JP2005065451A - Cable processor and work transfer device using the cable processor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cable processor that can follow movement in an arbitrary direction and secure the durability of cables even if a movement distance is prolonged, and to provide a work transfer device using the cable processor. <P>SOLUTION: A link mechanism 30 is constituted of four pieces of first to fourth links 31 to 34 that are connected between a fixed part 3A and a movable part 3B so as to be freely turnable, and coupled to one another by three pieces of turning shafts (second to fourth axial lines 32A, 33A and 34A) that are not parallel with turning shafts (first and fifth axial lines 31A, 35A) of the fixed part 3A and the movable part 3B and parallel with one another. The cable processor can thereby follow the movement of the movable part 3B not only in a direction orthogonal to the turning shafts that connect the first to fourth links 31 to 34 but also in an arbitrary direction, thus improving the freedom of cable processing. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a cable processing device and a workpiece transfer device. Specifically, in a processing machine such as a press, a cable processing device that processes cables connected to a movable part of a transport device that transports a workpiece such as a processed material (blank), a product, a semi-finished product, and the cable processing device. The present invention relates to the workpiece transfer device used.

  Conventionally, in a workpiece transfer device such as an automatic loading device (loader, unloader) or transfer feeder used for a press or the like, a movable body such as a carrier to which a workpiece holding means is attached moves in the transfer direction (feed direction). The work is transported (feed, feed). And to such a movable body, cables such as a power line, a signal line, a hydraulic pipe, and an air pipe are connected to drive the movable body itself or to drive a vacuum cup device or the like as a work holding means. Has been. These cables extend to a power source, a controller, a hydraulic valve, an air compressor, and the like that are arranged adjacent to the processing machine. In arranging the cables, it is necessary to appropriately process the cables so that the cables do not restrict the movement of the movable body and do not interfere with the workpiece transfer area, the slide movable area of the press, or the like. .

A cable processing apparatus has been proposed as a device that can appropriately perform such processing of cables and the like, which has a mechanism that can hold the middle portion of the cables and follow the movement of the movable body (for example, Patent Document 1). reference).
The cable processing apparatus described in Patent Document 1 includes first and second links that connect a fixed portion provided in a main body of an automatic loading device and a movable portion provided in a movable body. The fixed portion, the first link, the second link, and the movable portion are connected to each other so as to be rotatable about axes that are orthogonal to the moving direction (conveying direction) of the movable body and parallel to each other. Accordingly, the cables held by the first and second links can follow the movement of the movable body without restricting the movement, and the bending angle of the cables accompanying the movement of the movable body falls within a predetermined range. It has become possible to ensure the durability of the kind.

Japanese Utility Model Publication No. 6-22513

However, in the cable processing apparatus disclosed in Patent Document 1, the first and second links can rotate only about axes that are orthogonal to the conveyance direction and parallel to each other, so that the movable body that can follow is limited to a plane. However, there is a problem that the degree of freedom in cable processing is limited because it cannot follow movement in an arbitrary (three-dimensional) direction.
Furthermore, in order to lengthen the moving distance of the movable body, it is necessary to extend the length of the first and second links, and when the length of these links is increased, the movable portion approaches the fixed portion. When doing so, the angle between both links becomes acute. For this reason, the bending angle change of cables becomes very large, and there is a problem that the life of the cables is shortened.

  An object of the present invention is to provide a cable processing device that can follow the movement in an arbitrary direction and can ensure the durability of cables even when the moving distance becomes long, and a work transfer device using the cable processing device. There is to do.

  The cable processing apparatus according to claim 1 of the present invention includes a fixed portion that is immovable, a movable portion that is movable in an arbitrary direction with respect to the fixed portion, and the fixed portion and the movable portion. A link mechanism that connects the first link having one end rotatably connected to the fixed portion about a first axis, and the other end of the first link. A second link having one end connected to be rotatable about the second axis, and one end connected to the other end of the second link to be rotatable about the third axis One end is connected to the third link and the other end of the third link so as to be rotatable about the fourth axis, and the other movable part is rotatable about the fifth axis. A fourth link having end portions connected to each other, and the first and fifth axes are flat with each other. The second, third, and fourth axes are parallel to each other and not parallel to the first and fifth axes, and one end is connected to the movable portion. A middle portion of the cable having the other end extending toward the fixed portion is held by the link mechanism.

