JP2003275833A - Material feeder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a material feeder with which the change or adjustment work of operating speed of a press machine is efficiently carried out. <P>SOLUTION: The material feeder carries out a feeding operation while making the position of a strip material 90 correspond to each phase of the press machine 25. Accordingly, when the operating speed of the press machine 25 is changed, the feeding speed of the strip material 90 is interlocked with the operating speed and automatically changed, and the change work of the operating speed of the press machine 25 is easily carried out. When the press machine 25 is stopped, the feeding of the strip material 90 is concurrently stopped, thereby material clogging does not occur. Even when the press machine 25 is reversed, the numerical control of servomotors 53 and 64 is carried out using positional data read from a memory 101 on the basis of phase data detected by an encoder 104. Accordingly, the reverse operation of the material feeder interlocked with the revere operation of the press machine 25 is carried out. <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 material feeding device for intermittently feeding a strip material to a pressing machine.

[0002]

2. Description of the Related Art As a conventional material feeding device, Japanese Patent Laid-Open No.
Those disclosed in Japanese Patent Laid-Open No. 118730, Japanese Patent Laid-Open No. 7-61707 and the like are known. In such a conventional material feeding device, in order to feed the strip material while the die set of the pressing machine is opened, for example, one cycle of the pressing machine is divided into the opening time and the closing time of the pressing machine. As a reference, the timing of starting and stopping the feeding of the material feeding device and the feeding speed (hereinafter referred to as “feeding speed etc.”) were set to synchronize with the press machine.

[0003]

However, in the above-mentioned conventional configuration, when the time of one cycle is changed by changing the operating speed of the press machine, the feeding speed of the material feeding device and the like are changed each time. It was necessary to re-set, and it took time to change the operating speed of the press machine. Further, the conventional material feeding device cannot continue to stop even if the press machine stops and continues to feed the strip material, so when the press machine stops while the strip material is pressed,
Material jams could occur. Furthermore, when the drive shaft of the press machine is rotated in the reverse direction for adjustment, the strip material does not return in the conventional material feeding device, so it is necessary to manually return the strip material, and adjustment work can be performed quickly. I could not do it.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a material feeding device capable of efficiently changing and adjusting the operating speed of a press machine.

[0005]

In order to achieve the above object, the material feeding device according to the invention of claim 1 intermittently presses the strip plate material to a pressing machine so as to sequentially press a plurality of portions of the strip plate material. In a material feeding device for feeding, a servo motor that constitutes a drive source for feeding a strip material and is controlled based on preset control data for a feeding pattern, and a phase in one cycle of a press machine Is detected by the phase detection means on the basis of the preset correspondence between the phase detection means for detecting the rotation axis of the press machine, the control data group for the feeding pattern and each phase in one cycle of the press machine. It is characterized in that it is provided with data generation means for generating control data from each phase and servo control means for controlling the servomotor using the control data generated by the data generation means.

According to a second aspect of the invention, in the material feeding apparatus according to the first aspect, the data generating means stores the control data group for the feeding pattern and each phase in one cycle of the press machine in association with each other. The servo control means is characterized in that the servo control means is configured to read control data corresponding to the phase detected by the phase detection means from the data storage means.

According to a third aspect of the present invention, in the material feeding apparatus according to the first or second aspect, a pair of gripping means capable of gripping the strip material and X capable of moving the gripping means in the longitudinal direction of the strip material. The servo motor includes an axis moving unit, a Y-axis moving unit that can move each gripping unit in the width direction of the strip plate, and a grip control unit that causes each gripping unit to alternately grip the strip plate member. It is characterized in that it makes a pair as each drive source of the Y-axis moving means.

According to a fourth aspect of the present invention, in the material feeding apparatus according to the third aspect, the X-axis moving means has a pair of screw rods, which are threaded on the outer peripheral surface and extend in mutually opposite directions, and both of these screw rods. It is provided with a connecting means that connects one ends of both the rods so as to rotate in opposite directions to each other, and a pair of nut bodies that are respectively screwed into the respective rods and move toward each other by the interlocking rotation of the rods. The pair of gripping means are characterized in that they are separately arranged in each nut body.

According to a fifth aspect of the present invention, in the material feeding apparatus according to the third aspect, the X-axis moving means includes a pair of threaded rods extending in mutually opposite directions and having outer peripheral surfaces threaded in mutually opposite directions. A connecting means that connects one ends of the two threaded rods so that the two threaded rods rotate together in the same direction, and a pair of nuts that are screwed into the respective threaded rods and move closer to and away from each other as the two threaded rods rotate in conjunction with each other. And a pair of gripping means, wherein the pair of gripping means are disposed separately on each nut body.

The invention of claim 6 is characterized in that, in the material feeding apparatus according to any one of claims 1 to 3, the servomotor is a linear motor.

According to a seventh aspect of the invention, in the material feeding apparatus according to any one of the first to sixth aspects, the servo control means comprises:
It is characterized in that it is configured to control the servomotor using the control data generated by the data generating means even when the rotary shaft of the press machine rotates in the reverse direction.

A material feeding device according to an eighth aspect of the present invention is a material feeding device for intermittently feeding a band plate material to a press in order to sequentially press a plurality of portions of the band plate material. A pair of gripping means, an X-axis moving means capable of moving each gripping means in the longitudinal direction of the strip plate material, a Y-axis moving means capable of moving each gripping means in the width direction of the strip plate material, and the gripping means alternately. Gripping control means for gripping the strip material, XY axis control means for controlling the X-axis moving means and the Y-axis moving means based on a preset control pattern control data group, and each phase in one cycle of the press machine. A XY axis control means, and a phase detection means for detecting the rotation axis of the press machine, and a data storage means for storing the control data group for the feeding pattern and each phase in one cycle of the press machine in association with each other. Is detected by the phase detection means Characterized in place that is configured to control the X-axis moving means and the Y-axis moving means control data corresponding to the phase were read from the data storage means.

