| 摘要 |
<p>PURPOSE: To make it possible to control the operation in the line of presses by moving works by plural programmable manipulator robots arranged among the presses in the line of the presses. CONSTITUTION: A series of working is performed by machines to the works being sent along the line 50. The line 50 is equipped with the plural programmable manipulator robots R1 to R6 transferring the works from machine to machine, further each machine is equipped with movable devices M freely movable among nonoperation positions. Also, each manipulator robot is equipped with a clamping member freely movable between a first position where the works arranged to the machine on the upstream side just before the robot, can be clamped, and a second position where the clamped works can be put into the machine on the downstream side just after the robot. It must be the device that the operation cycle of each machine on the downstream side of a first machine, is in phase with the operation cycle of the manipulator robot positioning on the upstream side just before each machine by a control means. Consequently, the transfer of the works can be advantageously operated in the press line.</p> |
