JP2003200231A - Method and device for carrying work of tandem press line - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for carrying a work of a tandem press line in which teaching of the work carriage locus is easy, the work carrying speed is increased, and a work can be carried directly from a preceding step press to a succeeding step press. <P>SOLUTION: This method comprises a first step of moving at least a pair of or one lift beam (13) disposed parallel to the work carrying direction in the vertical direction, and a second step of moving at least one carrier (15) along the longitudinal direction of at least one carrier (15), and transversely stretching it between a pair of right and left carriers (15 and 15) facing each other, and offsetting a cross bar (17) having a work holding means (18) capable of holding the work in the carrier moving direction with respect to the carrier (15). The first step and the second step are simultaneously or individually performed to elevate/lower the cross bar (17) and reciprocate it in the work carrying direction, and the work is successively carried to the succeeding step. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer method and a work transfer device for a tandem press line in which a plurality of presses are installed in a line in the work transfer direction.

[0002]

2. Description of the Related Art Conventionally, there are a robot system, a loader / unloader system, and the like as a work transfer method and a work transfer apparatus between presses of a tandem press line. In the robot system, a multi-joint type transfer robot installed between the presses carries out the work from the press in the previous process and carries it into the press in the next process. Since the multi-joint structure is used, it is possible to easily change the carrying-in posture of the work to the next process. In addition, the loci of loading and unloading of the work can be set according to the mold.

The loader / unloader system has a loader installed on the upstream side surface of each press body in the work feed direction and an unloader installed on the downstream side surface. The loader and the unloader have, for example, a plurality of arms having a link structure. However, because of the structure, the work cannot be directly conveyed to the next process press, an intermediate carriage such as a shuttle feeder is provided between the loader and the unloader.

[0004]

However, the above-mentioned conventional conveying device has the following problems. In the robot system, since the robot has a multi-joint structure, when teaching the work transfer locus, the movement of the joints does not become abrupt, that is, the servo motors that drive each joint axis are rapidly accelerated. To avoid this, it is necessary to teach in consideration of the postures of the robot wrist and each arm, and thus the teaching time is long. Therefore, since teaching requires skill, teaching is very difficult for inexperienced workers,
There is a problem that workability is reduced. Also, in order to avoid interference with other devices such as molds and presses during work transfer, multiple drive axes are controlled simultaneously and linear interpolation drive is performed. Since it is limited to the slowest speed among the speeds, there is a problem that the work transfer speed of the entire robot cannot be increased and the production speed cannot be increased. In the case of the loader / unloader system, the loader and unloader are installed on the press and on the downstream side, respectively, and an intermediate trolley such as a shuttle feeder is installed between the presses, which requires a large installation space and a large installation space. In addition, there is a problem that the cost increases.

The present invention has been made in view of the above problems, teaching of the work transfer path can be easily performed in a short time, the work transfer speed can be increased, and the work can be directly transferred from the previous process press to the next process press. An object of the present invention is to provide a work transfer method and a work transfer device for a tandem press line that can be transferred.

[0006]

In order to achieve the above object, the first invention is a work transfer method for a tandem press line in which a plurality of presses are installed along the work transfer direction. A first step of vertically moving at least a pair of lift beams arranged parallel to the transport direction and to the left and right of the workpiece transport direction; and at least one carrier along the longitudinal direction of each of the lift beams. A second step of moving and crossing a cross bar having a work holding means capable of holding a work laterally between a pair of left and right carriers facing each other, and offsetting the cross bar in the carrier moving direction with respect to the carrier, Performing the first step and the second step simultaneously or independently to move the crossbar up and down and reciprocate in the work transfer direction. More, and a method of sequentially transporting a workpiece to the next process.

According to the first invention, the step of vertically moving the lift beams arranged on the left and right with respect to the work transfer direction,
Moving the carrier along the longitudinal direction of each lift beam and offsetting the crossbar having the work holding means in the carrier moving direction with respect to the carrier;
Since the work holding means is moved in two directions which are orthogonal to the vertical direction and the carrying direction, simultaneously or independently, the work carrying locus can be intuitively understood by the operator. Therefore, it is easy to teach each stroke in the ascending / descending / conveying direction and set the data, and the work can be completed in a short time. Further, since even a beginner worker can easily perform teaching, workability is very good. Further, since the speeds of the two orthogonal control axes can be set independently of each other, the work transfer speed can be increased to the maximum speed of the drive shaft motors, and the workability during manual operation and the press line production speed can be increased. Can be improved. In addition, the work is directly prepressed by locating both ends of the lift beam in the vicinity of the die of the adjacent press or by offsetting the crossbar having the work holding means in the carrier moving direction with respect to the carrier. Since it can be transported from the next process to the press,
Since a truck between presses such as a shuttle feeder is not required, the line can be downsized and the cost can be reduced.

A second aspect of the present invention is a work transfer method for a tandem press line in which a plurality of presses are installed along the work transfer direction. In the work transfer method, outside the press working area, parallel to the work transfer direction, and left and right with respect to the work transfer direction. A step of vertically moving at least one lift beam arranged substantially at the center of the workpiece, and a work capable of holding at least one carrier along the longitudinal direction of each lift beam. A second step of moving a subcarrier having a holding means in a carrier moving direction along a guide provided on the carrier to offset the subcarrier, the first step and the second step. The work is moved to the next process by moving the work holding means up and down and reciprocating in the work transfer direction simultaneously or independently. Have a way to transport.

According to the second invention, one lift beam may be provided at a substantially central position in the left-right direction with respect to the work transfer direction, and in this case, the same effect as that of the first invention can be obtained. That is, in the present invention, the number of lift beams for each work transfer device is not limited.

