JP2004216452A - Workpiece conveyor in press line - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece conveyor in a press line in which cost reduction can be realized by simplification and miniaturization of the constitution, and at the same time, the improvement of production efficiency and flexibility of the motion pattern setting can be realized. <P>SOLUTION: A feed lever 74 to be linearly moved by a linear movement mechanism 79 is provided to an oscillating table 72 to be oscillated and driven along in the direction of conveying a workpiece. At the same time, a cross bar 12 is provided at the tip side of the feed lever 74 via an arm 80. Accordingly, the relative distance between the oscillating center of the oscillating table 72 and the cross bar 12 is composed variably. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device in a press line for loading and unloading a workpiece to be processed into and out of a processing position in conjunction with press processing, for example, a transfer press that performs processing while moving the work to the next process. Also, the present invention relates to a work transfer device in a press line suitable for use in a tandem press line in which a plurality of press machines are arranged along a work transfer direction.

  2. Description of the Related Art Conventionally, transfer presses and the like are provided with a work transfer device for loading and unloading a work to be processed into and out of a processing position in conjunction with continuous multi-step pressing. As such a work transfer device, for example, in a device proposed by the present applicant in Patent Document 1, as shown in FIG. 14, a pair of lift beams 201 arranged side by side along a work transfer direction T, A plurality of crossbar carriers 202 which are movably supported at intervals in the work transport direction T with respect to the lift beam 201, and are horizontally mounted between the crossbar carriers 202 facing each other so as to be orthogonal to the work transport direction T. A crossbar 203 is provided, and a vacuum cup attached to the crossbar 203 sucks and conveys a work (both not shown).

  The work transfer device 200 has a structure in which a lift beam 201 is suspended from above through a lift mechanism using a servomotor 204 as a drive source. The crossbar carriers 202 adjacent to each other in the work transport direction T are connected by a connecting rod 205, and the crossbar carrier 202 located at the most downstream position is connected to the tip of a cam lever 207 via a connecting rod 206. . The cam lever 207 is in contact with a feed cam 208 that is rotated by power taken out of the press body. Then, the lift beam 201 is moved up and down by the operation of the servo motor 204, and the cam lever 207 is swung by the rotation of the feed cam 208, so that all the crossbar carriers 202 are simultaneously moved in the work transfer direction T. Reciprocating drive. In this way, the work is transferred between the dies of the pressing devices adjacent to each other by the motion of the crossbar 203 due to the combined movement in the vertical direction and the work transfer direction T.

  As another work transfer device proposed in Patent Document 2, as shown in FIG. 15, between a pair of uprights 211 opposed to each other with a predetermined distance left and right with respect to the work transfer direction T. A crossbar 213 provided with a plurality of vacuum cups 212 for suspending and supporting a work (not shown) when the work is transferred from a processing station at the preceding stage to a processing station at the subsequent stage, and the crossbar 213 is swung. The swing drive device 214 is combined with an elevation drive device 215 that moves the cross bar 213 up and down.

  Here, the swing drive device 214 pivotally supports a pair of arms 216 supporting both ends thereof in a state where the crossbar 213 is orthogonal to the work transfer direction T, and a base end of each arm 216. At the same time, a carriage 217 supported movably in the vertical direction on the upright 211, a carriage 218 slidably supported on each carriage 217, a servomotor 219 attached to the carriage 218, and an output of the servomotor 219 A power transmission shaft 220a connected to a shaft via a power transmission mechanism formed by combining a bevel gear or the like is fixed to a base end portion, and a guide rod 220 having a distal end portion pivotally attached to a substantially central position of the arm 216. And a guide rod 22 driven by a servomotor 219 by a relative movement between the carriage 217 and the carriage 218. While permitting pivotal movement about the power transmission shaft 220a, the arm 216 is configured to be swung around pivot point by torque applied from the guide rod 220.

  The elevation drive device 215 includes a servomotor 221 and a screw mechanism 222 interposed between the servomotor 221 and the carriage 218 to convert the rotational force of the servomotor 221 into linear motion. By moving the carriage 218 up and down by the operation of 221, the entire swing drive device 214 is configured to move up and down. The lifting drive device 215 is provided with an air-type balance cylinder 223 that applies an urging force to the carriage 218 upward.

  The height change of the crossbar 213 caused by the swing movement of the arm 216 by the servomotor 219 is substantially compensated for by the elevation movement by the servomotor 221, and in some cases, the crossbar 213 is arbitrarily moved up and down. By moving, a motion represented by a broken line indicated by a symbol M in FIG. 15 is performed.

  Further, as shown in FIG. 16, a work transfer device proposed as a different form in Patent Document 2 is fixed on a bed between processing stations at a predetermined distance in a direction perpendicular to the work transfer direction T. A pair of brackets 231 are provided with a pair of arms 232 whose base ends are pivotally mounted, and the crossbar 213 is horizontally mounted on the distal ends of the pair of arms 232 so as to be orthogonal to the workpiece transfer direction T. The crossbar 213 is rotatably mounted on the pair of arms 232. In the work transfer device 230 of this alternative embodiment, the pair of arms 232 are swung around the pivot point at the base end thereof by the operation of the swing drive device 233 attached to the bracket 231. Each of the arms 232 is a nested arm, and is configured to extend and contract in the longitudinal direction by a telescopic driving device (not shown) provided therein. The work transfer device 230 is provided with a horizontal maintenance device (not shown) for maintaining a work (not shown) horizontally. The horizontal maintenance device is provided with a first horizontal fixing device fixed to the crossbar 213. , A second toothed belt wheel attached to the base end of the arm 232, and a toothed belt wound around and mounted between the two toothed belt wheels. By fixing the attached belt wheel so as not to rotate, the work is maintained horizontally even when the pair of arms 232 perform a swinging motion.

