気圧式水平伸縮装置と、 水平伸縮装置のピストン杆の先端に支枠を介し
て取付けられた左右の材料把持装置 とを備える２段加工用工業ロボツト。[Claims for Utility Model Registration] A first arm pivotally installed at the front end of the base body so that its base end can rotate 180 degrees around the front-rear axis, and a base end having the same length as the first arm; The second arm is pivoted to the free end of the first arm so that it can rotate twice as much as the first arm;
a pneumatic vertical telescoping device attached to the free end of the second arm, and a pneumatic vertical telescoping device attached to the lower end of the piston rod of the vertical telescoping device, so as to maintain the same amount of rotation with respect to the arm; A two-stage processing industrial robot equipped with a horizontal expansion/contraction device, and left and right material gripping devices attached to the tip of a piston rod of the horizontal expansion/contraction device via a support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16773682U JPS5974077U (en) | 1982-11-05 | 1982-11-05 | Industrial robot for two-stage processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16773682U JPS5974077U (en) | 1982-11-05 | 1982-11-05 | Industrial robot for two-stage processing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5974077U JPS5974077U (en) | 1984-05-19 |
| JPS6344187Y2 true JPS6344187Y2 (en) | 1988-11-17 |
Family
ID=30366894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16773682U Granted JPS5974077U (en) | 1982-11-05 | 1982-11-05 | Industrial robot for two-stage processing |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5974077U (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0539787Y2 (en) * | 1987-03-02 | 1993-10-08 | ||
| JP6244046B2 (en) * | 2015-12-14 | 2017-12-06 | 株式会社エイチアンドエフ | Work transfer device and work transfer method using the same |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5132865A (en) * | 1974-09-12 | 1976-03-19 | Howa Machinery Ltd | Shotsukiniokeru shokufu no makitorisochi |
-
1982
- 1982-11-05 JP JP16773682U patent/JPS5974077U/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5132865A (en) * | 1974-09-12 | 1976-03-19 | Howa Machinery Ltd | Shotsukiniokeru shokufu no makitorisochi |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5974077U (en) | 1984-05-19 |
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