A third aspect of the present invention is a work transfer device for a tandem press line in which a plurality of presses are installed along the work transfer direction. The work transfer device is arranged parallel to the work transfer direction and to the left and right of the work transfer direction, and moves up and down. At least one pair of lift beams that are freely movable, at least one carrier that is movable along the longitudinal direction of each lift beam, and a carrier that is movable in the carrier moving direction along a guide provided on the carrier. It is configured to include a subcarrier and a crossbar that horizontally extends between a pair of left and right subcarriers facing each other and that has a work holding means capable of holding a work.

According to the third aspect of the invention, a pair of left and right lift beams provided in parallel with the work transfer direction are driven in the vertical direction,
A carrier that can be moved along this lift beam, and a work transfer direction (carrier movement direction) to this carrier
By driving the subcarrier movably provided in the subcarrier in the work transport direction, the work holding means provided on the crossbar extending across the subcarrier can be moved in two orthogonal directions (elevation and transport directions). Therefore, it is easy to teach each stroke in the ascending / descending / conveying direction and set the data, and the work can be completed in a short time. Further, since even a beginner worker can easily perform teaching, workability is very good. Further, since the speeds of the two orthogonal control axes can be set independently of each other, the work transfer speed can be increased to the maximum speed of the drive shaft motors, and the workability during manual operation and the press line production speed can be increased. Can be improved. In addition, the work is directly prepressed by locating both ends of the lift beam in the vicinity of the die of the adjacent press or by offsetting the crossbar having the work holding means in the carrier moving direction with respect to the carrier. Since it can be conveyed to the next process press, a carriage between presses such as a shuttle feeder becomes unnecessary, and the line can be downsized and the cost can be reduced.

According to a fourth aspect of the present invention, in the third aspect of the present invention, the proximity positions of the pair of lift beams and another pair of lift beams adjacent to the pair of lift beams on the upstream side or the downstream side are in the work transfer direction. It is configured to be provided substantially at the center of each processing step, or at the center of the processing step and the center of the idle step.

According to the fourth aspect of the invention, in addition to the effect of the third aspect of the invention, the proximity position to another pair of lift beams adjacent to each other on the upstream side or the downstream side is set to be substantially the center of the machining step in the workpiece conveying direction, or the machining step Since it is provided in the approximate center and the idle process (provided when necessary depending on the work type),
Along with the fact that the subcarriers can be offset in the moving direction of the carrier that moves along the lift beam, between the mold center position of the processing station and the mold center position of the processing station of the next process, or Work transfer can be reliably performed between the center position of the die of the processing station and the center position of the idle process (intermediate panel support, etc.) between the presses. Therefore, it is possible to configure a tandem press line capable of carrying the work most suitable for the working state of the mold and the work.

A fifth aspect of the present invention is a work transfer device for a tandem press line in which a plurality of presses are installed along the work transfer direction, outside the press working area, parallel to the work transfer direction, and to the left and right with respect to the work transfer direction. At least one pair of lift beams arranged and movable up and down, at least one carrier movable along the longitudinal direction of each lift beam, and a carrier moving direction along a guide provided on the carrier. It is configured to include a movable subcarrier and a crossbar having a work holding means capable of holding a work, which is laterally bridged between a pair of left and right subcarriers facing each other.

According to the fifth aspect of the invention, at least a pair of lift beams may be provided so as to be able to move up and down outside the press working area, that is, in the area between the presses where there is no interference with slides, molds and the like. Since the crossbar is offset with respect to the carrier, that is, the lift beam by moving the sub-carrier in the work transfer direction, the work is reliably transferred to the mold center of the processing station by moving in two orthogonal directions (up and down and transfer direction). You can As a result, the same effect as the third invention can be obtained.

[0016] A sixth invention is the fifth invention, wherein an idle process is provided between at least one set of adjacent presses, and between one of the adjacent presses and the idle process, and between the idle process and the adjacent press. A pair of lift beams, which are arranged parallel to the work transfer direction and on the left and right with respect to the work transfer direction, and are vertically movable independently of each other, are provided between the other of the pair of press beams. In addition, the above-mentioned carrier, subcarrier, and crossbar are respectively provided.

According to the sixth invention, the fifth invention can be applied even when an idle process (intermediate panel pedestal, etc.) is installed between adjacent presses according to the work when necessary. A lift beam that can move up and down, and a carrier that can move in the longitudinal direction of the lift beam,
By providing the subcarrier and the crossbar, the same effect as the fifth aspect of the invention can be obtained. This makes it possible to deal with various line configurations.

A seventh aspect of the present invention is a work transfer device for a tandem press line in which a plurality of presses are installed along the work transfer direction, outside the press working area, parallel to the work transfer direction, and lateral to the work transfer direction. Along at least one lift beam that is arranged substantially at the center and is movable up and down, at least one carrier that is movable along the longitudinal direction of the lift beam, and a guide provided on the carrier. The sub carrier is configured to be movable in the carrier moving direction, and a work holding unit provided on the sub carrier capable of holding a work is provided.

That is, the seventh invention has a configuration in which at least one lift beam is arranged substantially at the center in the left-right direction, instead of at least one pair of lift beams provided on the left and right with respect to the work transfer direction in the fifth invention. Even in such a case, the same effect as the fifth aspect of the invention can be obtained, and the structure of the work transfer device can be simplified and made compact.

An eighth invention is the seventh invention, wherein an idle process is provided between at least one pair of adjacent presses, and the idle process is provided between one of the adjacent presses and the idle process, and between the idle process and the adjacent press. Between the other of the presses, one lift beam is provided, which is arranged in parallel to the work transfer direction and substantially at the center in the left-right direction with respect to the work transfer direction, and is vertically movable independently of each other.
Each of the lift beams is provided with the carrier,
The sub-carrier and the work holding means are provided.

According to the eighth invention, the seventh invention can be applied even when an idle process (intermediate panel pedestal, etc.) is installed between the adjacent presses.
By providing a vertically movable lift beam and a carrier, a subcarrier, and a crossbar that are movable in the longitudinal direction of the lift beam, the same effect as the seventh aspect of the invention can be obtained. This makes it possible to deal with various line configurations.

