JP2018001224A - Conveyance method by tandem press line - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveyance method by a tandem press line capable of smoothly conveying each conveyance target to next process even when the conveyance target such as workpieces is divided to be pluralized on the tandem press line by achieving a relatively simple, low-cost, lightweight and compact conveyance device.SOLUTION: A conveyance method by a tandem press line in this invention is a method conveying a conveyance target on that press line and is characterized in that when the conveyance target after processing by a press machine is divided to be pluralized, plural conveyance devices 1x, 1y are provided corresponding to the divided plural conveyance targets, and each conveyance target is conveyed to next process by those conveyance devices 1x, 1y.SELECTED DRAWING: Figure 15

Description

  The present invention relates to a transfer device for transferring a workpiece or the like in a tandem press machine (press machine).

  Tandem press line (production line in which multiple press machines are arranged in series) as material (work = transport object) transport device, loader (work load device to press machine), unloader (work load device from press machine) ), General-purpose robots, and various robots that have been specially developed.

  The work transfer between the press machines arranged in tandem was produced by initially providing an intermediate stage between the press machines, and transporting with loaders, unloaders and general-purpose robots installed before and after each press machine. .

  In recent years, the intermediate stage (work that was unloaded from the press machine in the previous process was temporarily placed by the loader of the press machine in the subsequent process to increase the production tact speed and reduce equipment costs. The stage of going: see FIG. 7, FIG. 8, etc. of Patent Document 1) has been abolished, and a dedicated machine that directly conveys between press machines has been developed (see Patent Documents 1-4).

Japanese Patent Laid-Open No. 06-63669 JP 2004-261819 A JP 2004-344899 A JP 2006-346699 A

  However, in the conventional workpiece transfer apparatuses of Patent Documents 1 to 4, when the dimension between the press machines is increased (for example, the workpiece transfer distance is increased), such as to cope with a case where the workpiece size is large (length in the transfer direction is long). In addition to advance / return, lift / down moves the transfer arm and the entire device up and down, so it is indispensable to increase the output of the servo motor, and the transfer device itself may be complicated. There is a fact that there is.

  One factor for the increase in the size of the conveying device is that the fulcrum of the conveying device is arranged in the center between the press machines, and the arms and the like cannot be shortened because they are conveyed between the presses by expansion and contraction of the arms and the like ( (See Patent Documents 2, 3, 4, etc.).

  Another factor is that a lift / down drive device is required separately from the horizontal movement of the product between press machines by an arm, etc., and the arm part and the entire device must be moved up and down (patented). Reference 4 etc.).

  Increasing the output of servo motors and increasing the complexity and size of the device requires the support of moving parts that are heavy, and it is necessary to increase the strength and rigidity of the device, leading to higher costs. At the same time, since the inertia of the movable part is large, there is a situation in which, if the speed is increased, resonance is caused and the limit is low and it is not suitable for high-speed conveyance. Furthermore, there is a situation that vibration noise increases as the speed increases.

  Furthermore, as shown in FIG. 17, since the work transfer device occupies most of the space between the press machines due to the increase in size of the work transfer device, it is difficult to secure a work space for maintenance such as die replacement. There is a situation that accessibility (accessibility) also worsens.

  A linear drive-to-press transfer device has also been developed, but a linear device and a clamp device for lift / down are incorporated in the transfer device, which is complicated and increases in mass, resulting in a large inertia and speed due to problems such as heat generation. Is not suitable for high-speed production.

  Further, in the conventional workpiece transfer device, the size of the device is increased, and as shown in FIG. 17, only one workpiece transfer device can be arranged between the presses. After that, scraps such as metal pieces generated by processing to remove unnecessary parts remaining on the outer periphery of the product etc.) are directly discharged by a trim mold provided with a hole for removing the trim residue, The workpiece transfer device can only transfer trim completed parts (works).

