JP2006281254A - Work carrying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a feed bar driving device in a transfer press where the simplification and compacting of device constitution are attained, and further, speeding-up can be realized as its smooth operation is ensured. <P>SOLUTION: The device comprises: each beam 11 respectively disposed at each aplite 1 on the front face side and/or the rear face side in a press machine; one or a plurality of articulated arm mechanisms 12 fitted to each beam 11; and each finger unit 13 arranged and composed at the edge part of each articulated arm mechanism 12 so as to hold each work via a work holding means. Each work is held by the finger unit 13, and, by the operation of each articulated arm mechanism 12, each work is successively carried between stages set and arranged along the work feeding direction in the press machine. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a work transfer device in a press machine used for, for example, sheet metal processing.

In general, a press machine employs a method in which a workpiece is pressed stepwise to bring it close to a finished product. As a device for this, a workpiece transfer device that transfers a workpiece over a certain distance has been developed.
As this type of conventional apparatus, the feed bar is movable in the vertical and horizontal directions, while the feed carrier is connected so that the movement in the front-rear direction is restricted, and the feed unit that moves the feed carrier back and forth. What is provided is known.
In such an apparatus, the feed unit includes a rotary motor and a transmission mechanism that converts the rotary motion of the output shaft of the motor into a reciprocating motion and transmits it to the feed carrier.

In addition, as a specific apparatus, the transfer feeder apparatus etc. which were disclosed by patent document 1, etc. are known, for example.
Also in the apparatus according to Patent Document 1, a considerable heavy object including a feed carrier is reciprocated.

Japanese Utility Model Publication No. 58-66045

However, the conventional apparatus is configured to transmit the driving force to the feed bar via the feed carrier.
The feed bar itself has a considerable weight, and when the inertia weight of the feed carrier is added, not only a large load is applied to the drive motor for feed but also a large load is applied to other drive motors. To do.
In addition, there is always a backlash in the connecting portion between the parts constituting the power transmission mechanism, and the power transmission efficiency deteriorates due to the backlash, and the drive motor and the power transmission mechanism have to be enlarged.
Furthermore, since the conventional apparatus has a large number of parts, there are problems such as a large number of parts processing and assembly processes, and complicated maintenance and inspection.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a feed bar drive device for a transfer press capable of realizing a high speed while ensuring a smooth operation of the apparatus while simplifying and downsizing the apparatus configuration.

  That is, the present invention provides (1) a beam respectively erected on the front side and / or rear side upright of the press machine, one or a plurality of articulated arm mechanisms attached to the beam, and a work holding means. A finger unit disposed at an end of the multi-joint arm mechanism so as to hold the work via the finger unit, and holding the work by the finger unit and operating the multi-joint arm mechanism in the press machine. It exists in the workpiece conveyance apparatus which conveys the said workpiece | work sequentially between the processes set and arranged along the workpiece feeding direction.

  Further, the present invention resides in (2) the workpiece transfer apparatus according to (1), wherein the multi-joint arm mechanism is configured to operate at a predetermined timing and a predetermined locus in synchronization with the press machine.

  In the present invention, (3), the beam is horizontally mounted at an appropriate position above a press die set in a press machine, and the articulated arm mechanism is attached so as to extend below the beam. ).

  Moreover, this invention exists in the workpiece conveyance apparatus as described in said (1) by which the cradle of the said finger unit is mounted in the metal mold | die exchange trolley inside and outside the said press machine.

  Moreover, this invention exists in the workpiece conveyance apparatus as described in said (1) from which the said finger unit is detachable by the articulated arm mechanism.

  In addition, the present invention provides the work transfer apparatus according to (6), an attachment device (1) provided with a plurality of pairs of upper and lower molds in the press machine, and transferring the work while positioning the work between the upper and lower molds sequentially. Exist.

  In the present invention, (7) the articulated arm may be rotatable with respect to the base, a first arm rotatable with respect to the base, and the first arm. It exists in the workpiece conveyance apparatus of said (1) provided with a 2nd arm and the attachment which can be rotated with respect to this 2nd arm, and autorotate.

  In addition, as long as the objective of this invention is followed, the structure which combined suitably said (1) to (7) is also employable.

According to the present invention, the multi-joint arm mechanism with a high degree of freedom of movement operates along a predetermined locus, so that the workpiece can be held efficiently by the finger unit and efficiently conveyed.
The substantial movable part of the device is only an articulated arm mechanism, and the sensitivity of the machine itself is improved by reducing the inertia weight of the movable part, and as a result, the operation speed of the device can be further increased. .

In addition, the number of parts of the apparatus can be greatly reduced, thereby simplifying the apparatus, reducing the number of assembly steps, and realizing cost reduction.
Further, by reducing the size and size of the apparatus, it is possible to avoid interference with peripheral devices and the like, and it is possible to improve the operation and safety of the apparatus and improve the flexibility of the apparatus layout.

