WO2014064937A1 - ワーク搬送装置 - Google Patents
ワーク搬送装置 Download PDFInfo
- Publication number
- WO2014064937A1 WO2014064937A1 PCT/JP2013/006274 JP2013006274W WO2014064937A1 WO 2014064937 A1 WO2014064937 A1 WO 2014064937A1 JP 2013006274 W JP2013006274 W JP 2013006274W WO 2014064937 A1 WO2014064937 A1 WO 2014064937A1
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- WIPO (PCT)
- Prior art keywords
- arm
- workpiece
- workpiece transfer
- attached
- transfer device
- Prior art date
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Classifications
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- 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
- B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
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- 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
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- 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
Definitions
- the present invention relates to a workpiece transfer device, and more particularly, to a workpiece transfer device that can transfer a workpiece linearly while having a lightweight and simple structure.
- a workpiece transfer device In a tandem press line that continuously presses a workpiece, a workpiece transfer device is used to transfer the workpiece.
- a workpiece transfer device there are many robot type devices having an arm.
- a beam installed between adjacent press machines, a carrier provided movably along the beam, and a swing table supported by the carrier and driven to swing along the workpiece transfer direction And a cross bar for hanging and supporting the work through a vacuum cup that detachably holds the work, and by providing a feed lever on the rocking table via a linear movement mechanism, 2.
- a work transfer device in which a relative distance between a cross bar and a cross bar is variable (see, for example, Patent Documents 1, 2, and 3).
- a work holding means for holding the work a carrier that is disposed between adjacent presses and linearly movable in a direction orthogonal to the work transport direction by a drive mechanism, and a swing center axis are disposed on the carrier.
- a workpiece transfer device that includes a swinging body that is driven to swing along a workpiece transfer direction by a swing mechanism (for example, Patent Document 4).
- the distance between the two end shafts of the second link is half of the distance between the two end shafts of the first link, and one end of the second link is connected to the center between the two end shafts of the first link.
- the other end of the second link is positioned on the extension of the moving straight line of the other end of the other.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a workpiece transfer device that can transfer a workpiece linearly while having a lightweight and simple structure.
- the present inventor has intensively studied to solve the above problems, and in addition to making the arm slidable along the rail portion via the guide portion, the slider portion on which the arm is pivotally attached is used as an auxiliary arm.
- the present inventors have found that the above-described problems can be solved by making it slidable along, and have completed the present invention.
- the present invention provides (1) a workpiece transfer device for transferring a workpiece, a main body portion, a rail portion extending on an upper portion of the main body portion, a guide portion slidable along the rail portion, An arm whose upper end is pivotally attached to the guide portion at the first pivot attachment portion, a holding means attached to the second shaft at the lower end of the arm, and capable of holding a workpiece, and rotatable about the first shaft of the main body portion
- a work conveying apparatus comprising: an auxiliary arm attached so as to be slidable; and a slider portion slidable along the auxiliary arm, wherein a substantially central portion of the arm is pivotally attached to the slider portion at a second pivotally attaching portion Exist.
- the present invention resides in (2) the workpiece transfer device according to (1), wherein the second pivot portion is provided closer to the first pivot portion than the center position in the longitudinal direction of the arm.
- the ratio of the distance from the first pivot part to the second pivot part and the distance from the second axis to the second pivot part is 1: 1.2-2. It exists in the workpiece conveyance apparatus as described in (1) or (2).
- the ratio of the distance from the first axis to the second pivot part and the distance from the first pivot part to the second axis is 1: 2 to 4, It exists in the workpiece conveyance apparatus as described in any one of (3).
- the auxiliary arm is provided with a belt portion that slides along the longitudinal direction of the auxiliary arm, and the slider portion is fixed to the belt portion. It exists in the workpiece conveyance apparatus as described in any one of 4).
- the present invention provides the workpiece transfer apparatus according to any one of (1) to (6), wherein (7) the holding means includes a cross bar connected to the arm and a suction portion attached to the cross bar. Exist.
- the present invention (8) is used as a device for unloading or loading a workpiece to or from a press machine, and the workpiece transfer device according to any one of the above (1) to (7) attached to a column of the press machine. Exist.
- the height of the workpiece during workpiece transfer can be adjusted by sliding the guide portion to which the arm is attached along the rail portion.
- the workpiece can be conveyed linearly.