  In the present invention, the fixed portion and the movable portion are rotatably connected, and are not parallel to the rotation axes (first and fifth axes) of the fixed portion and the movable portion, and are parallel to each other. Since the link mechanism is composed of four links connected by three rotation axes (second to fourth axes), not only the direction orthogonal to the rotation axis connecting these links but also any direction It is possible to follow the movement of the movable part to the cable, and the degree of freedom in cable processing can be increased. In addition, the configuration of each pivot shaft described above allows the link mechanism to rotate even at the connection position between the fixed portion and the movable portion, so that the cable mechanism has a middle portion held by the link mechanism even if the moving distance of the movable body is increased. The change in the bending angle of the cable does not increase, and the durability of the cable can be sufficiently secured.

In the cable processing device according to claim 2 of the present invention, the directions of the first and fifth axes and the directions of the second, third, and fourth axes are orthogonal to each other. And
In the present invention, the directions of the rotation axes (first and fifth axes) of the fixed part and the movable part, and the directions of the rotation axes (second to fourth axes) connecting the links, Since they are orthogonal to each other, the movement in the plane by the rotation between the links and the movement in the direction crossing the movement in the plane can be performed simultaneously. Therefore, it is possible to follow the movement of the movable body in an arbitrary direction more smoothly, and the degree of freedom in cable processing can be further improved.
Further, since the rotation direction of the fixed part and the movable part around the rotation axis and the rotation direction around the rotation axis connecting the links are orthogonal to each other, the bending direction of the cables supported by the links can be increased. The bending angle change can be further reduced without overlapping.

In the cable processing apparatus according to claim 3 of the present invention, the first link or the fourth link intersects the first axis or the fifth axis with respect to the fixed part or the movable part. Are slidably connected to each other.
In the present invention as described above, the fixed part or the movable part and the link mechanism are pivotably connected to each other so as to be slidable in a direction intersecting with the pivot axes (first and fifth axes). As a result, the rotation of the fixed portion and the movable portion around the rotation axis and the relative movement by sliding are simultaneously performed. Accordingly, the degree of freedom in cable processing can be further increased, and the moving distance of the movable body can be further increased by adjusting the sliding direction to the moving direction of the movable body.

On the other hand, a workpiece transfer device according to a fourth aspect of the present invention is a workpiece transfer device using any of the cable processing devices described above, and the movable portion of the cable processing device extends along the workpiece transfer direction. A feeder for feeding a workpiece is provided, and a workpiece holding means for holding the workpiece is supported by the feeder, and one end of a cable whose middle portion is held by the link mechanism of the cable processing apparatus is connected to the feeder. It is characterized by.
In the present invention as described above, the same operational effects as those described above can be achieved. That is, in a workpiece transfer device that holds workpieces such as products, semi-finished products, and processed materials by a workpiece holding means, the cable processing device that holds the middle part of cables connected to the feeder of the movable part moves the feeder. In addition, the cable can be bent at a gentle bending angle even when the feeder moving distance (conveyance distance) becomes long, so that the durability of the cables can be sufficiently ensured.

In the workpiece transfer apparatus according to claim 5 of the present invention, the fixed portion is provided at a position offset with respect to the movable portion in a direction intersecting the workpiece transfer direction.
In the present invention, the fixed portion is provided at a position offset with respect to the movable portion in the direction intersecting the workpiece conveyance direction, that is, the side where the link mechanism intersects the moving direction of the feeder (for example, the feeder Therefore, the cables can smoothly follow the movement of the feeder by rotating and bending each part of the link mechanism without interfering with the workpiece conveyance area.

  ADVANTAGE OF THE INVENTION According to this invention, not only the direction orthogonal to the rotating shaft which connects each link of a link mechanism but the movement of a movable part to arbitrary directions can be tracked, and the freedom degree of a cable process can be raised. Furthermore, even if the moving distance of the movable body becomes long, the change in the bending angle of the cables whose intermediate portions are held by the link mechanism does not increase, and the durability of the cables can be sufficiently ensured.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 and FIG. 2 are a plan view and a side view showing a workpiece transfer device 2 using a cable processing device 3 according to the present embodiment. 3 and 4 are a plan view and a side view showing operations of the workpiece transfer device 2 and the cable processing device 3, respectively. 5A to 5D are side views showing the operation of the cable processing device 3.
In the second and subsequent embodiments to be described later, the same components and components having the same functions as those in the first embodiment described below are denoted by the same reference numerals, and description thereof will be simplified or omitted.