A ninth invention is characterized in that, in any one of the third invention to the eighth invention, the carrier driving means for moving the carrier along the longitudinal direction of the lift beam is a linear motor.

According to the ninth aspect of the invention, since the linear motor is used as the carrier driving means, the carrier can be made compact, and the work transfer device can be downsized and its weight can be reduced. Thereby, the speed of the lift beam and the carrier can be increased.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a front view of a work transfer device for a tandem press line according to a first embodiment of the present invention. 2 and 3 are a plan view and a side view of the tandem press line shown in FIG. 1, respectively. FIG. 4 is a front view of a carrier and a subcarrier of the work transfer device, and FIG.
FIG. FIG. 6 is a diagram for explaining the operation of the carrier and subcarrier units.

First, the tandem press line 1 will be described. 1 to 3, a plurality (4 in this embodiment)
The presses 2A, 2B, 2C and 2D of the table are spaced apart from each other, and the presses 2A, 2B, 2C and 2D are provided with processing stations W1, W2, W3 and W4. The work 11 is from the left press 2A to the right press 2
It is assumed that they are sequentially conveyed to D, and hereinafter, the left side in the figure is called upstream and the right side is called downstream. The plurality of presses 2A to 2D
A material supply device 9 arranged upstream of the most upstream side press 2A, a product unloading device 19 arranged downstream of the most downstream side press 2D, and between the respective presses. A tandem press line 1 is configured with a work transfer device described later.

Each of the presses 2A to 2D includes an upright 7 which is a main body frame, a mechanical driving force transmission mechanism (not shown) such as a crank mechanism, an eccentric mechanism, and a link mechanism, or a hydraulic cylinder or an electric servomotor. An upper frame 8 having a built-in dynamic driving force transmission mechanism (not shown),
A slide 4 supported by an upright 7 so as to be movable up and down, connected to a driving force transmission mechanism in the upper frame 8, and a slide 4 to which an upper die (not shown) is attached and a lower die (not shown) are attached. Bed 6 with bolster 5
It has and.

The controller 3 is mainly composed of a high speed arithmetic processing device using a computer device or a high speed arithmetic processor, and controls the driving force transmission mechanism provided in the upper frame 8 of each of the presses 2A to 2D. The respective slides 4 are synchronously or independently driven, and the work transfer device 10 is controlled in synchronization with these slides 4.

The work transfer device according to the first embodiment will be described in detail below. As shown in FIGS. 1 and 2, the work transfer device includes five work transfer devices 101 to 105 arranged in the transfer areas T1 to T5. In order to transfer the work on the material supply device 9 to the processing station W1, the work transfer device 10 is provided on the upstream side of the press 2A.
1 is provided. Work transfer devices 102, 103, and 104 are provided between the adjacent presses 2A to 2D so as to sequentially transfer from the processing stations W1 to W4. Then, in order to convey the work processed by the processing station W4 onto the product unloading device 19, a work transfer device 105 is arranged on the downstream side of the press 2D.

As shown in FIG. 3, each of the work transfer devices 101 to 105 is provided with a pair of lift beams along the work transfer direction and separated from each other in the left and right directions so as not to interfere with the slide motion. 13, 13 are provided. In addition, each lift beam 13 has a press 2A.
It is movably supported by a ~ 2D upright 7. That is, the lift shaft servomotor 14 as the lift drive means 40 is mounted on the upright 7 above each lift beam 13 via the support member 141. A pinion (not shown) is attached to the output shaft of the servomotor 14, and a rod 142 in which a rack that meshes with the pinion is engraved in the vertical direction is attached to the upright 7 so as to be vertically movable. The lift beam 13 is attached to the lower end.

Each of the lift shaft servomotors 14 is connected to the controller 3 and is controlled by a control signal from the controller 3 based on a predetermined feeder motion. In the present embodiment, one lift beam 13 is raised and lowered by the two servo motors 14, 14, but if the lift beam 13 can be raised and lowered in a stable and reasonably stable manner, one servo motor 14 can be used. Alternatively, the number of servo motors 14 and the number of lift beams 1 may be increased.
The connection structure and the like with 3 may be arbitrarily determined for implementation.

A carrier 15 is movably attached to the lower part of each lift beam 13 along the longitudinal direction of the lift beam 13, and the carrier 15 is moved between the carrier 15 and the lift beam 13. A linear motor 16 (see FIG. 5) as a carrier driving means is provided. Further, a sub carrier 30 is movably attached to the lower portion of the carrier 15 along the longitudinal direction of the lift beam 13, and a vacuum cup device as a work holding means is provided between a pair of left and right opposing sub carriers 30, 30. A crossbar 17 to which 18 is attached is laterally installed. This vacuum cup device 18 is used for the work 11
Can be adsorbed at a predetermined number of places.

As shown in FIGS. 1 and 2, the lift beam 13 of the work transfer device 101 is arranged so as to project upstream to a predetermined position of the work set on the material supply device 9. The longitudinal ends of the lift beams 13 of the work transfer devices 102, 103 and 104 corresponding to the transfer areas T2 to T4 respectively project to the substantially central positions of the upstream and downstream processing stations W1 to W4. In this way, the length of the lift beam 13 in the work transfer direction is set to be slightly shorter than the distance between the centers of the adjacent processing stations W1 to W4. The length of the lift beam 13 in the work transfer direction may be set to be substantially equal to the distance between the centers of the adjacent processing stations W1 to W4. The length of the lift beam 13 of the work transfer device 105 is set so as to project downstream to a predetermined position of the product unloading device 19 that unloads the work from the final press working step.