  The height change of the crossbar 213 caused by the swinging motion of the arm 232 by the swing drive device 233 is substantially compensated for by appropriately expanding and contracting the arm 232, and in some cases, the crossbar 213 can be arbitrarily set. , And the same motion as the motion M (see FIG. 15) by the work transfer device 210 described above is performed.

  On the other hand, as a work transfer device used in a so-called tandem press line constituted by arranging a plurality of press machines along a work transfer direction, a robot type or a loader / unloader type is known. In a robot-type work transfer device, an articulated handling robot is installed between press machines adjacent to each other. The handling robot unloads a work from a press working position in a previous process and presses the work in a next process. It is designed to be carried into the processing position. According to the robot type work transfer device, there is an advantage that the trajectory of unloading / loading in the work can be set according to the mold. On the other hand, in the loader / unloader type work transfer device, a loader and an unloader having a link structure are respectively provided on the upstream side surface and the downstream side surface of each press machine, and the upstream unloader and the downstream loader are connected to each other. A shuttle trolley is provided in between, the unloader and the loader carry out and carry in the work to and from the press machine body, respectively, and the work is transferred to the next process by the shuttle trolley.

  However, in the robot type work transfer device, when the distance between the adjacent press machines is long, the arm length between the joints is increased in proportion to the separation distance, and accordingly, the driving device in each joint portion is increased. Is required to have a higher output, so that there is a problem that the whole of the work transfer device is cumulatively increased in size. In addition, when the distance between adjacent press machines is short, there is a problem that it is very difficult to set a work path while avoiding interference with an upright or the like. On the other hand, in the case of the loader / unloader type work transfer device, since the shuttle truck needs to be installed between the adjacent press machines, there is a problem that the device becomes large and a large installation space is required. is there. Further, since the work is transferred to the shuttle carriage, there is a problem that a transport error is likely to occur. As described above, it is difficult to increase the handling speed, and there is a problem that it is not possible to improve production efficiency as desired, because the size of the apparatus is inevitably increased in any of the work transfer apparatuses.

  In order to solve these problems, the present applicant has already proposed, as a prior application, a work transfer device in a tandem press line that can increase the work transfer speed with a relatively slim configuration (Japanese Patent Application No. 2001-2001). -400849). As shown in FIGS. 17A and 17B, the work transfer device 240 of the prior application provides a lift beam 241 parallel to the work transfer direction T and is movable along the longitudinal direction of the lift beam 241. And a crossbar 245 having a vacuum cup 244 as a work holding means between a pair of left and right subcarriers 243.

  In the work transfer device 240 of the prior application, the lift beam 241 is moved up and down by driving the lift axis servomotor 246 so that the vacuum cup 244 is moved up and down via the carrier 242, the subcarrier 243 and the cross bar 245. Has been. Further, the carrier 242 is moved along the longitudinal direction of the lift beam 241 by driving a linear motor (not shown) provided between the lift beam 241 and the carrier 242, and is moved between the carrier 242 and the subcarrier 243. The crossbar 245 and the vacuum cup 244 are moved in the workpiece transfer direction T by offsetting the subcarrier 243 in the moving direction of the carrier 242 by driving an interposed linear motor (not shown). In this manner, by controlling the positions of two orthogonal drive shafts in the up-down direction and / or the work transfer direction T, the movement trajectory of the vacuum cup 244, in other words, the transfer trajectory of the work W can be controlled. .

JP-A-6-262280 German Patent Application Publication No. 19851743

  However, in the work transfer device 200 according to Patent Literature 1, since all the crossbar carriers 202 are simultaneously driven by a driving unit that is a combination of a cam mechanism and a link mechanism, the driving system is heavy, long, and complicated. However, there is a problem that visibility is poor. In addition, in order to ensure positioning accuracy, it is necessary to increase the rigidity of the lift beam 201. Therefore, an increase in the weight of the lift beam 201 is inevitable. Need to be moved up and down, there is a problem that the size of the servomotor 204 increases, the size of the entire apparatus increases, and an increase in cost cannot be avoided. In addition, since the motion of the crossbar 203 in the work transfer direction T in all the processing stations is determined by the feed cam 208, there is a restriction in setting an optimal motion pattern for each processing station, and the degree of freedom is low. There are points.

  Further, the work transfer device 210 according to Patent Document 2 has a problem that the swing drive device 214 and the structure around it are complicated. Further, it is impossible to provide the work transfer device 210 in a place where the upright 211 is not provided, and there is a problem that the arrangement is restricted. Further, although the servomotor 221 is reduced in size by providing the balance cylinder 223, there is a problem that the configuration is inevitably complicated.

  Further, in the work transfer device 230 of another aspect according to the Patent Document 2, a cross bar 213 is attached to the distal ends of a pair of extendable arms 232 that are driven to swing along the work transfer direction T. Although the relative distance between the cross bar 213 and the swing center of the arm 232 is changed by the expansion and contraction operation of the arm 232, the arm 232 has a nested structure, so that it is structurally inevitable. The resulting minimum length of the arm (the length at the maximum contraction) is relatively long, which causes a problem that the movable area of the crossbar 213 is relatively narrow. Further, in Patent Document 2, the horizontal maintenance device includes a first toothed belt wheel fixed to a cross bar 213 and a second toothed belt wheel attached to a base end of an arm 232. By providing a toothed belt that is wound around and mounted between the two toothed belt wheels, and by fixing the second toothed belt wheel so as not to rotate, the work can be horizontally moved even when the pair of arms 232 swing. However, in the structure in which the toothed belt is wound and mounted between the first toothed belt wheel and the second toothed belt wheel, the pair of arms extend. It is not possible, and there is a question that if the pair of arms contracts, the toothed belt may become loose and malfunction. In addition, the technical content which can solve such a question is not described in the said patent document 2.