[0013]

<Advantages and effects of the invention><Inventions of claims 1 and 2> In the material feeding device of claim 1, when the phase of the press machine is detected, it is based on the preset correspondence relationship with the phase. Control data is generated, the servo motor is numerically controlled using the control data, and the strip material is fed. Also,
In the material feeding device of claim 2, when the phase of the press machine is detected, the control data corresponding to the phase is read from the data storage means into the servo control means, and the servo motor is numerically controlled using the control data. The strip material is delivered. As a result, in the material feeding device according to the first and second aspects, the feeding can be performed while the position of the strip material is made to correspond to each phase of the press machine. Therefore, when the operating speed of the press machine is changed, the feeding speed of the strip material is also automatically changed in conjunction with this, and the operation of changing the operating speed of the press machine can be easily performed. Further, when the press machine is stopped, the feeding of the strip material is also stopped accordingly, so that the material is not clogged.

<Invention of Claim 3> According to the invention of Claim 3, the gripping means for gripping the strip material is moved by the X-axis moving means and the Y-axis moving means so that the length and width of the strip material can be controlled. The press can be applied at multiple positions in both directions.

<Invention of Claims 4 and 5> In the constructions of Claims 4 and 5, one gripping means grips the strip plate material in a state in which both gripping means are separated from each other, and the gripping means are held together. When approached, the strip material is fed in one direction. When the gripping means are switched from one gripping means to the other gripping means while the gripping means are close to each other and the gripping means are separated from each other, the strip plate material is further fed in one direction.
In this way, the strip material can be moved in the longitudinal direction and fed to the press machine.

<Invention of Claim 6> As in the invention of Claim 6, the servomotor may be constituted by a linear motor.

<Invention of Claim 7> According to the configuration of Claim 7, the servo control means uses the control data generated by the data generation means even if the rotary shaft of the press machine rotates in the reverse direction. Since the motor is numerically controlled, the material feeding device can also be reversely operated in conjunction with the reverse operation of the press machine. As a result, when the press machine is rotated in the reverse direction, the strip material is automatically returned, and the press machine can be efficiently adjusted and troubles can be corrected.

<Invention of claim 8> In the material feeding device of claim 8, when pressing is performed at a plurality of positions in both the longitudinal and width directions of the strip material, the gripping means that grips the strip material is moved to the X-axis moving means. And it may be moved by the Y-axis moving means. Here, in the present invention, the phase of the press machine is detected, the control data corresponding to the phase is read from the data storage means into the XY axis control means, the X axis moving means and the Y axis moving means are controlled, and the strip material is sent. Be paid. As a result, it is possible to feed the strip plate material while making the position of the strip plate material correspond to each phase of the press machine. Therefore, when the operating speed of the press machine is changed, the feeding speed of the strip material is also automatically changed in conjunction with this, and the operation of changing the operating speed of the press machine can be easily performed. Further, when the press machine is stopped, the feeding of the strip material is also stopped accordingly, so that the material is not clogged.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIG.
~ It demonstrates based on FIG. FIG. 1 shows a transfer press machine 25 (hereinafter, simply referred to as an example of a press machine.
"Press machine 25") is shown. As shown in the figure, the press 25 includes an upper table 10 and a lower table 11 that are opposed to each other in the vertical direction, which are assembled to a frame 24. The frame 24 is provided with a pair of side frames 23, 23 facing each other in the left-right direction with the upper base 10 and the lower base 11 interposed therebetween, and between the side frames 23, 23, the lower base 1
1 is fixed, and the upper table 10 is supported so as to be vertically movable.

Above the upper table 10, the side frame 2 is provided.
The camshaft 13 is provided between the shafts 3 and 23, and the speed reducer 15 is connected to an end of the camshaft 13 that penetrates one side frame 23. In the reduction gear unit 15, an end portion of the camshaft 13 is fixed to a final gear, and a flywheel 16 is fixed to a first gear. Then, the pulley 18 is attached to the rotary shaft of the electric motor 17 arranged on the upper surface of the press 25, and the pulley 18 and the flywheel 16 are connected to the belt 19.
, So that the camshaft 13 rotates using the electric motor 17 as a drive source.

The side frame 2 of the camshaft 13
A pair of cams 14, 14 are provided at positions near both ends of the portion sandwiched between 3, 23. These cams 14,
14 have the same shape and are fixed to the camshaft 13 so as to have the same phase. Also, the pedestal 10
A pair of rollers 20 and 20 that sandwich the cam 14 from above and below are provided on each pair of support members extending upward from the above. Then, when the camshaft 13 is rotated,
The roller 20 follows the cam 14 and the upper table 10 moves up and down. As a result, the upper and lower pedestals 10 and 11 come into contact with and separate from each other at a predetermined cycle.

A vertical output main shaft 21 extends in the vertical direction on the outer surface of the side frame 23 of the frame 24 opposite to the speed reducer 15, and the upper end of the vertical output main shaft 21 and
The end portion of the camshaft 13 has a bevel gear 21G,
It is connected at 21G. A bottom shaft 22 is provided between the side frames 23, 23 below the lower base 11 of the frame 24. One end of the bottom shaft 22 and the lower end of the vertical output main shaft 21 are provided. Are connected by a bevel gear (see FIG. 11).

Between the upper table 10 and the lower table 11, a plurality of processing stages ST are arranged in the horizontal direction (left and right direction in FIG. 1).
1, ST2, ST3, ... Are provided. In the first processing stage ST1 shown at the left end of FIG. 1, the upper and lower pedestals 10 and 11 are provided with a punch 28 for punching and a die 29.
As shown in FIG. 2, the strip 90 is fed from the direction orthogonal to the arrangement direction of the processing stages ST1, ST2, ST3, ... Then, in the first processing stage ST1, discs are punched from the strip material 90, and these discs are sequentially sent to the next processing stage by a transfer mechanism (not shown).
At each processing stage ST2, ST3, ..., drawing processing, uneven cutting, etc. are performed.

The material feeding device of this embodiment is the press machine 2.
5 is provided to feed the strip plate material 90 to the first processing stage ST1 in FIG. FIG. 3 shows a part of the material feeding device as a perspective view. As shown in FIG. 3, the material feeding device is capable of gripping the strip 90 in the plate thickness direction.
The pair of grippers 30, 30 (corresponding to the “grasping means” of the present invention) are provided at two locations along the longitudinal direction of the strip 90. Then, the gripper 3 holding the strip plate material 90
By moving 0 in the longitudinal direction and the width direction of the strip plate material 90, the predetermined portion of the strip plate material 90 is moved to the first processing stage ST1.
The band plate material 90 is fed to the press machine 25 while controlling the positioning at a position facing the punch 28.