- assistant arm is an arm, without disturbing linear conveyance of a workpiece
- the said workpiece conveyance apparatus is simple and lightweight, it is excellent in energy efficiency, is easy to mount, and does not take up space.
- the second pivot part is provided closer to the first pivot part than the center position in the longitudinal direction of the arm, whereby the apparatus can be made compact.
- the ratio of the distance from the first pivot part to the second pivot part and the distance from the second axis to the second pivot part is 1: 1.2 to 2
- the device is more compact.
- the energy cost for transportation can be reduced.
- the ratio of the distance from the first axis to the second pivot part and the distance from the first pivot part to the second axis is 1: 2 to 4
- the size of the apparatus is made more compact. be able to.
- the auxiliary arm is provided with a belt portion that slides along the longitudinal direction of the auxiliary arm, and when the slider portion is fixed to the belt portion, the slider portion Since the belt portion slides while being supported by the belt portion, it is possible to withstand a greater weight load.
- the holding means when the holding means includes a crossbar connected to the arm and a suction portion attached to the crossbar, the workpiece is sucked and held even for a relatively large workpiece. Can do.
- the workpiece conveyance device of the present invention can be used as a device for carrying out or carrying in a workpiece with respect to the press machine by being attached to a column of the press machine.
- the entire line can be made compact. Further, since the workpiece can be conveyed linearly, the workpiece can be carried out or carried in quickly without waste.
- FIG. 1 is a front view showing an example of a workpiece transfer apparatus according to the present embodiment.
- FIG. 2 is a side view showing an example of the workpiece transfer apparatus according to the present embodiment.
- FIG. 3 is a schematic top view showing the holding means in the workpiece transfer apparatus according to the present embodiment.
- FIG. 4 is an enlarged front view showing the auxiliary arm in the workpiece transfer apparatus according to the present embodiment.
- FIG. 5 is a schematic perspective view showing a press machine to which the workpiece transfer apparatus according to the present embodiment is attached.
- FIG. 6A is an explanatory diagram for explaining the locus of the second axis at the lower end of the arm when the workpiece is conveyed using the workpiece conveyance device according to the present embodiment.
- FIG. 6A is an explanatory diagram for explaining the locus of the second axis at the lower end of the arm when the workpiece is conveyed using the workpiece conveyance device according to the present embodiment.
- FIG. 6B is an explanatory diagram for explaining the trajectory of the second axis at the lower end of the arm when the workpiece is transferred using the workpiece transfer device according to the present embodiment.
- FIG. 6C is an explanatory diagram for explaining the locus of the second axis at the lower end of the arm when the workpiece is transferred using the workpiece transfer device according to the present embodiment.
- FIG. 6D is an explanatory diagram for explaining the trajectory of the second axis at the lower end of the arm when the workpiece is transferred using the workpiece transfer device according to the present embodiment.
- FIG. 6E is an explanatory diagram for explaining the locus of the second axis at the lower end of the arm when the workpiece is transferred using the workpiece transfer device according to the present embodiment.
- FIG. 6F is an explanatory diagram for explaining the trajectory of the second axis at the lower end of the arm when the workpiece is conveyed using the workpiece conveyance device according to the present embodiment.
- FIG. 1 is a front view showing an example of a workpiece transfer apparatus according to the present embodiment.
- a workpiece transfer apparatus 100 includes a main body 10, a rail 1 extending on the upper portion of the main body 10, and a guide that can slide along the rail 1.
- a holding means capable of holding the workpiece W by being attached to the part 1a, the arm 3 whose upper end is pivotally attached to the guide part 1a by the first pivoting part 3b, and the second shaft 3a at the lower end of the arm 3 4, an auxiliary arm 20 attached to the first shaft 2 b of the main body portion 10 so as to be rotatable, and a slider portion 2 a slidable along the auxiliary arm 20.
- the slider part 2a is pivotally attached to the approximate center of the arm 3 by the second pivot part 3c.
- the workpiece transfer apparatus 100 has a lightweight and simple structure.
- the workpiece W is conveyed by holding the workpiece W by the holding means 4 and rotating the arm 3 to which the holding means 4 is attached by the second pivotally attaching portion 3b.
- the guide part 1a pivotally attached to the arm 3 by the second pivot part 3b slides on the rail part 1 upward and downward, and at the same time, the guide part 1a is moved to the second pivot part 3c substantially at the center of the arm 3.
- the slider portion 2 a pivotally attached slides in the longitudinal direction of the reinforcing arm 20. Details of these movements will be described later.