  On the other hand, in the work transfer device 240 according to the prior application, it is necessary to increase the rigidity of the lift beam 241 in order to secure the positioning accuracy. Therefore, an increase in the weight of the lift beam 241 cannot be avoided. Since it is necessary to move the entire lift beam 241 up and down when moving it up and down, there is a problem that the servomotor 246 is also enlarged, the whole device becomes large, and the cost is unavoidable. In addition, since the end of the lift beam 241 is disposed in the mold loading / unloading area, the lift beam 241 is temporarily raised outside the mold loading / unloading area when the mold is replaced, and then the mold is removed. Has to be performed, and the production efficiency is low.

  SUMMARY OF THE INVENTION The present invention has been made in view of such a problem, and it is possible to reduce costs by simplifying the configuration and downsizing, and to improve the production efficiency and the degree of freedom in setting a motion pattern. It is an object of the present invention to provide a work transfer device in a press line capable of performing the following.

In order to achieve the above object, a work transfer device in a press line according to the first invention is provided.
In a work transfer device in a press line including a crossbar that supports a work via work holding means that detachably holds the work,
By providing a crossbar support that supports the crossbar on a rocking body that is rockingly driven along the work transfer direction via a linear moving mechanism, the rocking center of the rocking body and the cross It is characterized in that the relative distance to the bar is made variable.

  In the first invention, it is preferable that a relative distance between the swing center and the crossbar is configured to be variable by providing the crossbar on the oscillator via at least one link. invention).

Next, the work transfer device in the press line according to the third invention is
In a work transfer device in a press line including a crossbar that supports a work via work holding means that detachably holds the work,
By providing the crossbar on a rocking body that is driven to rock along the work transfer direction via at least one link, the relative distance between the rocking center of the rocking body and the crossbar can be changed. It is characterized by comprising.

  In the first to third inventions, it is preferable that a tilt means for tilting the work in the vertical direction by rotating the crossbar about its long axis is provided (fourth invention).

  In the first invention to the fourth invention, the press line is a transfer press, and the oscillating body is suspended and supported by a support structure suspended from a top of the transfer press (fifth invention). Is an example.

  Further, in the first invention to the fourth invention, the press line is a tandem press line configured by arranging a plurality of press machines along a work transfer direction, and the oscillating body includes a tandem press line. (6th invention), there may be an embodiment supported by a support member disposed between adjacent press machines in (6).

  In the sixth invention, it is preferable that the support member is a beam erected between the press machines (a seventh invention). Further, in the seventh invention, one beam is erected between the press machines. (The eighth invention).

  According to the first aspect, since the crossbar support is provided movably with respect to the oscillating body via the linear moving mechanism, the crossbar is structurally moved from a position where the relative distance to the oscillating center of the oscillating body is relatively short. It can be moved to the maximum possible relative position. Thereby, the movable area of the crossbar can be secured wider than before by combining the swinging motion component of the swinging body and the linear motion component of the crossbar support by the linear moving mechanism. Therefore, for example, the work transfer device can be arranged so as not to interfere with the carry-in / carry-out area of the mold while securing a required movement area of the crossbar. And production efficiency can be improved. In addition, for example, a change in the height of the crossbar caused by the swinging motion of the oscillator is substantially compensated for by a linear motion by a linear moving mechanism, and in some cases, the crossbar is arbitrarily moved up and down. By controlling the oscillating motion of the moving body and the linear motion by the linear moving mechanism, the motion of the crossbar can be set arbitrarily. Moreover, such an operation and effect can be obtained with a simple and compact structure in which a crossbar support is provided via a linear moving mechanism on an oscillating driven oscillating body, so that there is an advantage that cost can be reduced. is there. Further, for example, in a transfer press, by arranging the work transfer device so as to correspond to a work loading / unloading operation with respect to a processing position of each processing station, an optimal motion pattern can be set for each processing station. Thus, the degree of freedom can be remarkably improved as compared with the related art.

  In the second aspect, the crossbar is provided on the oscillating body via at least one link, whereby the relative distance between the oscillating center of the oscillating body and the crossbar can be varied. Can be further improved.

  Next, according to the third aspect of the present invention, the swing bar driven to swing along the work transfer direction is provided with the crossbar through at least one link, so that the swing center of the rocker and the crossbar are provided. As in the first aspect, the crossbar is moved from a position where the relative distance to the swing center of the rocking body is relatively short from the position where the relative distance to the rocking center is the largest relative to the structure. Becomes possible. Therefore, the same function and effect as the first invention can be obtained.

  In the fourth aspect, since the tilt means is provided, the work is tilted up and down by the tilt means so as to cancel the inclination of the work inevitably caused by the swinging movement of the rocking body. Thus, the work can be kept horizontal, so that the work loading / unloading operation with respect to the processing position can be performed more smoothly and reliably.

  By adopting the configuration of the fifth invention, it is possible to increase the degree of freedom of arrangement of the work transfer device in the transfer press.

  Further, by adopting the configuration of the sixth invention, it is possible to provide a work transfer device capable of obtaining the effects of the first to fourth inventions even in a tandem press line.

  According to the seventh aspect, since the support member disposed between the adjacent press machines is a beam erected between the press machines, the floor space between the press machines can be effectively used as a passage, a transport path, and the like. it can.

  According to the eighth invention, since only one beam is provided between the press machines, the structure is further simplified, and the cost reduction is further promoted. Further, since the work transfer device is not provided on the inner surface of the upright, it is not necessary to increase the interval between the uprights, so that the main body of the press machine becomes compact and contributes to cost reduction. Further, the present invention can be applied to the remodeling (retrofit) of an existing press in which the upright interval cannot be changed.

  Next, a specific embodiment of a work transfer device in a press line according to the present invention will be described with reference to the drawings.

(1st Embodiment)
FIG. 1 shows an overall schematic front view of a transfer press according to a first embodiment of the present invention. FIG. 2 is a side view of a main part taken along line XX of FIG.