  In addition, the articulated arm mechanism is attached so as to extend below the beam, so that a lower space around the press machine is ensured, and a mold exchanging carriage or the like can move without trouble.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a workpiece transfer device according to the invention will be described with reference to the drawings.
FIG. 1 shows an example of the overall configuration of a workpiece transfer apparatus according to an embodiment of the present invention.
A press machine is arranged in the inner region of the upright 1 that is a column body, that is, the upper die 3 is supported so as to be movable up and down via the slide 2, and the lower die 4 is arranged at a predetermined position below the upper die 3. .

  The workpiece is conveyed along the press molding process. In this case, the workpiece conveyance device 10 of the present invention is three-dimensionally arranged in the workpiece conveyance direction X, the left-right direction Y (front and rear sides of the press), and the vertical direction Z as described later. Thus, the workpiece can be transported along a predetermined trajectory.

The upper mold 3 and the lower mold 4 are constituted by a plurality of pairs (four in the illustrated example) of the upper molds 3A, 3B, 3C, 3D and the lower molds 4A, 4B, 4C, 4D corresponding to the press molding process. The workpiece is sequentially formed by these upper and lower molds.
Here, the press machine uses an upper die 3 and a lower die 4 corresponding to the type of work, and generally requires a considerable time for changeover for changing the work type.

In the present invention, the upper die 3 and the lower die 4 are loaded on the die change cart 5 and installed in the press machine, and the die change cart for loading the upper die 3 and 4 die for other workpieces. 5 is prepared in advance near the outside of the press machine.
The mold exchanging carriage 5 can be moved and positioned and fixed in a press machine.
Therefore, the setup can be easily changed by moving the prepared mold exchanging carriage 5 to the position of the press machine.
Further, as will be described later, since the finger unit 13 is also set on the cradle 28 of the mold exchanging carriage 5, it is convenient when changing the work type.

  In this embodiment, in the workpiece transfer device 10 according to the present invention, in this embodiment, the beam 11 installed on each of the uprights 1 on the front side and the rear side of the press machine, and a plurality (two in this example) attached to each beam 11 are provided. The multi-joint arm mechanism 12 and a finger unit 13 arranged and configured at the end of the multi-joint arm mechanism 12 so as to hold the work via the work holding means.

  Then, the workpiece is held by the finger unit 13 and the workpiece is sequentially transferred between the processes set in the press machine along the workpiece feeding direction (that is, between adjacent dies) by the operation of the articulated arm mechanism 12. It is like that.

The beam 11 is horizontally placed at an appropriate position above the press dies 3 and 4 set in the press machine.
The articulated arm mechanism 12 is attached so as to extend below the beam 11.
As shown in FIG. 1, the multi-joint arm mechanism 12 is formed from the upper side with respect to the press dies 3 and 4 and between the upper die 3 and the lower die 4, that is, the front side and the rear side (left and right direction). Y) is arranged to enter from.
As a result, the workpiece is positioned on the press dies 3 and 4.

Here, FIG. 2 shows a configuration example of the articulated arm mechanism 12.
The articulated arm mechanism 12 includes, for example, a base 16 that can rotate around a rotation axis 15 with respect to a base 14 fixed to the lower surface of the beam 11 (arrow A), and a pivot 17 about the base 16. A first arm 18 that can rotate (arrow B), and can rotate about a pivot 19 (arrow C) relative to the first arm 18 and can itself rotate about a rotation axis R (arrow F). ) Second arm 20, and an attachment 23 (that is, an attachment D) that can be rotated around a pivot axis 21 (arrow D) with respect to the second arm 20 and that can itself rotate around a rotation axis 22 (arrow E). 23 can rotate.

In addition, a drive motor for driving each arm or the like is mounted on the joint portion of the multi-joint arm mechanism 12, and each arm is driven according to a predetermined sequence at a predetermined speed and timing.
Thereby, the attachment 23 has a very high degree of freedom, and is controlled so that it can freely move in the three-dimensional space and can take various spatial postures.

Next, FIG. 3 shows a configuration example of the finger unit 13 attached to the multi-joint arm mechanism 12 via the attachment 23, where (A) is a plan view, (B) is a front view, and (C) is a side view. FIG.
For example, as in this example, the connection 25 provided on the base 24 is configured to be detachable from the attachment 23 in a one-touch manner.
The base 24 supports a long arm 27 for attaching a finger 26 as a work holding means.
As the finger 26, for example, mechanical means (mechanical means) such as holding the workpiece from both sides by the multi-joint arm mechanism 12 on the front side and the rear side of the finger or adsorbing the workpiece from above by an adsorption pad is adopted. can do.

In the above case, as shown in FIG. 1, a cradle 28 for setting the finger unit 13 is placed at a predetermined position on the die change cart 5 inside and outside the press machine.
On the cradle 28, a finger unit 13 set as a set with the upper die 3 and the lower die 4 corresponding to the type of work is mounted and supported.
As described above, this point is advantageous for setup change.