- a rail portion 1 that extends linearly in the longitudinal direction (vertical direction) of the main body portion 10 is extended above the main body portion 10, and a guide portion 1 a is provided on the rail portion 1.
- a guide portion 1 a is provided on the rail portion 1.
- the rail portion 1 it is attached so as to be freely slidable in the vertical direction.
- the guide portion 1a is pivotally attached to the upper end of the arm 3 and the second pivot attachment portion 3b. Therefore, the upper end of the arm 3 is integrated with the guide portion 1a and slides up and down along the rail portion 1. Thereby, the height of the workpiece W can be adjusted when the workpiece W is conveyed.
- An auxiliary arm 20 is rotatably attached to the main body 10.
- the auxiliary arm 20 is attached to the main body portion 10 with a certain distance directly below the rail portion 1.
- the auxiliary arm 20 can be made more compact, and the moving distance of the slider portion 2a during workpiece transfer can be shortened. That is, it is possible to smoothly follow the movement of the arm 3 with a relatively small movement of the slider portion 2a.
- FIG. 2 is a side view showing an example of the workpiece transfer apparatus according to the present embodiment.
- a servo motor hereinafter referred to as “first servo motor” for convenience
- a speed reducer 8 a connected to the first servo motor
- the first servo motor 7a can suppress the torque of the motor shaft by appropriately selecting the reduction ratio.
- the auxiliary arm 20 rotates about the first shaft 2b provided in the main body 10.
- the first servo motor 7a is connected to the first shaft 2b via a speed reducer 8a. For this reason, the auxiliary arm 20 is rotated as indicated by an arrow A around the first shaft 2b of the main body 10 based on the drive of the first servomotor 7a.
- the main body 10 is attached to a support column of a press machine as will be described later. That is, the workpiece transfer device 100 is attached to the support column P1 of the press machine via the main body 10 (see FIG. 5).
- the upper end of the arm 3 is pivotally attached to the guide part 1a at the first pivotally attaching part 3b, and the arm 3 is configured to rotate largely around the first pivotally attaching part 3b.
- the arm 3 is pivotally attached to the slider part 2a at the second pivot part 3c. Further, the arm 3 is provided with holding means 4 capable of holding the workpiece W on the second shaft 3a at the lower end thereof.
- the second pivoting portion 3c is provided on the first pivoting portion 3b side (guide portion 1a side) with respect to the center position with respect to the longitudinal direction of the arm 3.
- the ratio (H1: H2) of the distance H1 from the first pivot part 3b to the second pivot part 3c and the distance H2 from the second shaft 3a to the second pivot part 3c is 1: 1. 2 to 2 is preferable. In this case, the apparatus can be made more compact, and the energy cost for transportation can be reduced.
- the ratio (H3: H1 + H2) of the distance H3 from the first shaft 2b to the second pivot 3c and the distance (H1 + H2) from the first pivot 3b to the second shaft 3a is from 1: 2 to 4 is preferred. In this case, the size of the apparatus can be made more compact.
- the holding means 4 includes a cross bar 4a connected to the second shaft 3a at the lower end of the arm, and a plurality of suction portions 4b attached to the cross bar 4a. For this reason, even if the workpiece W is relatively large, the workpiece W can be sucked and held.
- FIG. 3 is a top view showing the holding means in the workpiece transfer apparatus according to the present embodiment.
- the holding means 4 is provided with eight adsorbing portions 4b each consisting of a pair of left and right vacuum cups with respect to the cross bar 4a.
- suction part 4b attracts and holds the plane part of the workpiece
- suction part 4b can also be made to be able to adsorb and hold the workpiece
- the suction part 4b to be used can be appropriately selected according to the shape and size of the workpiece W.
- a servo motor 7c (hereinafter referred to as "second servo motor” for convenience) is connected to the second shaft 3a (see FIG. 2). Therefore, the cross bar 4a is rotated based on the driving of the second servo motor 7c. Note that the cross bar 4a rotates so that the suction portion 4b always faces directly below in accordance with the position of the arm 3 that rotates.
- FIG. 4 is an enlarged front view showing the auxiliary arm in the workpiece transfer apparatus according to the present embodiment.
- the auxiliary arm 20 is provided with a belt portion 2 that slides along the longitudinal direction of the auxiliary arm 20, and the slider portion 2a is connected to the belt portion. 2 is fixed.