The transfer press 1 according to the present embodiment includes a crown 2, a slide 3, and a bed 4. In the transfer press 1, the crown 2, the upright 5, and the bed 4 are integrated by a tie rod (not shown), and are opposed to the upper die (not shown) attached to the lower surface of the slide 3. Press molding is performed between the lower dies 7 on the moving bolster 6 provided as described above. Further, the required processing in response to step specifications stations _{S 1,} S 2, _{S 3} and an idle station _{I 1} is provided, with respect to the processing position of the processing station _{S 1,} S 2, _{S 3} and an idle station _{I 1} Necessary (five in the present embodiment) work transfer devices 10, 10,... Are arranged to correspond to the work W loading / unloading operations. Here, although the description of the drive mechanism of the slide 3 is omitted, a main motor controlled by a signal from a press controller, a flywheel rotationally driven by the main motor, a clutch and a brake, a clutch And a drive shaft that is rotationally driven by the flywheel through the drive shaft. Also, each work transfer device 10 is attached to a column structure 8 vertically suspended from the crown 2 in an opposed arrangement in a direction perpendicular to the work transfer direction T so as to be suspended, and is used for press working. By moving the work W to each of the stations S ₁ , I ₁ , S ₂ , and S ₃ sequentially by the work transfer devices 10 in conjunction with each other, a desired pressed product can be obtained.

  Next, the configuration of the work transfer device 10 will be described in detail with reference to FIGS. FIGS. 3A and 3B are a front view (a) of an essential part for explaining the structure and operation of the work transfer device according to the first embodiment, and a view (b) of FIG. FIG. 4 shows a plan view (a) and a side view (b) of the work transfer device according to the first embodiment. Note that the work transfer device 10 of the present embodiment is symmetrical in the left and right directions with respect to the work transfer direction T, and for convenience of description, FIGS. 3 and 4 show only the right portion of the work transfer device 10. Have been.

  The work transfer device 10 includes a crossbar 12 that suspends and supports the work W via a required number of vacuum cups (work holding means) 11 that detachably holds the work W, and a pair of crossbars that support the crossbar 12. Carriers (crossbar supports) 13 and 13, a pair of feed levers (oscillators) 14 and 14 that are driven to swing along the work transfer direction T, and the carrier 13 is moved linearly with respect to each feed lever 14. It has a linear movement mechanism 15. Here, each feed lever 14 is rotatably mounted on a bracket 16 having an upper surface fixed to the lower surface of the support structure 8 by bolting via a support shaft 17 whose both ends are supported by the bracket 16. The slide 3 is supported and arranged at a required set height position so as not to interfere with the slide 3 in a direction orthogonal to the work transport direction T. Further, a crossbar 12 is suspended between the feed levers 14 facing each other so as to be orthogonal to the work transport direction T (see FIG. 2).

  The feed lever 14 is a box-shaped structure having a required space therein, and extends downward along a plane parallel to the axis of the support shaft 17 from a base end where the support shaft 17 is fitted. The driven gear 18 is fixed to the base end of the feed lever 14 concentrically with the support shaft 17 (see FIGS. 4A and 4B).

  A servo motor 20 is mounted on the bracket 16 via a speed reducer 19. A drive gear 21 is attached to an output shaft of the speed reducer 19, and the drive gear 21 is meshed with the driven gear 18. Thus, the rotational force output from the servo motor 20 is transmitted to the feed lever 14 via the speed reducer 19, the drive gear 21 and the driven gear 18, and the feed lever 14 is driven to swing around the axis of the support shaft 17. It has been like that. The output shaft of the speed reducer 19 may be directly connected to the support shaft 17 without passing through the drive gear 21 and the driven gear 18. At this time, the support shaft 17 is rotatably supported via a bearing device provided between the support shaft 17 and the bracket 16, and the feed lever 14 and the support shaft 17 are connected to a key (or a spline). ) Etc.

  The linear moving mechanism 15 includes a servo motor 22 and a ball screw 23 disposed inside the feed lever 14 and a rolling portion of the arm portion 14a of the feed lever 14 which is attached in the longitudinal direction of the upper surface in FIG. A linear guide (linear guide) 24 and a table 25 to which the carrier 13 is fixed are provided. A ball nut 23a screwed to the ball screw 23 is fixed to the table 25, and a ball driven by the servomotor 22 is provided. The table 23 is configured to linearly move on the rolling translation guide 24 by the screw 23 (a so-called single-axis ball screw slider mechanism). Thus, the relative distance between the swing center of the feed lever 14 (the center of the support shaft 17) and the crossbar 12 is made variable by the operation of the servo motor 22.

  The carrier 13 has a support device 26 including a rod portion 26a that fits into a hole formed in the end surface of the crossbar 12. The support device 26 is configured such that the rod portion 26a expands and contracts in the axial direction by operation of an air pressure supply device (not shown). Thus, the crossbar 12 can be easily attached and detached with a so-called one-touch operation. The carrier 13 is equipped with a tilt device (tilt means) 27 for tilting the work W in the vertical direction. The tilt device 27 includes a servomotor 28 attached to the carrier 13 and a power transmission mechanism (not shown) for transmitting the rotational force of the servomotor 28 to the rod portion 26a. The cross bar 12 is configured to rotate around its long axis via the portion 26a to tilt the work W in the vertical direction. In the present embodiment, the work W is tilted by the tilt device 27 so as to cancel the inclination of the work W caused by the swinging movement of the feed lever 14, and the work W is kept horizontal, thereby allowing the work W to be processed. The loading / unloading operation of the work W is performed more smoothly and reliably.

  In the present embodiment, a position detector (encoder: not shown) for detecting a current position is attached to each of the servomotors 20, 22, and 28, and a position signal detected by these position detectors is transmitted to the work transfer device 10. Is input to a controller (not shown) for a work transfer device related to the control of the above. On the other hand, in the controller for the work transfer device, the motion pattern of the work W is subjected to press working based on the current position information input from the position detectors and the current position information of the slide 3 input from the press controller. It is made to work in conjunction.