In the above configuration, the articulated arm mechanism 12 operates at a predetermined timing and a predetermined locus in synchronization with the press machine.
That is, for example, as shown in FIG. 1, each drive motor of the articulated arm mechanism 12 is operated in conjunction with the opening of the upper mold 3 and the lower mold 4 to rotate the first arm 18, the second arm 20, and the attachment 23, respectively. Move or rotate.

Then, the finger unit 13 enters from the front and rear sides of the press by the movement of the joint arm mechanism 12, first holds the workpiece, and each arm operates according to a predetermined sequence at a predetermined speed and timing.
The workpieces are sequentially moved by the plurality of joint arm mechanisms 12 between the upper die 3A and the lower die 4, between the upper die 3B and the lower die 4B, between the upper die 3C and the lower die 4C, and between the upper die 3D and the lower die. It can be transported while positioning with 4D.

As described above, according to the present invention, the workpiece is first held by the finger unit 13 mounted via the attachment 23, and the multi-joint arm mechanism 12 moves along a predetermined locus, thereby positioning the workpiece sequentially. Transport.
In this case, the actual movable part of the device is only an articulated arm mechanism, and unlike the conventional transfer device that moves the feed bar through a heavy-weight feed carrier, the inertia weight of the movable part is reduced. This makes it possible to speed up the operation of the apparatus.

In addition, the number of parts of the apparatus can be greatly reduced, thereby simplifying the apparatus, reducing the number of assembly steps, and realizing cost reduction.
Furthermore, interference with peripheral devices can be avoided by downsizing and downsizing the device.

Further, as described above, the mold exchanging cart 5 inside and outside the press machine is arranged, and the finger unit 13 set as a set with the upper die 3 and the lower die 4 corresponding to the work type is mounted and supported on the receiving stand 28.
Also in the setup change for changing the workpiece type, the predetermined upper die 3 and lower die 4 and finger unit 13 can be installed smoothly and appropriately only by exchanging the die exchanging carriage 5.
Accordingly, this makes it possible to respond quickly to changes in the work type, and to greatly improve work efficiency.

As mentioned above, although this invention was demonstrated with embodiment, this invention is not limited only to these embodiment, A change etc. are possible within the scope of the present invention.
For example, the example in which the beam 11 is installed on the upright 1 on the front side and the rear side of the press machine has been described, but it is also possible to provide the beam 11 only on one side.
In addition, as a method of laying the beam 11, the beam 11 can be erected at an appropriate position of the frame material of the press machine as long as conditions such as installation space and rigidity strength are allowed.

  When exchanging the mold exchanging cart 5, for example, it can be configured to run on the guide rail, and the exchanging work can be automated.

  The present invention relates to a workpiece transfer device in a press machine, but can be applied to a manufacturing apparatus other than a press machine as long as the principle is applied.

It is a perspective view which shows the whole schematic structure of the workpiece conveyance apparatus in embodiment of this invention. It is a figure which shows the structural example of the articulated arm mechanism in embodiment of this invention. It is a figure which shows the structural example of the finger unit in embodiment of this invention, (A) is a top view, (B) is a front view, (C) is a side view.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Upright 2 Slide 3 Upper mold | type 4 Lower mold | type 5 Die change cart 10 Work conveyance apparatus 11 Beam 12 Articulated arm mechanism 13 Finger unit 14 Base 16 Base 18 First arm 20 Second arm 23 Attachment 26 Finger 28 Receptacle

Claims (7)

Beams respectively installed on uprights on the front side and / or rear side of the press machine, one or a plurality of multi-joint arm mechanisms attached to the beams, and the multi-joint so as to hold the workpiece via the workpiece holding means. A finger unit arranged and configured at the end of the joint arm mechanism,
The workpiece is held by the finger unit, and the workpiece is sequentially transferred between processes set and arranged along the workpiece feeding direction in the press machine by the operation of the articulated arm mechanism. apparatus.   The workpiece transfer apparatus according to claim 1, wherein the multi-joint arm mechanism is configured to operate at a predetermined timing and a predetermined locus in synchronization with the press machine.   2. The workpiece transfer according to claim 1, wherein the beam is horizontally mounted at an appropriate position above a press die set in a press machine, and the articulated arm mechanism is attached so as to extend below the beam. apparatus.   2. The workpiece transfer apparatus according to claim 1, wherein a cradle of the finger unit is placed on a die exchange carriage inside and outside the press machine.   The workpiece transfer device according to claim 1, wherein the finger unit is detachable from an articulated arm mechanism.   2. The workpiece transfer apparatus according to claim 1, wherein a plurality of pairs of upper and lower molds are provided in the press machine, and the workpiece is sequentially transferred while being positioned between the upper and lower molds. The articulated arm includes a base body rotatable with respect to the beam, a first arm rotatable with respect to the base body, a second arm rotatable with respect to the first arm, and the second arm. The workpiece transfer apparatus according to claim 1, further comprising an attachment that can rotate and rotate.

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