DE10259814B9 - Workpiece transfer process and workpiece transfer device for in-line press line - Google Patents

Workpiece transfer process and workpiece transfer device for in-line press line Download PDF

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Publication number
DE10259814B9
DE10259814B9 DE2002159814 DE10259814A DE10259814B9 DE 10259814 B9 DE10259814 B9 DE 10259814B9 DE 2002159814 DE2002159814 DE 2002159814 DE 10259814 A DE10259814 A DE 10259814A DE 10259814 B9 DE10259814 B9 DE 10259814B9
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DE
Germany
Prior art keywords
carriage
workpiece
workpiece transfer
lifting
transfer
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
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DE2002159814
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German (de)
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DE10259814B4 (en
DE10259814A1 (en
Inventor
Kiichirou Komatsu Kawamoto
Shuji Komatsu Mizuguchi
Kazuhiko Komatsu Shiroza
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Komatsu Ltd
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Komatsu Ltd
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Priority to JP2001400849A priority Critical patent/JP3902006B2/en
Priority to JP2001/400849 priority
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of DE10259814A1 publication Critical patent/DE10259814A1/en
Publication of DE10259814B4 publication Critical patent/DE10259814B4/en
Application granted granted Critical
Publication of DE10259814B9 publication Critical patent/DE10259814B9/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/041Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers step by step
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043Construction of the grippers

Abstract

Workpiece transfer means (201, 202, 203, 204, 205) for a series press line in which a plurality of presses (2A, 2B, 2C, 2D) are placed along a workpiece transfer direction, comprising:
at least one lifting bar (13), which is placed parallel to the workpiece transfer direction and with respect to the workpiece transfer direction in the transverse direction substantially in the center, wherein the lifting beam (13) is placed outside of a press working area, and is caused to rise and to move off,
a carriage (15), wherein at least one carriage (15) is provided on each walking beam (13), and wherein the carriage (15) is movable along the lifting beam longitudinal direction,
a sub-carriage (30) provided along a guide (131) provided on each carriage (15), and wherein the sub-carriage (30) is movable in the carriage moving direction, and
Workpiece holding means (18) provided on each sub-carriage (30) and capable of holding a workpiece.

Description

  • The The invention relates to a workpiece transfer device for a series press line, in which a plurality of presses are placed along a workpiece transfer direction. Furthermore, the invention is directed to a workpiece transfer method for one Series press line, in which a plurality of presses along a workpiece transfer direction are placed.
  • When a workpiece transfer method and a workpiece transfer device between the respective presses of a series press line a robot method, a loader and unloader method or the like known. In the robot method, a workpiece in the Press of a previous process of one between the presses placed joint transfer robot and taken to the press of the next Process. Because the joint structure is used, the transfer position of the workpiece to the next process just changed become. The place of insertion of the workpieces and the place of removal of the Workpieces can be placed according to the shapes.
  • The Loader and unloader method has a loader, which at the side surface every press main body placed on the input side in the workpiece transfer direction, and has an unloader which on the side surface of the Output side is placed. The loader and the unloader have one Plurality of arms with, for example, a joint structure, but on Due to its structure, the workpiece can not go directly to the press of the next Be transferred to the process and therefore a center frame, such as a pendulum feeder, provided between the loader and the unloader.
  • The However, the conventional transfer device described above has following disadvantages. In the robot method, the robot has a joint structure, and therefore it is necessary to consider programming perform the gripper head joints of the robot and the position of each arm so that The movement of the joints does not take place abruptly, that is, that the servo motor that drives each PTO shaft does not abruptly is accelerated when the workpiece transfer location is programmed. Because of this, programming takes a long time. Accordingly required the programming experience, and therefore programming is very much difficult for Operator with little experience, causing the problem of decreasing operational readiness is caused. A plurality of drive shafts are controlled simultaneously to perform a drive with linear interpolation, so that with the other devices, such as the forms and pressing while the transfer of the workpieces does not come to collisions, and in this situation becomes the transfer speed on the lowest speed of the velocities of the respective robot waves limited. As a result, the problem arises that the workpiece transfer speed of the entire robot and thus the production speed is not elevated can be.
  • in the Traps of the loader and unloader is the loader at the Placed in the input page area and the unloader is placed on the output side surface and the center racks, such as pendulum feeders, are between the respective presses placed, and therefore the device is relatively large, resulting in leads to the problem that a big one Installation space needed will be, and the cost will be increased.
  • A workpiece transfer device and a workpiece transfer method for occasionally transferring plate-like parts from a plate stack into a plate parts shaping press is known from DE 197 16 039 C2 known. In this case, the workpiece transfer device has a fixed support structure and a cross slide arrangement, which is formed by two arranged on the support structure cross slide, each comprising a on the support structure along a guide track in the horizontal longitudinal direction movable horizontal slide and a horizontal slide in the vertical direction movably guided vertical slide , On the support structure with a transverse distance to the cross slide assembly, a second, corresponding cross slide assembly is arranged with two cross slide.
  • With this known workpiece transfer device Is it possible, that already during of the empty return a pair of cross slides the other cross slide pair is conveyed.
  • Furthermore, the disclosure DE 196 36 823 A1 a workpiece transfer device in the form of a plurality of spaced-apart individual presses existing single press existing transfer press, which is associated with a transport device in the field of tools. This transport device comprises in the tool room of each press on both sides of the tools arranged guide rails, which are provided with a movable carriage, on which a Saugtraverse is arranged. With this device, lifting movements and transport movements in the longitudinal direction of the transfer press are already possible independently of each other. However, the transport device is on both sides of the tools and within the factory allocated to a room. In this case, rails of the transport device are provided which extend over the entire length of the stator width of the press.