As shown in FIG. 5, the lower part of the lift beam 13 is provided with a brim-shaped guide portion 131 which is continuous in the longitudinal direction. It is movable in any direction. A linear motor 16 as a carrier driving means is arranged between the lift beam 13 and the carrier 15, and a lift beam side constituent portion 16B of the linear motor 16 is attached to the lower surface of the lift beam 13 and a carrier side constituent portion. 16A is mounted on the portion of the carrier 15 that faces the lift beam side component 16B. Carrier side component 16
A and the lift beam side component 16B are the controller 3
The carrier 15 is moved by the relative movement between the two, which is controlled by the control signal from. The linear motor 16 has a primary coil in the carrier side component 16A,
A secondary conductor or a secondary permanent magnet is provided in the lift beam side constituent portion 16B so as to face the primary coil. The lift beam side component 16B may be provided with a primary coil, and the carrier side component 16A may be provided with a secondary conductor or a secondary permanent magnet.

Further, as shown in FIGS. 4 and 5, a sub carrier 30 is provided below the carrier 15 in this embodiment so as to be movable in the longitudinal direction. Subcarrier 30
Is a base plate 31 attached to the lower portion of the carrier 15 and having a guide groove 31A along the workpiece transport direction, a servo motor 32 provided on the lower surface of one end side of the base plate 31 in the longitudinal direction, and the base plate 31. An encoder 33 provided on the lower surface of the other end side of
One end is connected to the output shaft of the servomotor 32 via a first coupling 34a, and the other end is the encoder 3
3 connected to the base plate 31 via a second coupling 34b and rotatably supported by the base plate 31.
4 and a male screw portion 34A engraved on the outer surface of the shaft 34
The guide groove 31 of the base plate 31
And a movable block 35 slidably fitted to A. The ends of the crossbars 17 are connected to the movable blocks 35 of the pair of opposing subcarriers 30.

Next, the operation of the subcarrier 30 will be described with reference to FIG. The servo motor 32 is controlled to control the shaft 34.
When is rotated, the movable block 35 screwed into this slides along the guide groove 31A. In each lift beam 13, when the carrier 15 is located upstream of the central portion of the lift beam 13 in the work transfer direction, the movable block 35 is moved upstream of the central portion of the carrier 15 (see, for example, FIG. 6). Carrier 15 shown by the solid line inside
A, refer to the crossbar 17A), the vacuum cup device 18 attached to the crossbar 17 is moved to the center position of the processing stations W1 to W4 or a predetermined position of the work set on the material supply device 9. On the contrary, carrier 1
When 5 is located downstream of the center of the lift beam 13 in the work transfer direction, the movable block 35 is moved to the carrier 15
By moving it to the downstream side from the central portion of the carrier (the carrier 15B and the crossbar 17B indicated by the chain double-dashed line in FIG. 6).
), The vacuum cup device 18 is moved to the center position of the processing stations W2 to W4 or a predetermined position of the work set on the product unloading device 19.

In this way, the crossbar 17 and the vacuum cup device 18 are offset with respect to the carrier 15 in the work conveying direction, so that the processing stations W1 to W are provided.
According to the mold of No. 4, or according to the specifications of the material supply device 9 and the product unloading device 19, the work 11 is placed at the center position of the mold,
It can be held or released at a predetermined position on the material supply device 9 or the product unloading device 19, and can be reliably transported. In addition, the control of the offset amount at this time is based on the position signal of the subcarrier 30 detected by the encoder 33.
Is performed by controlling the rotation angle of the servo motor 32.

A method of transporting the work 11 by the work transporting devices 101 to 105 having the above configuration will be described with reference to FIGS. 1 and 2. Each work transfer device 101-105 operates similarly. Each of the work transfer devices 101 to 105 drives each lift beam 13 in the vertical direction, and thereby the vacuum cup device (hereinafter, referred to as a work holding means) via the carrier 15, the subcarrier 30, and the crossbar 17.
Raise and lower 18. In addition, the carrier 15 is attached to the lift beam 1
By driving along the longitudinal direction of 3 and offsetting the subcarrier 30 in the carrier moving direction, the crossbar 17 and the work holding means 18 are moved in the work conveying direction. By simultaneously or independently controlling the two drive axes that are orthogonal to each other in the vertical movement and the work transfer direction, it is possible to control the movement path of the work holding means 18, that is, the work transfer path. The strokes and timings of the feed motions (elevation and conveyance directions) of the work transfer devices 101 to 105 are set in advance so as not to interfere with the slides 4 of the presses 2A to 2D and the mold of the processing station, and the controller 3 Controls the ascending / descending and the driving in the conveying direction based on the feeding motion.

In the normal feeding motion, first, when the slide 4 is descending in the vicinity of the bottom dead center, the slide 4 waits at the standby position in the center of the transport areas T1 to T5 in the transport direction, and the slide 4 reaches the bottom dead center. When it goes through the ascending stroke, the lift beam 13 is moved up and down, the carrier 15 and the sub-carrier 30 are moved.
Is driven to move to the upstream processing station, the material supply device 9 or an idle process (details will be described later) to hold the work, and then the lift beam 13 is moved up and down again and the carrier is moved. 15 and the subcarrier 30 are driven to move in the carrying direction, and moved to the processing station on the downstream side, the product unloading device 19 or the idle process to place the work. At this point, the slide 4 is in the descending stroke, so the slide 4 returns to the standby position and stands by. The above cycle is repeated in synchronization with the lifting motion of the slide 4.

Next, the effect of the first embodiment will be described. Work transfer devices 101 to 105 according to the present embodiment
Is a lift beam 13 that can move up and down, and the lift beam 1
Since the carrier 15 and the sub-carrier 30 which are movable in the longitudinal direction of 3 (work transfer direction) are provided, the work transfer can be controlled by the orthogonal coordinate system, and therefore the movement trajectory and posture during work transfer are intuitive. It is easy to understand and it is easy to check the interference with other devices such as molds and press machines. Therefore, teaching of each stroke of the lift beam 13, the carrier 15, and the subcarrier 30 and data setting work can be performed very easily in a short time. For this reason, even an inexperienced operator can easily perform teaching and workability is good. Since each control axis (elevation and conveyance direction) is linearly driven, the respective control servo motor 14, carrier drive means (linear motor 16 in this embodiment) and servo motor 32 limit the speed during simultaneous control. You can control at maximum speed without receiving.
Thereby, the work transfer speed can be set to the maximum speed of the capacity of each motor, and the production speed of the tandem press line can be increased.