- a belt portion 2 is stretched in the longitudinal direction of the auxiliary arm 20 via a driven pulley 9a and a drive pulley 9b, and a slider portion 2a is fixed to the belt portion 2.
- a servo motor 7b (hereinafter referred to as “third servo motor” for convenience) for moving the drive pulley 9b is attached to the auxiliary arm 20 via a speed reducer 8b.
- the third servomotor 7b can suppress the torque of the motor shaft by appropriately selecting the reduction ratio.
- the driving pulley 9 b moves based on the driving of the third servo motor 7 b, and the belt portion 2 slides along the longitudinal direction of the auxiliary arm 20.
- the slider portion 2 a is fixed to the belt portion 2, the slider portion 2 a also slides along the longitudinal direction of the auxiliary arm 20 together with the belt portion 2.
- the arm 3 is pivotally attached to the slider portion 2a by the second pivot attachment portion 3c.
- the arm 3 is rotated by the second pivoting portion 3b by the cooperation of the first servo motor 7a that drives the auxiliary arm 20 and the third servo motor 7b that drives the slider portion 2a. It comes to move.
- the auxiliary arm 20 causes the slider portion 2a to slide by sliding the slider portion 2a pivotally attached to the arm 3 along the auxiliary arm 20 rotatably attached to the main body portion 10.
- the arm 3 is supported and the linear conveyance of the workpiece W is not hindered. Thereby, as will be described later, even a workpiece W having a relatively large weight can be conveyed linearly.
- the rotation of the holding means 4, the rotation of the auxiliary arm 20, and the sliding of the slider portion 2a are all performed by driving the servo motor, so that no space is taken up. , Can be a simpler structure.
- the workpiece conveyance apparatus 100 according to the present embodiment is suitably used as an apparatus for carrying out or carrying in a workpiece with respect to a press machine, for example.
- FIG. 5 is a schematic perspective view showing a press machine to which the workpiece transfer apparatus according to the present embodiment is attached. Detailed portions of the press machine are omitted.
- the main body 10 of the workpiece transfer apparatus 100 is attached to the support P1. That is, the workpiece transfer apparatus 100 according to the present embodiment has a light and simple structure and saves space, and can be installed in a small space.
- the work after finishing the press is carried out by the work transfer device 100.
- the work transfer device 100 it is also possible to carry the work before being pressed into the press machine.
- the work conveying apparatus 100 does not take up a large space, so that the entire line can be made compact.
- the workpiece transfer device 100 can transfer the workpiece linearly, in the press machine P, the workpiece is carried out or carried in quickly without waste.
- FIGS. 6A to 6F are explanatory diagrams for explaining the trajectory of the lower end of the arm (the base portion of the second shaft 3a) when the workpiece is transferred using the workpiece transfer device according to the present embodiment. .
- the holding means 4 is omitted.
- the lower end of the arm 3 holds a workpiece (not shown) at a position A via a holding means.
- the guide part 1 a is located on the lowermost side of the rail part 1
- the slider part 2 a is located on the upper side of the auxiliary arm 20.
- the guide portion 1 a is moved upward to the approximate center of the rail portion 1, and the slider portion 2 a is moved to the uppermost side of the auxiliary arm 20.
- the arm 3 moves upward so as to maintain a predetermined angle, and the lower end of the arm 3 reaches the position B. Thereby, the workpiece
- the state where the slider portion 2 a is at the uppermost position of the auxiliary arm 20 is maintained, and the guide portion 1 a is moved to the uppermost side of the rail portion 1.
- the arm 3 and the auxiliary arm 20 are rotated and aligned on a straight line.
- the lower end of the arm 3 moves to the right and reaches the position C.
- the guide part 1a, the rail part 1, the slider part 2a, the auxiliary arm 20, and the arm 3 overlap in a straight line.
- the state where the slider portion 2 a is at the uppermost position of the auxiliary arm 20 is maintained, and the guide portion 1 a is moved downward to substantially the center of the rail portion 1.
- the arm 3 and the auxiliary arm 20 rotate, and the lower end of the arm 3 moves further to the right and reaches the position D.
- the guide part 1a is moved to the lowest side of the rail part 1, and the slider part 2a is moved from the uppermost position of the auxiliary arm 20 to a position closer to the upper side of the auxiliary arm 20. Then, as shown in FIG. 6 (e), the arm 3 moves downward while maintaining a predetermined angle, and the lower end of the arm 3 reaches the position E. Then, the holding of the workpiece (not shown) is cut off through the holding means 4. In this way, the workpiece is conveyed.
