JPH01183385A - Loading/unloading robot - Google Patents

Abstract

PURPOSE:To automatically deal with products having a shape of various kinds by storing the arm motion of each product having a different shape and providing an information memory storage for controlling a driving means of the arm, according to this information, when the shape of the product is specified. CONSTITUTION:The motion of arms 4a and 4b of each product having a shape of various kinds is stored in an information memory controller (CPU) 5, so that a pair of arm driving means (1a-3a) and (1b-3b) are controlled, according to the position memory information stored. Through this control, a pair of arms 4a and 4b are moved to the predetermined position, and the predetermined product is held by product holding means (jaws) 6a and 6b attached to the tip of these arms 4a and 4b, so that the product can be loaded or unloaded. When the shape of the product, which is stored, is altered, the corresponding memory information should also be altered. With this contrivance, loading/ unloading of the product can be carried out automatically by using a pair of arms without changing the product holding means, no matter what the shape of the product may be.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a loading/unloading robot applied to loading and unloading products in a product conveyance line.

<Conventional technology> Conventionally, in order to load and unload press mold processed products on a layer feed line, a dedicated dispensing machine was installed at the tips of two arms that simultaneously rotated and moved up and down, and could be replaced manually. – is used.

Dedicated jigs are manufactured for each type of product, and when the type of product to be transported changes, the dedicated jigs are replaced manually.

<Problems to be Solved by the Invention> In the conveyance line for press mold products, normally 40 to 50 different shapes of products are conveyed on each rod, and conventionally, many types of press mold products Correspondingly, a special jig is manually installed and replaced at the tip of the arm. Loading and unloading operations that require such manual labor reduce work efficiency and are currently a major bottleneck in automating conveyance lines.

In addition, a large amount of cost and space is required to manufacture and inventory many types of special seals. Furthermore, since the special seals are manually attached and replaced on the winding line, the attachment and replacement work is accompanied by danger.

The present invention has been made in view of the above situation, and provides a loading/unloading pot that can handle products of any shape with a set of product gripping means.
The purpose of this invention is to allow loading and unloading of many types of products without changing the attachment of product gripping means, thereby improving the efficiency of product transportation and reducing costs.

Means for Solving the Problems> To achieve the above object, the present invention has an arm movable in a vertical plane and pivotable around a vertical axis, and an arm drive means for driving the arm to move. , a product gripping means that is rotatably provided at the tip of the arm and grips the product; and a product gripping means that stores the movement of the arm for each shape of the product as position memory information, and stores information corresponding to the shape of the product. The present invention is characterized by comprising an information storage control device that controls the drive of the arm according to the position storage information.

Function> The movement of the arm for each product of 81 types is stored in the information storage control device, and the movement of the arm is controlled based on the stored information to move the arm to a predetermined position individually or simultaneously, and the product gripping means Attach and detach specified products. If the shape of a stored product changes, this can be handled by converting the stored information.

Embodiment> FIG. 1 shows a plan view of a loading/unloading robot according to an embodiment of the present invention, and FIG.
-■ line arrow view, Fig. 3 shows I-IN line arrow view in Fig. 2, Fig. 4 shows F/-IV line arrow view in Fig. 2, and Fig. 5 shows 2
■-V line arrow view in the figure, * of the information storage control device in Fig. 6
Ja! 1 block is shown.

In Figure 1, la and lb are Y-axis drive sources, 2m and 2b
is the X axis I91! The Ith sources, 3a and 3b are two-axis drive fth sources, and the arms 4a and 4b are movable in the vertical plane (X,
It can move freely in the Y-axis direction) and rotate around the vertical axis (around the Z-axis). Each drive source 1 to 3 is an information storage control device @
(CPU) It is driven independently based on a control command from 5. At the ends of the arms 4m and 4b, there are rotatably mounted jig 6a and 6b for attaching and detaching the product as a product gripping means.

The mechanism and operation of the arm 4a will be explained below, and it is assumed that the arm 4b has the same mechanism and operation as the arm 4a.

As shown in FIG. 4, a Y-axis drive shaft 10 is supported on the swing base 7 via bearings 8 and 9, a screw nut 11 is screwed onto the Y-axis drive shaft 10, and the screw nut 11 is attached to the cross base. It is attached to 12. A two-axis rotating shaft 16° 17 is rotatably supported on the frame 13 via bearings 14.15, and a Z-axis rotating shaft 16° 17 is connected to a rotating base 7.
is fixed to. The frame 13 is supported by the loader body 18.