Since the lift stroke of the lift beam 13 and the feed strokes of the carrier 15 and the sub-carrier 30 can be individually adjusted for each work transfer device, the feed stroke of each work transfer device can be adjusted. By changing the drive timing of the feed motion formed by the lifting stroke, it is possible to set a mold interference curve suitable for the mounted mold. Further, the origin position (feed level) of each processing station can be changed to a position corresponding to the mold to be mounted. As a result, a work transfer device for a tandem press line can be obtained in which an interference curve suitable for the mold can be set for each process.

Further, by offsetting the movement of the subcarrier 30 at the same time as the movement of the carrier 15, a large feed stroke can be obtained in a short time.
The production speed of the tandem press line can be increased. Since the linear motor 16 is used as the driving means for the carrier 15, the carrier 15 can be made smaller and lighter, and the moving speed of the carrier 15 and the subcarrier 30 can be increased. As a means for solving the problems of the present invention, the carrier driving means is not limited to the linear motor 16 and may be another servo motor. The drive device for the subcarrier 30 is not limited to the feed screw mechanism described above, and may be another mechanism such as a rack or pinion mechanism. Further, even if the sub-carrier itself does not have a drive source such as a servo motor, for example, a pulley and a belt may be used to move the sub-carrier following the movement of the carrier.

FIG. 7 is a view showing another embodiment according to the first embodiment. A work transfer device of another embodiment will be described with reference to FIG. In the tandem press line according to this embodiment, the adjacent processing station W1
An idle process such as intermediate panel pedestals P1 to P3 is installed in the middle between W4 and W4. The work transfer device of the present embodiment includes eight work transfer devices 101, 102A and 102B, and 104A and 1 arranged in the transfer areas T1 to T5.
04B and 105. A work transfer device 101 is arranged upstream of the press 2A in order to transfer the work on the material supply device 9 to the processing station W1. Further, in order to sequentially convey to the processing stations W1 to W4, the intermediate area pedestal P1 and
Work transfer device 102A arranged on the downstream side of the press 2A
And the work transfer device 10 arranged on the upstream side of the press 2B.
2B is provided, and the intermediate panel cradle P
2 and a work transfer device 1 arranged on the downstream side of the press 2B
03A and a work transfer device 103B arranged on the upstream side of the press 2C are provided, and in the transfer area T4, similarly, an intermediate panel pedestal P3 and a press 2C and a press 2D sandwiching the intermediate panel pedestal P3 are provided. Work transfer devices 104A and 104B arranged between them are provided, respectively. Then, in order to convey the work processed by the processing station W4 onto the product unloading device 19, a work transfer device 105 is arranged on the downstream side of the press 2D.

In the following, with respect to these work transfer devices 101 to 105, a configuration different from the work transfer devices 101 to 105 described in the first embodiment will be described. As shown in FIG. 7, the work transfer devices 102A and 102B, to 104A corresponding to the transfer areas T2 to T4.
And 104B, one end portion of each lift beam 13 in the longitudinal direction projects to the substantially central position of the processing stations W1 to W4, and the other end portion of each of the intermediate panel pedestals P1 to P4.
It is configured to project to a substantially central position of 3. The length of each lift beam 13 in the work transfer direction is
It is provided so as to be slightly shorter than the length from the center of the processing stations W1 to W4 to the center position of each of the intermediate panel pedestals P1 to P3.

According to the above-mentioned embodiment, since the two orthogonal axes which are independent of the vertical movement and the conveying direction are controlled, the same effect as the first embodiment can be obtained. The description of this effect is omitted here. Further, in addition to being able to change the timing of the feed motion for each process, the intermediate panel pedestal installed between the adjacent presses is provided with a work reversing mechanism, a turning mechanism, etc., so that the work 11 is reversed between the processes. Alternatively, it is possible to easily change the posture such as a half turn.

Next, a work transfer device according to the second embodiment will be described with reference to FIGS. In the following embodiments, the same components as those described in the first embodiment will be designated by the same reference numerals, and the description thereof will be omitted. Figure 8
FIG. 9 is a front view of a work transfer device for a tandem press line according to a second embodiment, and FIGS. 9 and 10 are a plan view and a side view of FIG. 8, respectively. The work transfer device is composed of five work transfer devices 201 to 205 arranged in the transfer areas T1 to T5. The material supply device 9, the presses 2A to 2D, and the product unloading device 19 are arranged in series in the work transfer direction, and are installed between these devices, and work transfer devices 201, 202, 203, respectively.
204 and 205 are provided.

Regarding the work transfer devices 201 to 205, the work transfer device 1 described in the first embodiment is used.
The configuration different from 01 to 105 will be described below. In each of the work transfer devices 201 to 205, one lift beam 13 arranged horizontally in the center of the tandem press line along the work transfer direction so as not to interfere with the slide motion and the lift beam 13 in the vertical direction. And a lift drive means 40 for driving. The lift beam 13 of the work transfer device 201 has an upstream end located near the material supply device 9, and a downstream end formed by the end surface of the bolster 5 and the end surface of the slide 4 of the press 2A. It is located near the front of.
Further, the lift beams 13 of the work transfer devices 202, 203, and 204 corresponding to the transfer areas T2 to T4 respectively have the upstream and downstream end portions of the processing stations W1 to W1.
It is located near the processing area of W4. The lift beam 13 of the work transfer device 205 is provided with its upstream end positioned near the processing area of the processing station W4 and its downstream end positioned at a predetermined position above the product unloading device 19. .

