JPS623836A - Conveyance robot for press machine - Google Patents

Abstract

PURPOSE:To assure the smooth traversing and vertical movement of a robot feed bar with the simple construction of a piece of driving source by turning a pinion for vertically moving a feed bar of a traversing slider by the sliding of a rack incorporated thereto. CONSTITUTION:The feed bar 4 which supports a clamp device 5 is supported to a guide post 27 by the spring energy 29A of the slider 23 which is traversed by a guide member 24 of a conveying robot 2 and is vertically moved by a pinion shaft 30 and a crank mechanism 33. The rack 35 fitted to the pinion 34 is incorporated in the slider 23 and is connected to a belt 22 which is run by an AC servocontrol motor 13 so as to traverse the slider 23. The rack 35 moves to turn the pinion 34 and to vertically move the bar 4 when the projection of the slider 23 contacts with a position-adjusted stopper 41. The turning of the pinion shaft 30 is controlled by rollers 38, 40 provided thereto except in the prescribed position of a cam member 46.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a robot that transports and supplies a workpiece to a press machine, and in particular, the horizontal and vertical movement of a feed bar for transporting a workpiece is performed by a single drive source. Concerning transportation robots used in

[Background technology and its problems] In order to supply a workpiece from a de-stacking device to a press machine, to transport a workpiece from a press machine to a stacking device, or to sequentially supply workpieces to multiple press machines, etc. A feed bar with a workpiece clamping device is moved laterally and vertically. Conventionally, this fee F
/<- The drive was performed by two drive sources such as motors for the horizontal direction and the vertical direction. This makes the structure complicated and requires a large number of parts, making the device expensive.

Therefore, the applicant of the present application
No. 7-40886) provided an apparatus in which the movement of the feed bar in the two directions can be achieved with a single driving source. This device reciprocates a timing belt using a motor that rotates in forward and reverse directions, and the timing belt is passed around a pulley installed on a moving body that can move laterally. The feed bar is connected via a crank mechanism, and the boob is prevented from rotating under normal conditions by a brake device. When the timing belt moves, the boot cannot be rotated by the brake device, so the movable body moves together with the timing belt to feed the feed bar in the lateral direction, and when the movable body reaches its travel limit and is stopped by the stopper. Since the feed bar rotates by overcoming the braking force of the brake device, the feed bar is moved up and down by the crank mechanism.

According to the above-mentioned conventional technology, the vertical movement of the feed bar is performed by the rotation of the boob against the braking force of the brake device, which applies unreasonable force to the component parts and therefore cannot guarantee smooth operation. As a result, heat generation and wear of the brake equipment occur.

[Object of the Invention] An object of the present invention is to provide a transfer robot for a press machine that can realize lateral movement and vertical movement of a feed bar with a single drive source, and can simplify the structure. It is in. In particular, it is an object of the present invention to eliminate the need to burden component parts with excessive force, prevent wear of component parts, etc.
An object of the present invention is to provide a transfer robot for a press machine that can operate smoothly.

[Means and effects for solving the problems] Therefore, the robot according to the present invention includes a traveling body that travels laterally by a drive source, a slider that is movable laterally, and a slider coupled to the traveling body, It has a rack member movably provided on the slider, a pinion that meshes with the rack member, a pinion shaft rotatably provided on the slider, and a pinion shaft movable up and down with respect to the slider. a feed bar connected via a crank mechanism and equipped with a work clamp device; and a rotation restriction that is coupled to the pinion shaft and comes into contact with an immovable member to prevent rotation of the pinion shaft when the slide is outside the travel limit. The structure includes a member.

When the rotation restricting member comes into contact with the immovable member and the pinion shaft and pinion cannot rotate, the slider is moved by the moving force of the traveling body acting on the rack member, which causes the feed bar to move in the lateral direction. When the slider reaches its travel limit and the pinion shaft and pinion become rotatable, the rack member rotates the pinion and the pinion shaft, causing the feed bar to move up and down via the crank mechanism.

[Example] FIG. 1 is a front view of a press machine 1 to which a transfer robot according to the present example is applied, and FIG. 2 is a side view thereof. The transfer robot 2 is attached to the front of the press machine 1, and the feed bar 4 of the transfer robot 2 moves horizontally in advance and return (first (left/right direction in the figure) operation,
It also performs lift and down operations, which are vertical movements.

Work clamp devices 5 are installed near both ends of the feed bar 4.
The work clamp device 5 includes a bar member 6 extending horizontally from the feed bar 4 toward the press machine 1;
Vacuum cup 7 mounted downwardly on the end of bar member 6
and an air circuit (not shown) for discharging and supplying air in order to cause the vacuum cup 7 to adsorb and detach the workpiece.