As shown in FIG. 3, each gripper 30 is provided with a flat rectangular tubular housing 31 in which a strip 90 is inserted, and inside the housing 31, a fixed block 32 is provided.
And the movable block 33 are provided above and below with the strip plate member 90 interposed therebetween. The fixed block 32 arranged below the strip plate material 90 extends across the strip plate material 90 in the width direction. As shown in FIGS. 4 and 5, the lower half of the fixed block 32 is the bottom of the housing 31. It is embedded and fixed in the wall.

The movable block 33 disposed above the strip plate member 90 extends longer than the fixed block 32 in the width direction of the strip plate member 90, and is guided downward from both ends by the guide shafts 34, 34.
Prepare by hanging. Then, the guide shafts 34, 34 are inserted into through holes (not shown) in the bottom wall of the housing 31, whereby the movable block 33 is allowed to move up and down within the housing 31.

A cylinder 35 is fixed to the upper surface of the housing 31 of each grip 30, and a drive rod 36 provided in the cylinder 35 penetrates the upper wall of the housing 31 and is attached to the movable block 33. Then, for example, when compressed air is supplied to the lower end side of the cylinder 35,
The movable block 33 rises together with the drive rod 36, and the strip plate material 90 can freely pass between the fixed block 32 and the movable block 33. On the other hand, when compressed air is supplied to the upper end side of the cylinder 35, the movable block 33 descends together with the drive rod 36, and the fixed block 32 and the movable block 3
The band plate material 90 is gripped between the belt member 3 and the belt 3.

As shown in FIG. 3, the material feeding device is provided with a frame body 40 for movably supporting the grippers 30, 30 in the longitudinal direction of the strip 90. The frame body 40 includes a pair of vertical beams 41, 41 extending in parallel on both sides of the strip plate member 90.
And a pair of lateral beams 42, 42 that cross the strip plate member 90 in the width direction.
The end portions of and are joined together to form a rectangular frame.
In addition, an intermediate beam 43 is provided between the longitudinal central portions of the vertical beams 41, 41 to divide the space surrounded by the frame body 40 into two regions S11, S12.
Each gripper 30, 30 is arranged in S12.

As shown in FIG. 5, rails 44, 44 are attached to the vertical beams 41, 41, respectively, and groove-shaped sliders 45, 4 attached to both sides of each gripper 30.
5 slidably engages with each rail 44,44. Thereby, each gripper 30 is slidable in the longitudinal direction of the strip plate member 90 in each of the regions S11 and S12 in the frame body 40. In detail, one slider 45 is
As shown in FIG. 5, it is arranged on the lower surface of the projecting wall 31T protruding from one side surface of the gripper 30 and engages with the rail 44 arranged on the upper surface of the one vertical beam 41, and the other slider 4
5 is arranged on the other side surface of the gripper 30 and engages with a rail 44 arranged on the side surface of the other vertical beam 41.
As described above, the orientation of the arrangement surfaces of the rails 44 and the sliders 45 is made different to facilitate the assembly.

The slider 45 and the rail 44 which are engaged with each other constitute a so-called LM guide, and the slider 59 and the rail 58, which will be described later, and the slider 62 and the rail 61 also constitute a so-called LM guide. . LM
The guide also plays a role of restricting the slider so as not to move in a direction other than the longitudinal direction of the rail.

As shown in FIG. 4, guide walls 26, 26 are provided at both ends of the frame body 40 in the longitudinal direction of the strip plate member 90, and slits 26S, 26S formed in the guide walls 26, 26 are provided with slits 26S, 26S. By inserting the strip 90, the frame 4
The movement of the strip plate member 90 in the thickness direction and the width direction is restricted with respect to 0, and the gripper 30, 30 is guided to the regular position.

Further, as shown in FIG. 2, a pair of slide poles 47, 47 penetrates the strip 90 in the width direction at both ends of the strip 40 in the longitudinal direction of the frame 40, and these slide poles 47 are slid. The poles 47, 47 are arranged between the side walls 51, 51 of the base portion 50 that covers the periphery of the frame body 40. As a result, the entire frame body 40 including the gripper 30 is slidable with respect to the base portion 50 in the width direction of the strip plate member 90. By the above, the gripper 30 is the strip plate material 9
It is slidable in both the longitudinal direction and the width direction.

The gripper 30 is moved by an X-axis drive unit 70 (corresponding to the "X-axis moving means" of the present invention) in the longitudinal direction of the strip plate material 90, and in the width direction of the strip plate member 90. 71 (corresponding to the “Y-axis moving means” of the present invention).

The Y-axis drive unit 71 is as follows. That is, the slide pole 47 of the base 50,
As shown in FIG. 2, the side wall 5 is located at an intermediate position sandwiched by 47.
A ball screw 48 is laid between 1 and 51 and rotatably supported. The ball screw 48 is screwed into a ball nut 49 fixed to the lower surface of the intermediate beam 43 of the frame body 40 as shown in FIG. Further, as shown in FIG. 5, one side wall 51 of the lower surface of the base portion 50.
A Y-axis servomotor 53 is attached to the side edge portion via an L-shaped bracket 52.
Pulleys 54 and 54 are fixed to the drive shaft 3 and one end of the ball screw 48 that protrudes outward from the side wall 51, and both pulleys 54 and 54 are connected by a timing belt 55. As described above, the Y-axis drive unit 71 that moves the grippers 30, 30 in the width direction of the strip plate 90 together with the frame body 40 is configured by using the Y-axis servo motor 53 as a drive source.

The X-axis drive unit 70 is as follows. That is, as shown in FIGS. 5 and 6, a pair of rail walls 57, 57 stand upright from the bottom wall 56 of the base portion 50 and extend parallel to the longitudinal direction of the strip 90. A twin ball screw mechanism 73 (see FIG. 4) is housed between the rail walls 57, 57. As shown in FIG. 4, the twin ball screw mechanism 73 includes a pair of ball screws 74,
74 (corresponding to the “threaded rod” according to the present invention) are arranged in a straight line in a straight line, and one end of each ball screw 74, 74 has both side walls 7 facing each other in the longitudinal direction of the strip 90 of the base portion 50.
5 and 75 are rotatably supported by one side and the other side, and the other ends of the ball screws 74 and 74 have side walls 75 and 7 respectively.
A pair of standing walls 7 standing upright from the bottom wall 56 in the central part between 5
6 and 76 are rotatably supported by one and the other.

