JP2007111736A - Cross bar attaching/detaching mechanism, and workpiece conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cross bar attaching/detaching mechanism capable of locking both ends of a cross bar in a substantially uniform while pressing both ends of the cross bar, and a workpiece conveying device having the same. <P>SOLUTION: The cross bar attaching/detaching mechanism 50 comprises a pair of rods 52 to be respectively fitted to hole parts 3a formed in end faces at both ends of a cross bar 3, an actuator 54 for pressing the rods 52 against the cross bar 3, and an engagement unit 56 for locking engaged parts 3f provided on both ends of the cross bar 3 in a substantially uniform in the circumferential direction around the axis of the rods 52 in cooperation with the rods 52. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a workpiece transfer device that transfers a workpiece formed by a press or the like.

As a device for molding workpieces (bodies, bonnets, door panels, etc.) for various parts of an automobile, a mold is set in each of a plurality of press devices, and pressing is performed while feeding plate materials sequentially. There is known a press line for forming a simple product.
The workpiece transfer device in this press line moves the workpieces in the press line direction by reciprocating and moving up and down in synchronization with the press molding operation by moving a plurality of gripping devices arranged in accordance with the arrangement interval of the plurality of press devices. Are sequentially transported to the press machine.
For example, a pair of links (arms) rotatably connected to the gripping device and a pair of slides rotatably connected to the other ends of the pair of links (arms) are provided, and the pair of slides is driven. By doing so, there is a workpiece transfer device that moves the gripping device in the press line direction.

In such a workpiece conveyance device, there is a configuration in which a gripping tool for gripping a workpiece is provided on a crossbar extending in a direction orthogonal to the conveyance direction, and the crossbar is configured to be detachable from the conveyance device.
JP 2005-59074 A Japanese Utility Model Publication No. 5-34820

In the above-described technique, in order to attach the cross bar to the transport device, the cylinder mechanism presses both ends of the cross bar, and an engaging portion for locking the cross bar is provided.
However, in the above-described technique, since the engaging portion has a C shape or a semicircular shape, the engaging portion engages with the crossbar in a circumferential direction centered on the axial center. For this reason, when both ends of the crossbar are pressed by the cylinder mechanism, an eccentric force is applied to the crossbar, and the crossbar is easily bent, or uneven stress is applied to the engaging portion to shorten the life. There is a problem of becoming.

  The present invention has been made in view of the above-described circumstances. A crossbar attaching / detaching mechanism capable of engaging both ends of a crossbar substantially evenly while pressing both ends of the crossbar, and a work including the same An object is to provide a transport device.

In the crossbar attaching / detaching mechanism and the work conveying apparatus according to the present invention, the following means are employed in order to solve the above-described problems.
In the following description, “a pair” refers to two objects disposed opposite to each other in the transport direction, and “one set” refers to two objects disposed opposite to each other in the transport orthogonal direction.
A first invention is a crossbar attachment / detachment mechanism in which a pair of rods respectively fitted in holes provided at both end faces of the crossbar, an actuator for pressing the rod toward the crossbar, and the rod And an engaging portion that engages the engaged portions provided at both ends of the crossbar substantially equally in the circumferential direction around the axis of the rod.
According to this invention, when the crossbar is pressed and supported by the rod, the engaging portion locks the engaged portion such as the flange of the crossbar substantially evenly in the circumferential direction around the axis of the rod. Therefore, it is possible to prevent a biased force from being applied to the engaging portion and the crossbar.

  For example, the engagement portion is constituted by two or three or more claw portions that are substantially evenly arranged in the circumferential direction centered on the rod, so that a biasing force is not generated. Can be combined.

A second invention includes a crossbar having a work gripper for gripping a predetermined work, a crossbar attaching / detaching mechanism for detachably supporting the crossbar, a crossbar supporting portion having the crossbar attaching / detaching mechanism, A pair of links rotatably connected to the crossbar support, respectively, a pair of slides rotatably connected to the other ends of the pair of links and reciprocatingly moved linearly; In a workpiece transfer device that includes a drive unit that drives each of a pair of slides, the attachment / detachment mechanism of the first invention is used as the crossbar attachment / detachment mechanism.
According to the present invention, since no biased force is applied to the crossbar, the crossbar can be held substantially horizontally. Furthermore, since a biased force is not applied to the engaging portion or the like, the life of the work transfer device can be extended. Further, since the engaging portion receives the pressing force to the crossbar by the rod, the reaction force of the pressing force is not applied to the link connected to the crossbar support portion.

According to the present invention, the following effects can be obtained.
The crossbar can be held substantially horizontally, and the life of the engaging portion and the like can be extended.
In addition, since the crossbar can be held substantially horizontally, the work gripping work by the gripping tool installed on the crossbar can be performed satisfactorily.
Further, since the reaction force from the rod is not applied to the link (arm), it is possible to prevent the link from being bent easily. Thereby, for example, since the length of the link can be increased, the workpiece conveyance distance (range) can be increased favorably.