  • A similar, a shorter longitudinal extent of the rails of the transport device enabling workpiece transfer device, in which on the rail, a carriage and additionally provided on this carriage sub-slide are provided, is from the DE 196 36 824 C2 known. Because of this construction, although it is now possible to reduce the longitudinal extent of the rails in the tool room, but it is still the rails in the tool room in the press tools arranged.
  • The from the DE 196 36 823 A1 and the DE 196 36 824 C2 However, known workpiece transfer devices have a structure and construction of the transport device, which is complex and relatively expensive. Although it is possible with the known workpiece transfer devices to move workpieces independently in two mutually orthogonal directions, ie in an up and down direction and in a forward / backward direction, the two types of movement are independently programmable. Due to the arrangement of the transport devices in the tool room of the press, consideration must be given to this in the construction of the device, while still the support rails should be arranged on both sides of the tools.
  • In contrast, lies The invention is based on the object, while retaining two, from the transport device or workpiece transfer device separately from each other feasible and orthogonal directions (raising / lowering and transfer direction) a solution to create the simpler the training of a workpiece transfer device and more compact shape.
  • These Task is at a workpiece transfer device with a feature combination according to claim 1 and at a workpiece transfer process solved with a combination of features according to claim 5.
  • The Workpiece Flyover facility for the Series press line according to the present invention points in a workpiece transfer device for one Series press line, in which a plurality of presses along a workpiece transfer direction are placed on: at least one lifting bar, which parallel to the workpiece transfer direction and re the workpiece transfer direction is placed in the transverse direction substantially in the center, wherein the Walking beam outside a press workspace is placed and caused to move up and down a sled, taking at least one Carriage is provided on each lifting beam, and wherein the carriage along the walking beam longitudinal direction is movable, a sub-slide, which provided along a guide which is provided on each carriage, and wherein the sub-carriage movable in the carriage moving direction, and workpiece holding means, which are provided on each sub-slide, and are capable of a workpiece to keep.
  • These Structure is the structure in which at least one lifting beam in the is placed substantially in the center of a transverse direction. The structure the workpiece transfer device can be made simple and compact.
  • Further can in the workpiece transfer device for the Series press line a wait process between at least one set of adjacent ones Pressing in addition be provided, wherein the lifting beam is exactly one lifting bar, which between exactly one of the neighboring presses and between the waiting process and between the waiting process and the other of the adjacent presses is provided so that it is parallel to the workpiece transfer direction, wherein the walking beam substantially in the center in the transverse direction with respect to Workpiece transfer direction is placed is, and causes, independent of other lifting beams moving up and down, and being the sled, the sled and the workpiece holding means can be provided on each lifting beam, which independently and is movable from.
  • The structure described above can also be applied to the case in which the waiting process (Zwischenpaneelsockel o. a.) Between the adjacent Pressing is placed. In particular, the lifting beam, which movable up and down, the carriage, which in the longitudinal direction the lifting beam is movable, the sub-carriage, and the cross-beam provided, with the same effects as described above can be created. As a result, the present invention may vary Press lines structures correspond.
  • Further, in the work transfer device for the in-line press line, the carriage drive means which moves each carriage along the longitudinal direction of the lift beam may be a linear motor. According to this structure, a linear motor is used as the carriage driving means, and therefore, the carriage can be formed to be compact, whereby it is made easy, reduce the size and weight of the workpiece transfer device. Consequently, the speed of the lifting beams and the carriages can be increased.
  • Further can in the workpiece transfer device the row press line each sub-carriage drive means, each sub-carriage along every leadership, which is provided on each carriage moves, be a linear motor. Because a linear motor than using the sub-carriage drive means can, according to this structure the undercarriage can be made so that it has a compact structure and the workpiece transfer device can in size and weight be reduced. Consequently, you can the speed of the lifting beams, the carriages and the sleds be increased.
  • The Workpiece undo procedure for the Series press line The present invention is directed to a workpiece transfer method for one Series press line, in which a plurality of presses along a workpiece transfer direction are placed on: a first step of moving at least a walking beam in an up and down direction, which parallel to the workpiece transfer direction and re the workpiece transfer direction placed in a transverse direction substantially in the center, being the walking beam outside a press work area is placed, and a second step moving a carriage in a longitudinal direction of the lifting beam, wherein at least one carriage is provided on each lifting beam, and moving a sub-slide along a guide, wherein the sub-carriage workpiece holding means which are capable of holding a workpiece, wherein the guide on the carriage is provided in a carriage movement direction, so that the sub slide regarding the carriage is displaced, wherein the first step and the second step simultaneously or independently performed from each other be to cause the workpiece holding means raised and are lowered and moved back and forth in the workpiece transfer direction so that thereby the workpiece to a next Process is transferred.
  • According to this Method can be exactly one lifting bar in the substantially center position in the transverse direction with respect to the workpiece transfer direction be provided, wherein the number of lifting bars for each workpiece transfer device is not limited.
  • According to the procedure be the step of moving the walking beams, in an up and down Downward direction, and the second step of moving the carriage along the longitudinal direction each lifting beam and the displacement of the crossbar in the carriage movement direction in terms of the carriage, wherein the crossbar having the workpiece holding means, simultaneously or independently carried out from each other, so that the workpiece holding means in the two orthogonal directions are moved, which are the Raising / lowering and the transfer direction, and thereby becomes the workpiece transfer location intuitively easily understood by the operators. As a consequence of this are the programming works for every lifting and lowering stroke and the transfer directions and data sharing is simplified and completed in a short time. Even inexperienced operators can just do the programming and therefore the operational readiness is excellent. Because furthermore the Speeds of the two orthogonal control waves independently can be set can the workpiece transfer speed be increased to the maximum speed, which each Drive shaft motor is able to afford, and the operational readiness while manual operations and the production speed of the press line can be improved. The workpiece can directly from the press of the previous process to the press the next Be transferred to the process by bringing both end sections of the lifting beam close to the molds the adjacent presses are arranged, and / or by the crossbar with the workpiece holding means is displaced in the carriage movement direction with respect to the carriage, and therefore the racks between the presses, such as pendulum feeders, are not required, which makes it easy to change the size and the Cost of the press line to reduce.
