JP2003025031A - Method and apparatus for feeding material in press - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and an apparatus for feeding a material in a press by which a work is fed at a feed stroke beyond the capacity. SOLUTION: A gripper feed M having a fixed gripper 2 and a movable gripper 3 is provided with a 1st linear motor 6 which is supported on a machine casing 1 and a 2nd linear motor 7 which is connected to the movable shaft part 62 of the 1st linear motor 6 through a connecting bracket 5, also arranged slidably to the machine casing 1 and whose movable shaft part 72 is connected to the movable gripper 3 through a bracket 8. The movable jaw 22 of the fixed gripper 3 and the movable jaw 32 of the movable gripper 3 are connected to a cam which is driven with a servomotor. The movable gripper 3 is moved during one feed timing at a stroke which is the stroke by driving with the 1st linear motor 6 to which the stroke by driving with the 2nd linear motor 7 is added.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a material feeding method and device for a press machine, and more particularly to a material feeding method for a press machine having a movable gripper and a fixed gripper provided with a pair of jaws capable of gripping the material. Method and apparatus.

[0002]

2. Description of the Related Art Generally, a gripper feed is known as a device for feeding a material into a press machine. This gripper feed has a moving gripper having a pair of jaws capable of gripping a material and a fixed gripper. When feeding the material, the jaws of the moving gripper grip the material and the jaws of the fixed gripper feed. The set is released from the material and is driven to release the jaw set of the moving gripper from the material as it is processed and to grip the material with the jaw set of the fixed gripper. On the other hand, in the press machine, the material is fed at the timing of the upper position of the slide (generally 270 ° to 90 °) and the material is fed at the lower position of the slide (generally 90 °).
Pressing is performed with the movement of the material stopped at a timing of ˜270 °). Therefore, as the gripper feed, the press timing is 270 ° to 90 °.
At 90 °, the moving gripper grips the material, the fixed gripper releases the material, and moves the material to the press side. At the press timing of 90 ° to 270 °, the moving gripper releases the material, and the fixed gripper moves the material. Is driven to grasp and stop the movement of the material.

The conventional gripper feed is disclosed in Japanese Patent Publication No. 7-2.
As shown in No. 4891, the movement of the moving gripper and the jaw set of the moving gripper and the jaw set of the fixed gripper are configured to be mechanically driven by connecting them to the crankshaft of the press with a belt and a pulley. It had been.

[0004]

However, the feed length of the material in the conventional gripper feed, that is, the moving stroke amount of the moving gripper is determined by the eccentric amount of the crank lever constituting the crank mechanism in the connecting mechanism connected to the moving gripper. Was to be decided by the size of. Therefore, if the material feed length is required to be longer than the normal gripper feed specifications, the aforementioned crank mechanism must be enlarged, and a large special gripper feed must be manufactured to make a long stroke of the moving gripper. I had to secure a quantity. This not only significantly increases the cost, but also requires a large space for the gripper feed because the frame and the weight also become large, and it is necessary to reinforce the support portion that supports the gripper feed to increase the strength. Was there.

The present invention solves the above-mentioned problems, and provides a material feeding method and device in a press machine which can be constructed compactly and inexpensively without enlarging the frame and can provide a feeding length exceeding its capacity. The purpose is to provide.

[0006]

In order to solve the above-mentioned problems, the material feeding method in the press machine according to the present invention is carried out as follows. That is, it is configured to have a fixed gripper and a movable gripper that is movably mounted in a direction of approaching and separating from the fixed gripper, and the material feed timing is set including the top dead center position of the press machine. A material feeding method in a press machine in which a material feeding stop timing is set including a bottom dead center position of the machine, wherein the moving gripper is movably driven by at least two driving means arranged in series. A stroke amount that the moving gripper moves by the first driving unit and a stroke amount that moves by at least the second driving unit that is moved by the first driving unit during one material feeding timing of the press machine. It is characterized in that it is configured to be movable with a stroke amount including and.