- the guide part 1a is moved to the approximate center of the rail part 1, and the slider part 2a is moved to the lowest side of the auxiliary arm 20.
- FIG. 6F the arm 3 and the auxiliary arm 20 rotate, and the lower end of the arm 3 moves to the left and reaches the position F.
- the guide portion 1a, the rail portion 1, the slider portion 2a, the slider portion 2a, the auxiliary arm 20, and the arm 3 are again overlapped in a straight line.
- the guide portion 1a is moved to the lowest side of the rail portion 1, and the slider portion 2a is moved from the lowest position of the auxiliary arm 20 to a position closer to the upper side of the auxiliary arm 20.
- the arm 3 and the auxiliary arm 20 rotate, the second shaft 3a moves to the left, and the lower end of the arm 3 reaches the position A shown in FIG.
- the guide portion 1a pivotally attached to the arm 3 is slid along the rail portion 1, and on the other hand, the slider portion 2a pivotally attached to the arm 3. Is slid along the auxiliary arm 20 so that the workpiece can be conveyed linearly.
- the workpiece can be conveyed linearly in the lateral direction with the workpiece lifted upward.
- the second shaft at the lower end of the arm 3 is supported. 3a can be moved linearly in the lateral direction without moving upward. That is, it is possible to move the second shaft 3a in the lateral direction through two types of paths.
- a crossbar 4a connected to the second shaft 3a at the lower end of the arm 3 and a suction portion 4b attached to the crossbar 4a.
- the present invention is not limited to this, and a gripper or the like can also be used.
- suction part 4b which consists of a left-right paired vacuum cup is attached to eight places with respect to the cross bar 4a, the attachment location and number of adsorption
- suction parts 4b are not limited to this.
- one end of the cross bar 4a is connected to the second shaft 3a at the lower end of the arm 3, but the pair of workpiece transfer apparatuses 100 are connected to both ends of the cross bar. May be. That is, a pair of workpiece conveyance apparatuses 100 may be connected via a cross bar.
- the slider portion 2a is attached to the auxiliary arm 20 via the belt portion 2, but is not limited to this structure.
- a rail may be provided on the auxiliary arm 20 so that the slider portion slides on the rail, and the slider itself may be moved using a wire or the like.
- the rotation of the holding means 4, the rotation of the auxiliary arm 20, and the sliding of the slider portion 2a are all performed by driving a servo motor.