  1 and 2, a workpiece transfer device 2 supported by a support frame 1 transfers (feeds) a workpiece along a workpiece transfer direction (indicated by a white arrow in FIG. 1). It is installed between adjacent presses of a tandem press (not shown) composed of a plurality of presses continuously arranged in series along the conveyance direction. In such a tandem press, the workpiece processed by the upstream press is transferred to the downstream press by the workpiece transfer device 2 and the processing of the next process is sequentially repeated to process the workpiece. To be implemented.

The support frame 1 that supports the workpiece transfer device 2 includes four pillars 11 erected on the floor 10 and two beams 12 and 13 that connect the upper ends of the pillars 11. Yes. The beam 12 is constructed so as to intersect with the workpiece conveyance direction, and the beam 13 is constructed along the workpiece conveyance direction. Further, a beam 14 is fixed on the beam 12 so as to intersect with the middle part of the two beams 12, and the workpiece transfer device 2 is directly supported by the beam 14.
Note that the support frame 1 is not limited to the structure including the pillar 11 that is an independent pillar standing from the floor 10, and includes, for example, a beam material laid between uprights facing each other adjacent presses. It may be made of a bracket taken out of the upright or the like.

  The workpiece transfer device 2 includes a main beam 21 extending along the workpiece transfer direction, and a main feeder 22 and a sub-feeder 23 as a movable portion 3B supported movably along the main beam 21. Further, the workpiece transfer device 2 includes two balance cylinders 24 that support the main beam 21 suspended from the beam 14 and lift driving means 25 that drives the main beam 21 up and down. In addition, a cross bar 26 having a vacuum cup device 27 as a work holding means is attached to the sub-feeder 23.

The main beam 21 is a long member having a substantially trapezoidal cross section in which a concave groove is formed on the lower surface of the main beam 21 at a position substantially below the longitudinal center of the beam 12.
An upper surface of the main feeder 22 is engaged with a lower surface of the main beam 21 by an LM (Linear Motion) guide (trade name) 211, and is supported movably along the main beam 21. Further, a linear motor 212 is provided in the groove on the lower surface of the main beam 21, and the main feeder 22 is driven along the main beam 21 by the linear motor 212. Although not shown in particular, the linear motor 212 protrudes from the upper surface of the main feeder 22 and is opposed to the primary coil, and a secondary coil provided between the primary coils and provided in a groove on the lower surface of the main beam 21. A side conductor or a secondary side permanent magnet is provided.

  Similar to the main feeder 22, the upper surface of the sub feeder 23 is engaged with the lower surface of the main feeder 22 by the LM guide 221, and is supported so as to be movable along the main feeder 22. A linear motor 222 is provided between the upper surface of the sub-feeder 23 and the lower surface of the main feeder 22, and the sub-feeder 23 is driven along the main feeder 22 by the linear motor 222. Although not shown in particular, the linear motor 222 includes a primary side coil provided on the upper surface of the sub-feeder 23 and a secondary side conductor or secondary side provided on the lower surface of the main feeder 22 so as to face the primary side coil. And a permanent magnet.

The cross bar 26 is a hollow bar-like member, and a substantially central portion thereof is supported by the sub-feeder 23 in a detachable manner. And the vacuum cup apparatus 27 which can adsorb | suck a workpiece | work in multiple places (this embodiment four places) is attached to the cross bar 26. FIG.
The cross bar 26 and the vacuum cup device 27 are the same as those used in a normal transfer feeder or the like, and have appropriate rigidity and a reliable work holding (suction) force.
The device for holding the workpiece is not limited to the vacuum cup device 27, and a finger device of a type including a pair of fingers for gripping the side edge portion of the workpiece can be employed.

  The balance cylinder 24 connects the upper surface of the main beam 21 and the bracket 241 fixed to the beam 14 to suspend and support the main beam 21. The main cylinder 21, the main feeder 22, The workpiece load and the like held by the feeder 23 and the vacuum cup device 27 are transmitted to the beam 14. The balance cylinder 24 reduces the driving load of the lift driving unit 25 when the main beam 21 is driven up and down by the lift driving unit 25, and appropriately adjusts the hydraulic pressure or air pressure so that the main beam 21 does not tilt. The length can be expanded and contracted.

  As shown in FIG. 2, the lift drive means 25 includes a columnar shaft 251 fixed to the upper surface of the center of the main beam 21, a rack 252 that extends continuously above the shaft 251, and meshes with the rack 252. And a motor (not shown) that rotationally drives the pinion 253. The rack 252 is guided by a bracket 254 fixed to the beam 14 so as to be movable up and down, and a pinion 253 and a motor are attached to the bracket 254.