  • The Workpiece transfer method according to the invention and the workpiece transfer device according to the invention for one Series press line are able to program a workpiece transfer location in a short time To simplify time, to increase a workpiece transfer speed, and a workpiece from the press of the previous process to the press of the subsequent one Process directly.
  • The work for programming each lifting and lowering stroke and the transfer directions and setting the data is simplified and completed in a short time. Because even an inexperienced operator can easily carry out programming, excellent operational readiness is created. Further, the speeds of the two orthogonal control shafts can be set independently of each other, and therefore, the workpiece transfer speed can be increased to the maximum speed which each drive shaft motor is capable of accomplishing, thereby making it possible to achieve Operational readiness during manual operations and to improve the production speed of the press line. The workpiece may be transferred directly from the press of the previous process to the press of the next process by placing the two end portions of the lifting bars in the vicinity of the molds of the adjacent presses and / or by engaging the workpiece holding means with respect to the carriage in FIG the carriage movement direction is displaced, and therefore the racks between the presses, such as shuttle feeders, are not needed, making it easy to reduce the size and cost of the press line.
  • According to the above Structure is the position near the other walking beam pair, which is adjacent to the input side or the output side, in the Workpiece Flyover direction provided essentially at the center of the work process, or essentially at the center of the work process and essentially in the center of the waiting process (if according to the workpiece types required). Consequently, coupled with the fact that the sub-sleds in the longitudinal direction the slide, which move along the lifting beams, moves can be The workpiece transfer can be performed reliably between the middle position of the form of the workstation and the Center position of the shape of the workstation of the next process, or between the center position of the shape of the workstation and the center position the waiting process (intermediate panel base or similar) between the presses. Accordingly, the Series press line which is capable of providing an optimum workpiece transfer for the molds to accomplish.
  • To an aspect of the workpiece transfer device for the Series press line according to the present Invention will further the position of walking beam outside a press work area provided. There are walking beams outside of the press work area, that is, within the range between the presses, where there is no collision with the punches, forms and the like which are moved up and down. In this case, the transom will also relocate of the sled, that is, with respect to the Lifting beam by moving the carriages and the sub-carriages in the workpiece transfer direction be moved, and thereby the workpiece transfer to the reliable Center position of workstation shape by movement in two orthogonal directions (raising / lowering and transfer direction). Consequently, you can the same effects as in the structure first described above be achieved.
  • 1 FIG. 4 shows a front view of a workpiece transfer device, FIG.
  • 2 shows a plan view of 1 .
  • 3 shows a side view of 1 .
  • 4 shows a front view of a carriage and a lower slide of a workpiece transfer device according to the invention,
  • 5 shows a cross-sectional view along the line AA in 4 .
  • 6 Fig. 3 is an explanatory view of the carriage and the sled,
  • 7 shows a plan view of a workpiece transfer device according to another mode,
  • 8th shows a front view of a workpiece transfer device according to an embodiment of the present invention,
  • 9 shows a plan view of 8th .
  • 10 shows a side view of 8th .
  • 11 shows a plan view of the workpiece transfer device according to another mode of the embodiment of the invention.
  • embodiments The present invention will be described below with reference to FIGS Drawing explained in detail.
  • 1 shows a front view of a workpiece transfer device of a series press line. 2 shows a plan view and 3 shows a side view of the series press line, which in 1 is shown. 4 shows a front view of a carriage and a lower slide a workpiece transfer device and 5 shows a cross-sectional view along the line AA in 4 , 6 shows an explanatory illustration of the operation of the carriage and the Unterschlittenteils.
  • First, a series press line 1 explained. In the 1 , to 3 is shown as a plurality (4 pieces in this embodiment) of presses 2A . 2 B . 2C and 2D are placed at a distance from each other and where the presses 2A . 2 B . 2C and 2D each have workstations W1, W2, W3 and W4. It is believed that a workpiece 11 successively from the press 2A on the left side to the press 2D is transferred on the right side, hereinafter referred to the left side of the drawing is called input, and the right side of the drawing is called output. The row press line 1 is formed by a plurality of presses 2A to 2D , a material supply device 9 , which on the input side of the press 2A is placed, a product output device 19 , which on the output side of the press 2D is placed on the outermost side, and the workpiece transfer devices placed between the respective presses which will be described later.
  • Each of the presses 2A to 2D has stands 7 on which form a main body frame, a top frame 8th incorporating therein a mechanical drive gear mechanism (not shown), such as a rocker arm mechanism, an eccentric mechanism, and a slide mechanism, or a direct drive transmission mechanism (not shown), such as a hydraulic cylinder and a electric servomotor and the like, a stamp 4 , which of the stands 7 is supported so that it is movable up and down, which with the drive gear mechanism within the upper frame 8th is connected, and mounted with an upper mold (not shown), and a bed 6 , which with a pad 5 which is mounted with a lower mold (not shown).
  • A controller 3 is basically constituted by a high-speed data processing unit using a computer unit, a high-speed operation processor or the like, controlling the aforementioned drive gear mechanism which is inside the upper frame 8th every press 2A to 2D is provided so that each stamp 4 synchronously or independently, and also including a workpiece transfer device 10 in sync with this stamp 4 controls.