  In the work transfer device 10 of the present embodiment configured as described above, the carrier 13 is moved with respect to the feed lever 14 by the linear movement mechanism 15, so that the crossbar 12 is pivoted by the feed lever 14. It is moved from a position where the relative distance to (the center of the support shaft 17) is relatively short to the maximum relative position that is structurally possible. Then, the crossbar 12 is moved in a wide range by combining the swinging motion of the feed lever 14 by the operation of the servomotor 20 and the linear motion of the carrier 13 by the operation of the servomotor 22. At this time, the motion of the crossbar 12 is arbitrarily set by controlling the operations of the servomotors 20 and 22.

Further, in the present embodiment, in order to avoid interference between the workpiece W and the mold conveyed by the work transfer device 10, the work transfer device 10 is controlled according to a motion pattern based on a motion program input to the work transfer device controller. Driven. In FIG. 3A, an example of this motion pattern is represented by a dashed line indicated by a symbol M in the figure. In this example, the work W is sucked from the lower mold 7 of the previous station (for example, S ₂ : see FIG. 1) at the suction point P and is lifted in the Z-axis direction, and then the lower mold of the next station (S ₃ ). 7 is conveyed in the X-axis direction, is lowered in the Z-axis direction to enter the lower mold 7, and the suction of the work W is released at the release point Q. Next, after being once lifted up to return to the previous station (S ₂ ), it is moved up and down again through the lower standby point R to return to the suction point P, and one cycle is completed.

According to the present embodiment, each station _{S 1, I 1, S 2} , S 3 workpiece transfer device 10, 10 so as to correspond to the loading and unloading operation of the workpiece W with respect to the position, ... are disposed, the station Since the optimal motion pattern M can be set for each of S ₁ , I ₁ , S ₂ , and S ₃ , the motion table can be set freely according to the type of the mold, and the degree of freedom is higher than in the past. Can be significantly improved. The work W is transferred by the cooperation of a plurality of work transfer devices 10 that can be independently controlled, and the drive means of each device integrates the swing mechanism and the linear movement mechanism 15 into the feed lever 14. With this configuration, the apparatus configuration can be simplified and downsized, and there is an advantage that the space required for installation can be reduced. For this reason, the visibility and the maintainability can be improved, and the cost can be reduced. In addition, since the support method of suspending and supporting the work transfer device 10 by the support structure 8 suspended from the crown 2 is adopted, the work transfer device 10 can be installed at a desired position and can be arranged. There is an advantage that the degree of freedom is expanded.

(Second embodiment)
Next, a work transfer device according to a second embodiment of the present invention will be described below with reference to FIGS. FIG. 5 is a cross-sectional front view of a main part for explaining the structure and operation of the work transfer device according to the second embodiment. FIGS. 6A and 6B are a plan view and a sectional view, respectively, of a main part of the work transfer device according to the second embodiment. The work transfer device 30 of the present embodiment has a symmetrical structure to the left and right with respect to the work transfer direction T, similarly to the work transfer device 10. For convenience of explanation, FIGS. Only the right part of the work transfer device 30 is shown. The same or similar components as in the first embodiment are denoted by the same reference numerals in the drawings, and detailed description thereof will be omitted.

  The work transfer device 30 according to the present embodiment includes a crossbar 12 that suspends and supports the work W via a required number of vacuum cups (work holding means) 11 that detachably holds the work W, and supports the crossbar 12. A pair of feed levers (crossbar support members) 33, a pair of swing tables (oscillators) 34 that are driven to swing along the work transfer direction T, and a feed lever 33 for each of the swing tables 34. The apparatus is provided with a linear movement mechanism 35 for performing linear movement. Here, each swing table 34 is rotatable with respect to a rotation support shaft 37 that is rotatably supported by a bearing device on both sides of the swing table 34 on a bracket 36 fixed to the lower surface of the column structure 8. And is fixed by a coupling means such as a key (or a spline), and is disposed so as to be opposed to a direction orthogonal to the workpiece transfer direction T and at a required set height position so as not to interfere with the slide 3. Further, the crossbar 12 is suspended between the feed levers 33 facing each other so as to be orthogonal to the work transport direction T.

  The swing table 34 is a box-shaped structure having a substantially cubic shape as a whole having a required space therein, and has a base end portion formed with an insertion hole 34a into which the rotation support shaft 37 is fitted. A driven gear 38 is fixed to one end of the rotation support shaft 37 concentrically with the rotation support shaft 37 by coupling means such as a key (or spline).

  A reducer 39 is mounted on the bracket 36. The output shaft of the servomotor 40 is connected to the input shaft of the speed reducer 39 via a coupling, and the drive gear 41 is connected to the output shaft of the speed reducer 39 by coupling means such as a key (or spline). The drive gear 41 is fixed concentrically with the output shaft of the speed reducer 39, and meshes with the driven gear 38. In this way, the rotational force output from the servomotor 40 is transmitted to the swing table 34 via the reduction gear 39, the drive gear 41, the driven gear 38, and the rotation support shaft 37, and the swing table 34 is It is configured to be driven to swing around the axis of the dynamic support shaft 37. Note that the output shaft of the speed reducer 39 may be directly connected to the rotation support shaft 37 without using the drive gear 41 and the driven gear 38.

  The feed lever 33 is a substantially hook-shaped box-shaped structure having a required space inside, and has an arm portion 33a extending along a plane facing the swing table 34 and a tip of the arm portion 33a. And a projection 33b projecting at a right angle from the support portion. The support device 26 described above is attached to the projection 33b, and the rod portion 26a of the support device 26 is rotated about its axis. A driving servomotor 28 is mounted.