Further, one of the lower surfaces of the base portion 50 on the side wall 75 side is provided with an X-shape via an L-shaped bracket 63.
The axis servo motor 64 is attached, and the side wall 7 of the drive shaft of this X-axis servo motor 64 and one ball screw 74 is attached.
The pulley 74 is attached to one end protruding outward from
P and 74P are fixed, and both pulleys 74P and 74P are connected by a timing belt 74B.

Further, gears 77 and 77 are attached to the ends of the ball screws 74 and 74 that are abutted against each other, and the gears 77 and 77 are connected by a plurality of gears. Specifically, as shown in FIG. 7, a pair of gears is supported between opposite walls 78, 78 rising from the bottom wall 56 of the base 50 on both sides of the abutted portions of the ball screws 74, 74. Shafts 79, 79 are extended and rotatably supported. Also, each gear support shaft 79
A large gear 80 and a small gear 81 are fitted in each of them, and both are locked by a key to the gear support shaft 79.

Then, as schematically shown in FIG. 8, a small gear 81 attached to the upper gear support shaft 79 in FIG.
Engages with the gear 77 attached to the ball screw 74 on the left side in the figure, and the small gear 81 attached to the lower gear support shaft 79 in the figure engages with the gear 77 attached to the ball screw 74 on the right side in the figure. , And each gear support shaft 79, 7
Large gears 80, 80 attached to each other are ball screws 7
It is meshed between 4,74. If you look at all of these,
Gears of each pair having the same shape (at least the same number of teeth) are arranged symmetrically with respect to the center point between the ball screws 74, 74 and mesh with each other.

As a result, when the ball screw 74 on the left side in the figure is rotated by the X-axis servomotor 64,
The ball screw 74 on the right side is interlocked with the ball screw 74 on the left side and rotates in the opposite direction at the same rotation speed. Specifically, when the ball screw 74 on the left side in FIG. 8 rotates clockwise, for example, when viewed from the left side in FIG. 8, the gear support shaft 79 on the upper side in FIG. 8 rotates counterclockwise, while the gear shaft 79 on the lower side in FIG. The gear support shaft 79 rotates in the clockwise direction, and the ball screw 74 on the right side rotates in the counterclockwise direction opposite to the ball screw 74 on the left side.

As shown in FIG. 4, ball screws 74, 74
Screws of the same shape are cut on the outer circumference of the ball nuts 82, 82 (corresponding to the "nut body" of the present invention). The ball nuts 82, 82 are arranged symmetrically with respect to the center between the ball screws 74, 74, and are attached to the moving plates 60, 60 that are inserted between the rail walls 57, 57 as shown in FIG. There is. Further, rails 58, 58 are laid on the upper surface of the rail wall 57, and sliders 59, 59 attached to both ends of the lower surfaces of the moving plates 60, 60 are slidably engaged with the rails 58, 58. From the above, the X-axis servo motor 64
When is driven, both ball screws 74, 74 are interlocked with each other in opposite directions, and the moving plates 60, 60 move in opposite directions together with the ball nuts 82, 82.

On the upper surface of each moving plate 60, rail walls 57,
The rail 61 is attached in the direction crossing 57,
As shown in FIGS. 4 and 5, a slider 62 attached to the lower surface of each gripper 30 is slidably engaged with each rail 61. The X-axis drive unit 70 is configured as described above, and when the X-axis servomotor 64 is driven to move the moving plates 60, 60 in opposite directions as described above, the grippers 30, 30 together with the moving plates 60, 60 cause the strip plate member to move. 90 is moved in a direction opposite to the longitudinal direction.

Here, an example of the operation of actuating the X-axis drive unit 70 to feed the strip plate material 90 in the longitudinal direction is shown in FIG.
A description will be given based on (A) to FIG. 9 (D). Hereinafter, when distinguishing the two grippers 30, 30, the side farther from the press machine 25 is referred to as the "first gripper 30A", and the press machine 25
The side closer to is referred to as the "second gripper 30B".

In FIG. 9, the magnitude of the moving stroke of both grippers 30, 30 is "K".
In (A), the first gripper 30A is located at the left end of the stroke K in the figure, and the second gripper 30B is located at the right end of the stroke K in the figure. In this state, the band plate material 90 is gripped by the first gripper 30A and the second gripper 30B is opened.

Then, as shown in FIG. 9B, the first gripper 30A holding the strip 90 is moved to the right end of the stroke K. Then, the strip material 90 is moved to the right side of the figure by the distance "K". Also, in conjunction with this operation, the second gripper 30B moves to the left end of the stroke K in the figure in the stroke K.

Here, as shown in FIG. 9C, the strip plate material 9
0 gripping from the first gripper 30A to the second gripper 30B
Switch to. Then, by moving the second gripper 30B holding the strip plate member 90 to the right end portion of the stroke K, the strip plate member 90 can be further moved to the right side in the figure by the distance “K”. At this time, the first gripper 30A moves to the left end portion in the figure of the stroke K, and the gripping of the strip plate material 90 is performed from the second gripper 30B to the first gripper 3 here.
It switches to 0A and returns to the initial state (state of FIG. 9A). By repeating this operation, the strip 90 can be intermittently fed to the right side of the drawing.

In the material feeding apparatus of this embodiment, each gripper 3 is driven by the X-axis and Y-axis driving units 70 and 71 described above.
0A and 30B can move two-dimensionally, and the movable region of a predetermined reference point (for example, the intersection of the axis of the cylinder 35 and the strip 90) in each gripper 30A and 30B is shown in FIG. Movable areas S1 and S of rectangular shape shown
It can be represented by 2. And, in each material feeder,
Coordinate axes for specifying the positions of the reference points of the grippers 30A and 30B (hereinafter simply referred to as the positions of the grippers 30A and 30B) are set separately.