  • A workpiece transfer device will be explained in detail below. This workpiece transfer device is of five workpiece transfer devices 101 to 105 formed, which are placed in respective transfer areas T1 to T5, as in the 1 and 2 shown. To the workpiece from the material supply device 9 to transfer workstation W1, the workpiece transfer device 101 on the input side of the press 2A placed. In order to successively transfer the workpiece to the work stations W1 to W4, the workpiece transfer devices are 102 . 103 and 104 each between the adjacent presses 2A to 2D placed. To the workpiece machined in the workstation W4 on the product dispenser 19 to transfer, is the workpiece transfer device 105 to the output side of the press 2D placed.
  • As in 3 shown is any workpiece transfer device 101 to 105 with a pair of walking beams 13 along the work transfer direction so as to be transversely spaced with respect to the transfer direction so as not to collide with the punch movement. Every lifting beam 13 is from the stand 7 each of the presses 2A to 2D held so that it is movable up and down. That is, from each walking beam 13 is a stroke-wave servomotor 14 to a top of the stand 7 via a holding part 141 as a lifting drive means 40 appropriate. A pinion (not shown) is on an output shaft of the servomotor 14 attached, a rod 142 is provided with a rack which is embossed so that the rod is movable by means of the rack in the vertical direction, wherein the rack meshes with the pinion, since the motor on the stand 7 is mounted so that the rod is movable up and down, and the lifting beam 13 is at a lower end portion of the rod 142 appropriate.
  • Every stroke-wave servomotor 14 is at the control 3 connected, and is based on predetermined feed movement in accordance with a control signal from the controller 3 controlled. In this embodiment, a walking beam 13 by means of two servomotors 14 raised and lowered, but this is not limiting. That is, if only the device is used which can raise and lower the walking beam to a stable condition without work, one or three or more servomotors may be used 14 be provided, and the number of servomotors 14 , the connection structure with the lifting beam 13 and the like can be decided when it is performed.
  • A sleigh 15 is at a lower part of each lifting beam 13 along a longitudinal direction of the lifting beam 13 movably mounted, and a linear motor 16 (S. 5 ) as a carriage drive means which supports the carriage 15 is moved between the sled 15 and the lifting beam 13 placed. A sub slide 30 is at a lower part of the sled 15 along the longitudinal direction of the lifting beam 13 movably mounted. A crossbeam 17 to which a vacuum device 18 is mounted as a workpiece holding means, extends transversely between a pair of opposing left sub-carriage 30 and right sled 30 , The vacuum device 18 is capable of the workpiece 11 to suck at a predetermined number of points.
  • As in the 1 and 2 shown is the walking beam 13 the workpiece transfer device 101 placed so that it is to the input side up to a predetermined position of a on the material supply device 9 protrudes set workpiece. While end portions in the longitudinal direction from each of the lifting beams 13 the workpiece transfer facilities 102 to 104 corresponding to the transfer areas T2 to T4 are made to protrude to substantially central positions of the workpiece stations W1 to W4 on the input side and the output side thereof, is the length of the lifting beam 13 in the work transfer direction is set to be slightly shorter than the distance between the centers of the adjacent work stations W1 to W4. The length of the lifting beam 13 in the work transfer direction may be set to be substantially equal to the distance between the centers of the adjacent stations W1 to W4. The length of the lifting beam 13 the workpiece transfer device 105 is set to the discharge side to a predetermined position of the product delivery device 19 protrudes, which transfers the workpiece from the last press working process.
  • As in 5 is shown at a lower part of the lifting beam 13 a guide section continuing in the longitudinal direction 131 provided in a flange shape protruding, and an upper part of the carriage 15 is at the guide section 131 mounted so as to be movable in the longitudinal direction. The linear motor 16 as a carriage drive means is between the lifting beam 13 and the sled 15 placed. A walking beam side component part 16B of the linear motor 16 is on a lower surface of the lifting beam 13 attached, and a carriage side component part 16A is in one place of the sled 15 attached, which is the hub side component part 16B is facing. The carriage side component part 16A and the walking beam side component part 16B are in accordance with a control signal from the controller 3 controlled, and the sled 15 is moved by relative movement of both parts.
  • The linear motor 16 is with a primary winding on the carriage side component part 16A provided with a secondary conductor or a secondary permanent magnet on the Hubbalken-side component part 16B provided so that it is opposite to the primary winding. It may be convenient to have the primary winding on the walking beam side component part 16B and the secondary conductor or the secondary permanent magnets on the carriage side component part 16A provided.
  • As in the 4 and 5 shown is the sub slide 30 at the lower part of the carriage 15 in this embodiment, provided so as to be in the longitudinal direction of the sub-tray 30 is movable. The sub slide 30 indicates: A base plate 31 with a predetermined length, which at a lower part of the carriage 15 is attached and a guide groove 31A along the workpiece transfer direction has a servomotor 32 , which on a lower surface of the base plate 31 is provided on exactly one end side in the longitudinal direction, an encoder 33 , which on a lower surface of the base plate 31 on the other end side is provided a shaft 34 which has exactly one end portion which is connected to an output shaft of the servomotor 32 via a first clutch 34A is connected, and wherein the other end portion with the encoder 33 via a second clutch 34B is connected, and where the shaft from the base plate 31 is rotatably supported, and a movable block 35 , which in an embossed male threaded portion 34A , which is on the outer surface of the shaft 34 is provided, is screwed, and in the guide groove 31A the base plate 31 slidably fitted. End sections of the crossbeam 17 are with the moving blocks 35 a pair of opposing sub-sleds 30 connected.
