JP2000153330A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer device that the degree of freedom of a performance curve is high, exchange of a cam, etc., is unnecessary, and a spare device for emergency stop is also unnecessary. SOLUTION: Relating to a transfer device which is provided with a cam link type drive part 1 having a cam 2 and a cam lever 3 followed by the cam 2, a feed mechanism 7 having a feed bar 4 to be reciprocated in the feed direction by the cam lever 3 and vacuum cups 6 fitted to the feed bar 4 at each prescribed interval through a cross bar 5, and an elevating/lowering mechanism to elevate/lower a lift bar 8 to movably support the feed bar 4, and successively carries a work from the upstream press position to the downstream press position, a shift device 21 capable of moving the cross bar 5 in the feed direction through a ball screw shaft 24 for shifting by a servo shift motor 25 is interposed between the feed bar 4 and the cross bar 5, and the shift device 21 is interlocked with a press driving mechanism.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer apparatus for sequentially transferring works to a press position, particularly in a large press.

[0002]

2. Description of the Related Art For example, a conventional mechanical transfer device includes a CCFT (cross bar, cup, feed bar,
As shown in FIGS. 8 and 9, a cam link driving unit 1 includes a cam 2 and a cam lever 3 as shown in FIGS.
Is provided. Then, the feed mechanism 7 includes the cam lever 3
Is reciprocated by the drive unit 1 in the workpiece feed direction. Further, a cross bar 5 is attached to a predetermined position of the feed bar 4 in a transverse direction, and the cross bar 5 is provided with a vacuum cup 6 capable of holding a work. The feed bar 4 is supported by a lift bar 8 that can be moved up and down movably in the feed direction.
The rack and pinion type lifting mechanism 9 linked to
The lift bar 7 is moved up and down to drive the feed bar 4 up and down.

In a press apparatus 11 equipped with this transfer apparatus, a slide 12 driven up and down by a press drive motor 16 constituting a press drive mechanism 10 via a flywheel 17 and a power transmission mechanism 18 is provided at each press position P. An upper die 13 provided and attached to a slide 12, and a lower die 1 fixed on a bed 14.
5, the work is formed under pressure. Then, the transfer device is configured to sequentially send the workpieces formed by pressing from the upstream lower die 15 to the downstream lower die 15 in accordance with the vertical movement of the slide 12.

The operation of the crossbar 5 at that time will be described. As shown in FIG. 10, during the press in which the upper die 13 is driven to move up and down by the slide 12, it stands by at a standby position S1, and after the press forming, the slide 12 is moved. In accordance with the rise, the vehicle enters the holding position S2 on the upstream lower die 15 along the approach operation M1. The work is held by the vacuum cup 6 and moved to the release position S3 on the downstream lower die 15 along the feeding operation M2 to convey and release the work. Thereafter, the operation returns to the standby position S1 along the return operation M3, and waits during the pressing operation. By repeating this, from the upstream die 15 to the downstream die 1
The work is sequentially sent to 5, and press forming is performed.

By the way, it is necessary to design the partial operation curves M1 to M3 so that the vacuum cup 6 and the crossbar 5 are not caught in the mold during the transfer operation. Since the distance can be small, there is little time to wait for the upper die 13 to rise, and the approach operation M1 can be entered at a quick timing, and the operation in the feed direction has a sufficient time. However, in the case of a deep mold, the reverse is the case, and the time to wait for the upper die 13 to rise is long, and it is necessary to perform the feeding operation promptly. Therefore, two kinds of cams 2 for a shallow die and a deep die are easily used, and switching is performed according to the die, whereby the feed operations M1 to M3 are selected in the CCFT method.

In order to solve this problem,
There is a servo transfer device using a servo control mechanism. This uses a servo-type cylinder device or a servomotor to drive the feed bar and lift bar, respectively.The operation curve can be set arbitrarily as compared with the mechanical type, and the degree of freedom when setting the transfer curve is improved. Is extremely large.