Disposed on both the left and right sides of the press machine l are a distator device 8 for preparing to load workpieces to be pressed, and a stacking device 9 for loading and storing pressed workpieces, and a feed bar. The work clamped by the work clamp device 5 by repeating the advance, return, lift, and down operations in step 4 is supplied from the unstacking device 8 to the press machine 1, and the workpiece that has been pressed is transferred from the press machine 1 to the stack device 9. transported to. The destacking device 8 and the stacking device 9 have support members 10.11 that pivot about vertical axes, and these support members 10.11 have two 7-1 m mounting areas 10A.
, IOB, 11A, and IIB are provided, and when the workpieces are taken out and stored in one workpiece loading section, the workpieces are taken out and stored in the other workpiece loading section a by the rotation of the support member 10.11.

FIG. 3 is a longitudinal sectional view showing the structure of the transfer robot 2. FIG.

A motor 13 is disposed at the bottom of the case 12, and the motor 13 is an AC servo motor, and the drive shaft 13A rotates in forward and reverse directions. The drive shaft 13A includes pulleys 14, 15 and a belt 16.
The idler shaft 17 is connected to the idler shaft 17 via the idler shaft 17, and the idler shaft 17 is provided with a pulley 18 shown in FIG. Pulley 1
A belt 22 is attached to the belt 8 along with pulleys 19, 20, 21.
The upper stage portion 22A of No. 2 extends horizontally in the lateral direction, which is the transport direction of the workpiece.

As described above, when the output shaft 13A of the motor 13 rotates in forward and reverse directions, the upper section 22A of the belt 22 reciprocates while being decelerated by the driving force deceleration transmission neck consisting of pulleys 15, 18, etc., and the belt 22 runs in the lateral direction. The motor 13 serves as a driving source for driving this running body.

A slider 23 is installed inside the case 12, and the slider 23 is guided by two upper and lower round bar-shaped guide members 24 that are hooked to the case 12, and is movable laterally. The slider 23 has a cylindrical hole 25 extending in the vertical direction.
A guide post 27 coupled to a feed bar holding member 26 is inserted into these cylindrical holes 25, and the guide post 27 slides against a guide bush 28 provided inside the cylindrical hole 25. Since it is movable, the feed bar holding member 26 and the feed bar 4 attached to the upper surface of the feed bar holding member 26 are movable up and down relative to the slider 23. A spring 29A supported by the needle member 29 is accommodated in each cylindrical hole 25, so that the feed bar 4 and the like are always urged upward by the elastic force of the spring 29A.

As shown in FIG. 3, a pinion shaft 30 is inserted through the slider 23 in the front-rear direction, and a lever member 31 is coupled to the end of the pinion shaft 30 that protrudes toward the rear side of the slider 23. and the feed bar holding member 26 are connected by a link member 32. These lever member 31 and link member 32 constitute a crank mechanism 33 that moves the feed par 4 up and down with respect to the slider 23 by rotation of the pinion shaft 30.

A pinion 34 is fixed near the end of a pinion shaft 30 protruding toward the front side of the slider 23, and the slider 23 is provided with a rack member 35 that meshes with the pinion 34. The rack member 35 is slidably placed on a stepped portion 23A formed on the slider 23, and is movable in the same direction as the slider 23. This rack member 3
5 is integrally connected to the upper portion 22A of the belt 22 by a connecting member 36 having an angular cross section.

A trident-shaped arm member 37 is fixed to the end of the pinion shaft 30 protruding toward the front side of the slider 23, and this arm member 37 has three rollers 38, 39, 40 as cam followers as shown in FIG. is rotatably provided. Of these rollers 38, 39, 40, the rollers 39, 40 on both sides are arranged at the same horizontal height position, and the central roller 38 is arranged at a lower position than these rollers 39, 40. Also, as shown in Fig. 6, three rollers 38
．． 39 and 40 are arranged at equal distances and intervals around the pinion shaft 30.

As shown in FIG.
A stopper member 41 is provided, and this stopper member 41
The movement limit of the slider 23 is set by the protrusion 23B of the slider 23 that has moved laterally coming into contact with LA. As shown in FIG. 3, the stopper member 41 is connected to the case 12 and the support member 4 attached to the case 12.
2, the stopper member 41 is supported so that it can slide in the transport direction of the workpiece, that is, in the moving direction of the slider 23. As shown in FIG. 5, a screw shaft 43 is inserted and screwed into the stopper member 41, and the position of the stopper member 43 is adjusted and changed by rotating the end portion 43A of the screw shaft 43 discharged from the case 12. In this way, the screw lll1143 is inserted into the stopper member 4.
1 position adjustment device 44 is configured.

