JPS5973286A - Carrying method and its device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention utilizes the motion of industrial robots, which are typically used in conjunction with conveyors in production lines. The conveyor is provided along a workpiece conveyance line and conveys the workpiece to a position within the range of movement of the industrial robot. Further, the industrial robot grasps a workpiece sent by a conveyor and moves it to a predetermined position, for example, a processing position of a processing device. In such a production line, the movement of the conveyor and the movement of the industrial robot must be synchronized. For this reason, the control of the conveyor must always be performed in conjunction with the movement of the industrial robot, and therefore, the control becomes extremely complex.

The present invention focuses on the motion function of an industrial robot, and uses the motion of the industrial robot to drive the conveyor, thereby ensuring synchronization between the motions of the two.

Hereinafter, the present invention will be specifically explained based on an embodiment shown in the drawings.

The transportation method of the present invention includes an industrial robot 1 and, for example, 4
It is assumed that the conveyors 2a+2b+2c and 2d are present. The industrial robot 1 is, for example, of the cylindrical coordinate type, and uses a variable program type control device 3 to sequentially repeat a plurality of movement cycles to give the robot hand 4 a turning movement, an up/down movement, and a forward/backward movement, and move it within the range of motion. This gives a three-dimensional movement. The robot hand 4 with
As shown in the figure and FIG. 3, a pair of fingers 5 grips a workpiece 6, for example a conveyed object. In addition, this robot hand 4 is provided with a positioning body 8 which also serves as a clamp and is directed downward by a bar 9.
A drive bin 7 for driving +2c and 2d is fixed downward.

Next, the conveyors 2a, 2b12C32d are, for example, endless types without a driving source, and are provided at a workpiece loading position and a workpiece unloading position. Those at the carry-in position are indicated by suffixes a and b, and those at the carry-out position are indicated by suffixes c and d, which partially expose the inside of the operating range of the industrial robot 1. . Work 6
is a gear, for example, and the hole 11 allows the conveyor 2 to
It can be inserted into the holder 12 of a, 2J2C+2d.

Further, the holder 12 is provided with a drive hole 13 on its upper surface into which the drive pin 7 of the robot hand 4 is fitted.

The drive hole 13 and the drive pin 7 constitute a retaining means for driving.

Further, a processing machine, for example, a machining center 10, is installed in the front position of the industrial robot 1. The machining ft of the machining center 10 is, of course, provided within the operating range of the industrial robot 1 and can be operated by its operating group and the robot hand 4 of the industrial robot 1.

Next, the operation will be explained. The conveyors 2a and 2b on the carry-in side hold holders 12 with a pitch P and unprocessed workpieces 6 in an aligned state. On the other hand, the industrial robot 1 is
The robot hand 4 is moved to the carry-in side, for example, above the conveyor 2a, and the drive bin 7 is moved to the drive hole 13 of the holder 12 at the feed position A, for example, two positions before the gripping position B.
Then, the robot hand 4 is moved backward to move the conveyor 2a by the amount of feed corresponding to the hitch P. At this time, the workpiece 6 one position before the gripping position B is fed to the gripping position B as shown by the arrow. Next, the industrial robot IFi moves its robot hand 4 to the gripping position B, and at that position the pair of fins, /l/-54Cj
, 9'7-grip 6 and pull out the holder 12,
Next, this workpiece 6 is processed by the machining center IO.
Send it to C. Here, the robot hand 4 places the work 6 at the machining position CK of the machining center 1°, and then operates the handle of the clamp device 14 to fix the work 6 at the machining position C. After this, the machining center lo detects the clamped state and performs the necessary machining operation on the workpiece 6. At the time of completion of machining, the industrial robot 1 releases the clamped state of the workpiece 6, grips the processed workpiece 6 with the robot hand 4, performs a rotational movement, and moves the workpiece 6.
The workpiece 6 is inserted into the holder 12 at the open position of the conveyor 2C on the delivery side, for example. In this way, work 6
is moved from the processing position C of the machining center 10 to the conveyor 2c on the carry-out side by the turning movement of the industrial robot 1. Next, the industrial robot 1 has a robot hand 4.
The drive bin 7 is moved to the delivery position E, which is two positions before the open position RD.
The conveyor 2c is inserted into the drive hole 13 of the holder 12, moves backward, and rotates the conveyor 2c by the amount of feed corresponding to the pitch P. In this way, a new empty holder 12 is created.
'' moves to the open position and prepares to hold the next workpiece 6. In this way, the industrial robot 1 transports the unprocessed workpiece 6 from the carrying conveyor 2a to the machining center lo.
Then, the processed workpiece 6 is moved to the open position of the conveyor 2c on the discharge side. This conveyance movement is repeated according to the contents of the stored program, and the number of repetitions is set in accordance with the number of works 6 on the conveyor 2a on the carry-in side. When all the workpieces 6 on one conveyor 2a have been processed, the industrial robot 1 repeats the same operation on the other conveyor 2b for carrying in, and sends it out to the conveyor 2cK for carrying out.

In addition, although the above-mentioned embodiment shows a circular bucket type industrial robot 1 as an example, the type of this industrial robot 1 is not limited thereto, and may be a polar coordinate type, a multi-joint type, or a rectangular coordinate type. It may be.

Further, the conveyor 2a12b12CI2d may be configured as a turntable type in addition to an inline type. Furthermore, the work 6 can be automatically fed to the conveyor by using a known feeder. Furthermore, the conveyor feed drive is
In addition to the engagement between the driving pin 7 and the driving carpenter 3 of the holder 12, other securing means may also be used. Further, the mounting positions of the drive bottle 7 and the drive hole 13 may be reversed.

In the present invention, since the industrial robot itself feeds the conveyor by a predetermined amount, the feed movement of the conveyor and the movement of the robot are reliably synchronized, and since the conveyor does not require a drive attachment or a control device, the structure of the conveyor becomes easier.

[Brief explanation of the drawing]

Fig. 1 is a plan view of the arrangement of an industrial robot, a conveyor, and a machining center when implementing the method of the present invention;
The figure is an enlarged plan view of the robot hand, and FIG. 3 is an enlarged side view of the robot hand. 1...Industrial robot h, 2a, 2b, 2c, 2d.
... Conveyor, 4... Robot hand, 5.
...Fiker, 6...Work as a conveyed object,
7... Drive bin as a securing means, 12...
-Holder, 13... Drive hole as a securing means. Patent applicant Kunio Nakagawa, patent attorney of Toyama Kikai Co., Ltd.

Claims (3)

[Claims] (1) Feed the conveyor by a predetermined amount by the feed movement of the industrial robot, position the conveyed object on the conveyor to the fixed position lid, and then transfer the conveyed object at this fixed position to the industrial robot. 1. A conveying method characterized by gripping an object by a robot hand of an industrial robot, and then conveying the gripped object to a predetermined position by a conveying movement of an industrial robot. (2) The robot hand of the industrial robot grasps the object at a fixed position, the transport movement of the industrial robot transports the object to the specified position of the conveyor, and the conveyor is moved by the industrial robot. A conveying method characterized by feeding a predetermined amount by a feeding movement. (3) A conveyor without a driving source, holders for holding conveyed objects attached to the conveyor at regular pitches, and a plurality of drive engagement means provided at regular pitches to the conveyor. , an industrial robot that repeatedly performs feeding and transport movements of objects to be conveyed through a robot hunt, a finger for grasping objects attached to a 1. A conveyance device comprising a drive engagement means provided in one end and engaged with a drive engagement means of the conveyor.