Embodiments of a crossbar attachment / detachment mechanism and a workpiece transfer apparatus according to the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram illustrating a configuration of a workpiece transfer device according to an embodiment of the present invention.
In FIG. 1, for convenience of explanation, two press stations 14 and a work transfer device 101 provided therebetween are shown in a state viewed from the inside of the press line. In an actual machine, usually, about 2 to 5 press stations 14 are provided.
In the following description, “upstream side” and “downstream side” mean the upstream side and the downstream side of the transport line, respectively.

The workpiece conveyance device 101 receives the panel (work) 1 formed from the upstream press station 14 and conveys the panel (work) 1 to the downstream press station 14. It is installed between.
The workpiece conveying device 101 includes a pair of feeding devices 10 provided symmetrically with respect to surfaces orthogonal to the Y direction on both sides of a feeding direction (X direction) for conveying a panel (work) 1 to be press-formed.
In addition, although this embodiment demonstrates the case where the workpiece conveyance apparatus 101 is comprised by a pair of feeding apparatus 10, the structure which conveys the panel 1 only by one feeding apparatus 10 may be sufficient.

Each feeding device 10 operates symmetrically with respect to a plane orthogonal to the Y direction, moves the crossbar 3 with the workpiece gripping tool 2 in the feeding direction and the vertical direction, and sequentially transports the panel 1 to the next press station 14. It is like that.
The feeding apparatus 10 is installed between the press stations 14 and 14 by attaching both ends thereof to the arms provided on the upstream and downstream press stations 14 and a press stand (not shown) or suspending them from the ceiling.

  The feeding device 10 includes a workpiece gripper 15, a link mechanism 6 rotatably connected to the workpiece gripper 15, slides 4 and 5 connected to the link mechanism 6, and a first slide that linearly moves the first slide 4. Drive means 11, second slide drive means 12 for linearly moving the second slide 5, linear motion motor (drive section) 17 for driving the first slide drive means 11, and linear motion motor for driving the second slide drive means 12 ( Drive unit) 18.

The workpiece gripping portion 15 includes a workpiece gripping tool 2 such as a vacuum cup that sucks the panel 1, a crossbar 3 to which the workpiece gripping tool 2 is attached and extending in a direction perpendicular to the transport line, and an output member (crossbar support portion). 19), and the link mechanism 6 is connected to both ends of the crossbar 3 via the output member 19 (FIG. 1 shows only one link mechanism 6).
The cross bar 3 is detachably held with respect to the output member 19. Depending on the shape, weight, etc. of the panel 1 to be gripped, the crossbar 3 to which the optimum workpiece gripper 2 is attached can be selected and replaced. The crossbar attaching / detaching mechanism 50 that detachably supports the crossbar 3 with respect to the output member 19 will be described later.

The link mechanism 6 includes an output member 19 connected to both sides of the workpiece gripping portion 15 (cross bar 3) and links 7 and 8 pivotally attached to the output member 19.
The first link 7 includes two arms 7a and 7b having the same length. Each of the arms 7a and 7b is pivotally attached at one end to the output member 19 so as to be rotatable around a horizontal axis (the pivot points are a1 and a2 respectively from the left) and the other end is a fixed link member. 9 is pivotally mounted about a horizontal axis (the pivot points are a3 and a4 from the left). Further, the fixed link member 9 is pivotally attached to the first slide 4 at a pivot point a4. Note that the fixed link member 9 and the arm 7b are independently rotatable with respect to the pivot point a4.
On the other hand, the second link 8 includes one arm 8a. The arm 8a constituting the second link 8 is composed of an arm having the same length as the two arms 7a and 7b of the first link 7, and one end of the arm 8a is pivotable around the output member 19 about the horizontal axis. The other end is pivotally attached to the second slide 5 so as to be rotatable about a horizontal axis (this pivot point is b2). Note that the arms 8a and 7b do not necessarily have the same length.
Further, the pivot point a2 and the pivot point b1 are arranged on the same axis. Further, the center of rotation of the crossbar 3 may be coaxial with the pivot points a1 and a2.

  The distance between the pivot points a1 and a2 is the same as the distance between the pivot points a3 and a4. With this configuration, since the two arms 7 a and 7 b are maintained in parallel, the output member 19 can always be maintained in parallel with the fixed link member 9. That is, the parallel link mechanism 25 is configured by the arms 7a and 7b, the fixed link member 9, and the output member 19, and the output member 19 is tilted even when the arms 7a and 7b swing and the position of the output member 19 changes. Move without.