An intermediate cam portion 45 is integrally formed on the inner surface of the center in the lateral direction of the case 12, and terminal cam portions 46 having a length in the lateral direction are provided on both sides of the intermediate cam portion 45. The terminal cam portion 46 is coupled to the stopper member 41, and the terminal cam portion 46 is in slidable contact with the intermediate cam portion 45 so that the position of the stopper member 41 can be adjusted. These intermediate cam portions 45 and terminal cam portions 46 form a cam member 47 against which the six-rollers 38, 39, 40 as the cam followers abut. This cam member 47 is a stationary member that does not move while the slider 23 is moving.

As shown in FIG. 6, the intermediate cam portion 45 has a straight line shape extending in the lateral direction and has a constant thickness, and the terminal cam portion 46 has a straight line portion 48 that is continuous with the intermediate cam portion 45, and is formed in a perfect circular shape. It consists of a circular part 49.

The radius of the circular portion 49 is equal to the length from the center of the pinion shaft 30 to the circumference of the roller 38, 39, 40. The rollers 39 and 40 move while contacting the lower surface 45A of the intermediate cam portion 45 and the lower surface 48A of the linear portion 48 of the terminal cam portion 46.

As shown in FIG. 8, a downward stepped surface 50 that is continuous with the lower surface 48A of the straight portion 48 is formed in the circular portion 49, and when the roller 39 or 40 moves onto this stepped surface 50 and reaches the end,
The roller 38 on both sides is positioned so that the center roller 38 contacts the lower top surface 49A of the circular portion 49.
40. It is shifted in the front-back direction.

Next, we will discuss the effect.

When the belt 22 as a running body runs due to the drive of the motor 13 as a drive source, the rack member 35 connected to the belt 22 by the connecting member 36 tends to move in the same direction as the belt 22.

However, the pinion shaft 30 including the pinion 34 that meshes with the rack member 35 cannot rotate because the rollers 39 and 40 of the arm member 37 are in contact with the intermediate cam portion 45 of the cam member 47. The pinion shaft 30 does not rotate, and the moving force acting on the rack member 35 becomes the moving force of the slider 23, and the slider 23 moves laterally together with the belt 22 while being guided by the guide member 24. That is, when the slider 23 moves laterally, the roller 39 that comes into contact with the cam member 47, which is a stationary member,
The arm member 37 provided with 40 acts as a rotation restriction member that prevents rotation of the pinion 34 and pinion shaft 30.

As described above, the slider 23 moves laterally and the projection 23B comes into contact with the projection 41A of the stopper member 41, so that the slider 23 reaches its movement limit and cannot move any further.

At this time, since the belt 22 continues to run, the rack member 35
A moving force continues to act on the . When the slider 23 reaches its travel limit, the rollers 38, 39, 40 have reached the circular part 49 of the terminal cam part 46, and these rollers 38, 39, 40 have reached the circular part 49 of the terminal cam part 46
．． 39 and 49 are arranged in an arc shape that matches the outer diameter of the circular portion 49, the pinion 34 and pinion shaft 30 to which rotational force is applied from the rack member 35 are connected to the rollers 38 and 40 (slider) shown in FIG. 23 reaches the limit of movement on the right side in FIG. 6, the rollers 38, 39) move along the outer peripheral surface of the circular portion 49, thereby rotating. That is,
When the slider 23 stops at its travel limit, the rack member 35 moves relative to the slider 23 and rotates the pinion 34 and pinion shaft 30.

Therefore, due to the rotation of the pinion shaft 30, the feed bar 4
is lowered by the crank mechanism 33. When the feed bar 4 reaches its lower limit, the motor 13 stops driving and the belt 22 reaches its running limit.

The motor 13 then begins to rotate in the opposite direction, and the belt 22 runs in the opposite direction. Immediately after the belt 22 starts running in the opposite direction, the rack member 35 moves in the opposite direction to the above, and the rollers 38,
40 (or 39) moves on the outer peripheral surface of the circular portion 49, and the pinion 34 and pinion shaft 30 rotate in the opposite direction, so that the feed bar 4 is raised by the crank mechanism 33. When the feed bar 4 reaches its upper limit, the roller 39 (or 40)
contacts the straight portion 48 of the terminal cam portion 46 and the arm member 3
7 acts as a rotation regulating member again, so the pinion 3
4. The pinion shaft 30 can no longer rotate. Therefore, the slider 23 begins to move in the opposite direction to that described above due to the moving force of the belt 22 acting on the rack member 35.