  The linear moving mechanism 35 includes a ball screw 42 disposed inside the feed lever 33 and having both ends fixedly supported by the feed lever 33, a ball nut 43 screwed to the ball screw 42, A rolling linear motion guide (linear guide) 44 inserted between the base 34 and the feed lever 33 and attached to the plane of the arm 33a of the feed lever 33 along the longitudinal direction; And a power transmission means 46 for transmitting the rotational force of the servo motor 45 to the ball nut 43. The feed nut 33 is driven by the ball nut 43 driven by the servo motor 45 to roll and move linearly. It is configured to be guided by the guide 44 and perform a linear motion. Thus, the relative distance between the swing center of the swing table 34 (the center of the rotation support shaft 37) and the crossbar 12 is made variable by the operation of the servo motor 45.

  With the work transfer device 30 of this embodiment configured as described above, the same operation and effect as those of the first embodiment can be obtained, and the swing motion component of the swing table 34 and the linear motion component of the feed lever 33 can be obtained. And the same motion pattern M as in the first embodiment. Furthermore, in the work transfer device 10 according to the first embodiment, since the feed lever 14 is swung while the carrier 13 is linearly moved by the linear movement mechanism 15 with respect to the feed lever 14, the motion pattern M is executed. The arm portion 14a of the feed lever 14 protrudes greatly downward. However, in the work transfer device 30 of the present embodiment, the feed lever 33 is linearly moved by the linear moving mechanism 35 with respect to the swing table 34. Since the swing table 34 is swung while being rotated, even when the motion pattern M is executed, the feed lever 33 does not protrude significantly downward. Therefore, there is an advantage that the degree of freedom in arrangement design is further increased.

(Third embodiment)
FIG. 7 shows a front view (a) for explaining the structure and operation of the work transfer device according to the third embodiment, and a view (b) as viewed from an arrow A in (a). The same or similar components as those in the above embodiments are denoted by the same reference numerals in the drawings.

  The work transfer device 50 according to the present embodiment includes a first arm (oscillator) 52 whose base end is pivotally attached to a clevis-shaped bracket 51 fixed to the lower surface of the column structure 8, and the first arm 52. A servomotor provided with a second arm 53 (corresponding to "at least one link" in the present invention) having a base end pivotally attached to the distal end of the arm 52, and mounted on the bracket 51 via the speed reducer 19; The first arm 52 is swingably driven with respect to the bracket 51 by the operation of the second arm 20, and the second arm is mounted by the operation of the servomotor 54 with a built-in speed reducer mounted on the distal end of the first arm 52. 53 is configured to be swingably driven with respect to the first arm 52. The support device 26 described above is attached to the distal end of the second arm 53, and a servomotor 55 with a built-in speed reducer for rotating the rod portion 26a of the support device 26 around its axis is mounted. Have been. Thus, the operation of the servomotor 20 causes the crossbar 12 to swing around a pivot point at the base end of the first arm 52, and the operation of the servomotor 54 causes the crossbar 12 to move toward the base end of the first arm 52. Is performed so as to change the relative distance between the pivot point and the crossbar 12 at.

  According to the work transfer device 50 of the present embodiment, basically the same operation and effect as those of the above embodiments can be obtained, and the oscillating motion component of the first arm 52 and the oscillating motion component of the second arm 53 can be obtained. And the same motion pattern M as in the first embodiment. Further, since the same motion pattern M as that of the first embodiment is realized by the bending operation of the two-node link by the first arm 52 and the second arm 53, the first arm 52 and the second arm 53 Both have no advantage in that they protrude greatly downward, and as in the second embodiment, there is the advantage that the degree of freedom in arrangement design is further increased.

(Fourth embodiment)
FIG. 8 is a perspective view of a work transfer device according to the fourth embodiment. The work transfer device 70 of the present embodiment is symmetrical to the left and right with respect to the work transfer direction T, similarly to the work transfer devices 10, 30, and 50. Shows only a part on one side of the work transfer device 70. Also in the present embodiment, the same or similar components as those in the above embodiments are denoted by the same reference numerals in the drawings, and detailed description thereof will be omitted.

  In the work transfer device 70 according to the present embodiment, as shown in FIG. 8, a swing table (oscillator) 72 is attached to a bracket 71 fixed to the lower surface of the support structure 8. The servo motor 73 is driven to rotate. A feed lever (crossbar support) 74 is attached to the swing table 72. In this embodiment, a ball screw 75 is attached to the upper surface of the feed lever 74, and the ball nut 76 screwed to the ball screw 75 is rotated by the servomotor 77 to move the feed lever 74 forward and backward. It has become. At this time, a rod-shaped linear guide 78 is provided on the lower surface of the feed lever 74, and the linear guide 78 is slidably supported by a support portion 72 </ b> A integrated with the swing table 72. . A linear moving mechanism 79 is constituted by the ball screw 75, the ball nut 76, the servomotor 77, and the power transmission means 76A shown in FIG. 8, and determines the relative distance between the swing bar 72 of the swing table 72 and the crossbar 12. It is designed to change.

  A base end of an arm (corresponding to “at least one link” in the present invention) 80 is attached to a distal end of the feed lever 74. The arm 80 is configured to be rotationally driven by a servomotor 81 on the base end side. That is, in the present embodiment, the relative distance between the swing center of the swing table 72 and the crossbar 12 is changed not only by the linear movement mechanism 79 but also by the operation of the servo motor 81. The crossbar 12 is attached to the U-shaped portion at the tip of the arm 80 via a tilt device 82.

  As shown in an enlarged view in FIG. 9, the tilt device 82 includes a driven shaft 83 rotatably connected between the distal ends of arms 80, and the driven shaft 83 via a pair of bevel gears 84 and 85. A drive shaft 86 for driving, a servomotor 87 for driving the drive shaft 86 (see FIG. 8), and a holding bracket 88 that rotates integrally with the driven shaft 83 while holding the crossbar 12 are provided. Here, the drive shaft 86 is supported by the arm 80 using a bearing 89, but the support structure of the driven shaft 83 is the same.