As shown in FIGS. 8 and 10, the lift driving means 40 is provided with four pillar members 143 erected on the upstream side and the downstream side in each of the transport areas T1 to T5, and a pair of left and right sides is provided. First support members 144 and 144 are installed between the pillar members 143 and 143. Upstream side and downstream side first support member 14
A second support member 41 is provided between the first and second support members 144 and 144 along the conveyance direction, and guide members 47 and 47 are provided between the first and second support members 144 and 144 in the vertical direction. A servo motor 42 is attached to a substantially central portion of the second support member 41 in the transport direction with the output shaft thereof oriented in the vertical direction. A worm gear (not shown) provided in a worm gear box 43 is attached to the output shaft of the servo motor 42, and the output shaft direction of the servo motor 42 is converted to the work transfer direction by the worm gear in the worm gear box 43. is doing. Intermediate shafts 46, 46 are connected to both sides of the converted worm output shaft. Further, pinions 45, 45 are attached to the ends of the intermediate shafts 46, 46.

On the other hand, lift bars 44, 44 are provided on the guide members 47, 47 slidably in the vertical direction, respectively. A rack is formed in the longitudinal direction on the outer surface of the lift bars 44, 44, and the rack and the pinion 45, 45 are meshed with each other. And lift bar 4
A lift beam 13 is attached between the lower ends of the rods 44 and 44 in parallel with the transport direction. In this way, the servo motor 4
The rotational power of 2 is transmitted to the two lift bars 44, 44 via the pinion 45 and the rack to raise and lower them, thereby driving the lift beam 13 in the vertical direction.
The servo motor 42 is controlled by the controller 3 based on a predetermined feeder motion. In this embodiment, one lift motor is combined with one worm gear box as the lift driving means.
Two lift axis servomotors 1 as shown in the embodiment
4, 14 may be used.

The carrier 15 movably provided in each lift beam 13 in the longitudinal direction and the subcarrier 30 movably provided in the lower part of the carrier 15 in the longitudinal direction of the lift beam 13 are the same as those in the first embodiment. Since the configurations are the same, description thereof is omitted here. Further, the sub-carrier 30 is provided with a cross bar 17 protruding in the left-right direction with respect to the longitudinal direction of the lift beam 13.
The work holding means 18 (vacuum cup device or the like) is provided in.

According to the second embodiment, since two drive shafts which are orthogonal to each other in the ascending / descending and conveying directions are controlled, the effect thereof is the same as that of the first embodiment, and the detailed description thereof is omitted here. Each of the work transfer devices 201 to 205 is provided with one lift beam 13 substantially at the center in the left-right direction with respect to the transfer direction, so that the structure is simple, compact, and advantageous in terms of cost and installation space. Each lift beam 13
Are arranged outside the processing area so as not to interfere with the slide 4 of each press and the mold, but by offsetting the subcarrier 30 with respect to the carrier 15 in the carrier movement direction, the crossbar 17 and the work holding means 18 are provided. Can be moved outwardly beyond the end of the lift beam 13. Therefore, the work can be reliably conveyed to the mold.

A work transfer device according to another embodiment of the second embodiment will be described with reference to FIG. In FIG. 11, intermediate panel pedestals P1 to P3 are installed between the adjacent presses 2A to 2D, the material supply device 9 is provided on the upstream side of the press 2A, and the product unloading device 19 is provided on the downstream side of the press 2D. Has been installed. Material supply device 9, presses 2A-2
D, the intermediate panel cradle P1 to P3, and the product unloading device 19, which are adjacent to each other, provide eight work transfer devices 2
01, 202A, 202B, ~ 204A, 204B, 2
05 is arranged. Each work transfer device 20
As in the second embodiment, each of the lifts 1 to 205 is a single lift arranged horizontally in the center of the work transfer direction of the tandem press line so as not to interfere with the slide motion along the work transfer direction. A beam 13 and a lift driving means (not shown) for driving the lift beam 13 up and down are provided. The structure of each lift drive means is the same as above.

Regarding the work transfer devices 201 to 205, the work transfer devices 201 to 205 described in the second embodiment will be described.
A configuration different from 205 will be described. As shown in FIG. 11, each lift beam 13 of the work transfer devices 202A, 202B, to 204A, 204B corresponding to the transfer areas T2 to T4 has its end near the press in the longitudinal direction processed at each processing station W1 to W4. To the front,
The other end is arranged so as to project to the substantially central position of each of the intermediate panel pedestals P1 to P3. The carrier 15 provided movably in the longitudinal direction of each lift beam 13 and the subcarrier 30 similarly provided movably in the longitudinal direction of the lift beam 13 below the carrier 15 have the same configuration as in the first embodiment. is there. Further, the sub-carrier 30 is provided with a cross bar 17 protruding in the left-right direction with respect to the longitudinal direction of the lift beam 13.

According to the above-mentioned embodiment, since two drive shafts which are perpendicular to the ascending / descending direction and the conveying direction are controlled, the same effect as the first embodiment can be obtained. Further, by providing the intermediate panel pedestal installed between the adjacent presses, the same effect as the configuration of the embodiment shown in FIG. 7 can be obtained.
Further, since one lift beam 13 is provided at the substantially center in the left-right direction with respect to the transport direction, the same effect as the second embodiment is obtained.

Next, a work transfer device according to another embodiment will be described with reference to FIG. The work transfer device includes five work transfer devices 301 to 305 arranged in the transfer areas T1 to T5. Regarding these work transfer devices 301 to 305, configurations different from the work transfer devices 101 to 105 described in the first embodiment will be described. Work transfer devices 301, 302, 303, 304, and 305 are respectively arranged between adjacent devices of the material supply device 9, the presses 2A to 2D, and the product unloading device 19. These work transfer devices 301 to
305 includes a pair of lift beams 13 arranged in the horizontal direction so as not to interfere with the slide motion along the work transfer direction, and a lift drive means (not shown) for driving each lift beam 13 in the vertical direction. It is equipped.
Each lift drive means has the same configuration as that of the first embodiment.