  • Based on 6 Next, an operation of the sub-sled 30 explained. When the servomotor 32 is controlled, the shaft 34 to rotate, slides the screwed into the shaft movable block 35 along the guide groove 31A , If in each lifting bar 3 the sled 15 from the central part of the lifting beam 13 is arranged on the input side in the workpiece transfer direction, the movable block 35 from the central part of the carriage 15 out to the input side (see, for example, the carriage 15A and the crossbeam 17A which is indicated by the solid line in 6 represented), whereby the at the transom 17 attached vacuum device 18 is moved to the center position of the work stations W1 to W4 or the predetermined position of the workpiece, which on the material supply device 9 is set.
  • If, on the other hand, the sled 15 from the central part of the lifting beam 13 is arranged on the output side in the workpiece transfer direction, the movable block 35 from the central part of the carriage 15 moved out to the output side (see the carriage 15B and the crossbeam 17B , which is indicated by the dash-dotted line in 6 are shown), whereby the vacuum device 18 is moved to the center positions of the work stations W2 to W4 or the predetermined position of the workpiece, which on the product output device 19 is set.
  • As described above, the crossbeam 17 and the vacuum device 18 in the workpiece transfer direction with respect to the carriage 15 shifted, and therefore the workpiece can 11 at the center position of the mold and the predetermined position on the material feeding device 9 or the Product output device 19 held or released, and the workpiece 11 can reliably according to the shapes of the work stations W1 to W4 or the specifications of the material supply device 9 and the product output device 19 be transferred. The control of the offset amount in this situation may be by the controller 3 are performed, which the rotation angle of the servomotor 32 based on the position signal of the sub-sled 30 controls which of the encoder 33 is detected.
  • With reference to the 1 and 2 becomes the transfer method of the workpiece 11 through the workpiece transfer facilities 101 to 105 explained with the above-described first device.
  • Each of the workpiece transfer devices 101 to 105 is operated similarly. Each of the workpiece transfer devices 101 to 105 raises and lowers the vacuum device 18 (hereinafter called workpiece holding means) via the carriage 15 , of the sled 30 and the crossbeam 17 by putting each of the lifting bars 13 is driven in an up and down movement. Further, the carriage 15 along the longitudinal direction of the lifting beam 13 powered, and the sub-sled 30 is displaced in the carriage movement direction, whereby the crossbeam 17 and the workpiece holding means 18 be moved in the workpiece transfer direction. By controlling two orthogonal lift / lower drive shafts and workpiece transfer directions synchronously or independently, the moving location of the work holding means can be controlled 18 that is, the workpiece transfer location, be controlled. The stroke and synchronization of the feed movement (for the lift / lower and for the transfer directions) of each of the workpiece transfer devices 101 to 105 be set in advance so as not to stamp 4 each of the presses 2A to 2D and their form of colliding the workstation, and being the controller 3 controls the lift and lower and transfer directions based on this feed motion.
  • For the usual supply movement first waits when the punch 4 is moved to the vicinity of the bottom dead center, the transfer means at a waiting position in the substantially center of each transfer area T1 to T4 in the transfer direction. If the stamp 4 The bottom dead center happens, and a lifting stroke begins, raising and lowering the lifting bars 13 and moving the sledges 15 and the sled 30 performed in the transfer direction, so that the transfer device to the workstation to the input side, the material supply device 9 or to a waiting station (the detail will be described later) is moved to hold the workpiece. Next up is lifting and lowering the lifting bars 13 and moving the sledges 15 and the sled 30 performed in the transfer direction, so that the transfer device to the workstation to the output side, the product output device 19 or moved to the waiting station to place the workpiece. At this time, the stamp is 4 in its lowering stroke, and therefore the transfer means is returned to the waiting position to wait. The cycle described above becomes synchronous with the raising and lowering movement of the punch 4 repeated.
  • Next, effects according to this first described embodiment will be explained. The workpiece transfer devices 101 to 105 according to the embodiment comprise: The lifting beams movable up and down 13 , and the sledges 15 and the sub-sleds 30 , which in the longitudinal direction (workpiece transfer direction) of the lifting beam 13 are movable. Consequently, because the workpiece transfer can be controlled with an orthogonal coordinate system, the movement location and the position during workpiece transfer are intuitively known without difficulty, and a collision with the other devices such as molds and presses can be easily checked. Accordingly, the programming of each stroke of the lifting bars 13 , the sled 15 and the sled 30 and the data network work done very easily in a short time. As a result, even an operator with little programming experience can perform programming and excellent operational readiness is created.
  • Because each of the control shafts (raise / lower and transfer directions) are linearly driven, each can be the control servomotors 14 Carriage drive means (in this embodiment, the linear motor 16 ) and the servomotor 32 be controlled at the maximum speed without being limited by speed limitation during simultaneous control. As a result, the workpiece transfer speed can be set to the maximum speed of each motor, and the production speed of the inline press line can be increased.
  • The lifting and lowering stroke of the lifting beam 13 and every feed stroke of the sled 15 and the sledging 30 are individually adjustable for each of the workpiece transfer devices. Consequently, the drive synchronization of the supply movement, which is formed by the supply stroke and the raising and lowering stroke for each of the workpiece transfer devices, can be changed, and therefore, a mold-collision curve, corr sponding to the assembled form. Further, the zero position (feed height) for each work station can be changed to the position corresponding to the assembled shape. Consequently, the workpiece transfer device of the inline press line can be provided in which the collision curve corresponding to the shape can be set for each process.
  • Further, the movement of the undercarriage 30 shifted to the simultaneous movement of the carriage 15 , and thereby a larger supply stroke can be achieved in a shorter time, whereby it is possible to increase the production speed of the inline press line. Because the linear motor 16 as the drive means of the carriage 15 used, the carriage can 15 be reduced in size and weight, and the movement speed of the carriage 15 and the sledging 30 can be made higher.