  Therefore, even if there is a request for shortening the process, etc., re-striking (re-pressing that is performed to reduce the shape distortion and improve the dimensional accuracy of one drawn or bent product) and trim processing It was difficult to do at the same time. Because, because of the structure of the wrist-like mold, a hole for removing the trim residue cannot be provided in the mold, so the trim completion part (work piece) and the trim residue can be removed from the mold at the same time with a single workpiece transfer device. While it is necessary to discharge only the trim residue to a scrap chute or the like during unloading and transferring the workpiece to the next process, it has been difficult to achieve this.

  The present invention has been made in view of such circumstances, and by realizing a relatively simple, low-cost, lightweight and compact transfer device, a transfer object such as a workpiece is divided into a plurality of items in a tandem press line. Even in such a case, an object is to provide a tandem press line conveying method capable of smoothly conveying each object to be conveyed to the next process.

For this reason, the tandem press line conveying method according to the present invention is:
A transport method for a transport target in a tandem press line,
In the case where the object to be transported is divided into a plurality of parts after processing by one press machine,
A plurality of transfer devices are provided corresponding to a plurality of divided transfer targets,
Each of the transfer objects is transferred to the next process by the plurality of transfer devices.

  In the present invention, the one press machine may be characterized in that a wrist-like process and a trim process are performed simultaneously.

In the present invention,
The transfer device is
A transport table having a transport target support mechanism for releasably supporting the transport target;
A first arm whose one end side is connected to the transfer table via a first pivot in a substantially vertical plane along the transfer direction;
A second arm having one end connected to the transfer table so as to be rotatable via a second pivot in a substantially vertical plane along the transfer direction;
A first moving part in which the other end of the first arm is rotatably connected via a pivot;
A second moving part in which the other end side of the second arm is rotatably connected via a pivot;
At least one of an angle formed by the transfer table and the first arm or the second arm, an angle formed by the first arm and the first moving unit, or an angle formed by the second arm and the second moving unit. Attitude control means for controlling the attitude of the transport table by controlling one;
Comprising
The first moving unit and the second moving unit are configured to be movable in the transport direction by a moving mechanism,
While lifting and down the transfer table by changing the interval between the first moving unit and the second moving unit,
By moving the first moving unit and the second moving unit in the same transport direction, the transport table is moved in the transport direction to transport the transport target.

In the present invention, the posture control means includes
A first gear that is substantially integral with the first arm, and is rotatably supported by a pivot that connects the transfer table and the first arm;
A gear that meshes with the first gear and is substantially integral with the second arm, and is rotatably supported by a pivot that connects the transfer table and the second arm. Two gears,
It is characterized by comprising.

  According to the present invention, by realizing a relatively simple, low-cost, lightweight and compact transport device, even when a transport target such as a workpiece is divided into a plurality of transport targets in a tandem press line, each transport target is It is possible to provide a tandem press line conveying method that can be smoothly conveyed to the next step.