Next, the cable processing device 3 used for the workpiece transfer device 2 will be described.
The cable processing device 3 is provided on the side of the main beam 21 and the main feeder 22 that intersects the workpiece conveyance direction (downward in FIG. 1 and leftward in FIG. 2). The middle part of the plurality of cables 4 to be connected is held. The cable processing device 3 includes a link mechanism 30 that connects between a bracket 3A as a fixed portion fixed to the beam 13 so as not to move and a bracket 223A fixed to the cable distribution portion 223 on the side of the main feeder 22. It is prepared for.
Here, the bracket 3 </ b> A as the fixed portion is provided at a position offset (a predetermined distance away) from the main feeder 22 and the sub-feeder 23 as the movable portions to the side that is a direction intersecting the workpiece conveyance direction. ing. Further, the cable 4 is arranged from the power source (not shown) provided outside the beam 13 on the fixed part side (left side in FIG. 2) to the main feeder 22 along the cable processing device 3. It is connected to a cable connection part 224 provided in the cable distribution part 223 of the main feeder 22.
The fixing portion of the cable processing device 3 is not limited to the bracket 3A fixed to the beam 13 of the support frame 1, but is directly provided on the column 11 and the beams 12 and 13 of the support frame 1 and fixed immovably. It may be a member.

The link mechanism 30 includes first to fourth links 31 to 34.
One end of the first link 31 is connected to the bracket 3 </ b> A so as to be rotatable about the first axis 31 </ b> A, and one end of the second link 32 is connected to the other end of the first link 31. It is connected so as to be rotatable about the second axis 32A.
The third link 33 has one end connected to the other end of the second link 32 so as to be rotatable about the third axis 33A. The third link 33 is connected to the other end of the third link 33. One end of each of the four links 34 is connected to be rotatable about a fourth axis 34A. Further, the other end of the fourth link 34 is connected to the bracket 223A so as to be rotatable about the fifth axis 35A.
The first and fifth axes 31A and 34B are vertical axes that are parallel to each other and perpendicular to the workpiece conveyance direction. The second, third, and fourth axis lines 32A, 33A, and 34A are parallel to each other and set as a horizontal axis. That is, the directions of the first and fifth axes 31A, 34B and the directions of the second, third, and fourth axes 32A, 33A, 34A are not parallel to each other but are orthogonal to each other.

The bracket 3A is a plate member fixed to the lower surface of the beam 13 with a bolt, and a rotation shaft 31B centered on the first axis 31A is inserted into the distal end side extending from the fixed portion toward the work transfer device 2. An insertion hole (not shown) is provided.
The first link 31 is a plate material provided with an insertion hole (not shown) through which the rotation shaft 31B is inserted at one end side thereof, and is rotatably connected to the bracket 3A by the rotation shaft 31B. Then, two arm portions 31C are formed on the other end side of the first link 31, and through-holes (non-removable holes) through which the rotation shaft 32B around the second axis 32A is inserted into these arm portions 31C. (Shown) is provided.

The second link 32 and the third link 33 are each composed of two rods provided with insertion holes (not shown) at both ends and arranged in parallel. Then, one end side of the second link 32 is in a state in which two bar members sandwich the arm portion 31C of the first link 31 from both sides by the rotation shaft 32B penetrating each insertion hole. The link 31 is rotatably connected.
The other end side of the second link 32 and the one end side of the third link are rotatably connected to each other by a rotation shaft 33B centering on a third axis 33A penetrating each insertion hole. ing.

The fourth link 34 is a plate material in which two arm portions 34C are formed on one end side thereof, and an insertion hole through which the rotation shaft 34B around the fourth axis 34A is inserted into these arm portions 34C. (Not shown) is provided. Then, the third link is provided on one end side of the fourth link 34 by the rotating shaft 34B penetrating each insertion hole in a state where the two bar members of the third link sandwich the arm portion 34C from both sides. The other end side of 33 is rotatably connected.
The other end side of the fourth link 34 and the bracket 223A are provided with insertion holes (not shown) through which the rotation shaft 35B around the fifth axis 35A is inserted, and pass through each insertion hole. The fourth link 34 and the bracket 223A are rotatably connected to each other by the rotation shaft 35B.