  • The drive carriage described above is not on the linear motor 16 limited, but another servo motor may be suitable. Further, the drive means for the sub-carriage 30 is not limited to the spindle mechanism described above, but may be another mechanism such as a rack and pinion gear mechanism. Further, instead of the sub-carriage including the drive source for the sub-carriage, such as the servomotor, it may be appropriate to move the sub-carriage following the movement of the carriage, for example by means of a pulley and a belt. Furthermore, the sub-carriage can be moved by means of a linear motor.
  • 7 FIG. 15 is a diagram showing another mode of operation of this first embodiment described, and a workpiece transfer device of this other mode will be based on FIG 7 , explained.
  • In the in-line press line according to this mode, waiting stations, such as inter-panel pedestals P1 to P3, are placed midway between the adjacent work stations W1 to W4. The workpiece transfer device of this mode is by eight workpiece transfer devices 101 . 102A and 102B . 103A and 103B . 104A and 104B and 105 formed, which are placed at the transfer areas T1 to T5, respectively. The workpiece transfer device 101 is on the input side of a press 2A placed so that the workpiece on the material supply device 9 is transferred to the workstation W1.
  • In order to successively transfer the workpiece to the work stations W1 to W4, in the transfer region T2 of the intermediate panel base P1, the workpiece transfer device 102A , which on the output side of the press 2A is placed, and the workpiece transfer device 102B , which on the input side of the press 2 B is placed, provided. In the transfer area T3, the intermediate panel pedestal P2 is the workpiece transfer device 103A , which on the output side of the press 2 B is placed, and the workpiece transfer device 103B , which on the input side of the press 2C is placed, provided. Likewise, in the transfer area T4 of the intermediate panel pedestal P3, the workpiece transfer device 104A which between the press 2C and the intermediate panel base P3, and the workpiece transfer device 104B , which between the intermediate panel base P3 and the press 2D is placed, provided. To the machined in the workstation W4 workpiece on the product output device 19 to transfer, is the workpiece transfer device 105 on the output side of the press 2D placed.
  • Regarding the workpiece transfer devices 101 to 105 Subsequently, a device, which is different from the workpiece transfer devices 101 to 105 as explained in the first described embodiment differs explained. As in 7 is exactly one end portion of each lifting beam 13 in the longitudinal direction in the workpiece transfer devices 102A and 102B . 103A and 103B , and 104A and 104B , corresponding to the transfer areas T2 to T4, is formed so as to substantially project toward the center position of each work station W1 to W4, and its other end portion is formed to project substantially toward the center position of each intermediate panel pedestal P1 to P3. The length of each lifting beam 13 in the work transfer direction is provided to be slightly shorter than the length from the center of each work station W1 to W4 to the center position of each intermediate panel pedestal P1 to P3.
  • According to this embodiment described above, the two orthogonal raising / lowering waves and the transferring directions which are independent of each other are controlled, and therefore the same effects as in the previous embodiment are provided. The explanation of the effects is omitted here. In addition to the fact that the feed motion synchronization can be changed for each process, further, the intermediate panel sockets placed between the adjacent presses have workpiece reversing devices, rotating devices and the like. Ä., where a change in the position of the workpiece 11 , such as by reversing and rotating through 180 °, can be simplified between processes.
  • Next, a work transfer device according to an embodiment of the present invention will be explained based on FIG 8th and the 10 , In the embodiment described below, the same components as the components explained in the previous embodiments have the same reference numerals and characters, and their explanation is omitted. 8th shows a front view of the workpiece transfer device of the series-press line according to the invention, and 9 is a top view of the illustration in 8th and 10 is a side view of the illustration in 8th ,
  • This workpiece transfer device is provided by five workpiece transfer devices 201 to 205 formed, which are placed in the respective transfer areas T1 to T5. The material supply device 9 , the presses 2A to 2D and the product output device 19 are placed so that they are arranged in series in the workpiece transfer direction, wherein the workpiece transfer devices 201 . 202 . 203 . 204 and 205 placed between these devices. Regarding these work transfer devices 201 to 205 becomes one of the workpiece transfer devices 101 to 105 which have been explained in the previous embodiments, explained different structure below.
  • Each of the workpiece transfer devices 201 to 205 indicates: a lifting bar 13 which is placed horizontally at substantially the center of the row press line along the work transfer direction so as not to collide with the punch movement, and a lift drive means 40 which is the lifting beam 13 in an up and down direction drives.
  • The lifting beam 13 the workpiece transfer device 201 is provided so that its end portion is disposed on the input side in the vicinity of a position which is close to the material supply device 9 and its end portion on the discharge side is located near a position which is near a work area which is from a terminal surface of the lower mold 5 and a termination surface of the stamp 4 the press 2A is formed. Every lifting beam 13 the workpiece transfer facilities 202 . 203 and 204 corresponding to the transfer areas T2 to T4 is placed so that one end portion at the input side and one end portion at the discharge side are respectively placed in the vicinity of locations which are near the work areas of the work stations W1 to W4. The lifting beam 13 the workpiece transfer device 205 is provided so that an end portion is disposed on the input side in the vicinity of the position which is near the work area of the work station W4, and the end portion on the output side is at a predetermined position above the product output device 19 arranged.
