Workpiece conveying apparatus for a pressing machine

Patent metadata

Field	Value
Publication number	US-2017239705-A1
Application number	US-201715439394-A
Country	US
Kind code	A1
Filing date	Feb 22, 2017
Priority date	Feb 23, 2016
Publication date	Aug 24, 2017
Grant date	—

Abstract

Provided is a workpiece conveying apparatus including: two SCARA robots each including: a raising and lowering frame supported on a stationary frame so as to be movable in an up-and-down direction, the stationary frame being mounted to extend along a width direction orthogonal to a workpiece conveying direction of a passage space for conveying a workpiece; a first arm supported on the raising and lowering frame through intermediation of a first joint; a second arm held through intermediation of a second joint; a first arm driving mechanism configured to drive the first arm to rotate; and a second arm driving mechanism configured to drive the second arm to rotate; raising and lowering mechanisms arranged to correspond to the two SCARA robots, respectively, and configured to enable the corresponding raising and lowering frames to mutually independently move in the up-and-down direction; a cross arm; and a cross bar unit.

First claim

What is claimed is:

1 . A workpiece conveying apparatus for a pressing machine, comprising:
two robots arranged symmetrically with respect to an XZ plane passing a workpiece conveying center, each of the two robots comprising:
a raising and lowering frame supported on a stationary frame so as to be movable in a Z-axis direction being an up-and-down direction, the stationary frame being mounted to extend along a Y-axis direction that is a width direction orthogonal to an X-axis direction being a workpiece conveying direction of a passage space for conveying a workpiece;
a first arm supported at a proximal end side thereof on the raising and lowering frame through intermediation of a first joint so as to be freely rotatable within a horizontal plane;
a second arm supported at a proximal end side thereof on a distal end side of the first arm through intermediation of a second joint so as to be freely rotatable within the horizontal plane;
a first arm driving mechanism configured to drive the first arm to rotate about the first joint with respect to the raising and lowering frame; and
a second arm driving mechanism configured to drive the second arm to rotate about the second joint with respect to the first arm;
two raising and lowering mechanisms arranged to correspond to the two robots, respectively, and configured to enable the corresponding raising and lowering frames to mutually independently move in the Z-axis direction; a cross arm configured to couple distal ends of second arms arranged on both sides across the XZ plane so as to be freely rotatable within the horizontal plane through intermediation of a third joint and freely rotatable within a vertical plane through intermediation of a fourth joint; and a workpiece holding unit connected to the cross arm and configured to releasably hold the workpiece.

2 . A workpiece conveying apparatus for a pressing machine according to claim 1 , wherein the workpiece holding unit is removably connected to the cross arm.

3 . A workpiece conveying apparatus for a pressing machine according to claim 1 , further comprising a tilting mechanism configured to rotate one of the cross arm and the workpiece holding unit about a rotation axis parallel to a longitudinal direction of the one of the cross arm and the workpiece holding unit.

Assignees

• Aida Eng Ltd

Inventors

• Takeda Keisuke

Classifications

• B21D43/105 Primary

  Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom · CPC title

• B65G47/91

  incorporating pneumatic, e.g. suction, grippers · CPC title

• B21D43/052 Primary

  Devices having a cross bar · CPC title

• B25J9/107

  of the froglegs type · CPC title

• B25J9/009

  being mechanically linked with one another at their distal ends · CPC title