JPH0647136B2 - Work feeding device for press working - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a press work feeding device.

(Prior Art) Generally, when a work is pressed, different presses are continuously performed by a plurality of press machines to obtain a final pressed product. When performing such press working, the respective press machines are arranged at a predetermined distance from each other, and the work feeding device sequentially feeds the press work of each press machine.

The conventional feeding device has, for example, a robot provided in each press machine and a conveyor arranged between the press machines. In this apparatus, one of the press machines in the previous process is picked up by a robot and placed on a conveyor, and the work conveyed by the conveyor is grasped by the other robot and supplied to the press machine in the subsequent process.

In addition, the robot takes out the work from the press machine in the previous process and places it on the table placed between the press machines, and then the robot or another robot grabs the work placed on the table and performs the post-process. There is also one that supplies to the press machine of.

(Problems to be Solved by the Invention) In the above configuration, since the work is transferred from the robot to the table or the conveyor (hereinafter, referred to as a table, etc.) and further from the table etc. to the robot, the guide pin, etc. in the table etc. It is necessary to position the work on the positioning mechanism having the. For this reason, it is necessary to adjust the position of the guide pins of the positioning mechanism according to the dimensions of the work or to adjust the position of the table etc. in the vertical direction before performing the press work. There was a drawback. In addition, the table and the like became an obstacle during the maintenance work of the press machine and robot.

(Means for Solving Problems) The present invention has been made to solve the above problems,
The gist is that among the multiple C-type frame crank presses that are separated from the previous process to the subsequent process in the order of the machining process,
Articulated type on the work intake side of the press machine near the work supply source, the work intake side of the press machine in the next process, and the work intake side and work discharge side from the previous process of the press machine near the work discharge part. A work feeding device for press working is characterized in that a robot is provided and the work holding portions of each of the articulated robots alternately move to and from the working position of each press machine to carry in and out the work.

(Operation) The work holding part of the articulated robot takes out the work from the work supply source and supplies it to the press machine processing part near the work supply source, and the multi-joint provided on the work intake side of the press machine in the next process. The work machined by the press machine in the previous process is conveyed to the press machine in the next process by the work holding unit of the die robot. The conveyance to the next process is performed multiple times according to the processing process, and then the work holding part of the articulated robot provided with the work intake side and the work discharge side from the previous process of the press machine near the work discharge part, respectively. The workpieces sequentially processed by the press machine in the previous step are supplied to this press machine processing section, and the workpieces processed by the processing section are carried out to the discharge section.

(Examples) Hereinafter, details of the present invention will be described based on illustrated examples.

In Fig. 1, a C-type frame crank type press machine is 1A,
1B, 1C, and 1D are arranged side by side in the order of pre-process to post-process at appropriate intervals. Each press machine 1A, 1B,
1C and 1D have a lower die 4 on which a work is placed and an upper die 5 which moves up and down.

The feeding of the press work W to each of the press machines 1A, 1B, 1C and 1D is performed by the work feeding device which is the gist of the present invention. The work feeding device has five articulated robots 11, 12, 13, 14, and 15. The articulated robot 11 is a press machine 1A near the work supply source X.
The articulated robots 12 and 13 are installed on one side of the work taking-in side of the press machines 1B and 1C in the next process. The articulated robots 14 and 15 are respectively installed on the work intake side and the work discharge side of the press machine 1D near the work discharge portion.

The articulated robots 11 to 15 have the same structure, and the detailed structure will be described below.

As shown in FIG. 2, the articulated robots 11 to 15 are
It is a 6-axis joint type robot having 6 degrees of freedom, and is attached and fixed to a mounting portion 21 formed so as to project from a support board 20 fixed to the side surface of each press machine 1A, 1B, 1C, 1D.