  In addition, the second link 32 and the third link 33 are provided with a plurality (four in this embodiment) of cable holding portions 36 at appropriate intervals. These cable holding portions 36 hold the middle portions of the plurality of cables 4 arranged along the cable processing device 3, and the cables 4 do not run out when the main feeder 22 moves along the workpiece transfer direction. In addition, the movement of the main feeder 22 can be followed. And, between the cable holding portions 36 and between the cable holding portion 36 and the cable connecting portion 224, the length of the cable 4 is provided with an appropriate slack, and when the link mechanism 30 is rotated and bent. The cable 4 is not excessively stressed.

The plurality of cables 4 held by the cable processing device 3 having the above-described configuration are connected to the cable connection unit 224 through the cable distribution unit 223, and the main feeder 22, the sub-feeder 23, and the vacuum cup device 27 are connected. Etc. are arranged in each part. That is, as a specific example of the cable 4, a power line for supplying driving power for the main feeder 22 and the sub-feeder 23 to the linear motors 212 and 222, and a signal line for transmitting and receiving control signals for controlling these drivings. It is. The cable 4 includes a hydraulic pipe sent to the hydraulic motor when the main feeder 22 and the like are driven by the hydraulic motor instead of the linear motors 212 and 222, an air pipe for controlling the air pressure of the vacuum cup device 27, and the like. May be configured.
In addition, between the cable distribution part 223 and the sub-feeder 23, the cable 4 is arrange | positioned via the cable bear (not shown) etc. which can track the relative movement of the main feeder 22 and the sub-feeder 23.

Next, operations of the workpiece transfer device 2 and the cable processing device 3 during workpiece transfer will be described with reference to FIGS.
In FIG. 3, when feeding the workpiece along the workpiece conveyance direction, the main feeder 22 is driven along the main beam 21 to reciprocate in the workpiece conveyance direction. At this time, although not shown, the sub-feeder 23 is driven along the main feeder 22 in the same direction as the moving direction of the main feeder 22.

  As the main feeder 22 reciprocates, the cable processing device 3 connected to the main feeder 22 by the bracket 223A swings about the first axis 31A on the bracket 3A side, and the second and third links. The link mechanism 30 bends or extends by following the movement of the main feeder 22 by rotating the 32 and 33 around the second to fourth axes 32A, 33A, and 34A. At this time, since the first and fifth axes 31A and 35A are vertical axes, even if the link mechanism 30 rotates around these axes, the second to fourth axes that are horizontal axes. 32A, 33A, and 34A are kept horizontal and are not inclined.

In FIG. 4, when the workpiece is transported in the vertical direction (lift direction), the main beam 21 is driven up and down by the lift driving means 25, and the main feeder 22, the sub-feeder 23, etc. are moved up and down simultaneously with the main beam 21. Will be moved to.
As the main feeder 22 moves up and down, the cable processing device 3 causes the link mechanism 30 to move when the second and third links 32 and 33 rotate around the second to fourth axes 32A, 33A and 34A. Bend or extend to follow the movement of the main feeder 22. At this time, the link mechanism 30 does not rotate around the first and fifth axes 31A and 35A, and only the second and third links 32 and 33 are bent or extended.

Further, the cable processing apparatus 3 of the present embodiment is not limited to the feed and the vertical lift along the workpiece conveyance direction described above, but can follow the movement of the main feeder 22 in any direction as shown in FIG. It has become.
As shown in FIGS. 5 (A) and 5 (B), the cable processing device 3 is moved to the second and third directions when the main feeder 22 moves to the side (left and right direction in the figure) intersecting the workpiece transfer direction. The links 32 and 33 are bent or extended so that the movement of the movable body 22 can be followed. Further, as shown in FIG. 5D, the main feeder 22 is moved by superposing the horizontal movement shown in FIGS. 5A and 5B and the vertical movement shown in FIG. 5C. Can also follow the movement along the workpiece conveyance direction simultaneously with these movements as long as it is within the movable range of the link mechanism 30.
That is, the cable processing apparatus 3 of the present embodiment is configured to be able to follow the movement of the main feeder 22 not only in the one-dimensional or two-dimensional plane direction but also in an arbitrary direction in the three-dimensional space.