[0007]

However, in the case of a servo-type transfer device, compared with a mechanical transfer device, the operation of the transfer device with the press device during an emergency stop due to an emergency, a power failure, a disconnection, a failure of a control device, or the like, occurs. There is a problem that a synchronization shift occurs, and the transfer member is sandwiched between the molds, and both the transfer device and the molds may be damaged. for that reason,
In addition to equipping the control unit with a spare device, there is a problem that a large-scale spare device is required, such as preparing a mechanical emergency discharge device.

An object of the present invention is to solve the above-mentioned problems and to provide a transfer device which has a high degree of freedom in an operation curve, does not require replacement of a cam or the like, and further does not require a spare device for an emergency stop. And

[0009]

In order to achieve the above object, the present invention provides a cam link type driving unit having a cam and a cam lever following the cam, and a feeder reciprocated in a feed direction by the cam lever. A bar and a feed mechanism having a work holder attached to the feed bar at predetermined intervals via a cross bar; and a lifting mechanism for driving the feed bar up and down via a lift bar. In a transfer device for sequentially transporting a work to a side press position, a shift device capable of moving a crossbar in a feed direction by a servo control mechanism is interposed between the feed bar and the crossbar, and the shift device is pressed by a press of a press device. It is configured to be linked with the drive mechanism.

According to the above construction, the shift device controlled in conjunction with the press drive mechanism is provided, so that an arbitrary shift operation can be added to the operation curve by the cam link to obtain an arbitrary operation curve. . Thereby, an arbitrary feeding operation can be performed for each crossbar according to the shape of the die or the work at each press position. Therefore, there is no need to prepare several types of cams or replace the cams. In addition, since it is interlocked with the press drive mechanism, an accident such as a transport member such as a crossbar or a work holder being pinched by the die does not occur at the time of emergency stop or emergency stop due to a cause other than the control system. Further, even in the case of an emergency stop due to an abnormality in the control system equipment, since the basic operation is driven by the cam link type driving unit, the crossbar is stopped at the standby position between the dies. By setting the transfer member so as not to contact the die within the stroke range of the crossbar by the shift device at the standby position, the transfer member is pinched by the die even if the crossbar is stopped due to synchronization deviation. Such a contact accident can be prevented, and a standby device for emergency stop is not required.

According to a second aspect of the present invention, in the above construction, the lifting device is provided with a lifting device for driving the lifting bar up and down by a servo control mechanism, and the lifting device is interlocked with the press driving mechanism of the pressing device. It is what was constituted.

According to the above configuration, the setting range can be further widened by arbitrarily setting the lift operation, and it is possible to cope with a wide range of mold shapes and the like.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Here, an embodiment of a transfer device according to the present invention will be described with reference to FIGS.
The same members as those in the conventional example are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIGS. 1 and 2, a servo-type shift device 21 which is servo-controlled is provided at a position where each crossbar 5 of the feed bar 4 is provided. The movement of the vacuum cup 6 in the feed direction can be controlled via the reference numeral 5.

The feed bar 4 is supported by a lift bar 8 via a feed roller 20 so as to be movable in a feed direction, and a shift device 21 is provided on the feed bar 4. In the shift device 21, a shift guide rail 23 is attached to the feed bar 4 via an attachment member 22 along the feed direction, and a shift screw shaft 24 parallel to the shift guide rail 23 is rotatably disposed below the shift guide rail 23. The shift ball screw shaft 24 is rotatably driven by a shift servomotor 25. A shift base 26 is movably supported on the shift guide rail 23 via a linear guide. The shift base 26 is provided with a female screw member 27 to which the ball screw shaft 24 for shift is fitted and the cross bar 5. Have been.

A servo type lift device 32, which is servo-controlled, is provided in a column 31 of the press device. The lift device 32 is, as shown in FIG. 33, a ball screw shaft 34 for lifting and lowering, which is arranged in parallel and rotatable on its side, and a lift servomotor 35 for rotating and driving the ball screw shaft 34 for raising and lowering. An elevating table 36 is movably supported on the elevating guide rail 33 via a linear guide, and the elevating table 36 is attached to the elevating ball screw shaft 34.
Are provided, and a lifting rod 38 connected to the lift bar 7 is provided.