The arm 7b has substantially the same cross-sectional shape as the arm 8a. That is, the arm 7b and the arm 8a are formed to have substantially the same mechanical rigidity and strength. On the other hand, the arm 7a has a smaller cross-sectional shape than the arm 7b and the arm 8a.
Since the arm 7b and the arm 8a transmit the motion to the output member 19 while supporting the output member 19, a reaction force (tensile compression, bending) received from the output member 19 acts on the arm 7b and the arm 8a. Therefore, in order to share and support the reaction force and the like substantially uniformly, they are formed in substantially the same shape. For example, a circular tube member or a square tube member is used for the arm 7b and the arm 8a. Moreover, by making it the same shape, reduction of the apparatus cost by sharing of components is aimed at. Note that the arm 8a and the arm 7b do not necessarily have the same shape.

  On the other hand, the arm 7a interacts with the fixed link member 9 to maintain the posture of the output member 19 substantially horizontal, so that only the tensile and compressive force acts. Therefore, it is formed to have the mechanical strength to the minimum necessary. For example, a round bar member, a small-diameter circular pipe member, a square pipe member, or the like is used for the arm 7a.

The first slide drive unit 11 and the second slide drive unit 12 are attached to a V-shaped base member 16. And these two slide drive means 11 and 12 are provided with the ball screws 26 and 27 of the same length, respectively. Note that the ball screws 26 and 27 do not necessarily have the same length.
A ball nut (not shown) is formed on the first slide 4 and the second slide 5, and ball screws 26 and 27 are screwed onto the ball nut.
Then, the ball slides 26 and 27 are rotated by the linear motion motor 17 and the linear motion motor 18 connected to one ends of the ball screws 26 and 27, whereby the first slide 4 and the second slide 5 are moved to the base member 16. It is possible to move along a straight line and accurately position by numerical control or the like.

Further, as shown in FIG. 1, the first slide driving means 11 is set to a high position on the upstream side of the conveyance line and to a low position on the downstream side in the driving region.
Further, the second slide drive means 12 is configured to be low on the upstream side of the conveyance line and high on the downstream side of the drive region. Further, the second slide drive unit 12 is disposed on the downstream side of the transport line with respect to the first slide drive unit 11, and is symmetrical with respect to a plane orthogonal to the feed direction (X direction) with respect to the first slide drive unit 11. Is provided.
And the two slide drive means 11 and 12 cross | intersect on the downward extension line of each linear motion direction, and the angle | corner (theta) which it makes is set to 60 degrees, for example.

In the present embodiment, the first slide driving means 11 and the second slide driving means 12 constitute a V-shaped linear motion in which the lower extension lines intersect each other, but are not necessarily limited to this. For example, the first slide drive means 11 and the second slide drive means 12 are reverse V-shaped linear motions configured such that the upper extension lines of each other intersect, or the first slide drive means 11 and the second slide drive means 11 It is also possible to shift the slide driving means 12 in the width direction of the transport line to make an X-type linear motion where the driving areas intersect.
Further, the formed angle θ is determined individually for each press device according to the interval between the press stations 14, that is, the transport distance of the panel 1, and is not limited to the above angle.

  With the configuration as described above, the workpiece transfer device 101 reciprocates the workpiece gripping portion 15 between the press stations 14 and 14 by changing the positions of the slides 4 and 5 by the two linear motion motors 17 and 18. be able to. Thereby, the panel 1 gripped by the workpiece gripping portion 15 can be transported in the X direction.

FIG. 2 is a diagram schematically showing the crossbar attaching / detaching mechanism 50.
The crossbar attaching / detaching mechanism 50 supports the crossbar 3 so as to be attachable / detachable, and is disposed on each of the pair of output members 19. That is, they are arranged on both end sides of the crossbar 3.
In FIG. 2 and the following description, the crossbar attaching / detaching mechanism 50 installed on one output member 19 will be described.

As shown in FIG. 2, the crossbar attaching / detaching mechanism 50 is provided on the inner side (side surface 19 s side) of the output member 19, and the rod 52 joined to the crossbar 3 and the rod 52 is pressed toward the crossbar 3. The cylinder (actuator) 54 and the engaging portion 56 that locks the pressed crossbar 3 are configured.
The rod 52 is a member for fitting with a hole 3 a provided in the axial center of both end surfaces 3 s of the crossbar 3. Then, by inserting the rod 52 into the hole 3 a of the crossbar 3, the crossbar 3 is held by the output member 19. On the other hand, by pulling out the rod 52 from the hole 3 a of the crossbar 3, the joint between the rod 52 and the output member 19 is released. In this way, the cross bar 3 can be attached to and detached from the output member 19.
The cylinder 54 is an actuator for reciprocating the rod 52 in the axial direction of the crossbar 3, and is disposed on the output member 19.
The cylinder 54 presses the rod 52 toward the cross bar 3. Then, the rod 52 and the output member 19 are not easily released by pressing the rod 52 toward the crossbar 3.
The cylinder 54 may be either hydraulic or pneumatic.