Specifically, the first XY coordinate axes of the first gripper 30A and the second X-axis of the second gripper 30B are used.
The Y coordinate axis is shown in FIG. 10, and the longitudinal direction of the strip material 90 (the feeding direction of the strip material 90) is the X coordinate axis, and the width direction of the strip material 90 is the Y coordinate axis. Regarding the X coordinate axis, for example, in each of the movable areas S1 and S2 shown in FIG. 10, an end portion on the side closer to each other is set as an origin of the X coordinate, and a direction (feeding direction) approaching the press machine 25 is set. Each X coordinate axis is set to be positive. Therefore, the X coordinate of the first gripper 30A always has a negative value, and the X coordinate of the second gripper 30B always has a positive value.

Regarding the Y coordinate axis, for example, the lower end of FIG. 10 in each of the movable areas S1 and S2 is set as the origin, and the upper side of the figure is set to the positive Y coordinate axis. In addition, in FIG. 2, the first and second grippers 30 are shown.
A state in which both A and 30B are located at the origin is shown. Here, the first and second grippers 30A, 30B
As described above, the strip plate members 90 move in mutually opposite directions in the longitudinal direction of the strip plate members 90, that is, in the X-axis direction.
Of the first gripper 30A and the second gripper 30B, the positive and negative of the X coordinate value of one of the first gripper 30A and the second gripper 30B can be reversed. Is required.

FIG. 11 shows the electrical construction of the material feeding device. In the figure, reference numeral 100 denotes a CPU, which corresponds to "servo control means", "XY axis control means" and "grip control means" according to the present invention. That is, CPU1
00 is a memory 101 ("data storage means" of the present invention,
Position data (corresponding to "control data" of the present invention) is read from "data generating means"), and each of the first and second grippers 30A and 30B is moved to a position corresponding to the read position data. Thus, the X and Y axis servomotors 53 and 64 are numerically controlled. In addition, the CPU 100
Reads the gripper opening / closing command (corresponding to the “control data” of the present invention) from the memory 101 together with the position data, and each gripper 3 based on the gripper opening / closing command.
A signal is sent to the cylinder drive circuit 103 for driving the cylinders 35, 35 of 0A and 30B, and each gripper 30 is driven.
A and 30B are switched to a gripping state or an open state.

The position data and the gripper opening / closing command shown in Table 1 will be described below in order from the top of the table by the CPU 100.
Will be described as an example.

[0051]

[Table 1]

In Table 1, the grip point is the position of one of the grippers 30A and 30B that grips the strip 90, and when the strip 90 is gripped by the first gripper 30A, the gripper of the first gripper 30A. When the second gripper 30B grips the strip 90, the position of the second gripper 30B becomes the grip point. In Table 1, the first grip point
Only the position data of the gripper 30A or the second gripper 30B is shown.

As described above, if the X-coordinate data of one of the first and second grippers 30A and 30B is reversed in polarity, the other position data is obtained. Therefore, the CPU 100 has the first or second position data. Gripper 30A,
By reading the position data of at least one of the grippers 30B, the positioning of both grippers 30A and 30B can be controlled.

Now, the CPU 100 causes the position data of the first gripper 30A for the grip point P1 in Table 1 (-
2L, 2M), the first gripper 30A is shown in FIG.
It is positioned at a position P1 on the upper left side of the movable area S1 in the first XY coordinate of 0. Then, based on the gripper opening / closing command “1ON 2OFF”, the first gripper 30
At A, the strip 90 is held and the second gripper 30B is released.

Next, the first related to the grip point P2
Read the position data (-L, M) of the gripper 30A,
The position of the first gripper 30A that grips the strip plate material 90 is moved to the position P2 at the center of the movable area S1. Hereinafter, similarly, the first gripper 30A as a grip point
Position sequentially moves to the position P3 and the position P4 in the movable area S1, and the strip plate member 90 moves in the direction of the vector P1 → P2 → P3 → P4 showing the trajectory of the grip point in FIG.

Next, the gripper opening / closing command "1 OFF
2ON ”is read, and the grip of the strip 90 is switched from the first gripper 30A to the second gripper 30B. That is, the grip point is switched from the first gripper 30A to the second gripper 30B. At this time, since the grip points are simply switched, the strip 90 does not move. Further, in FIG. 10, the grip point P4 at the first XY coordinates is switched to the grip point P4 at the lower left position of the movable area S2 at the second XY coordinates in FIG.

Then, the CPU 100 causes the position data (L, L of the second gripper 30B relating to the grip point P5).
The second gripper 30 that holds the strip 90 based on M).
B is moved to the center position P5 of the movable area S2.
Hereinafter, similarly, the position of the second gripper 30B as the grip point is the position P in the movable area S2.
6. Move to position P7. And this second gripper 3
The strip 90 moves in the direction of the vector P4 → P5 → P6 → P7, which shows the locus of 0B.

Therefore, when the CPU 100 reads the data shown in Table 1, the grip point and the strip 9
0 is the vector P1 → P2 → shown in FIG.
It moves in a zigzag manner as P3 → P4 → P5 → P6 → P7. In addition, the movement of the strip 90 causes the strip 90 to move.
The position facing the punch 28 in FIG.
, The vector P1 → P2 → P3 → P4 → P
5 → P6 → P7 which is the opposite direction of P7 → P2 ′ →
The relative movement is made in the direction of P3 ′ → P4 ′ → P5 ′ → P6 ′ → P7 ′.

By repeating the operation based on the data in Table 1 described above to form the "feeding pattern" according to the present invention, the strip plate material 90 is intermittently fed to the press machine 25, and this feeding operation is performed. Punch 28 moves to point P
By descending at each of the positions 1 ′ to P7 ′, a plurality of discs are punched out from the strip plate material 90 in the predetermined pattern shown in FIG. 12 (B).

Now, as shown in FIG. 11, the CPU 100 has an encoder 104 through an interface 102.
(Corresponding to “phase detecting means” of the present invention) is connected, and the phase in one cycle of the press 25 is the CPU 10
It is configured to be taken into 0. Specifically, the encoder 104 is the bottom shaft 22 of the press 25.
The rotation of the bottom shaft 22 detects the phase of the press 25 during one cycle. The bottom shaft 22 rotates 360 ° with one opening / closing operation of the punch 28 and the die 29, that is, one cycle operation of the press 25.