Further, in the material feeding device in the press machine according to the present invention, the fixed gripper, the movable gripper mounted so as to be movable in the direction of approaching and separating from the fixed gripper, the movable gripper and the fixed gripper. A pair of jaws each having a fixed jaw capable of gripping a material and a movable jaw, and configured.
A material feeding device in a press machine in which material feed timing is set including the top dead center position of the press machine, and material feed stop timing is set inclusive of the bottom dead center position of the press machine, which is connected to the moving gripper. And at least first driving means and second driving means arranged in series, and third driving means for driving the pair of jaw sets are arranged, and the movable gripper is arranged in series. The movable gripper is movably driven by at least the first driving means and the second driving means, and the stroke amount by which the moving gripper moves by the first driving means during one material feeding timing of the press machine; And a stroke amount that is a sum of a stroke amount moved by at least the second driving unit and a stroke amount moved by the first driving unit,
It is characterized in that the pair of jaw sets is driven by the third driving means so as to be capable of gripping a material in accordance with the movement timing of the moving gripper.

Further preferably, the first driving means, the second driving means or the third driving means may be a linear motor or a servo motor, respectively.

More preferably, the first drive means is supported by a machine frame, the second drive means is connected to the first drive means via a first bracket, and the second drive means is connected to the movable gripper. It is even better if they are connected via the bracket of 2.

It is further preferable that the jaw set is connected to a cam member driven by the third driving means.

[0011]

As described above, in the material feeding method for the press machine according to the present invention, the moving gripper is moved by the first driving means arranged in series within one material feeding timing of the press machine. Stroke amount and at least a second
The first drive unit and the second drive unit are configured to move one forward with respect to one rotation of the crankshaft of the press machine by the stroke amount added with the stroke amount moved by the drive unit. By setting the means to the feed length within the normal specification range and setting the added stroke amount to the obtained feed length of the moving gripper, this is repeated to feed a longer feed length than specified. Even the material can be sent. For example, a mass-produced feeding device can be used to provide a capability exceeding the specified range of the set feeding length. Therefore, it is not necessary to newly manufacture a feeder that makes the frame large and is expensive.

Further, in the feeding device of the pressing machine of the present invention, the stroke amount at which the moving gripper is moved by the first driving means arranged in series within one material feeding timing of the pressing machine, and at least the first stroke. The stroke amount added to the stroke amount moved by the second driving means is configured to move forward one revolution for one rotation of the crankshaft of the press machine. Since the jaw set is driven so as to be able to grip the material in accordance with the movement of the moving gripper, the first drive means and the second drive means are set to the feed length within the normal specification range, and the added stroke is set. By setting the amount to the required feed length of the moving gripper, it is possible to feed the material even if the feed length is longer than specified by repeating this feeding. It can be.

For example, by using a mass-production type feeder, it is possible to obtain a capability exceeding the specified range of the set feed length. Therefore, it is not necessary to newly manufacture a feeder that makes the frame large and is expensive.

If the first driving means, the second driving means, or the third driving means is a linear motor or a servomotor, it is possible to easily set the amount of movement of the moving gripper once, and The grip timing of the jaw set can be easily adjusted to the movement timing of the moving gripper.

Further, since the first driving means is supported by the machine frame and is connected to the second driving means by the first bracket, the second driving means is moved by the driving of the first driving means. Since the second driving unit is connected to the moving gripper by the second bracket, the moving gripper adds the moving stroke amount by the first driving unit and the moving stroke amount by the second driving unit. The stroke amount can be changed.

Further, if the jaw set is connected to a cam member driven by the third drive means, a conventional mechanism can be directly used as a mechanism for connecting the jaw set to the jaw set. In addition, it can be constructed at a low cost and can reliably operate each jaw set.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. Material feeding device of the embodiment (hereinafter,
It is called a gripper feed. ) Is attached to a press machine (not shown), and mainly configured to grip a coil material (hereinafter, referred to as a work) and convey it into a die attached to the press machine according to the rotation of the crankshaft. Has been done.
The gripper feed conveys the material within the crank angle range of 270 ° to 90 ° and stops the movement of the material within the crank angle range of 90 ° to 270 ° in one rotation of the crankshaft.