- the driving is not limited and may be an inverter motor or the like.
- the guide portion 1a may be slid by driving a servo motor.
- each reduction gear can be freely attached to the first servo motor, the second servo motor, and the third servo motor.
- the workpiece transfer device according to the present invention is suitably used as a workpiece transfer device that transfers a workpiece, for example, in press working.
- the workpiece conveyance device of the present invention the workpiece can be conveyed linearly while having a light and simple structure.
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Abstract
Description
このような、ワーク搬送装置としては、アームを備えたロボット方式のものが多く存在する。
かかるワーク搬送装置においては、第2リンクの両端軸間距離を第1リンクの両端軸間距離の半分とし、第2リンクの一端を第1リンクの両端軸間の中央に連結し、第1リンクの他端の移動直線延長上に第2リンクの他端を位置させた、いわゆるスコットラッセル機構を構成している。
また、直線移動機構の重量が大きいので、キャリアをビームに沿って移動させたり、揺動台を回動させる際、慣性力等が働いて装置に大きな負荷が加わり、故障の原因となる恐れがある。
さらに、重量が大きくなるので、エネルギー効率が優れるとはいえない。
また、上記ワーク搬送装置においては、アームが第2枢着部で枢着されたスライダ部を補助アームに沿ってスライドさせることにより、ワークの直線的な搬送を妨げずに、補助アームが、アームを支持することが可能となる。これにより、重量が比較的大きいワークであっても、直線的に搬送することが可能となる。
さらに、上記ワーク搬送装置は、構造がシンプルで且つ軽量であるので、エネルギー効率に優れると共に、取り付けが容易であり、スペースもとらない。
また、第1軸から第2枢着部までの距離と、第1枢着部から第2軸までの距離との比が、1:2~4であると、装置のサイズをよりコンパクトにすることができる。
また、ワークを直線的に搬送できることから、ワークの搬出又は搬入を無駄なく迅速に行うことができる。
図1に示すように、本実施形態に係るワーク搬送装置100は、本体部10と、該本体部10の上部に延設されたレール部1と、該レール部1に沿ってスライド可能なガイド部1aと、該ガイド部1aに、上端が第1枢着部3bにて枢着されたアーム3と、該アーム3の下端の第2軸3aに取り付けられ、ワークWを保持可能な保持手段4と、本体部10の第1軸2bに回動可能となるように取り付けられた補助アーム20と、該補助アーム20に沿ってスライド可能なスライダ部2aと、を備える。
また、スライダ部2aは、第2枢着部3cにてアーム3の略中央に枢着されている。
このように、ワーク搬送装置100は、軽量且つシンプルな構造となっている。
このとき、アーム3に第2枢着部3bにて枢着されたガイド部1aは、レール部1を上、下方向にスライドし、同時に、アーム3の略中央に第2枢着部3cにて枢着されたスライダ部2aは、補強アーム20の長手方向にスライドする。なお、これらの動きの詳細については後述する。これにより、コンパクトな構造でありながら、ワークWを確実に保持することができると共に、ワークWを直線的に搬送することが可能となる。
ワーク搬送装置100においては、本体部10の上部に、本体部10の長手方向(上下方向)に直線状に延びたレール部1が延設されており、レール部1には、ガイド部1aが、レール部1に沿って上下方向に自由にスライド可能となるように取り付けられている。
したがって、アーム3の上端がガイド部1aと一体となってレール部1に沿って上下方向にスライドするようになっている。これにより、ワークW搬送時のワークWの高さの調整が可能となる。
ここで、補助アーム20は、レール部1の真下に一定の距離をおいて本体部10に取り付けられる。これにより、補助アーム20をよりコンパクトにすることができると共に、ワーク搬送時のスライダ部2aの移動距離を短くすることができる。すなわち、比較的少ないスライダ部2aの動きで、アーム3の動きに対しスムーズに追従させることが可能となる。
図2に示すように、ワーク搬送装置100においては、レール部1の背面にサーボモータ(以下便宜的に「第1サーボモータ」という。)7aと該第1サーボモータに連結された減速機8aとが取り付けられている。このため、第1サーボモータ7aは、減速比を適切に選択することで、モータ軸のトルクを抑えることができる。
また、アーム3は、その略中央が第2枢着部3cにてスライダ部2aに枢着されている。
さらに、アーム3は、その下端の第2軸3aにワークWを保持可能な保持手段4が取り付けられている。
図3に示すように、保持手段4は、クロスバー4aに対して、左右一対のバキュームカップからなる吸着部4bが8箇所に取り付けられている。
そして、各吸着部4bは、内部を吸引することで、ワークWの平面部を吸着保持するようになっている。なお、各吸着部4bは、それぞれ独立して、ワークWを吸着保持できるようにすることも可能である。この場合、ワークWの形状やサイズに応じて、使用する吸着部4bを適宜選択できる。