In the CPU 100, based on the phase data of the encoder 104, for example, 1
Identifying the phase during the cycle. Further, in the CPU 100 of this embodiment, six cycles of the press machine 25 (360 ° × 6 = 216) are made to correspond to the feeding pattern described below.
The phase is accumulated up to 0 °), and when 6 cycles are reached, the phase accumulated from the first cycle to the next 6 cycles is determined.

In the memory 101, a data group for operating the material feeding device according to the above-mentioned feeding pattern according to Table 1 is stored as a data table, and a part of this data group is extracted in Table 2. Is shown.

[0063]

[Table 2]

As shown in Table 2, in this data table, the grip point position data, that is, at least the first or second grippers 30A, 30B is associated with the 1 ° phase of the press machine. Any position data is stored. These position data are set based on the position data shown in Table 1. As a whole, the press machine 2
The grip point moves intermittently every time 5 performs one cycle of operation, and while the press 25 performs 6 cycles of operation, the strip plate material 90 is moved to P1 → P2 → P3 → in FIG. 12 (A).
The sheet is fed to the press machine 25 while moving in a zigzag direction in the direction of P4 → P5 → P6 → P7 (P1).

Here, the strip 90 is moved by the press 2
5 must be performed while the punch 28 and the die 29 of FIG. 5 are opened, and the strip 90 must be stopped while the punch 28 and the die 29 are closed. FIG. 13 is a timing diagram showing a 1-cycle operation in moving the grip point P1 → P2 among the 6-cycle operations. In the press 25 of this embodiment, as shown in FIG. 13, the punch 28 and the die 29 are completely opened at a phase of 160 ° to 310 ° in one cycle. Therefore, the phase of the press 25 is 160 ° in one cycle.
The 1-degree phase of the press 25 and the grip point position data are set in correspondence with each other so that the strip plate 90 is moved between 310 ° and the strip plate 90 is stopped in other phases.

Specifically, the phase of the press 25 is 0 ° to 3 °.
Taking the case of changing in the range of 60 ° as an example, as shown in Table 2, position data of the same grip point P1 (-2L, corresponding to each 1 ° phase between 0 ° and 160 °).
2M) is stored in 161 pieces and 310 ° to 360 °
51 pieces of position data (-L, M) of the grip point P2 are stored corresponding to each 1 degree phase between the degrees. Then, the phase of the press 25 is from 160 ° to 310.
While the phase progresses up to 150 °, the grip point P
In order to move from 1 to P2, grip points P1001 to P1150 (P2) that divide the grip point P1 and the grip point P2 into 150 equal parts are provided, and the position data of these grip points P1001 to P1150 (P2) is set to 160 °. It is stored in correspondence with the phase for every 1 ° between 1 ° and 310 °.

In the same manner as above, two cycles (360 °-
720 °), 3 cycles (720 ° to 1080 °),
.., position data of grip points (positions of the first or second grippers 30A and 30B) are stored in correspondence with each 1 ° phase in 6 cycles (1800 ° to 2160 °). Further, similarly to the case described in Table 1, the gripper opening / closing command is stored in association with the predetermined points P1, P4, P7, whereby the grip between the first and second grippers 30A, 30B is held. The points can be switched.

Next, the operation of this embodiment having the above configuration will be described. When the power of the material feeder is turned on, the CPU
100 runs a program for initialization, for example, and opens both the 1st and 2nd grippers 30A and 30B.
Next, the current phase of the press machine 25 is fetched from the encoder 104, and the position data of either the first or second gripper 30A or 30B corresponding to that phase is stored in the memory 10.
At the same time as reading from 1, the gripper opening / closing command which appears first to the phase side smaller than that phase is read.

Then, after moving the first and second grippers 30A and 30B based on the read position data, either one of the first and second grippers 30A and 30B is moved according to the gripper opening / closing command. Open and close the other. As a result, the position of the grip point of the material feeding device and the phase of the press 25 are brought into a state corresponding to the data table (see Table 2) stored in the memory 101, and the initial setting is completed.

Therefore, according to the material feeding apparatus of the present embodiment, even when the strip plate material 90 is sandwiched between the punch 28 and the die 29 of the press 25 at the time of initial setting, the strip plate material is It is possible to match the initial positions of the first and second grippers 30A and 30B in the material feeding device and the initial phase of the press 25 without cutting 90 in the middle. If the strip 90 is not gripped by the material feeding device, the initialization program runs,
With the first and second grippers 30A and 30B both open, the strip 90 is removed from the first and second grippers 30A and 30A.
Pass it between 30B.

When the press machine 25 is started in the state where the initial setting is completed in this way, the bottom shaft 22 rotates in conjunction with the opening and closing operations of the punch 28 and the die 29, and the press machine 2 is taken into the CPU 100 from the encoder 104.
The phase data of 5 changes. Then, the CPU 100
Each time the phase of the press 25 advances by 1 °, the memory 101 is accessed, position data corresponding to each phase is fetched from the data table shown in Table 2, and the first and second positions are set at the positions corresponding to the fetched position data. Grippers 30A, 30B
Position control. As a result, the positioning of the strip material 90 gripped by the first or second grippers 30A and 30B is controlled.

Specifically, as shown in FIG. 13, when the phase of the press 25 is 0 °, the punch 28 is located at the bottom dead center and pressed against the die 29. From here until the punch 28 rises and the phase of the press 25 reaches 160 °,
161 stored in the memory 101 in correspondence with each phase of 1 °
The same position data (-2L, 2M) is read by the CPU 100. Then, based on these same position data, the first and second grippers 30A and 30B are continuously positioned and controlled at the same position, and the strip 90 is substantially stopped. That is, the strip 90 is held in a stopped state until the punch 28 is completely separated from the die 29.

Next, until the phase of the press 25 exceeds 160 ° and reaches 310 °, the punch 28 moves the die 2 into the die 2.
It is completely separated from 9. Then, until the phase of the press 25 exceeds 160 ° and reaches 310 °, the position P1 (-2
L, 2M) and the position P2 (-L, M) are equally divided into 150, the position data of each position P1001 to P1150 (P2) is read, and the first and second grippers are read based on these different position data. Positioning control of 30A and 30B is performed at different positions one by one, and the strip 90 is gradually moved from P1 to P2.
Is moved in the direction of. That is, while the punch 28 is completely separated from the die 29, the strip plate material 90 is fed while making the position of the strip plate material 90 correspond to each phase of the press 25.