The gripper feed M of this embodiment has a structure shown in FIGS.
As shown in FIG. 2, a fixed gripper 2 supported on one end side of the machine frame 1 and a movable gripper 3 that is movable in a direction toward and away from the fixed gripper 2 are mounted. The movable gripper 3 is slidably supported by a guide shaft 4 that has a slider portion 30 and is fixed to the machine frame 1 in the left-right direction, and a bracket 8 is attached to one end of the movable gripper 3 for movement. A second linear motor 7 as a second driving means for sliding the gripper 3 along the guide shaft 4 is arranged so that the movable shaft portion 72 is mounted on the bracket 8. Further, the movable shaft portion 72 of the second linear motor 7 is the movable shaft portion 6 of the first linear motor 6 as the first driving means in which the machine body portion 61 is supported by the machine frame 1.
It is connected to the other end of the connecting bracket 5 whose one end is connected to 2. The connecting bracket 5 is slidably guided by the machine frame 1 by a linear guide 9.

Further, the second linear motor 7 is attached to the guide bracket 11 slidably guided by the linear guide 10 with respect to the machine frame 1 at the end face opposite to the connecting bracket 5.

As a result, when the movable shaft portion 62 is extended rightward in FIG. 2 by the operation of the first linear motor 6, the body portion 71 of the second linear motor 7 is moved rightward in FIG. The gripper 3 is moved rightward in FIG. 2 by the stroke of the movable shaft 62. And second
When the movable shaft portion 72 moves in the direction in which the movable shaft portion 72 is housed in the machine body portion 71 by the operation of the linear motor 7, the moving gripper 3 is further moved rightward in FIG. 2 by the movement stroke of the movable shaft portion 72. First linear motor 6 and second
Since the added moving stroke amount of the linear motor 7 is performed during one feed timing of the press machine, the feed length of the moving gripper 3 can be made longer than before.

In the embodiment, the first linear motor 6 and the second linear motor 7 are arranged so as to face each other, and the first linear motor 6 extends in the direction in which the movable shaft portion 62 extends (rightward in FIG. 2). The moving gripper 3 grips and moves the work W, and the second linear motor 7 is arranged so that the moving gripper 3 grips and moves the work W in the direction in which the movable shaft portion 72 contracts (rightward in FIG. 2). However, the movable grippers 3 may be arranged so that the movable grippers 3 grip and move the work W in the directions in which the movable shaft portions 62 and 72 extend.

The first linear motor 6 and the second linear motor 7 have a body portion 6 in which coils (not shown) are arranged inside.
1, 71 and movable shaft portions 62, 72 in which magnets (not shown) are arranged are provided and supported on the side wall of the machine casing 1 or the bottom portion of the machine casing 1. The movable shaft portions 62, 72 move with respect to the body portions 61, 71 by forming magnetic flux between the coils on the body portions 61, 71 side and the magnets on the movable shafts 62, 72 side. The movable gripper 3 via the bracket 5 attached to the tip of the movable shaft portion 62 and the bracket 8 connected to the movable shaft portion 72.
Slide.

On the other hand, in the fixed gripper 2 and the movable gripper 3, as shown in FIG. 3, the fixed jaws 21 and 31 constituting a pair of jaw sets and the movable jaws 22 approaching and separating from the fixed jaws 21 and 31, 32 and 32 are respectively provided,
The work W inserted between the fixed jaws 21 and 31 and the movable jaws 22 and 32 is configured to be able to be gripped by either jaw set of the fixed gripper 2 or the movable gripper 3.