In the articulated robot 15, a robot base 22 is fixedly attached to a mounting portion 21 on the side of the work discharge side of the press machine 1D.
An arm portion 24 and an arm portion 2 provided on the robot base 22 so as to be rotatable about 270 degrees around a first rotating shaft 23 extending in the horizontal direction toward the front of the press machine 1D.
4 a first joint portion 26 provided so as to be rotatable about 90 degrees about a second rotating shaft 25 inserted orthogonally to the tip portion, and the second rotation at the tip portion of the first joint portion 26. A second joint portion 28 provided so as to be rotatable by approximately 120 degrees about a third rotating shaft 27 that is inserted parallel to the shaft 25 and orthogonal to the first joint portion 26.
The shaft center of the joint portion 28 is connected to the second joint portion 28 as a fourth rotating shaft 29 and is coaxially mounted to the fourth rotating shaft 29.
A third joint portion 3 that is rotatable about 300 degrees around
0, about 1 at the tip of the third joint portion 30 centered on the fifth rotation shaft 31 provided orthogonal to the Z-axis direction in the basic coordinate system
A fourth joint portion 33, which is provided so as to be rotatable by 20 degrees and is rotatable by approximately 300 degrees about a sixth rotating shaft 32 that is inserted in an axial direction orthogonal to the X axis direction in the basic coordinate system, is connected. Form a so-called 6-axis articulated robot.
Further, the work holding portion 34 is provided at the tip of the fourth joint portion 33.
Are formed. A pair of unillustrated brackets that are parallel to each other may be attached to the work holding portion 34, and the work may be sucked by a suction plate (suction portion) provided on each bracket. In this case, the work holding unit 34
The bracket of (4) follows the movements of the arm portion 24, the first joint portion 26, the second joint portion 28, the third joint portion 30, and the fourth joint portion 33 while always maintaining a horizontal state.

In the articulated robot having the above structure, when carrying a work, a proper bracket is attached to the work holding section 34 at the tip of the fourth joint section 33. When the attachment is completed, the arm portion 24, the first joint portion 26, the second joint portion 28, the third joint portion 30, and the fourth joint portion 33 are rotated to make fine adjustments, respectively, and then predetermined according to the program. Let's do the work. Therefore, when the work is conveyed, the work holding unit 34 conveys the work to each press machine while maintaining the horizontal state of the work, or reverses the work to freely change the posture of the work, and to press each work machine. Can be transported to. In FIG. 2, the first, second, third, and fourth joints drawn in phantom lines on the head of the press machine show the retracted state.
Articulated robots 11 between the press machines 1A to 1D
Since 15 is attached to the side of the press through a support board and the joints can be retracted upward, safe and efficient work can be performed by appropriately performing mold replacement or setup work.

(Effects of the Invention) As described above, according to the present invention, among a plurality of C-type frame crank type press machines that are separated from the pre-process to the post-process in the processing order, the press machine near the work supply source. The articulated robot of each of the above press machines is installed on the work intake side, the work intake side of the press machine in the next process, and the work intake side and the work discharge side from the previous process of the press machine near the work discharge part. Since it is provided on the side and faces the front from the side of the press machine, the work holding parts of each of these articulated robots move alternately to the processing position of each press machine to carry in and out the work. Because I chose
A table is not required between the press machines, and it is of course possible to omit setup work such as guide pin alignment or table position adjustment according to the work on the table, and at the time of carrying the work, each work holding part However, you can freely change the posture of the work by passing the work without changing its orientation while maintaining the horizontal state of the work, or by reversing the work freely in the horizontal or vertical direction and passing it. Can be directly carried in and out of the processing position. Also, since the articulated robot itself is attached to the side of the press machine and is above the floor, the work area of each joint accompanying work is the minimum space above the floor, which saves space in the press processing line. At the same time, since the work area of each joint can be avoided above the head of the press, it improves the work environment for workers during die replacement or setup work, improving work safety and work efficiency. obtain.

[Brief description of drawings]

The drawings show one embodiment of the present invention. FIG. 1 is a front view of a work feeding device, and FIG. 2 is a side view of an articulated robot provided on a side surface of a press machine. 1A, 1B, 1C, 1D ... Press machine, 11-15 ...
Articulated robot, 34 ... Work holding part

Claims (1)

[Claims] 1. A crank type press machine having a plurality of C-shaped frames, which are spaced from each other in the order of processing steps from a pre-process to a post-process,
Articulated type on the work intake side of the press machine near the work supply source, the work intake side of the press machine in the next process, and the work intake side and work discharge side from the previous process of the press machine near the work discharge part. The robots are attached to the side parts of the above press machines so that the joint parts of the robots face the front side of the press machine, and the work holding parts of these articulated robots are alternately moved to the processing positions of the press machines. A work feeding device for press work, which is characterized by carrying in and out work.