Then, when the phase of the press 25 exceeds 310 °, the punch 28 approaches the die 29 again and 360
The punch 28 reaches the bottom dead center at 0 °, and the disc is punched from the strip plate material 90. And the phase is 520 ° (= 360 °
(+ 160 °), the punch 28 is separated from the die 29. Between 310 ° and 520 °, the first and second grippers 30 are based on the same position data (-L, M) stored in the memory 101 corresponding to each phase.
Positioning control of A and 30B is continuously performed at the same position, and the strip 90 is substantially stopped. Similarly, the pressing machine 25 and the material feeding device operate in the same manner, and a plurality of discs are punched from the strip material 90 in a predetermined pattern.

Here, when the operating speed of the press machine 25 is changed, in the present embodiment, as described above, the feeding is performed while the position of the strip plate material 90 is made to correspond to each phase of the press machine 25. The feeding speed of the strip 90 is automatically changed in association with the change of the operating speed of the press 25. This facilitates the work of changing the operating speed of the press 25.
Further, since the positioning control of the strip plate material 90 is performed in correspondence with the phase of the pressing machine 25 every 1 °, the positioning control of the strip plate material 90 is performed in correspondence with each phase (for example, 10 °) having an interval wider than 1 °. Compared with the above case, the opening / closing timing of the press and the driving / stopping timing of the material feeding device can be accurately synchronized, and the speed of the pressing machine can be increased. Further, when the press machine 25 is stopped, the feeding of the strip plate material 90 is also stopped accordingly. Therefore, when the press machine 25 is stopped, there is no concern that the strip plate material will be clogged.

By the way, there may be a case where a problem occurs in the press machine 25 and the press machine 25 is reversed to perform the adjustment.
In this case, the phase of the press machine 25 is detected from the bottom shaft 22 that rotates in the reverse direction, and the position data is read from the memory 101 in the reverse order of the case where the press machine 25 rotates in the normal direction. As a result, the material feeding device reverses the order in which the grip points by the first and second grippers 30A and 30B are regular, that is, P7 → P6 → in FIG.
It moves in the order of P5 → P4 → P3 → P2 → P1 and retracts the strip 90. That is, when the press machine 25 is rotated in the reverse direction, the strip 90 is automatically returned, and the press machine 25 can be efficiently adjusted and trouble handling can be performed.

The present invention is not limited to the above-described present embodiment, and for example, the constitutions described below are also included in the technical scope of the present invention, and the gist other than the following is not deviated. Various modifications can be made within the range.

(1) In this embodiment, the bottom shaft 2
Although the phase of the press machine 25 is detected from 2 above, if the rotary shaft rotates in conjunction with the opening / closing operation of the punch 28 and the die 29 of the press machine 25, the phase of the press machine is detected from which rotary axis. May be. Therefore, the phase in one cycle of the press 25 may be detected from the camshaft 13 or the vertical output main shaft 21 of the above embodiment.

(2) In the above embodiment, the position data is stored in the memory 101 in association with the phase of every 1 ° in one cycle of the press machine 25. However, the phase interval corresponding to the position data is stored. Does not have to be every 1 °, or need not be evenly spaced. Therefore, for example, in the above embodiment, in the present embodiment, when the phase in one cycle of the press machine 25 is 0 ° to 160 ° and 310 ° to 360 °, the position data is read every 10 ° and the position is read. The configuration may be such that the positioning control is performed based on the data, the position data is read every 2 ° between 160 ° and 310 °, and the positioning control is performed based on the position data.

(3) In the above embodiment, the encoder 10
Although the position data for the predetermined feeding pattern is read from the memory 101 based on the phase data detected in 4, the phase data detected by the encoder (phase detecting means) is substituted into a preset mathematical expression. Alternatively, the position data may be calculated (generated).

(4) In this embodiment, as the feeding pattern, the press machine 25 operates for 6 cycles as shown in FIG. 12B, and the material feeding device returns to the initial state. The feeding pattern is not limited to this. For example, as shown in FIG. 14, the press machine 25 may be operated for three cycles to return the material feeding device to the initial state.

(5) In the present embodiment, the strip 90 is fed while moving the strip 90 two-dimensionally.
0 may be moved only in the one-dimensional direction of the longitudinal direction. Further, the shape punched out from the strip material 90 is not limited to the disk shape. Therefore, as shown in FIG. 15, the present invention may be applied to a material feeding device used for punching a rectangular plate from the strip plate material 90 by moving the strip plate material 90 intermittently one-dimensionally.

(6) In the X-axis drive section 70 of this embodiment,
Gears 77, 7 attached to the ball screws 74, 74 in order to rotate the pair of ball screws 74, 74 in opposite directions.
Although a plurality of gears are engaged with each other between the gears 7 (see FIG. 7), the gears 77, 77 attached to the ball screws 74, 74 may be directly engaged with each other as shown in FIG. .

(7) In this embodiment, the ball screw 74,
74 and the ball screws 74, 7
4 together with ball nuts 82, 82 screwed onto the gripper 3
The configuration was such that 0 and 30 were moved in opposite directions, but by rotating a pair of ball screws with opposite threads cut in the same direction, the ball nuts screwed into these ball screws and the gripper in opposite directions. It may be configured to move to.

(8) In the present embodiment, the strip 90 is fed by gripping the strip 90, but the strip is sandwiched by rollers and the rollers are rotatably driven to feed the strip. The present invention may be applied to a thing.

(9) In the present embodiment, the rotational driving force of the servo motor is changed to the linear driving force by using the ball screw mechanism. However, the present invention is not limited to this, and the mechanism is a combination of a rack and a pinion. Alternatively, the rotation driving force of the servo motor may be changed to a linear driving force by a cam mechanism or the like.

(10) In the above embodiment, the servomotor that outputs the rotational power is used, but a servomotor having a linear motor structure may be used to linearly move the gripper.