The structures of the fixed gripper 2 and the movable gripper 3 are conventionally known (Japanese Patent Publication No. 7-248).
No. 91) is adopted, and as shown in FIG. 3, the fixed jaws 21 and 31 are arranged in the cylinders 23 and 33 arranged above the work W, and the movable jaws 22 and 31 are arranged. 32 is the fixed gripper 2 shown in FIGS. 1 and 4.
And a cam 42 for the movable gripper 3 are moved and driven in the vertical direction via swinging arms 43 and 44, respectively. The movable jaw 32 of the movable gripper 3
Is driven by the cam 42 so as to be movable in the vertical direction during the sliding stroke of the slider portion 30.

The movement timings of the movable jaw 22 of the fixed gripper 2 and the movable jaw 32 of the movable gripper 3 are extremely related to the movement timing of the movable gripper 3, and when the movable gripper 3 is moved to the pressing machine side, the fixed gripper is moved. The second movable jaw 22 is located at a position distant from the fixed jaw 21, and the movable jaw 32 of the movable gripper 3 must be located at a position close to the fixed jaw 31 to grip the work W. Therefore, the cams 41, 42
Is driven by a servo motor 35 which is synchronized with the timing of the first linear motor 6 and the second linear motor 7.

The servomotor 35, as shown in FIG.
A coupling or a gear mechanism 38 is attached to a cam shaft 37 supported by the machine frame 1 and mounted parallel to the moving direction of the work W.
Connected through. The cam shaft 37 is rotatably supported by the machine frame 1, and the above-mentioned cams 41 and 42 are pivotally attached to the cam shaft 37 so that the cams 41 and 42 are rotated as the cam shaft 37 rotates. Below the cams 41 and 42, cam followers 45 and 46 pivotally attached to one ends of the swing arms 43 and 44 shown in FIG. With the swing arms 43, 44
Performs a swinging motion around the shaft 47. Connecting members 48 and 49 for connecting to the movable jaws 22 and 32 are attached to the other ends of the swing arms 43 and 44, respectively.
The movable jaws 22 and 32 are moved up and down by the movement of 8 and 49.

The linear motor 6 as a control motor
May be a servo motor or a stepping motor, and the servo motor 35 may be a stepping motor. When a servo motor is used in place of the first linear motor 6 and the second linear motor 7, it may be connected to the bracket 5 via a rotation / linear conversion mechanism that changes the rotation of the servo motor into a linear motion. As the rotation / linear conversion mechanism, for example, a crank mechanism as disclosed in Japanese Patent Publication No. 7-24891 may be used.

The gripper feed M configured as described above
Is commanded to feed the moving gripper 3 once during the feed timing for one revolution of the crankshaft. Below, the feed timing of the press machine (crank angle 270 to 270)
The operation of moving the moving gripper 3 forward during 90 °) will be described. A rotary encoder, for example, is arranged at one end of the crankshaft (not shown) to detect the rotational position of the crankshaft. Then, the rotational position of the crankshaft is sent to the control device at any time, and the control device issues an operation command to the first linear motor 6, the second linear motor 7 and the servo motor 35 at each timing, so that the gripper feed M is changed. Will be activated.

FIG. 5 is a timing diagram showing the timing of each part, with the horizontal axis representing the crank angle. The cam shaft 37 for driving each movable jaw 22, 32 is
It is rotationally driven by the servo motor 35. When the crank angle of the press is 270 °, the first linear motor 6
Of the movable shaft 62 is commanded to start forward movement. Due to the forward movement of the movable shaft portion 62, the body portion 71 of the second linear motor 7 is simultaneously moved forward by the guidance of the linear guides 9 and 10, and further, the movable shaft portion 72 of the second linear motor 7 is moved with respect to the body portion 71. Start forward movement.

