JP5877650B2 - System including robot, press machine and control device - Google Patents

Description

The present invention relates to a system including a robot, a press machine, and a control device that controls the robot and the press machine .

  In the prior art, a workpiece processed by a processing machine is gripped by a robot servo hand and taken out from the processing machine. Patent Document 1 and Patent Document 2 disclose a servo hand that holds such a workpiece. The servo hand includes one or a plurality of claw portions driven by a servo motor. And the workpiece | work is hold | gripped by driving a nail | claw part via a servomotor.

JP 2010-5732 A Japanese Patent Laid-Open No. 5-131240

  However, a workpiece processed by a specific processing machine such as a press machine or a forging machine has a high temperature. The servo motor of the servo hand is often arranged near the claw portion. For this reason, when a high-temperature workpiece is gripped, the servomotor may be damaged by the heat of the workpiece, and as a result, a situation has occurred in which the life of the servomotor is significantly reduced.

The present invention has been made in view of such circumstances, and includes a robot, a press machine, and a control device having a hand that prevents a servo motor from being damaged even when a high-temperature workpiece is gripped. An object is to provide a system including the above.

In order to achieve the above-described object, according to a first invention, in a system including a robot, a press machine, and the robot and a control device for controlling the press machine, the robot is attached to the tip of a robot arm of the robot. The robot hand driven by the servo motor includes a hollow first shaft, a second shaft disposed in the first shaft so as to be rotatable relative to the first shaft, and the first shaft. A first claw portion attached to the second shaft, and a second claw portion attached to the second shaft, wherein the rotation positions of the first claw portion and the second claw portion are determined by driving the servo motor. The first shaft and the second shaft are changed relative to each other around the axis, whereby the object is gripped by the first claw portion and the second claw portion. The gripping and releasing operations of the object are performed in conjunction with the movement of the robot arm, and the robot hand is further connected to the tip of the robot arm. A base portion on which the servo motor is installed, and one of the first shaft and the second shaft is installed on the base portion, and the first shaft and the second shaft The other of them is connected to the motor shaft of the servo motor via a transmission portion, and the servo motor is disposed distal to the press machine on one outer surface of the base portion, and the first shaft and system wherein one of said second shaft is disposed proximal of the press machine on the other outer surface of the base portion Hisage It is.

  According to a third invention, in the first invention, the first claw part and the second claw part are respectively attached to tips of the first shaft and the second shaft, and the first shaft and the The second shaft has a sufficient length so that the servo motor is not affected by the heat of the object gripped by the first claw portion and the second claw portion.

In the first and second inventions, the first and second shafts are relatively rotated to hold and release the object by the first claw portion and the second claw portion. Since the servo motor is normally disposed at the tip of the robot arm, the servo motor can be separated from the first claw portion and the second claw portion by the length of the first and second shafts. Therefore, even when the object is at a high temperature, the servo motor can be prevented from being affected by heat, and the durability can be improved. Moreover, it is preferable that the first and second shafts are coaxial, so that the servo hand can be miniaturized. Furthermore, a series of operations of the robot can be performed quickly and smoothly.

  In the second invention, a sufficient distance can be secured between the servo motor and the first and second claw portions.

1 is a schematic view of a system including a robot with a servo hand according to the present invention. It is a perspective view of the servo hand based on 1st embodiment of this invention. It is a perspective view of the servo hand based on 2nd embodiment of this invention. (A) It is a figure which shows the example of a connection of a servomotor and a shaft. (B) It is a figure which shows the other example of a connection of a servomotor and a shaft. It is a flowchart which shows operation | movement of the robot provided with the servo hand based on this invention. (A) It is a 1st figure for demonstrating operation | movement of a robot. (B) It is a 2nd figure for demonstrating operation | movement of a robot. (A) It is a 3rd figure for demonstrating operation | movement of a robot. (B) The 4th figure for demonstrating operation | movement of a robot.

Embodiments of the present invention will be described below with reference to the accompanying drawings. In the following drawings, the same members are denoted by the same reference numerals. In order to facilitate understanding, the scales of these drawings are appropriately changed.
FIG. 1 is a schematic diagram of a system including a robot equipped with a servo hand according to the present invention. A system 1 shown in FIG. 1 includes a robot 4, a press machine 3, and a control device 2 that controls the robot 4 and the press machine 3. The robot 4 is, for example, a six-axis vertical articulated robot. However, the robot 4 may be a robot having another configuration. An accommodating portion 8 that accommodates the workpiece W pressed by the press machine 3 is disposed in the vicinity of the press machine 3.

  FIG. 2 is a perspective view of the servo hand according to the first embodiment of the present invention. As shown in FIGS. 1 and 2, a servo hand 10 is attached to the tip of the robot arm 9 of the robot 4.