When the slider 23 reaches the limit of movement on the opposite side, the same operation as described above is repeated, and the feed bar 4 performs the lowering and rising operations again at the limit of movement of the slider 23.

The above drive cycle of the feed bar 4 is repeated, and the first
The vacuum cup 7 of the workpiece clamping device 5 shown in FIGS.
, the workpiece of the de-stacking device 8 is transferred to the press machine 1 by a combination of the horizontal movement and the vertical movement of the vacuum cup 7.
The pressed workpiece is transported from the press machine 1 to the stacking device 9.

When the feed bar 4 moves up and down at the limit of movement of the slider 23, two of the three rollers 38, 39° 40
Since the pieces roll while contacting the circular part 49 of the terminal cam part 46, smooth vertical movement of the feed bar 4 is guaranteed, and the circular part 49 absorbs loads such as the weight of the workpiece acting on the feed bar 4. The feed bar 4 can be lowered while being supported.

As described above, in this transfer robot 2, the horizontal movement and vertical movement of the feed bar 4 are performed by one motor 13, and it is not necessary to provide a driving source for each movement direction. Furthermore, the feed bar is moved without imposing excessive force on the component parts, and there are no component parts that generate heat or wear out, so smooth operation can be achieved.

For example, a press machine 1 and a destacking device 8. When it is necessary to change the horizontal movement stroke of the feed bar 4, such as when the distance between the stacking device 9 and the stacking device 9 is changed, the stopper member is rotated by rotating the threaded shaft 43 shown in FIG. Adjust the position of 41. Even if the position of the stopper member 41 is changed, the terminal cam part 46 constituting the cam member 47 can move together with the stopper member 41 and slide against the intermediate cam part 45. Accordingly, the position of the circular portion 49 of the terminal cam portion 46 necessary for vertically moving the feed bar 4 can also be changed.

Note that if there is no need to adjust the horizontal movement stroke of the feed bar 4, the cam member 4 as a stationary member may be used.
7 may be integrated instead of being divided as in this embodiment, and the circular portion 49 of the cam member 47 is not necessarily necessary and may be omitted. When the pinion 34, pinion shaft 3
It suffices if the structure is configured to allow zero rotation.

In the above-described embodiment, the work clamping section of the work clamping device 5 is constituted by a vacuum cup, but it may also be a magnetic suction section. Further, in this embodiment, the traveling body that connects the crawler member is a belt, but it may be a timing belt or a chain. , press machines, and stacking devices, but the transfer robot according to the present invention can also be applied to sequentially transfer workpieces to multiple press machines, and can also be used for multiple processing operations. It can also be applied to sequentially transporting workpieces to respective processing stages in a single transfer press machine having stages.

〔Effect of the invention〕

According to the present invention, the feed bar has two directions, one in the horizontal direction and the other in the vertical direction.
Directional movement can be performed by a single driving source, simplifying the structure and reducing manufacturing costs. In particular, according to the present invention, the feed bar can be moved without imposing excessive force on the component parts, and therefore without generating heat generation, wear, etc. on the component parts, and smooth operation can be achieved. .

[Brief explanation of drawings]

Fig. 1 is a front view of a press machine to which a transfer robot is applied, Fig. 2 is a side view thereof, Fig. 3 is a vertical sectional view showing the internal structure of the transfer robot, and Fig. 4 is IV-17 of Fig. 3. The line cross-sectional view, FIG. 5, is V-Vi! of FIG. 3. 6 is a front view of main parts showing the positional relationship of the rack member, pinion, etc., FIG. 7 is a view similar to FIG. 6 showing the operating state of the pinion by the rack member, etc., and FIG. 6 and 7 are perspective views of the terminal cam portion, and FIG. 9 is a diagram showing the operation of the feed bar. Engineering...Press machine, 2...Transfer robot, 3...
Slide, 4... Feed bar, 5... Work clamp device, 13... Motor serving as a driving source, 22...
Belt, which is a running body, 23...Slider, 30...
Binion shaft, 33... Crank mechanism, 34... Pinion, 35... Rack member, 37... Arm member which is a rotation regulating member, 47... Cam member which is an immovable member.

Claims (1)

[Claims] (1) A traveling body that runs laterally by a drive source, a slider that is movable laterally, a rack member that is coupled to the traveling body and is movably provided on the slider, and meshes with this rack member. a pinion shaft having a pinion and rotatably provided on the slider; a feed bar that is movable up and down with respect to the slider and connected to the pinion shaft via a crank mechanism and equipped with a work clamp device; A transfer robot for a press machine, characterized in that it is configured to include a rotation regulating member coupled to a pinion shaft and which comes into contact with an immovable member to prevent rotation of the pinion shaft when the slide is outside its travel limit. .