At this time, the cam 42 on the side of the moving gripper 3 mounted on the cam shaft 37 fixes the movable jaw 32 of the moving gripper 3 to the fixed jaw 3 immediately before the moving gripper 3 moves forward.
The timing is set so as to move to the 1 side and grip the work W, and the cam 41 on the fixed gripper 2 side separates the movable jaw 22 of the fixed gripper 2 from the fixed jaw 21 immediately after gripping the work W of the moving gripper 3. The timing is set to move to a different position. Therefore, the work W
Is carried by the moving gripper 3 without being obstructed by the fixed gripper 2 and is thus moved into the press machine.

The feed length L of the moving gripper 3 is the moving stroke amount L = L1 + L2, which is the sum of the moving stroke amount L1 of the first linear motor 6 and the moving stroke amount L2 of the second linear motor 7. The work W is conveyed at a crank angle of 270 ° to 90 ° (180 ° during this period).

The feed length L of the moving gripper 3 indicates a stroke amount exceeding the specification range of the moving stroke amount of the first linear motor 6 and the second linear motor 7, and the moving stroke amount of the first linear motor 6 is shown. L1 and the moving stroke amount L2 of the second linear motor 7 are within the specified stroke range.

Next, when the crank angle reaches 90 °, the movable shaft portion 62 of the first linear motor 6 and the movable shaft portion 72 of the second linear motor 7 are instructed to start the backward movement. As a result, the moving gripper 3 starts moving backward. At this time, immediately before the moving gripper 3 moves backward, the movable jaw 22 of the fixed gripper 2 approaches the fixed jaw 21 side to hold the work W, and immediately after the fixed gripper 2 holds the work W, the movable jaw 32 of the moving gripper 3 is held. Separates from the fixed jaw 31 and releases the grip of the work W. Therefore, in the backward movement of the movable gripper 3, the movable gripper 3 releases the workpiece W, so that the workpiece W is in the state of stopping the movement.

The backward movement of the moving gripper 3 is performed within a crank angle range of 90 ° to 270 °.
When it reaches 70 °, the work W is again gripped and moved forward. When the crank angle is around 180 °, the slide of the press machine (not shown) reaches the bottom dead center position to process the work W.

After that, the above operation is repeated from the crank angle of 270 °, and the work W is intermittently sent to the press side.

As described above, in the gripper feed M of the embodiment, the moving gripper 3 is moved by the first linear motor 6 arranged in series within one material feeding timing of the press machine as described above. The stroke amount obtained by adding at least the stroke amount and the stroke amount moved by the second linear motor 7 makes one forward movement for one rotation of the crankshaft of the press machine, and
In response to a command from the servo motor 35, each movable jaw 22,
Since the work piece 32 is driven so that the work W can be gripped in accordance with the movement of the moving gripper 3, the first linear motor 6 and the second linear motor 7 having a movement stroke amount within a normal specification range (mass production type It is possible to set a feed length in which the added stroke amount exceeds the specification range of one mass-produced gripper feed by using the gripper feed). Therefore, it is not necessary to newly manufacture a special gripper feed that makes the frame large and is expensive.

Further, the first linear motor 6 or the second linear motor 7 for driving the movable gripper 3 and each movable jaw 2
The servo motors that drive the motors 2 and 32 can easily set the amount of movement of the movable gripper 3 once, and can easily adjust the grip timing of the movable jaws 22 and 32 to the movement timing of the movable gripper 3.

Since the first linear motor 6 is supported by the machine frame 1 and is connected to the second linear motor 7 by the connecting bracket 5, the second linear motor 7 is driven by driving the first linear motor 6. Since the second linear motor 7 is moved and is connected to the moving gripper 3 by the bracket 8, the moving gripper 3 adds the moving stroke amount of the first linear motor 6 and the moving stroke amount of the second linear motor 7. The stroke amount can be moved.

Further, since the movable jaws 22 and 32 are connected to the cams 41 and 42 driven by the servo motor 35, the movable jaws 2 are moved from the cams 41 and 42.
As a mechanism for connecting to 2 and 32, a conventional proven mechanism can be adopted as it is, and the structure can be constructed at low cost and the movable jaws 22 and 32 can be reliably operated.