したがって、クロスバー4aは、第2サーボモータ7cの駆動に基づいて、回動するようになっている。なお、クロスバー4aは、回動するアーム3の位置に対応して、吸着部4bが常に真下を向くように回動する。
図4に示すように、ワーク搬送装置100においては、補助アーム20には、該補助アーム20の長手方向に沿ってスライドするベルト部2が張設されており、スライダ部2aが、該ベルト部2に固定されている。
具体的には、補助アーム20には、従動プーリー9a及び駆動プーリー9bを介してベルト部2が長手方向に張設されており、該ベルト部2にはスライダ部2aが固定されている。
また、補助アーム20には、駆動プーリー9bを動かすためのサーボモータ7b(以下便宜的に「第3サーボモータ」という。)が、減速機8bを介して取り付けられている。このため、第3サーボモータ7bは、減速比を適切に選択することで、モータ軸のトルクを抑えることが可能となっている。
このとき、ベルト部2にはスライダ部2aが固定されているので、スライダ部2aもベルト部2と一体となって補助アーム20の長手方向に沿ってスライドすることとなる。なお、スライダ部2aには、上述したように、アーム3が第2枢着部3cにて枢着されている。
図5は、本実施形態に係るワーク搬送装置が取り付けられたプレス機を示す概略斜視図である。なお、プレス機の詳細な部分については省略する。
図5に示すように、プレス機Pは、支柱P1に、ワーク搬送装置100の本体部10が取り付けられている。すなわち、本実施形態に係るワーク搬送装置100は、軽量且つシンプルな構造であり、省スペースであるため、小さい空間で設置することが可能である。
また、例えば、プレス機Pを複数配列してタンデムプレスラインとした場合にも、ワーク搬送装置100が大きなスペースをとらないので、ライン全体をコンパクトなものとすることができる。
さらに、上述したように、ワーク搬送装置100がワークを直線的に搬送できることから、プレス機Pにおいては、ワークの搬出又は搬入が無駄なく迅速に行われる。
図6(a)~(f)は、本実施形態に係るワーク搬送装置を用いてワークを搬送する際のアームの下端(第2軸3aの基部)の軌跡を説明するための説明図である。なお、便宜的に保持手段4の詳細な記載は省略している。
図6(a)に示すように、まず、アーム3の下端は、位置Aで図示しないワークを、保持手段を介して保持する。このとき、ガイド部1aは、レール部1の最も下側に位置し、スライダ部2aは、補助アーム20の上側寄りの位置に位置する。
そして、ガイド部1aをレール部1の略中央まで上方に移動させ、スライダ部2aを補助アーム20の最も上側にまで移動させる。そうすると、図6(b)に示すように、アーム3は所定角度を維持するようにして、上方に移動し、アーム3の下端は位置Bに到達する。これにより、図示しないワークが持ち上げられる。
次に、スライダ部2aが補助アーム20の最も上側の位置にある状態を維持して、ガイド部1aをレール部1の最も上側に移動させる。そうすると、図6(c)に示すように、アーム3及び補助アーム20が回動して一直線上に並ぶ。その結果、アーム3の下端は、右方に移動し位置Cに到達する。このとき、ガイド部1a、レール部1と、スライダ部2a、補助アーム20と、アーム3と、が一直線状に重なることになる。
次に、スライダ部2aが補助アーム20の最も上側の位置にある状態を維持して、ガイド部1aをレール部1の略中央まで下方に移動させる。そうすると、図6(d)に示すように、アーム3及び補助アーム20が回動し、アーム3の下端は更に右方に移動し位置Dに到達する。
次に、ガイド部1aをレール部1の最も下側まで移動させ、スライダ部2aを補助アーム20の最も上側の位置から補助アーム20の上側寄りの位置にまで移動させる。そうすると、図6(e)に示すように、アーム3は所定角度を維持した状態で下方に移動し、アーム3の下端は位置Eに到達する。そして、図示しないワークの保持が保持手段4を介して断たれる。
このようにしてワークの搬送が行われる。
そして、ガイド部1aをレール部1の最も下側に移動させ、スライダ部2aを補助アーム20の最も下側の位置から補助アーム20の上側寄りの位置に移動させる。そうすると、アーム3及び補助アーム20は回動し、第2軸3aは左方に移動し、アーム3の下端は、図6(a)に示す位置Aに到達する。
また、ワークを吸着保持している場合は、ワークを上方に持ち上げた状態で横方向に直線的に搬送することができ、ワークを吸着保持していない場合は、アーム3の下端の第2軸3aを上方に移動させずに横方向に直線的に移動させることができる。すなわち、2種類の経路で第2軸3aを横方向に移動させることが可能となっている。
また、クロスバー4aに対して、左右一対のバキュームカップからなる吸着部4bが8箇所に取り付けられているが、吸着部4bの取り付け箇所及び個数はこれに限定されない。
例えば、補助アーム20にレールを設け、スライダ部が該レールをスライドするようにし、スライダ自体を、ワイヤー等を使って移動させてもよい。
また、一方で、補助アーム20の回動の代わりに、ガイド部1aのスライドをサーボモータの駆動により行ってもよい。
本発明に係るワーク搬送装置によれば、軽量且つシンプルな構造でありながら、ワークを直線的に搬送することができる。
1a・・・ガイド部
2・・・ベルト部
2a・・・スライダ部
2b・・・第1軸
3・・・アーム
3a・・・第2軸
3b・・・第1枢着部
3c・・・第2枢着部
4・・・保持手段
4a・・・クロスバー
4b・・・吸着部
7a・・・第1サーボモータ(サーボモータ)
7b・・・第3サーボモータ(サーボモータ)
7c・・・第2サーボモータ(サーボモータ)
8a,8b・・・減速機
9a・・・従動プーリー
9b・・・駆動プーリー
10・・・本体部
20・・・補助アーム
100・・・ワーク搬送装置
P・・・プレス機