  • How out 8th and 10 can be seen, the Hubantriebsmittel 40 on: four column parts 143 which are provided vertically on the input side and the output side of each transfer area T1 to T5, and first holding parts 144 and 144 are each between a pair of left and right column part 143 and 143 curious; excited. A second holding part 41 is along the transfer direction between the first holding parts 144 on the input side and the first holding parts 144 provided on the output side, and guide parts 47 are vertically provided respectively in the middle of the first holding parts 144 , A servomotor 42 is in a substantially middle part of the second holding part 41 in the transfer direction with its output shaft oriented in the vertical direction. A worm gear (not shown) which is within a worm gear housing 43 is provided is on the output shaft of the servomotor 42 mounted, and with the worm gear inside the worm gear housing 43 becomes the direction of the output shaft of the servomotor 42 converted into the workpiece transfer direction. intermediate shafts 46 are connected on both sides of the worm gear output shaft. To the end portions of the intermediate shafts 46 are pinions 45 appropriate.
  • Furthermore, both are guide parts 47 with lifting rods 44 provided, which are displaceable in the up and down direction. On an outer surface of each lifting rod 44 In each case a rack is incorporated in the longitudinal direction, and the racks are respectively with the gears 45 engaged. The lifting beam 13 is parallel to the transfer direction between a respective end portion of the lifting rods 44 appropriate. In this way, the rotational force of the servo motor 42 on two lifting rods 44 via the respective gear 45 and the respective rack to raise and lower the lifting rods, wherein the lifting beam 13 is driven in up and down direction. From the controller 3 the servo motor is controlled based on a predetermined supply movement. In this embodiment, the lift drive means is formed by combining exactly one servo motor and one worm gear housing, but can also by the use of two stroke wave servomotors 14 as shown in the first embodiment described.
  • The sled 15 , which at each lifting beam 13 is provided so that it is movable in the longitudinal direction, and the sub-carriage 30 , which equally at the lower part of the carriage 15 is provided so that it is in the longitudinal direction of walking beam 13 is movable, have the same structure as in the first embodiment described, and the explanation is omitted here. The sub slide 30 is with the crossbeam 17 provided, which in the transverse direction with respect to the longitudinal direction of the lifting beam 13 survives, and the transom 17 is with the workpiece holding means 18 (Vacuum device o. Ä.) Provided.
  • According to the embodiment of the present invention, the two orthogonal lift / lower drive shafts and the transfer directions are controlled, and therefore, the effects are the same as in the above-described first embodiment, therefore, the detailed explanation is omitted here. Because each of the workpiece transfer facilities 201 to 205 exactly one lifting bar 13 has substantially in the center of the transverse direction with respect to the transfer direction, the structure can be made simple and compact, which is advantageous in terms of cost and installation space. Each walking beam is placed outside the work area so as not to hit the punch 4 and the shape of each press to collide, and the sub-sled 30 concerning the sled 15 shifted in the carriage movement direction, the crossbar 17 and the workpiece holding means 18 outside the end portion of the lifting beam 13 to be moved. Consequently, the workpiece can be reliably transferred to the mold.
  • Based on 11 a workpiece transfer device according to another mode of the embodiment of the invention will be explained. In 11 are each intermediate panel base P1 to P3 between the respective presses 2A to 2D placed, and the material supply device 9 is on the input side of the press 2A placed, and the product output device 19 is on the output side of the press 2D placed. Eight workpiece transfer devices, 201 . 202A . 202B . 203A . 203B . 204A . 204B and 205 are respectively placed between the adjacent devices, which are: the material supply device 9 , the presses 2A to 2D , the intermediate panel pedestals P1 to P3, and the product output device 19 , any workpiece transfer device 201 to 205 has exactly one lifting bar 13 which is horizontally placed substantially horizontally in a center of a transverse direction with respect to the work transfer direction of the row press line along the work transfer direction so as not to collide with the punch movement, and has lift driving means (not shown) which supports the lift beam 13 driving up and down. The structure of each lifting drive means is the same as described above.
  • Regarding the workpiece transfer devices 201 to 205 becomes the structure which differs from the workpiece transfer devices 201 to 205 with the worm gear transmissions, which have been explained in the previous embodiment of the invention explained. How out 11 seen, is the end portion of each lifting beam 13 the workpiece transfer facilities 202A . 202B . 203A . 203B . 204A and 204B corresponding to the transfer regions T2 to T4, which is in the vicinity of the press in the longitudinal direction, disposed near a work area of each work station W1 to W4, and its other end portion is arranged so as to project to a substantially center position of each intermediate panel base P1 to P3 , The sled 15 , which at each lifting beam 13 is movably provided in the longitudinal direction, and the sub-carriage 30 , which equally at a lower part of the carriage 15 movable in the longitudinal direction of the lifting beam 13 is provided have the same structure as in the first embodiment. The sub slide 30 is in the transverse direction with respect to the longitudinal direction of the lifting beam 13 over and over with the crossbeam 17 Mistake.
  • According to the embodiment described above, the two orthogonal lift / lower drive shafts and the transfer direction are controlled, providing the same effects as in the first described embodiment. As a result of the intermediate panel sockets being placed between the adjacent presses, the same effects are created as in the construction of the mode of operation which in FIG 7 is shown. Because also exactly one walking beam 13 is provided substantially in the center of the transverse direction with respect to the transfer direction, the same effects as in the embodiment of the invention are provided.
  • As explained further will, can according to the present Invention, the present effects are achieved.
  • Because the workpiece transfer device has the structure to transfer the workpiece with the two orthogonal lift / lower drive shafts and the transfer directions, the workpiece transfer locus is intuitively understood by operators. The speeds of the above-mentioned two drive shafts can be set independently of each other, and no speed is limited by the other speed, even during the simultaneous control, making it possible to program the stroke and the synchronization of the respective drive shafts and the respective data network. Simplify operations. Accordingly, even a beginner can easily carry out the programming and data-network operations, and therefore the operational readiness be significantly improved. Because the speeds of the two drive shafts can be independently set, the speed can be set to the maximum speed at which each of the drive motors is capable, and therefore, the workpiece transfer speed can be increased to the highest possible speed to increase the production speed increase.