Lift beam 13 of work transfer device 301
Is provided with its upstream end located near the material supply device 9 and its downstream end located near the processing area formed by the end face of the bolster 5 and the end face of the slide of the press 2A. ing. Further, the lift beams 13 of the work transfer devices 302, 303, 304 corresponding to the transfer areas T2 to T4 have their upstream and downstream ends positioned near the processing areas of the processing stations W1 to W4, respectively. It is arranged. The lift beam 13 of the work transfer device 305 is provided with its upstream end located near the processing area of the processing station W4 and its downstream end located at a predetermined position above the product unloading device 19. .

According to this embodiment, since two drive shafts that are orthogonal to each other in the feed direction and the ascending / descending direction are controlled, the same effect as in the first embodiment can be obtained.

Next, referring to FIG. 13, a work transfer apparatus according to another embodiment will be described. In FIG. 13, intermediate panel pedestals P1 to P3 are provided between the adjacent presses 2A to 2D.
The material supply device 9 is installed on the upstream side of the press 2A, and the product unloading device 19 is installed on the downstream side of the press 2D. The work transfer device has transfer areas T1 to T5.
8 work transfer devices 301, 302A,
It has 302B, 304A, 304B, and 305. Regarding these work transfer devices 301 to 305, configurations different from the work transfer devices 101 to 105 described in the first embodiment will be described.

Eight work transfer devices 301 to 301 are provided between adjacent devices of the material supply device 9, the presses 2A to 2D, the intermediate panel pedestals P1 to P3, and the product unloading device 19.
05 is arranged. Each work transfer device 30
Reference numerals 1 to 305 denote a pair of lift beams 13 arranged in the horizontal direction so as not to interfere with a slide motion along the work transfer direction of the tandem press line, and a lift drive means (not shown) for vertically driving the lift beams 13. No)
It has and. The structure of each lift drive means is the same as above.

Lift beam 13 of work transfer device 301
Position the upstream end at a predetermined position above the material supply device 9 and the downstream end near the processing area formed by the end face of the bolster 5 of the press 2A and the end face of the slide. It is provided. In addition, the transport areas T2 to T4
The lift beams 13 of the work transfer devices 302A to 304B corresponding to the above ones have one end on the press side located near the processing area of the processing stations W1 to W4 and the other end on the intermediate panel pedestal side to each intermediate panel. The pedestals P1 to P3 are provided so as to project to a substantially central position. Further, the lift beam 13 of the work transfer device 305 has its upstream end positioned near the processing area of the processing station W4.
The downstream side end is provided at a predetermined position above the product unloading device 19.

A carrier 15 provided movably in the longitudinal direction of each lift beam 13, and a subcarrier 30 similarly provided movably in the longitudinal direction of the lift beam 13 below the carrier 15, and a pair of opposing carriers. Subcarrier 3
The crossbar 17 that is bridged between 0 has the same configuration as that of the first embodiment, and a description thereof will be omitted here.

Also in this embodiment, since the two drive shafts which are perpendicular to the ascending / descending direction and the conveying direction are controlled, the same effect as that of the first embodiment can be obtained, and the idle process is performed between the adjacent presses. By providing the same, the same effect as the configuration of the embodiment shown in FIG. 7 can be obtained.

As described above, according to the present invention, the following effects can be obtained. Since the work transfer device has a configuration in which the work is transferred by two drive shafts that are orthogonal to each other in the vertical direction and the work transfer direction, the work transfer path can be intuitively understood by the operator, and the two drive shafts are independent of each other. Since the speed can be set at any time and the speed is not limited by the other speed even at the time of simultaneous control, teaching of the stroke and timing of each drive axis and data setting work can be facilitated. Therefore, even beginners can easily perform teaching and data setting work, which can greatly improve workability. Since the speeds of the two drive shafts can be set independently of each other, it is possible to set the maximum speed of the capacity of each drive motor, and the work transfer speed can be maximized to increase the production speed. Further, by providing the lift beam between the dies of the adjacent presses, the work can be directly conveyed from one die to the die of the next process by one work conveying device, so that an intermediate idle process is unnecessary and the tandem process is not required. The press line can be configured simply and compactly.

[Brief description of drawings]

FIG. 1 is a front view of a work transfer device according to a first embodiment of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of FIG.

FIG. 4 is a front view of a carrier and a subcarrier of the work transfer device.

5 is a cross-sectional view taken along the line AA of FIG.

FIG. 6 is an operation explanatory diagram of carriers and subcarriers.

FIG. 7 is a plan view of a work transfer device according to another aspect of the first embodiment.

FIG. 8 is a front view of a work transfer device according to a second embodiment.

9 is a plan view of FIG. 8. FIG.

FIG. 10 is a side view of FIG.

FIG. 11 is a plan view of a work transfer device according to another aspect of the second embodiment.

FIG. 12 is a plan view of a work transfer device according to another aspect of the second embodiment.

FIG. 13 is a plan view of a work transfer device according to another aspect of the second embodiment.