<Effects of the Invention Applied to the Embodiment> As described above, according to the material feeding apparatus of the present embodiment, the feeding is performed while the position of the strip plate material 90 is made to correspond to each phase of the press 25. When the operating speed of the press 25 is changed, the feeding speed of the strip 90 is automatically changed in association with this, and the operation of changing the operating speed of the press 25 can be easily performed. Further, when the pressing machine 25 is stopped, the feeding of the strip plate material 90 is also stopped accordingly, so that the material is not clogged. Further, even when the press machine 25 reversely rotates, the servo motors 53 and 64 are numerically controlled using the position data read from the memory 101 based on the phase data detected by the encoder 104. The material feeding device can also be reversely operated in conjunction with the operation. As a result, when the press machine 25 is reversed, the strip material is automatically returned, and the press machine 25 can be efficiently adjusted and trouble handling can be performed.

[Brief description of drawings]

FIG. 1 is a front view of a press machine according to an embodiment of the present invention.

FIG. 2 is a plan view of a material feeding device according to the present invention.

FIG. 3 is a perspective view of the material feeding device.

FIG. 4 is a side sectional view of the material feeding device.

5 is a sectional view of the material feeding device taken along the line AA in FIG.

FIG. 6 is a perspective view of a base portion of the material feeding device.

FIG. 7 is a partially enlarged view of the twin ball screw mechanism.

FIG. 8 is a conceptual diagram showing a gear engagement state of a twin ball screw mechanism.

FIG. 9 is a partial side sectional view of the material feeding device showing a feeding operation.

FIG. 10 is a graph showing the position of the gripper.

FIG. 11 is a block diagram showing an electrical configuration of a material feeding device.

FIG. 12 is a plan view of the strip material.

FIG. 13 is a timing diagram of the material feeding device.

FIG. 14 is a plan view of a strip material showing a modified example 1 of the feeding pattern.

FIG. 15 is a plan view of the strip material showing a modified example 2 of the feeding pattern.

FIG. 16 is a plan view showing a modified example of the twin ball screw mechanism.

[Explanation of symbols]

22 ... Bottom shaft (rotating shaft) 25 ... Press machine (transfer press machine) 30 ... Gripper (grasping means) 53 ... Y-axis servo motor 64 ... X-axis servo motor 70 ... X-axis drive section (X-axis moving means) 71 ... Y-axis drive section (Y-axis moving means) 74 ... Ball screw (thread rod) 77 ... Gear (connecting means) 80 ... Large gear (connecting means) 81 ... Small gear (connecting means) 79 ... Gear support shaft (connecting means) 82 ... Ball nut (nut body) 100 ... CPU (servo control means, XY axis control means, grip control means) 101 ... Memory (data storage means, data generation means) 104 ... Encoder (phase detection means)

Continued front page    (72) Inventor Kenichi Nakai             1 5050, Nitta-dong, Asahizen-cho, Owariasahi-shi, Aichi               Asahi Seiki Industry Co., Ltd. F-term (reference) 4E088 JJ02 JJ04                 4E090 FA02 GA03 GA06 HA01

Claims (8)

[Claims] 1. A material feeding device for intermittently feeding the strip material to a pressing machine so as to sequentially press a plurality of portions of the strip material, comprising a drive source for feeding the strip material, and Servo motor controlled based on the set feed pattern control data, phase detection means for detecting the phase in one cycle of the press machine from the rotary shaft of the press machine, and the feed pattern control Data group and 1 of the press machine
Based on the preset correspondence relationship with each phase in the cycle, using the data generation means for generating the control data from each phase detected by the phase detection means, and the control data generated by the data generation means A material feeding apparatus comprising: a servo control unit that controls the servo motor. 2. The data generating means is composed of a data storing means for storing a control data group for the feeding pattern and each phase in one cycle of the press in association with each other, and the servo control. The material feeding device according to claim 1, wherein the means is configured to read control data corresponding to the phase detected by the phase detecting means from the data storage means. 3. A pair of gripping means capable of gripping the strip material, and X capable of moving the gripping means in the longitudinal direction of the strip material.
An axis moving means, a Y-axis moving means capable of moving the gripping means in the width direction of the strip material, and a gripping control means for alternately gripping the strip material by the gripping means; The material feeding device according to claim 1 or 2, wherein the X-axis moving means and the Y-axis moving means are paired as respective driving sources. 4. The X-axis moving means includes a pair of threaded rods, which are threaded on the outer peripheral surface and extend in opposite directions, and one ends of the two threaded rods so that the two threaded rods rotate in opposite directions. And a pair of nut bodies that are screwed into the respective threaded rods and are moved toward and away from each other by interlocking rotation of both the threaded rods. The pair of gripping means includes: The material feeding device according to claim 3, wherein the material feeding device is separately arranged in each of the nut bodies. 5. The X-axis moving means includes a pair of threaded rods extending in mutually opposite directions and having opposite threads on the outer peripheral surface thereof, and the two threaded rods interlockingly rotate in the same direction. It comprises a connecting means for connecting one ends of the two rods to each other, and a pair of nut bodies that are respectively screwed into the respective rods and move toward and away from each other by the interlocking rotation of the two rods. The material feeding device according to claim 3, wherein the gripping means is separately arranged on each of the nut bodies. 6. The material feeding apparatus according to claim 1, wherein the servomotor is a linear motor. 7. The servo control means is configured to control the servo motor using the control data generated by the data generation means even when the rotary shaft of the press machine is rotated in the reverse direction. The material feeding device according to any one of claims 1 to 6. 8. A material feeding device for intermittently feeding the strip material to a press in order to sequentially press a plurality of portions of the strip material, comprising a pair of gripping means capable of gripping the strip material, X capable of moving the gripping means in the longitudinal direction of the strip material
Axis moving means, Y-axis moving means capable of moving each of the gripping means in the width direction of the strip plate, gripping control means for alternately gripping the strip plate material by each of the gripping means, and a preset feeding pattern XY for controlling the X-axis moving means and the Y-axis moving means based on a control data group for use
Axis control means, phase detection means for detecting each phase in one cycle of the press machine from the rotary shaft of the press machine, control data group for the feeding pattern, and 1 of the press machine
The XY axis control means reads control data corresponding to the phase detected by the phase detection means from the data storage means and stores the data in the X axis. A material feeding device configured to control a moving means and the Y-axis moving means.