  • By doing the lifting beam between the forms of the adjacent presses provided is, further, the workpiece can directly from one mold to the mold of the next process with exactly a workpiece transfer device be transferred directly, and therefore, the intermediate waiting process is not needed, thereby it possible made to make the series press line simple and compact.

Claims (5)

  1. Workpiece transfer device ( 201 . 202 . 203 . 204 . 205 ) for a series press line in which a plurality of presses ( 2A . 2 B . 2C . 2D ) are placed along a workpiece transfer direction, comprising: at least one lifting beam ( 13 ), which is placed parallel to the workpiece transfer direction and with respect to the workpiece transfer direction in the transverse direction substantially in the center, wherein the lifting beam ( 13 ) is placed outside a press work area and caused to move up and down, a carriage ( 15 ), wherein at least one carriage ( 15 ) at each lifting beam ( 13 ) is provided, and wherein the carriage ( 15 ) is movable along the Hubbalken-longitudinal direction, a Unterschlitten ( 30 ), which along a guide ( 131 ) provided on each carriage ( 15 ), and wherein the sub-slide ( 30 ) is movable in the carriage moving direction, and workpiece holding means ( 18 ), which at each Unterschlitten ( 30 ) are provided and are capable of holding a workpiece.
  2. Workpiece transfer device for the in-line press lines according to claim 1, wherein a waiting process (P1) between at least one set of adjacent presses (P1) 2A . 2 B ) is additionally provided, wherein the lifting beam ( 13 ) exactly one lifting bar ( 13 ), which is between exactly one of the adjacent presses ( 2A . 2 B ) and between the waiting process (P1) and between the waiting process (P1) and the other of the adjacent presses (P1) 2A . 2 B ) is provided so that it is parallel to the workpiece transfer direction, wherein the lifting beam ( 13 ) is placed substantially in the center in the transverse direction with respect to the workpiece transfer direction, and caused to move independently of other lifting beams (FIG. 13 ) and to move the carriage ( 15 ), the Unterschlitten ( 30 ) and the workpiece holding means ( 18 ) at each lifting beam ( 13 ) are provided, which is independently movable up and down.
  3. Workpiece transfer device for the in-line press line according to claim 1 or 2, wherein the carriage drive means comprising each carriage ( 15 ) is moved along a longitudinal direction of the lifting beam, a linear motor ( 16 ) having.
  4. Workpiece transfer device for the in-line press line according to one of claims 1 to 3, wherein each sub-carriage drive means, which supports each sub-carriage ( 30 ) along each guide ( 131 ), which on each slide ( 15 ), a linear motor ( 16 ).
  5. Workpiece transfer method for a series press line in which a plurality of presses are placed along a workpiece transfer direction, comprising: a first step of moving at least one lift beam (Fig. 13 ) in an up and down direction, which is placed parallel to the workpiece transfer direction and with respect to the workpiece transfer direction in a transverse direction substantially in the center, wherein the lifting beam ( 13 ) is placed outside of a press work area, and a second step of moving a carriage ( 15 ) in a longitudinal direction of the lifting beam ( 13 ), wherein at least one carriage ( 15 ) at each lifting beam ( 13 ) and moving a sub-sled ( 30 ) along a guide, the sub-slide ( 30 ) Workpiece holding means ( 18 ), which are capable of holding a workpiece, wherein the guide on the carriage ( 15 ) is provided in a carriage movement direction, so that the sub-carriage ( 30 ) with respect to the carriage ( 15 ), wherein the first step and the second step are performed simultaneously or independently of each other to cause the workpiece holding means (10) to 18 ) are raised and lowered and reciprocated in the workpiece transfer direction, thereby transferring the workpiece to a next process.
DE2002159814 2001-12-28 2002-12-19 Workpiece transfer process and workpiece transfer device for in-line press line Expired - Fee Related DE10259814B9 (en)

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JP2001400849A JP3902006B2 (en) 2001-12-28 2001-12-28 Tandem press line work transfer method and work transfer device
JP2001/400849 2001-12-28

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WO2004096533A1 (en) * 2003-05-01 2004-11-11 Komatsu Ltd. Tandem press line, operation control method for tandem press line, and work transportation device for tandem press line
US7316149B2 (en) * 2004-01-30 2008-01-08 Komatsu Ltd. Inter-pressing-machine work transfer device
US7726166B2 (en) 2007-03-07 2010-06-01 Gns Co., Ltd. Multi-step press system
US7562551B2 (en) 2007-03-07 2009-07-21 Gns Co., Ltd. Press die set for a multi-step press system
KR100956034B1 (en) * 2009-03-04 2010-05-07 한재형 Apparatus suppling materials automatically in press
KR101053099B1 (en) * 2009-05-13 2011-08-01 현대로템 주식회사 Driving device of transfer device for tandem press line
EP2607068A1 (en) * 2011-12-20 2013-06-26 Güdel Group AG Pressing assembly for reforming flat workpieces
WO2013128942A1 (en) * 2012-03-02 2013-09-06 株式会社エイチアンドエフ Transport device
KR101212195B1 (en) * 2012-07-19 2012-12-13 미원정밀공업(주) The system for automatic manufacturing of press forming article using double robot line for tandem press line
KR101616577B1 (en) 2015-10-26 2016-04-28 (주)로파 New concept ultra high speed transfer robot for ultra high speed hybrid press
JP2018058172A (en) * 2016-10-06 2018-04-12 川崎重工業株式会社 Robot system and operation method of the same

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JP3902006B2 (en) 2007-04-04
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DE10259814A1 (en) 2003-07-31
DE10259814B4 (en) 2008-11-06

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