  In FIG. 9, the holding bracket 88 of the tilt device 82 is provided with holding pieces 88A and 88B facing each other. A plurality of (two in this embodiment) air cylinders 90 are attached to each of the holding pieces 88A and 88B along the longitudinal direction of the holding bracket 88, and rods 91 from the air cylinder 90 are attached to both sides of the cross bar 12. It is inserted into an insertion hole 12A formed in the surface. Then, by moving each rod 91 forward and backward, the crossbar 12 can be attached to and detached from the holding bracket 88, and can be replaced with a crossbar 12 according to the shape of the work W or the like.

  Note that a guide member 92 that prevents rattling between the holding bracket 88 and the crossbar 12 and guides the rod 91 from being inserted is fitted into the insertion hole 12A of the crossbar 12 into which the rod 91 is inserted. Have been combined. A pad 93 is attached to the upper surface of the crossbar 12 in the drawing for the purpose of preventing rattling of the crossbar 12 and absorbing vibration, or positioning the rod 91 and the insertion hole 12A.

  According to the work transfer device 70 of the present embodiment, the arm 80 is rotatably installed at the end of the feed lever 74 so that the crossbar 12 is arranged at the end of the feed lever 74 (for example, the second Since the degree of freedom in setting a motion pattern can be further improved as compared with the embodiment, it is possible to more easily prevent the feed lever 74 or the arm 80 from interfering with the slide 6 or the mold.

  In addition, the work transfer device 70 of the present embodiment includes the arm 80 that rotates with respect to the feed lever 74 in addition to the linear movement mechanism 79, so that the configuration of the second embodiment and the third embodiment are described. Therefore, the effect of each embodiment can be obtained at the same time.

  In each of the above embodiments, an example is shown in which the work transfer devices 10, 30, 50, and 70 are suspended and attached to the support structure 8 suspended from the crown 2. However, the present invention is not limited to this. The work transfer devices 10, 30, 50, and 70 may be attached to and suspended from the work 5 via required attachment means. Further, there may be a mode in which the work transfer devices 10, 30, 50, and 70 exemplified in the above embodiments are installed upside down on the bed 4 upside down.

  In each of the above embodiments, an example in which the present invention is applied to a normal transfer press has been described. However, a press of another aspect, for example, a module in which a crown, a slide, and a bed are set as a set in each process. It is, of course, possible to apply the present invention to a so-called module transfer press in which an upright is shared between the steps.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described below. FIG. 10 is an overall schematic explanatory view of a tandem press line according to a fifth embodiment of the present invention. FIG. 11 is a side view of a main portion viewed from HH in FIG. 10. This embodiment is an example in which the work transfer device 70 according to the fourth embodiment is applied as a work transfer device used in the tandem press line 101. It should be noted that the work transfer device (10/30/50) according to any of the first to third embodiments can be used instead of the work transfer device 70 according to the fourth embodiment.

  The tandem press line 101 of the present embodiment includes a plurality of (two in the present embodiment) press machines 102 that are arranged in series from the upstream side (left side in the figure) to the downstream side at a predetermined interval from each other. , 103, a material carry-in device (not shown) disposed upstream of the upstream press machine 102, a product carry-out device (not shown) disposed downstream of the downstream press machine 103, A work transfer device (not shown: having the same configuration as the work transfer device 70 to be described later) that transfers the work on the carry-in device to the processing station of the press machine 102 on the upstream side, and between each processing station of the press machines 102 and 103 adjacent to each other. A work transfer device 70 for transferring (unloading / loading in) the work W, and a work for transferring the work from the processing station of the press machine 103 on the downstream side to the product unloading device. Feeder (not shown: with the previous work carrier 70 the configuration) is configured to include a.

  Each of the press machines 102 and 103 includes an upright 104 as a main body frame, an upper frame 105 which is disposed above the upright 104 and has a built-in driving force transmission mechanism, and is supported by the upright 104 so as to be vertically movable. An upper die (not shown) which includes a slide 106 which is moved up and down via the driving force transmission mechanism, and a moving bolster 108 which is disposed opposite to the slide 106 and is provided on a bed, is mounted on a lower end of the slide 106. ) And a lower die (not shown) mounted on the upper end of the moving bolster 108 so that the work W is pressed.

  A pair of beams (supporting members) 111 is provided between the adjacent press machines 102 and 103 in the tandem press line 101, and the pair of beams 111 is located above the mold loading / unloading area. , One end of each beam 111 is fixed to a downstream upright 104 of an upstream press machine 102 via a support bracket 112, and one end of each beam 111 is fixed to the downstream upright 104 via a support bracket 112. The other end is similarly fixed to the upstream upright 104 in the downstream press machine 103 via the support bracket 112. In the work transfer device 70, each bracket 71 is fixed to the center of each beam 111, and each swing table 72 is swingably supported by each beam 111.

  According to the present embodiment, the operation and effect described in the fourth embodiment can be obtained in the tandem press line 101 as well as the peripheral portion of the cross bar 12 in the work transfer device 70 when the mold is replaced. What is necessary is just to retreat from the mold loading / unloading area, and since such retreating operation can be performed quickly by operating the work transfer device 70, the time required for mold replacement can be reduced as compared with the related art, and the production efficiency can be reduced. Can be improved. In addition, since the work transfer device 70 is suspended and supported by a pair of beams 111 provided between the adjacent press machines 102 and 103, a space above the floor between the press machines 102 and 103 is formed as a passage or a transfer path. Etc. can be effectively used.

(Sixth embodiment)
FIG. 12 is a perspective view of a work transfer device according to the sixth embodiment. FIG. 13 is a side view of a main part viewed from JJ in FIG. In the present embodiment, the same or similar components as those in the fifth embodiment will be denoted by the same reference numerals in the drawings, and detailed description thereof will be omitted.