  Specifically, the robot arm 9 is connected to the upper surface of the base portion 18 of the servo hand 10. As illustrated, a servo motor 19 is disposed at one end of the base portion 18, and a hollow first shaft 11 extends from the other end of the base portion 18. A first claw portion 15 is fixed to the tip of the first shaft 11. In the embodiment shown in FIG. 2, the base end of the first shaft 11 is fixed to the other end of the base portion 18, but the first shaft 11 may be configured to be rotatable with respect to the base portion 18. .

  Further, as can be seen from FIG. 2, a second shaft 12 is inserted into the hollow first shaft 11 so as to be relatively rotatable. The first shaft 11 and the second shaft 12 are preferably arranged coaxially, whereby the entire servo hand 10 can be reduced in size. The first shaft 11 and the second shaft 12 are sufficiently long so that the servo motor 19 is not affected by the heat of the workpiece W even if the workpiece W is at a high temperature, for example, about 1300 ° C.

  In the embodiment shown in FIG. 2, the first claw portion 15 is fixed to the peripheral surface of the first shaft 11 in the vicinity of the tip of the first shaft 11, and protrudes from the end surface of the first shaft 11. A second claw portion 16 is provided at the tip of the. As can be seen from FIG. 2, the first claw portion 15 extends beyond the second claw portion 16.

  As shown in FIG. 2, the second claw portion 16 includes a block 17 a fixed to the second shaft 12, and an elongated member 17 b attached to one surface of the block 17 a and extending in parallel to the second shaft 12. Is included. And the nail | claw front-end | tip part 17c is attached to the both ends of the elongate member 17b. As the second shaft 12 rotates, the second claw portion 16 also rotates around the second shaft 12 together. In addition, you may employ | adopt the 2nd nail | claw part 16 of the other structure which can be rotated around the 2nd shaft 12. FIG.

  FIG. 3 is a perspective view of a servo hand according to the second embodiment of the present invention. Since the second embodiment is generally the same as the first embodiment described above, only the differences will be described. Since the tip of the first shaft 11 in FIG. 3 is closed, the second shaft 12 cannot be seen from the outside. An opening 13 is formed on the peripheral surface near the tip of the first shaft 11. The block 17 a of the second claw portion 16 protrudes to the outside through the opening 13. Therefore, also in the second embodiment, when the second shaft 12 rotates, the second claw portion 16 also rotates around the second shaft 12 together.

  FIG. 4A is a diagram showing a connection example of the servo motor and the shaft. In the connection example shown in FIG. 4A, the first driven gear 21 is attached to the base end of the first shaft 11, and the second driven gear 22 is attached to the base end of the second shaft 12. . Further, a second drive gear 32 and a first drive gear 31 are arranged in order from the base end of the output shaft of the servo motor 19. As shown in FIG. 4A, the first driven gear 21 of the first shaft 11 is directly engaged with the first drive gear 31. Further, the second driven gear 22 of the second shaft 12 is engaged with the second drive gear 32 via the intermediate gear 33.

  In such a configuration, when the servo motor 19 is driven, the first driven gear 21 rotates in the opposite direction to the first driving gear 31 and the second driven gear 22 rotates in the same direction as the second driving gear 32. To do. Accordingly, both the first shaft 11 and the second shaft 12 rotate in opposite directions. In this case, since both the first claw part 15 and the second claw part 16 rotate, it will be understood that the workpiece W can be quickly grasped and released.

  FIG. 4B is a view showing another example of connection between the servo motor and the shaft. In the connection example shown in FIG. 4B, the base end of the first shaft 11 is fixed to the base portion 18. The second shaft 12 is connected to the output shaft of the servo motor 19 via the speed reducer 35.

  In such a configuration, even if the servo motor 19 is driven, the first shaft 11 does not rotate, and only the second shaft 12 rotates. Accordingly, when the second claw portion 16 is rotated so as to approach the first claw portion 15, the workpiece W is gripped, and the second claw portion 16 is rotated so as to be separated from the first claw portion 15. Work W is released. In such a case, the maintainability of the first shaft 11 can be improved.

  FIG. 5 is a flowchart showing the operation of the robot equipped with the servo hand according to the present invention. Further, FIG. 6A to FIG. 7B are diagrams for explaining the operation of the robot. Hereinafter, the operation of the robot 4 will be described with reference to these drawings.

  First, in step S101 in FIG. 5, the robot 4 is moved to its standby position. In step S102, it is determined whether or not the press machine 3 is open, that is, whether or not the press process has been completed. If the press machine 3 is open, the process proceeds to step S103. If the press machine 3 is not open, the robot 4 is kept in a standby position until the press machine 3 is opened. In addition, the workpiece | work W after a press process may be high temperature, for example, about 1300 degreeC.