The control device of this transfer device is shown in FIG.
As shown in FIG. 7, a first encoder 41 attached to the main shaft 2a of the cam 2 (FIG. 8) and a second encoder 41 attached to the output shaft 16a of the press drive motor 16 for driving the cam 2 (FIG. 8).
A detection signal from the encoder 42 is input to a first counter 44 and a second counter 45 provided in the controller 43, and the press angle (operation of the press body) is read. The reason why the encoders 41 and 42 are provided at two locations is to prevent malfunction due to a failure. Then, according to the detected press angle, the shift commanders 46A to 46A to
45E and the lift device 47 from the shift device 21
Operation signals are output to the lift device 32 and the lift device 32, respectively. The shift device 21 is provided with five pairs of shift servomotors 25 _{-1 to} 25 _-5 and five servo controllers 29 _{-1 to} 29 _{-5 on} five crossbars 5. The operation signal corresponding to the shape of the dies 13, 15 and the work is instructed by the operation signal. The lift devices 32 are provided in a pair of four sets, but all of them are driven in synchronization with each other. Therefore, the same operation signal is input from one lift command unit 47 to each of the servo controllers 39 _{-1 to} 39 _-4 to lift the lift devices 32. servomotor 35 _-1 to 35 _-4 are driven synchronously.

Here, as shown in FIG. 7, the stroke L of the shift device 21 at the standby position S1 is set in a range where the conveying members such as the vacuum cup 6 and the crossbar 5 do not contact the dies 13 and 15. ing. As a result, at the time of emergency stop and emergency stop, in the basic operation of the cam link type press drive mechanism 10, the crossbar 5 is stopped at the standby position S1, but at this time, a failure of the control system equipment of the shift device 21 causes a failure. Even if the crossbar 5 is stopped out of synchronization, the conveying member may
Contact accidents, such as being caught between 3 and 15, are prevented beforehand. Further, in the case of the lift device 32, when the lift device 32 is stopped at the moment when the work is gripped due to the failure of the control system device, the feed operation is continued by pulling the work on the upper surface of the lower die 15. However, there is no occurrence of a contact accident in which the transport member is sandwiched between the dies 13 and 15.

FIG. 5 is a graph showing the relationship between the press angle and the feed displacement. Here, the operation curve F1 is based on a cam used in a pressing operation using a shallow mold, and has an allowance for the transport operation since the operation is entered into the approach operation M1 at an early stage. On the other hand, the operation curve F2 is based on a cam used in a conventional press operation using a deep mold, and the timing of entering the approach operation M1 is slow in order to avoid interference, and there is no time margin for the transport operation. The operation curve indicated by F3 is an operation curve intermediate between F1 and F2,
4 is a basic operation curve of the transfer device according to the present invention.
As shown in FIG. 6, by adding the shift operation C1 of the shift device 21 to the basic operation curve of F3, the same operation curve as the previous operation curve F1 can be created. By adding the shift operation C2 of the shift device 21, the same operation curve as the previous operation curve F2 can be created. Further, by adding an operation by the lift device 32, various operations can be set.

According to the above embodiment, the shift device 21
By adding a shift operation by
And the operation of the vacuum cup 6 can be arbitrarily set according to the dies 13, 15 and the work.
Work 15 and crossbar 5 and vacuum cup 6
It is possible to create an appropriate operation curve without causing the contact. This makes it possible to cope with all types of press work and eliminates the need for a conventional cam replacement work. Further, the press angle is calculated by the controller 42 based on the two encoders 41 and 42, and the shift device 21 and the lift device 32 are respectively driven and controlled based on the press angle. Due to an emergency stop or emergency stop,
The crossbar 5 is stopped without being out of synchronization, and there is no occurrence of an accident in which these transport members are pinched by the dies 13 and 15. Further, even in the case of an emergency stop or an emergency stop due to an abnormality of a control system device including the controller 43 such as the shift servomotor 25, the basic operation in the feed operation is performed by the cam link type driving unit. As shown in the figure, at the standby position P1 where the operation is stopped by the basic operation,
Even if the shift device 21 is stopped due to synchronization deviation, the transport member is stopped within the range of the operation stroke L of the shift device 21, so that the transport member contacts the dies 13 and 14 or There is no occurrence of a breakage accident such as being sandwiched between the two.