In the moving gripper 3 of the embodiment, two linear motors are arranged and moved forward by one within one material feed timing of the press machine, but of course, three linear motors or servo motors are used. You may move using.

Further, the connecting mechanism of the cam 41 to the movable jaw 22 of the fixed gripper 2 and the connecting mechanism of the cam 42 to the movable jaw 32 of the moving gripper 3 are not limited to the above-mentioned form, and other known mechanisms may be adopted. Good.

Further, the first drive means is mechanically connected to the crankshaft of the press machine, and the second drive means is an input part connected to the first drive means and an output part connected to the moving gripper. For example, a cylinder mechanism or a rack and a pinion mechanism may be mechanically configured so that the second drive unit moves the output unit by the cylinder mechanism or the rack and pinion mechanism along with the movement of the first drive unit. By
The moving stroke amount by the first driving unit and the moving stroke amount by the second driving unit may be added.

[Brief description of drawings]

FIG. 1 is a partial plan sectional view showing a gripper feed according to one embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II in FIG.

3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a sectional view taken along line IV-IV in FIG.

5 is a timing diagram of the gripper feed in FIG.

[Explanation of symbols]

M ... Gripper feed 1 ... Machine frame 2 ... Fixed gripper 3 ... Moving gripper 5 ... Connection bracket (first bracket) 6 ... First linear motor (first driving means) 7 ... Second linear motor (second drive means) 8 ... Bracket (second bracket) 21 ... Fixed jaw (fixed gripper side) 22 ... Movable jaw (fixed gripper side) 31 ... Fixed jaw (moving gripper side) 32 ... Movable jaw (moving gripper side) 35 ... Servo motor 37 ... Cam shaft 41 ... Cam (fixed gripper side) 42 ... Cam (moving gripper side)

Claims (5)

[Claims] 1. A fixed gripper and a movable gripper mounted so as to be movable in a direction of approaching and separating from the fixed gripper, and a material feeding timing is set including a top dead center position of a press machine. In the material feeding method in the pressing machine, the material feeding stop timing is set including the bottom dead center position of the pressing machine, wherein the moving gripper is at least 2 arranged in series.
The movable gripper is movably driven by the drive means of the table, and during one material feeding timing of the press machine, the moving gripper is at least moved by the first drive means and the stroke amount moved by the first drive means. A material feeding method in a press machine, characterized in that the second driving means is configured to be movable with a stroke amount added to the stroke amount moved. 2. A fixed gripper, a movable gripper mounted so as to be movable toward and away from the fixed gripper, a fixed jaw that is disposed in each of the movable gripper and the fixed gripper and is capable of gripping a material, and movable. A pair of jaws having a jaw, and, configured to have a material feed timing including the top dead center position of the press,
A material feeding device in a pressing machine, in which a material feeding stop timing is set including a bottom dead center position of the pressing machine, the at least first driving means being connected to the moving gripper and arranged in series, the second driving means. Driving means and a third driving means for driving the pair of jaws are arranged, and the movable gripper is movable by at least the first driving means and the second driving means arranged in series. The moving gripper is moved by the first driving means and at least the second driving means that is moved by the first driving means during one material feeding timing of the press machine. And a stroke amount that is the sum of the stroke amount of the moving gripper and the pair of jaw sets that are moved by the third driving means. A material feeding device in a press machine, characterized in that it is driven so as to be able to hold a material in accordance with the bending. 3. The material feed for a press machine according to claim 2, wherein the first driving means, the second driving means, or the third driving means is a linear motor or a servomotor, respectively. apparatus. 4. The first drive means is supported by a machine frame,
4. The second drive means is connected to the first drive means via a first bracket and is connected to the movable gripper via a second bracket. Material feeding device in the described press machine. 5. The material feeding device for a press machine according to claim 2, 3 or 4, wherein said jaw set is connected to a cam member driven by said third driving means.