[Explanation of symbols]

1 ... Tandem press line, 2 ... Press (2A, 2B,
2C, 2D) 3 ... Controller, 4 ... Slide, 5 ... Bolster, 6 ... Bed, 7 ... Upright, 9 ... Material supply device, 10 (101-105, 102A, 102B-10)
4A, 104B, 201-205, 202A, 202B
~ 204A, 204B, 301-305, 302A, 3
02B-304A, 304B) ... Work transfer device, 11
... Workpiece, 13 ... Lift beam, 14 ... Lift axis servomotor, 15 ... Carrier, 16 ... Linear motor, 17 ... Crossbar, 18 ... Vacuum cup device, 19 ... Product unloading device, 30 ... Subcarrier, 31 ... Base plate,
32 ... Motor, 33 ... Encoder, 34 ... Shaft, 3
5 ... Block, 40 ... Lift drive means, 41, 141 ...
Support member, 42 ... Servo motor, 42 ... Worm gear box, 44 ... Lift bar, 45 ... Pinion, 46 ... Intermediate shaft, W1, W2, W3, W4 ... Processing station, T
1, T2, T3, T4 ... Transport area, P1, P2, P3
… Intermediate panel cradle.

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 4E090 AA01 AB01 BA02 BA03 EA01                       EB01 EC01 FA02 FA05 HA01

Claims (9)

[Claims] 1. A work transfer method for a tandem press line in which a plurality of presses are installed along the work transfer direction, wherein at least a pair of lift beams are arranged in parallel to the work transfer direction and on the left and right sides of the work transfer direction. (13,13)
And a first step of moving the carrier in the vertical direction, and at least one carrier (15) is moved along the longitudinal direction of each lift beam (13), and a pair of left and right carriers (15, 15) facing each other. A cross bar (1 having a work holding means (18) extending horizontally between them and capable of holding a work.
7) is offset with respect to the carrier (15) in the carrier movement direction, and the first step and the second step are performed simultaneously or independently to make the crossbar (17) A work transfer method for a tandem press line, wherein the work is sequentially transferred to the next step by moving up and down and reciprocatingly moving in the work transfer direction. 2. A work transfer method for a tandem press line in which a plurality of presses are installed along the work transfer direction, wherein the work transfer method is outside the press working area, parallel to the work transfer direction, and substantially centered in the left-right direction with respect to the work transfer direction. A first step of moving at least one lift beam (13) arranged in a vertical direction, and moving at least one carrier (15) along the longitudinal direction of each lift beam (13). A second carrier for moving a sub carrier (30) having a work holding means (18) capable of holding a work in a carrier moving direction along a guide provided on the carrier (15) to offset it with respect to the carrier (15) By performing the first step and the second step simultaneously or independently to move the work holding means (18) up and down and reciprocate in the work transfer direction. Workpiece transfer method of the tandem press line, characterized in that sequentially carried to the next step. 3. A work transfer device for a tandem press line, in which a plurality of presses are installed along the work transfer direction, is arranged parallel to the work transfer direction and to the left and right with respect to the work transfer direction, and is vertically movable. A pair of lift beams (13, 13), at least one carrier (15) movable along the longitudinal direction of each lift beam (13), and a guide provided on the carrier (15). A cross carrier having a work holding means (18) capable of holding a work, which is laid horizontally between a pair of left and right subcarriers (30, 30) facing each other and a subcarrier (30) that is movable in the carrier moving direction. A work transfer device for a tandem press line, comprising a bar (17). 4. The work transfer device for a tandem press line according to claim 3, wherein the pair of lift beams (13, 13) are adjacent to the pair of lift beams (13, 13) on an upstream side or a downstream side. The tandem press characterized in that the position close to the other pair of lift beams (13, 13) is provided substantially at the center of each processing step in the workpiece transfer direction, or at the center of the processing step and the center of the idle step. Line work transfer device. 5. A work transfer device for a tandem press line in which a plurality of presses are installed along the work transfer direction, the work transfer device being arranged outside the press working area in parallel to the work transfer direction and on the left and right with respect to the work transfer direction. At least one pair of lift beams (13, 13) that can move up and down, at least one carrier (15) that can move along the longitudinal direction of each lift beam (13), and the carrier (15) A work holding means capable of holding a work by laterally bridging between a subcarrier (30) which is movable in a carrier moving direction along a guide provided on a pair of right and left subcarriers (30, 30) facing each other. A work transfer device for a tandem press line, which is provided with a crossbar (17) having 18). 6. The work transfer device for a tandem press line according to claim 5, wherein an idle process (P1) is provided between at least one pair of adjacent presses.
Attached, one of the adjacent press (2A, 2B) and the idle process
(P1), and between the idle step (P1) and the other of the adjacent presses (2A, 2B), are arranged parallel to the work transfer direction, and to the left and right with respect to the work transfer direction, and to each other. A pair of lift beams that can be moved up and down independently
(13, 13) is provided, and each of the pair of lift beams (13, 13) is provided with the carrier (15), the subcarrier (30) and the crossbar (17), respectively. Work transfer device. 7. A work transfer device for a tandem press line, in which a plurality of presses are installed along the work transfer direction, outside the press working area, parallel to the work transfer direction, and substantially centered in the left-right direction with respect to the work transfer direction. At least one lift beam (13) that is vertically movable, at least one carrier (15) that is movable along the longitudinal direction of the lift beam (13), and the carrier ( (15) provided with a subcarrier (30) that is movable in the carrier movement direction along a guide, and a work holding means (18) that can hold a work provided on the subcarrier (30, 30). A work transfer device for a tandem press line. 8. The work transfer device for a tandem press line according to claim 7, wherein an idle process (P1) is provided between at least one pair of adjacent presses (2A, 2B), and the adjacent presses (2A, 2B, 2B) one and the idle process
Between (P1), and between the idle step (P1) and the other of the adjacent presses (2A, 2B), in parallel with the work transfer direction, and substantially in the center in the left-right direction with respect to the work transfer direction. Arranged, respectively provided with one lift beam (13) that can be moved up and down independently of each other, each of the lift beam (13), the carrier (15), the sub-carrier (30) and the workpiece, respectively. A work transfer device for a tandem press line, which is provided with a holding means (18). 9. The carrier according to claim 3, wherein the carrier driving means for moving the carrier (15) along the longitudinal direction of the lift beam (13) is a linear motor (16). Work transfer device for the tandem press line described.