Further, in the cable processing device 3 according to the present embodiment, the first and fourth links 31 and 34 of the link mechanism 30 are rotatably connected to the fixed portion and the movable portion as described above, and FIG. As shown in FIG. 4, a configuration in which the first or fourth link 31, 34 is slidably connected to the fixed portion or the movable portion can be employed.
6A and 6B are a side view and a plan view showing a modification of the cable processing device 3 of the present embodiment.
In FIG. 6, the fourth link 34 of the link mechanism 30 is rotatable with respect to a bracket 223 </ b> A fixed to the main feeder 22 as the movable portion 3 </ b> B by a rotation shaft 35 </ b> B centering on the fifth axis 35 </ b> A. It is connected to. Further, the insertion hole 35C provided in the bracket 223A is formed to be elongated along the longitudinal direction (work transfer direction) of the main feeder 22, and the rotation shaft 35B passes through the insertion hole 35C. For this reason, the fourth link 34 is slidably connected to the main feeder 22 in the workpiece conveyance direction orthogonal to the fifth axis 35A.

  With this configuration, when the main feeder 22 moves in the workpiece conveyance direction, the link mechanism 30 rotates around the fifth axis 35A with respect to the main feeder 22 in the same manner as described above. The third links 32 and 33 bend or extend to follow the movement of the main feeder 22. Further, the rotation shaft 35B slides along the insertion hole 35C, thereby causing a relative movement in the workpiece conveyance direction between the main feeder 22 and the link mechanism 30, so that the movement distance of the main feeder 22 can be relatively increased. It has become.

According to this embodiment, there are the following effects.
(1) Three rotation shafts that are rotatably connected between the bracket 3A (fixed portion) and the main feeder 22 (movable portion 3B), and are not parallel to the rotation shafts 31B and 35B and parallel to each other. The link mechanism 30 is configured by the first to fourth links 31 to 34 connected by 32B, 33B, and 34B. Thereby, as the main feeder 22 moves, the link mechanism 30 swings around the first axis 31A on the bracket 3A side, and the second and third links 32 and 33 are moved from the second to the fourth. By rotating around the axes 32A, 33A, 34A, it bends or extends to follow the movement of the main feeder 22. Accordingly, it is possible to follow the movement of the main feeder 22 not only in the direction orthogonal to the rotation shafts 32B, 33B, and 34B connecting the links 31 to 34 but also in an arbitrary three-dimensional direction, thereby increasing the degree of freedom in cable processing. Can do.

 (2) Further, since the link mechanism 30 swings as the main feeder 22 moves in the workpiece transfer direction, the link mechanism 30 swings even if the moving distance of the main feeder 22 increases. Therefore, it is possible to follow the main feeder 22, the change in the bending angle of the cable 4 accompanying the bending and extension of the link mechanism 30 is not excessive, and the durability of the cable 4 can be sufficiently ensured.

 (3) Further, the bracket 3A (fixed portion) is provided on the side of the main feeder 22 in the moving direction, which is a position offset in the direction intersecting the workpiece conveying direction with respect to the main feeder 22 (movable portion 3B). Therefore, the cable 4 can smoothly follow the movement of the main feeder 22 without the link mechanism 30 interfering with the workpiece conveyance area.

 (4) The directions of the first and fifth axes 31A and 35A of the link mechanism 30 and the directions of the second to fourth axes 32A, 33A and 34A connecting the links 31 to 34 are orthogonal to each other. Therefore, the bending directions of the cables 4 supported by the links 31 to 34 do not overlap, and the change in bending angle can be further reduced.

 (5) Further, the direction of the first and fifth axes 31A and 35A that are vertical axes and the direction of the second to fourth axes 32A, 33A, and 34A that are horizontal axes are orthogonal to each other, so that the link mechanism 30 moves in a plane (vertical plane) by bending and extending each of the links 31 to 34, and swings in a direction intersecting with the vertical plane. Therefore, it is possible to follow the movement of the main feeder 22 in any direction more smoothly, and the degree of freedom of cable processing can be further improved.

 (6) Further, as shown in FIG. 6, if the fourth link 34 is slidably connected to the main feeder 22 in a direction perpendicular to the fifth axis 35 </ b> A (work transfer direction), the main feeder 22. When the main feeder 22 and the link mechanism 30 move relative to each other in the workpiece conveyance direction when moving in the workpiece conveyance direction, the movement distance of the main feeder 22 can be relatively increased.

[Second Embodiment]
Next, a cable processing device 3 according to a second embodiment of the present invention will be described with reference to FIGS.
In the cable processing device 3 of the present embodiment, the directions of the first and fifth axes when the first and fifth links are pivotally connected to the fixed portion and the movable portion are the first embodiment described above. It is different from the form. Hereinafter, the differences will be described in detail.
7 and 8 are a side view and a front view showing the cable processing device 3 of the present embodiment.