The engaging portion 56 is a member that engages (locks) with a part of one surface 3r (surface on the back side of both end surfaces 3s) of the flange (engaged portion) 3f formed at both ends of the cross bar 3. It is composed of two claw portions 57.
As shown in FIG. 2, each claw portion 57 of the engaging portion 56 engages with the back surface 3 r of the flange 3 f of the crossbar 3 when the crossbar 3 is pressed by the cylinder 54 via the rod 52. Then, the crossbar 3 is received. That is, each claw portion 57 applies a reaction force to the cross bar 3 in the direction opposite to the pressing direction of the cylinder 54.
In this way, the cross bar 3 is securely held by the output member 19 by the cooperation of the rod 52 and the engaging portion 56.

Further, the two claw portions 57 are arranged at equal intervals on the circumference around the rod 52 that fits into the hole 3 a of the crossbar 3. That is, they are arranged at intervals of about 180 °. Each claw portion 57 is arranged so as to extend from the outside to the inside rather than the outer periphery of the flange 3 f of the cross bar 3.
For this reason, the cross bar 3 can be taken in and out of the engaging portion 56 from the side surface direction (X direction) of the engaging portion 56. When the cross bar 3 is pressed by the cylinder 54, it can be engaged with the back surface 3r of the flange 3f of the cross bar 3.

With the configuration as described above, when the cross bar 3 is mounted on the output member 19, the pressing force by the cylinder 54 is received by the engaging portion 56, so that the link mechanism 6 (links 7 and 8) connected to the output member 19. ) No bending force is applied. Therefore, in order to increase the moving distance (range) of the output member 19, the lengths of the links 7 (arms 7a, 7b) and 8 (arms 8a) constituting the link mechanism 6 can be satisfactorily extended. And since each link 7 and 8 hardly bends with attachment or detachment of the crossbar 3, the crossbar 3 can be hold | maintained reliably. Thereby, the panel 1 can be accurately gripped by the work gripping tool 2 attached to the crossbar 3.
In addition, the engaging portion 56 that locks the cross bar 3 pressed by the cylinder 54 is constituted by each claw portion 57 that locks the flange 3f of the cross bar 3 substantially equally in the circumferential direction around the axis. Therefore, no eccentric force is generated so that the crossbar 3 bends, and therefore the crossbar 3 is securely held.

  The various shapes and combinations of the constituent members shown in the above-described embodiments are merely examples, and various changes can be made based on design requirements and the like without departing from the gist of the present invention.

In the above-described embodiment, the case where the engaging portion 56 is configured by the two claw portions 57 has been described, but the present invention is not limited thereto. As the engaging portion 56, the flange 3f of the cross bar 3 may be engaged substantially evenly in the circumferential direction around the axis, and therefore there may be three claw portions or more. You may comprise by a nail | claw part.
Moreover, although the case where the flange 3f was provided in the cross bar 3 was demonstrated, not only this but a groove part may be formed in the outer peripheral surface of the cross bar 3, and you may comprise so that a nail | claw part may latch on this groove part.

It is a schematic block diagram of the workpiece conveyance apparatus which concerns on embodiment of this invention. It is sectional drawing which shows typically the crossbar attachment / detachment mechanism which concerns on embodiment of this invention.

Explanation of symbols

1 ... Panel (work)
2 ... Work gripping tool 3 ... Cross bar 3f ... Flange (engaged part)
3a ... hole 4,5 ... slide 7,8 ... link 7a, 7b, 8a ... arm 10 ... feed device 17, 18 ... linear motion motor (drive unit)
19: Output member (crossbar support part)
50 ... Crossbar attachment / detachment mechanism 52 ... Rod 54 ... Cylinder (actuator)
56 ... engaging portion 57 ... claw portion 101 ... work conveying device

Claims (2)

A pair of rods that respectively fit into holes provided on the end faces of both ends of the crossbar;
An actuator for pressing the rod toward the crossbar;
An engaging portion that cooperates with the rod to substantially uniformly engage engaged portions provided at both ends of the crossbar in a circumferential direction around the axis of the rod;
A crossbar attaching / detaching mechanism characterized by comprising: A crossbar having a workpiece gripper for gripping a predetermined workpiece;
A crossbar attaching / detaching mechanism for detachably supporting the crossbar;
A crossbar support portion having the crossbar attachment / detachment mechanism;
A pair of links each rotatably connected to the crossbar support,
A pair of slides that are rotatably connected to the other ends of the pair of links and reciprocate linearly;
A drive unit for driving each of the pair of slides;
In a workpiece transfer device comprising:
The workpiece conveying apparatus using the attachment / detachment mechanism according to claim 1 as the crossbar attachment / detachment mechanism.

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