[0021]

As described above, according to the first aspect of the present invention, since the shift device controlled in conjunction with the press drive mechanism is provided, any shift operation can be performed according to the operation curve by the cam link. To obtain an arbitrary operation curve. Thereby, an arbitrary feeding operation can be performed for each crossbar according to the shape of the die or the work at each press position. Therefore, there is no need to prepare several types of cams or replace the cams. In addition, since it is interlocked with the press drive mechanism, an accident such as a transport member such as a crossbar or a work holder being pinched by the die does not occur at the time of emergency stop or emergency stop due to a cause other than the control system. Further, even in the case of an emergency stop due to an abnormality in the control system equipment, since the basic operation is driven by the cam link type driving unit, the crossbar is stopped at the standby position between the dies. By setting the transfer member so as not to contact the die within the stroke range of the crossbar by the shift device at the standby position, the transfer member is pinched by the die even if the crossbar is stopped due to synchronization deviation. Such a contact accident can be prevented, and a standby device for emergency stop is not required.

According to the second aspect of the present invention, the setting range can be further widened by arbitrarily setting the lift operation, and it is possible to cope with a wide range of mold shapes and the like.

[Brief description of the drawings]

FIG. 1 is a main part side view showing an embodiment of a transfer device according to the present invention.

FIG. 2 is an enlarged side view of a main part showing a shift device of the transfer device.

FIG. 3 is an enlarged side view of a main part showing a lift device of the transfer device.

FIG. 4 is a configuration diagram showing a control device of the transfer device.

FIG. 5 is a graph showing an operation curve of the transfer device.

FIG. 6 is a graph showing an operation control curve of the transfer device.

FIG. 7 is an explanatory diagram showing a shift stroke of the transfer device.

FIG. 8 is a cutaway perspective view showing a conventional transfer device.

FIG. 9 is an overall side view showing a conventional transfer device.

FIG. 10 is an explanatory diagram showing an operation of a conventional transfer device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Press drive part 2 Cam 3 Cam lever 4 Feed bar 5 Cross bar 6 Vacuum cup 7 Feed mechanism 8 Lift bar 9 Elevating mechanism 10 Press drive mechanism 11 Press device 12 Slide 13 Upper die 14 Bed 15 Lower die 21 Shift device 24 Ball screw shaft for shift Reference Signs List 25 shift servomotor 32 lift device 34 ball screw shaft 35 lift servomotor 41, 42 encoder 43 controller 46A to 46E shift commander 47 lift commander

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 4E090 AA01 AB07 BA02 BB03 BB04 EA01 EB01 FA02 FA06 GA03 GA05 HA01

Claims (2)

[Claims] 1. A cam link type driving unit having a cam and a cam lever that follows the cam, a feed bar reciprocated in a feed direction by the cam lever, and a feed bar interposed at predetermined intervals on the feed bar. A transfer device having a feed mechanism having an attached work holder and an elevating mechanism for driving the feed bar up and down via a lift bar, wherein the transfer device sequentially conveys the work from an upstream press position to a downstream press position; A transfer device, wherein a shift device capable of moving the crossbar in the feed direction by a servo control mechanism is interposed between the bar and the crossbar, and the shift device is configured to interlock with a press drive mechanism of the press device. apparatus. 2. A lift device for raising and lowering a lift bar by means of a servo control mechanism, wherein the lift device is configured to interlock with a press drive mechanism of the press device. Transfer equipment.