7 and 8, the cable processing device 3 includes a bracket 3A as a fixed portion fixed to the beam 13 so as not to move, a main feeder 22 as a movable portion 3B constituting a workpiece transfer device (not shown), and these brackets. (Fixed part) 3A and the link mechanism 30 which connects between the main feeders 22 (movable part 3B) are comprised. And the cable holding part 36 provided in the cable processing apparatus 3 holds four places in the middle of the cable 4.
The link mechanism 30 includes first to fourth links 31 to 34 that are substantially the same as those of the first embodiment, and the first to fourth links 31 to 34 are connected to the second to fourth axes 32A to 32A. It is rotatably connected around 34A.

The bracket 3A is fixed to a side surface of the beam 13 with a bolt, and a first link 31 is connected to a tip end side extending downward so as to be rotatable about a first axis 31A. Further, the bracket 223A is fixed to the upper surface of the main feeder 22, and a fourth link 34 is connected to a tip end side extending upward so as to be rotatable about the fifth axis 35A.
That is, the first and fourth links 31 and 34 are connected to the brackets 3A and 223A, respectively, so as to be rotatable around the first and fifth axes 31A and 35A which are horizontal axes orthogonal to the workpiece transfer direction. Has been. The directions of the first and fifth axes 31A, 34B and the directions of the second, third, and fourth axes 32A, 33A, 34A are not parallel to each other but are orthogonal to each other. It becomes.

Next, the operation of the cable processing device 3 during workpiece transfer will be described.
When the main feeder 22 is driven and reciprocated along the workpiece conveyance direction, the cable processing device 3 connected to the main feeder 22 swings along the vertical plane about the first axis 31A on the bracket 3A side. Simultaneously with this swinging, the second and third links 32 and 33 rotate around the second to fourth axes 32A, 33A and 34A, so that the link mechanism 30 bends or extends, and the main feeder 22 It will follow the movement.
Further, although not shown in the drawings, the main feeder 22 moves in any three-dimensional direction, such as when the main feeder 22 is moved up and down by the lift driving means, or when moved in the horizontal direction intersecting the workpiece transfer direction. The cable processing device 3 can follow the above.

According to this embodiment, in addition to the same effects as the above (1) to (4), the following effects can be obtained.
(7) Since the directions of the first and fifth axes 31A and 35A and the directions of the second to fourth axes 32A, 33A and 34A are orthogonal to each other, the link mechanism 30 has the first and fifth axes 31A. , 35A, and the first to fourth links 31 to 34 bend and extend to follow the movement of the main feeder 22. Therefore, the cable 4 can smoothly follow the movement of the main feeder 22 in an arbitrary direction, and the degree of freedom in cable processing can be improved.

In addition, this invention is not limited to the said embodiment, Including other structures etc. which can achieve the objective of this invention, the deformation | transformation etc. which are shown below are also contained in this invention.
For example, in the said embodiment, although the cable processing apparatus 3 was used for the process of the cable 4 connected to the workpiece conveyance apparatus 2 between presses, it can use for the workpiece conveyance apparatus in a transfer press not only this. Moreover, you may use the cable processing apparatus of this invention not only for a workpiece conveyance apparatus but for the process of the cables connected to the movable body of automatic loading apparatuses, such as a loader and an unloader.

  In the above-described embodiment, the workpiece transfer device 2 includes the main beam 21, the main feeder 22, the sub-feeder 23, and the like, but is not limited thereto, and may be a transfer device such as a normal transfer feeder or an articulated robot. it can. At this time, the movable portion of the cable processing device can be configured by a feed carrier of a transfer feeder, a robot arm tip of an articulated robot, or the like, and the cable processing device can be configured so that the cable can follow these movements. . Further, the main feeder 22 and the sub-feeder 23 of the workpiece transfer device 2 are not limited to those driven by the linear motors 212 and 222, and may be driven by a servo motor.

  In the embodiment, the directions of the first and fifth axes 31A, 34B of the link mechanism 30 and the directions of the second, third, and fourth axes 32A, 33A, 34A are orthogonal to each other. However, the present invention is not limited to this, and the first and fifth axes and the second to fourth axes need not be parallel to each other, and a configuration having an arbitrary angle can be employed. However, since the directions of these axes are orthogonal to each other, the movable range of the link mechanism can be further widened, and the degree of freedom of followability with respect to the movable body can be increased. It is desirable to do.

  Moreover, in the said embodiment, although the link mechanism 30 was provided in the moving direction side which cross | intersects the moving direction of the main feeder 22, it is not restricted to this but is installed in arbitrary directions with respect to movable parts, such as a main feeder. Can do. That is, the fixed portion of the cable processing apparatus may be provided at any position such as a lower side or an upper side intersecting the moving direction of the movable portion, or a front side or a rear side along the moving direction of the movable portion.