  In step S <b> 103, the robot arm 9 of the robot 4 is moved to the press machine 3, and then the servo hand 10 is advanced to the work position of the press machine 3. In step S104, the servo hand 10 is released on the workpiece W. Specifically, the first shaft 11 and the second shaft 12 of FIG. 2 are relatively rotated so that the first claw portion 15 and the second claw portion 16 are separated from each other. At this time, only one or both of the first shaft 11 and the second shaft 12 may be rotated. As a result, as shown in FIG. 6A, the first claw portion 15 and the second claw portion 16 rotate in a direction away from each other, and the servo hand 10 is released.

  Next, in step S105 in FIG. 5, the servo hand 10 itself is brought close to the workpiece W, and the servo hand 10 is closed in the vicinity of the workpiece W (FIG. 6B). Specifically, the first shaft 11 and the second shaft 12 are relatively rotated so that the first claw portion 15 and the second claw portion 16 approach each other. Thereby, as FIG.6 (b) shows, the 1st nail | claw part 15 and the 2nd nail | claw part 16 rotate in the direction which mutually approaches, and the servo hand 10 is closed. As a result, the workpiece W is gripped between the first claw portion 15 and the second claw portion 16 (step S106).

  In step S107, the robot arm 9 is raised as shown in FIG. 7A to lift the workpiece W, and then the workpiece W is moved toward the accommodating portion 8 as shown in FIG. 7B. In step S108, the servo hand 10 is opened on the accommodating portion 8 as described above. As a result, the workpiece W is released from the servo hand 10 and is put into the accommodating portion 8. Thereafter, the process returns to step S101 again, and the robot 4 sequentially conveys the next workpiece W from the press machine 3 to the storage unit 8.

  As described above, in the present invention, the first claw portion 15 and the second claw portion 16 are relatively moved by rotating the first shaft 11 and the second shaft 12 relative to each other, thereby gripping the workpiece W. And is going to release. Therefore, it will be understood that the workpiece W can be gripped and released very easily.

  Furthermore, since the first shaft 11 and the second shaft 12 are sufficiently long, the servo motor 19 is not affected by the heat of the workpiece W even when the workpiece W is at a high temperature. Further, since the servo motor 19 is disposed at one end of the base portion 18 and the first shaft 11 is disposed at the other end of the base portion 18, the servo motor 19 is protected from the influence of the heat of the workpiece W by the base portion 18. Has been. For this reason, in the present invention, even when the workpiece W is at a high temperature, the servo motor 19 can be prevented from being affected by heat, and durability can be improved.

  In addition, it is preferable that the gripping operation and the releasing operation of the workpiece W are performed in conjunction with the movement of the robot arm 9, so that a series of operations of the robot 4 can be performed quickly and smoothly.

DESCRIPTION OF SYMBOLS 1 System 2 Control apparatus 3 Press machine 4 Robot 8 Accommodating part 9 Robot arm 10 Servo hand 11 First shaft 12 Second shaft 15 First claw part 16 Second claw part 17a Block 17b Elongated member 17c Claw tip part 18 Base part DESCRIPTION OF SYMBOLS 19 Servo motor 21 1st driven gear 22 2nd driven gear 31 1st drive gear 32 2nd drive gear 33 Intermediate gear 35 Reduction gear

Claims (2)

In a system including a robot, a press machine, and a control device that controls the robot and the press machine,
The robot hand attached to the tip of the robot arm of the robot and driven by a servo motor is
A hollow first shaft;
A second shaft disposed in the first shaft so as to be rotatable relative to the first shaft;
A first claw portion attached to the first shaft;
A second claw portion attached to the second shaft,
By rotating the servo motor, the rotational positions of the first claw part and the second claw part are relatively changed around the axes of the first shaft and the second shaft, respectively, thereby the first claw part. The object is gripped and released by the second claw part, and the object gripping operation and the releasing operation are performed in conjunction with the movement of the robot arm,
The robot hand further includes a base portion connected to a tip of the robot arm and on which the servo motor is installed.
One of the first shaft and the second shaft is installed on the base portion, and the other of the first shaft and the second shaft is connected to the motor shaft of the servo motor via a transmission portion. Has been
The servo motor is disposed distal to the press machine on one outer surface of the base portion, and the one of the first shaft and the second shaft is located on the other outer surface of the base portion. System located proximal to the. The first claw portion and the second claw portion are attached to the tips of the first shaft and the second shaft, respectively.
The first shaft and the second shaft have a sufficient length so that the servo motor is not affected by heat of the object gripped by the first claw portion and the second claw portion. The system according to 1.

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