As shown in FIG. 5, the swing base 7 and the cross space 12
Between them are Y-axis slide bearings 19a and 19b.
is attached so that it can slide in the Y-axis direction. An X-axis drive shaft 22 is rotatably supported in the rear space 12 via bearings 20.21, a screw nut 23 is screwed onto the X-axis drive shaft 22, and the screw nut 23 is attached to a slide base 24. ing.

As shown in FIG. 4, between the cross space 12 and the slide space 24, there are X-axis slide bearings 25a, 2.
5b is attached so as to be slidable in the X-axis direction.

As shown in FIG. 3, the slide pace 24 has an arm 4.
A is attached to the arm 4a, and a jig W-6a for attaching and detaching the product is attached to the tip of the arm 4a. The jaw 6a is swingable and is fixed in a state following the shape of the pressed product 26 for vacuum suction.

In the loading/unloading robot having the above configuration, each of the driving sources 1 to 3 is individually driven based on a command from the CPU 5, and the arms 4m and 4b are positioned and moved.

The CPtJ5 stores the movements of the arms 4a and 4b for each type of pressed product 26 as position storage information, and
U5 outputs a drive command to each drive source 1-3 according to this position storage information.

An outline of the operation by the CPU 5 will be explained based on FIG.

31. Workpiece (press mold product) setting operation 31d2 Manually move the tip of the jig wr-6a for attaching and detaching the product to follow the shape of the product.

31b1 When the movement is completed, set the product type number and press the position memory push button switch.

31c, the CPU 5 takes in the position data of each axis and stores it in the memory in correspondence with the product type number.

32. Automatic positioning 32d1 Set the product type number to the desired one that has already been taught.

32b1 Press the alignment start button.

32a1CPLJ5 drives each axis to a predetermined position according to the memory information of each axis.

32d, the alignment is completed when the predetermined positioning is completed, and the movement of the arm 4a to the predetermined position is completed.

The above operations are controlled by a computer, and position information at the time of setting is stored in a memory backup system, so it remains unchanged even when the power is turned off.

The loading/unloading robot mentioned above is
g11 by automatic control! It has axes that are rotated, and each axis is driven in the vertical direction (Y-axis direction) and the front-back direction (X-axis direction).
, equipped with arms 4m and 4b that are installed to be able to rotate freely (Z-axis rotation) and move independently, and the movements of arms 4m and 4b are set to type-specific numbers that correspond to the product shape, and stored in the CPU 5 as position memory. The arms 4a and 4b are automatically controlled and moved according to the position memory information according to the required product shape. Therefore, the arms 4m and 4b can be moved by push buttons or signals as necessary, and the arms 4m and 4b can be moved as needed.
, 6b (can handle many types of products. Also, even if the input product shape changes, it can be handled by converting the position memory, so it can handle any number of types of products.) It is also possible to efficiently respond to changes in shape in a short period of time.

m. The loading/unloading robot of the present invention is a pressed product 26f! It can also be applied to plastic molded products and paper products such as cardboard.

<Effects of the invention> The loading/unloading robot of the present invention has the following effects:
Since products of any shape can be automatically handled by one set of product gripping means, loading and unloading of 818 products can be performed without changing the attachment of the product gripping means. As a result, the installation of the product gripping means does not need to be replaced, making it possible to fully automate the product conveyance line, and eliminating the need for a large number of product gripping means, improving the efficiency of product conveyance and reducing the manufacturing cost of the product gripping means. By reducing management costs and inventory space, costs can be reduced. Furthermore, since the attachment of the product gripping means does not need to be replaced, safety is also improved.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a loading/unloading robot according to an embodiment of the present invention, and FIG.
■A view taken along the line, Figure 3 is a view taken along the l-11I line in Figure 2,
4 is a view taken along the line ■-■ in FIG. 2, FIG. 5 is a view taken along the line ■-V in FIG. 2, and FIG. 6 is a control block diagram of the information storage control device. In the drawing, la and lb are YM K11II! Ig, 2m, 2b are X-axis gy sources, 3m, 3b are Z-axis drive sources, 4a, 4b are 1-me, 5 is an information storage control unit (CPU), 6m, 6b are digital y, 26 is a press It is a processed product.

Claims (1)

[Claims] an arm movable in a vertical plane and pivotable around a vertical axis; an arm drive means for driving the arm to move; a product gripping means rotatably provided at the tip of the arm and gripping a product; and an information storage control device that stores the movement of the arm for each shape of the product as position storage information and controls the drive of the arm according to the position storage information stored corresponding to the shape of the product. Characteristic loading/unloading robot.