Further, the best configuration, method and the like for carrying out the present invention have been disclosed in the above description, but the present invention is not limited to this. That is, the invention has been illustrated and described with particular reference to certain specific embodiments, but without departing from the spirit and scope of the invention, Various modifications can be made by those skilled in the art in terms of material, quantity, and other detailed configurations.
Therefore, the configuration disclosed above is described as an example to facilitate the understanding of the present invention, and does not limit the present invention. The description by the name of the member which removed the limitation is included in the present invention.

  The present invention relates to a cable processing device for processing cables connected to a movable part of a transfer device for transferring a workpiece such as a processed material (blank), a product, a semi-finished product, etc. It can be used as a device for processing cables connected to the like.

The top view which shows the workpiece conveyance apparatus using the cable processing apparatus which concerns on 1st Embodiment of this invention. The side view which shows the said workpiece conveyance apparatus. The top view which shows operation | movement of the said workpiece conveyance apparatus and a cable processing apparatus. The side view which shows operation | movement of the said workpiece conveyance apparatus and a cable processing apparatus. (A)-(D) are side views which show operation | movement of the said cable processing apparatus. (A), (B) is the side view and top view which show the modification of the said cable processing apparatus. The side view which shows the cable processing apparatus which concerns on 2nd Embodiment of this invention. The front view which shows the said cable processing apparatus.

Explanation of symbols

  2 ... Work conveying device, 3 ... Cable processing device, 3A ... Bracket (fixed part), 3B ... Movable part, 4 ... Cable, 22 ... Main feeder, 23 ... Sub-feeder, 27 ... Vacuum cup device (work holding means), DESCRIPTION OF SYMBOLS 30 ... Link mechanism, 31 ... 1st link, 31A ... 1st axis, 32 ... 2nd link, 32A ... 2nd axis, 33 ... 3rd link, 33A ... 3rd axis, 34 ... 1st 4 links, 34A ... 4th axis, 35A ... 5th axis.

Claims (5)

In the cable processing device (3),
A fixed part (3A) provided immovably;
A movable part (3B) movable in any direction with respect to the fixed part (3A);
A link mechanism (30) for connecting the fixed portion (3A) and the movable portion (3B);
The link mechanism (30) includes a first link (31) having one end connected to the fixed portion (3A) so as to be rotatable about a first axis (31A);
A second link (32) having one end connected to the other end of the first link (31) so as to be rotatable about the second axis (32A);
A third link (33) having one end connected to the other end of the second link (32) so as to be rotatable about a third axis (33A);
One end of the third link (33) is connected to the other end of the third link (33) so as to be rotatable about the fourth axis (34A), and the fifth axis (35A) is centered on the movable part (3B). And a fourth link (34) having the other end connected in a freely rotatable manner,
The first and fifth axes (31A, 35A) are parallel to each other;
The second, third, and fourth axes (32A, 33A, 34A) are configured to be parallel to each other and not parallel to the first and fifth axes (31A, 35A);
The middle part of the cable (4) having one end connected to the movable part (3B) and the other end extending toward the fixed part (3A) is held by the link mechanism (30). Characteristic cable processing device (3). In the cable processing device (3) according to claim 1,
The directions of the first and fifth axes (31A, 35A) and the directions of the second, third, and fourth axes (32A, 33A, 34A) are orthogonal to each other. Cable processing equipment. In the cable processing apparatus of Claim 1 or Claim 2,
The first link (31) or the fourth link (34) has the first axis (31A) or the fifth axis (35A) with respect to the fixed part (3A) or the movable part (3B). A cable processing device characterized by being slidably connected in a direction intersecting with the cable. In the work conveyance device (2) using the cable processing device (3) according to any one of claims 1 to 3,
The movable part (3B) of the cable processing device (3) is provided with feeders (22, 23) for feeding the work along the work conveyance direction,
The feeder (22, 23) supports a work holding means (27) for holding a work, and a cable (4) having a middle portion held by the link mechanism (30) of the cable processing device (3). One end of the workpiece is connected to the workpiece transfer device (2). In the workpiece conveyance apparatus (2) according to claim 4,
The workpiece transfer device (2), wherein the fixed portion (3A) is provided at a position offset with respect to the movable portion (3B) in a direction intersecting the workpiece transfer direction.

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