  This embodiment is an example in which the work transfer device 70 in the tandem press line 101 described in the fifth embodiment is further downsized. That is, in the fifth embodiment, the work transfer device 70 according to the fourth embodiment is applied as a work transfer device used in the tandem press line 101, and the work transfer device 70 according to the fourth embodiment is The drive system from the swing table 72 to the crossbar 12 has two systems, and the drive systems are synchronized with each other to form one work transfer device. In the embodiment, the work transfer device used in the tandem press line 101 has the same basic configuration as the work transfer device 70 according to the fourth embodiment, but as shown in FIG. ) To the crossbar 12 is one system, and a configuration in which one work transfer device is established by such a drive system is applied. Note that, instead of the work transfer device 70 'according to the present embodiment, the work transfer device (10/30/50) according to any of the first to third embodiments has the same basic configuration, and an oscillator (feed The drive system from the lever 14 / the rocking table 34 / the first arm 52) to the crossbar 12 is made into one system, and of course, a configuration in which one work transfer device is established by such a drive system is applied. It is possible.

  In the fifth embodiment, two beams 111 are installed between the adjacent press machines 102 and 103. On the other hand, in the present embodiment, the adjacent press machines 102 and 103 are used. There is one beam 111 erected between them. In the present embodiment, each end of the beam 111 is fixed to a U-shaped support frame 113 attached to the lower side of each upper frame 105. Here, in each of the press machines 102 and 103, the support frame 113 is positioned substantially at the center between the uprights 104 and 104 along the mold loading / unloading direction. Also in the work transfer device 70 'according to the present embodiment, the bracket 71 supporting the swing table 72 is fixed to the lower surface of the central portion of the beam 111 and is disposed at an intermediate position between the adjacent press machines 102 and 103. I have.

  According to the present embodiment, since only one beam 111 is installed between the adjacent press machines 102 and 103, the structure is smaller than that of the fifth embodiment in which the pair of beams 111 is provided. Simplification can be achieved, and cost reduction can be further promoted. In addition, since the work transfer device 70 'is not disposed on the inner surface of the upright 104, it is not necessary to increase the interval between the uprights 104, 104, so that the main bodies of the press machines 102, 103 can be made compact and the cost can be reduced. it can. Further, the present invention can be applied to the remodeling (retrofit) of an existing press in which the interval between the uprights 104, 104 cannot be changed.

  In each of the above embodiments, an example in which the work supporting means such as the crossbar 12 is used has been described. However, the present invention is not limited thereto, and a cantilevered finger type or a cantilever cup type work supporting means may be used. It is also possible to adopt.

  The present invention provides, for example, (1) a transfer press that performs processing while transferring a work to the next step, and (2) a module in which a crown, a slide, and a bed are set as a set for each step, and an upright between the steps is shared. And (3) a work transfer device in a tandem press line in which a plurality of press machines are arranged in a line in the work transfer direction.

1 is an overall schematic front view of a transfer press according to a first embodiment of the present invention. XX view main part side view of FIG. FIG. 2A is a sectional front view of a main part for explaining the structure and operation of the work transfer device according to the first embodiment, and FIG. Plan view (a) and side view (b) of the work transfer device according to the first embodiment. Main part sectional front view for explaining the structure and operation of the work transfer device according to the second embodiment. Main part cross-sectional plan view (a) and main part cross-sectional side view (b) of the work transfer device according to the second embodiment. FIG. 4A is a front view illustrating the structure and operation of the work transfer device according to the third embodiment, and FIG. Perspective view of a work transfer device according to a fourth embodiment FIG. 8 is a cross-sectional view of a principal part taken along the line II of FIG. Overall schematic explanatory view of a tandem press line according to a fifth embodiment of the present invention. FIG. 10 is a side view of a main portion viewed from HH in FIG. 10. A perspective view of a work transfer device according to a sixth embodiment. FIG. 12 is a side view of a main part viewed from JJ in FIG. Description of the structure of a conventional work transfer device Description of the structure of a conventional work transfer device Description of the structure of a conventional work transfer device (A) and (b) an enlarged front view of a main part of a work transfer device in a tandem press line according to a conventional technique.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 Transfer press 8 Prop structure 10, 30, 50, 70 Work transfer device 11 Vacuum cup (work holding means)
12 Crossbar 13 Carrier (crossbar support)
14 Feed lever (oscillator)
15, 35, 79 Linear moving mechanism 27, 82 Tilt device (tilt means)
33,74 Feed lever (crossbar support)
34,72 Rocking table (rocking body)
52 First arm (oscillator)
53 Second arm (link)
80 arm (link)
111 beam (supporting member)
T Work transfer direction W Work

Claims (8)

In a work transfer device in a press line including a crossbar that supports a work via work holding means that detachably holds the work,
By providing a crossbar support that supports the crossbar on a rocking body that is rockingly driven along the work transfer direction via a linear moving mechanism, the rocking center of the rocking body and the cross A work transfer device in a press line, wherein a relative distance to a bar is variable.   2. The work transfer in the press line according to claim 1, wherein the crossbar is provided on the oscillating body via at least one link, so that the relative distance between the oscillating center and the crossbar is configured to be variable. apparatus. In a work transfer device in a press line including a crossbar that supports a work via work holding means that detachably holds the work,
By providing the crossbar on a rocking body that is driven to rock along the work transfer direction via at least one link, the relative distance between the rocking center of the rocking body and the crossbar can be changed. A work transfer device in a press line, comprising:   4. The work transfer device according to claim 1, further comprising a tilt unit that tilts the work in a vertical direction by rotating the crossbar about its long axis. 5.   The work in the press line according to any one of claims 1 to 4, wherein the press line is a transfer press, and the oscillating body is suspended and supported by a column structure that is suspended from a top portion of the transfer press. Transport device.   The press line is a tandem press line configured by arranging a plurality of press machines along a work transfer direction, and the oscillator is disposed between adjacent press machines in the tandem press line. The work transfer device in a press line according to claim 1, wherein the work transfer device is supported by a support member.   The work transfer device according to claim 6, wherein the support member is a beam erected between the press machines.   The work conveying device in a press line according to claim 7, wherein one beam is provided between the press machines.

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