P1・・・支柱
W・・・ワーク
Claims (8)
- ワークを搬送するためのワーク搬送装置において、
本体部と、
該本体部の上部に延設されたレール部と、
該レール部に沿ってスライド可能なガイド部と、
該ガイド部に上端が第1枢着部にて枢着されたアームと、
該アームの下端の第2軸に取り付けられ、前記ワークを保持可能な保持手段と、
前記本体部の第1軸に回動可能となるように取り付けられた補助アームと、
該補助アームに沿ってスライド可能なスライダ部と、
を備え、
前記アームの略中央が第2枢着部にて前記スライダ部に枢着されているワーク搬送装置。 - 前記第2枢着部が、前記アームの長手方向に対する中央位置よりも前記第1枢着部側に設けられている請求項1記載のワーク搬送装置。
- 前記第1枢着部から前記第2枢着部までの距離と、前記第2軸から前記第2枢着部までの距離との比が、1:1.2~2である請求項1又は2に記載のワーク搬送装置。
- 前記第1軸から前記第2枢着部までの距離と、前記第1枢着部から前記第2軸までの距離との比が、1:2~4である請求項1~3のいずれか1項に記載のワーク搬送装置。
- 前記補助アームには、該補助アームの長手方向に沿ってスライドするベルト部が張設されており、
該スライダ部が、該ベルト部に固定されている請求項1~4のいずれか1項に記載のワーク搬送装置。 - 前記保持手段の回動、前記補助アームの回動、及び、前記スライダ部のスライド、がいずれもサーボモータの駆動により行われる請求項1~5のいずれか1項に記載のワーク搬送装置。
- 前記保持手段が、前記アームに接続されるクロスバーと、該クロスバーに取り付けられる吸着部とからなる請求項1~6のいずれか1項に記載のワーク搬送装置。
- プレス機に対してワークを搬出又は搬入する装置として用いられ、
前記プレス機の支柱に取り付けられる請求項1~7のいずれか1項に記載のワーク搬送装置。
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CN201380055045.2A CN104736264B (zh) | 2012-10-23 | 2013-10-23 | 工件搬运装置 |
US14/437,108 US9764373B2 (en) | 2012-10-23 | 2013-10-23 | Workpiece conveying device |
MX2015005101A MX358458B (es) | 2012-10-23 | 2013-10-23 | Dispositivo de transporte de piezas de trabajo. |
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JP (1) | JP5631372B2 (ja) |
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JP2018001250A (ja) * | 2016-07-06 | 2018-01-11 | アイダエンジニアリング株式会社 | ワーク搬送装置 |
JP6266704B2 (ja) * | 2016-07-06 | 2018-01-24 | アイダエンジニアリング株式会社 | ワーク搬送装置 |
JP6960761B2 (ja) * | 2017-04-26 | 2021-11-05 | 株式会社Ihi物流産業システム | 搬送装置 |
JP6693978B2 (ja) | 2018-01-23 | 2020-05-13 | ファナック株式会社 | 搬送用ツールおよびロボット |
CN108946160A (zh) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | 一种高速搬运机器人 |
CN108789485A (zh) * | 2018-09-07 | 2018-11-13 | 济南昊中自动化有限公司 | 一种板料高速搬运机器人 |
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JP4198033B2 (ja) | 2002-12-26 | 2008-12-17 | 株式会社小松製作所 | タンデムプレスラインにおけるワーク搬送装置 |
JP2005161406A (ja) | 2002-12-26 | 2005-06-23 | Komatsu Ltd | タンデムプレスラインにおけるワーク搬送装置 |
US7316149B2 (en) * | 2004-01-30 | 2008-01-08 | Komatsu Ltd. | Inter-pressing-machine work transfer device |
JP2005246460A (ja) | 2004-03-08 | 2005-09-15 | Komatsu Ltd | プレス間のワーク搬送装置 |
CN202411268U (zh) * | 2011-12-23 | 2012-09-05 | 浙江金刚汽车有限公司 | 一种冲压机用自动送料机械手 |
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US20150283596A1 (en) | 2015-10-08 |
MX358458B (es) | 2018-08-22 |
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MX2015005101A (es) | 2015-11-06 |
US9764373B2 (en) | 2017-09-19 |
JP5631372B2 (ja) | 2014-11-26 |
JP2014083566A (ja) | 2014-05-12 |
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