In the front view (figure seen from the horizontal direction (width direction) orthogonal to a workpiece conveyance direction) which shows one structural example of the tandem press line in which the workpiece conveyance apparatus of Example 1 which concerns on embodiment which concerns on this invention is utilized. is there. (A) is the front view (the figure seen from the horizontal direction (width direction) orthogonal to a workpiece conveyance direction) at the time of the low lift which shows the whole structure of the workpiece conveyance apparatus of Example 1 same as the above (B) ) Is a front view during high lift (up). (A) is the front view which shows the whole structure of the workpiece conveyance apparatus which concerns on Example 2, (B) is sectional drawing which looked at each arm a and b from the workpiece conveyance direction, (C) is (A). It is sectional drawing which cut | disconnected this conveyance table part in the horizontal surface which passes both upper side pivots. It is a front view which shows a mode that the workpiece conveyance apparatus which concerns on Example 2 inclines a workpiece | work (crossbar unit) to an arbitrary angle (it makes it incline, tilt and pitch). (A) is a side view (from the workpiece conveyance direction) showing how the workpiece conveyance device according to the second embodiment conveys the workpiece (crossbar unit) at an arbitrary angle (tilted, tilted, pitched). (B) is a plan view of (A). (A) is sectional drawing which looked at the arm a of the workpiece conveyance apparatus which concerns on Example 2 from the workpiece conveyance direction, (B) is sectional drawing which looked at the arm b of the workpiece conveyance apparatus from the workpiece conveyance direction. It is a front view (figure seen from the horizontal direction (width direction) orthogonal to a work conveyance direction) which shows the whole composition of the work conveyance device concerning Example 3. It is a side view (figure seen from the workpiece conveyance direction) which shows the whole structure of the workpiece conveyance apparatus which concerns on Example 3. FIG. (A) is a top view when the position in the workpiece conveyance direction of the pair of left and right workpiece conveyance devices according to the third embodiment is different (when the workpiece is yawed), and (B) is the left side of (A). (C) is a right side view of (A). It is the fragmentary sectional view (figure seen from the horizontal direction (width direction) orthogonal to a workpiece conveyance direction) which shows a part of workpiece transfer device concerning Example 3 in a section. (A) is a side view (from the workpiece conveyance direction) when the position (height) in the height direction (vertical direction) of the pair of left and right workpiece conveyance devices according to Example 3 is changed (when the workpiece is rolled). (B) is a right side view of (A). (A) The position (height) in the height direction (vertical direction) of the pair of left and right workpiece transfer devices according to Example 3 is changed (the workpiece is rolled) and the workpiece (crossbar unit) is tilted ( It is a side view (figure seen from the workpiece conveyance direction) in the case of pitching), and (B) is a right side view of (A). (A) The position in the workpiece conveyance direction of the pair of left and right workpiece conveyance devices according to the third embodiment is varied (the workpiece is yawed), and the position (height) in the height direction (vertical direction) is varied (the workpiece). (B) is a left side view of (A), and (C) is a left side view of (A) when the workpiece (crossbar unit) is further tilted (pitched). It is a right view. It is the perspective view and sectional drawing which show the structural example of the linear servomotor which is an example of the moving mechanism utilized for the workpiece conveyance apparatus which concerns on this invention. Front view showing a configuration example of a tandem press line in which a plurality of transfer devices are arranged between press machines according to Embodiment 4 of the present invention (a view seen from a horizontal direction (width direction) orthogonal to a workpiece transfer direction) It is. It is a side view (figure seen from the workpiece conveyance direction) which shows one structural example of the tandem press line by which a some conveying apparatus is arrange | positioned between the press machines which concern on Example 4 of this invention. It is a front view (figure seen from the horizontal direction (width direction) orthogonal to a work conveyance direction) which shows one example of composition of the conventional work conveyance device (arm system) for tandem press lines.

  Hereinafter, an embodiment showing an example of a work transfer device for a press machine according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

  A tandem press line work transfer device (hereinafter also simply referred to as a work transfer device or a transfer device) 1 of Example 1 according to the present embodiment is disposed between tandem press machines as shown in FIG. The workpiece (conveyance target) is conveyed between the press machines. In addition, the workpiece (conveyed object) is taken out from the work place and the work is supplied to the most upstream press machine, or the processed work is taken out from the most downstream press machine and passed to the processed work place. Used.

As an example of the configuration of the work transfer device 1 of the first embodiment, as shown in FIGS. 2 (A) and 2 (B),
One set of two linear motor tables (moving parts: movers) 100 and 200 used for feeding (moving along the workpiece conveying direction (transport direction: simply referred to as conveying direction) such as advance and return). Each of the linear motor tables (moving part: mover) 100, 200 is movable in the workpiece conveying direction with respect to the linear motor unit 10 (stator: LM guide rail 11) extending in the workpiece conveying direction. In addition, each of the linear motor tables 100, 200 supports one end side (lower end side) of the corresponding arm 110, 120 so as to be rotatable (swingable) via the lower pivots 110B, 120B.

  The other end side (upper end side) of each arm 110, 120 is a work support mechanism (conveyance target support mechanism) that can support the work releasably via the upper pivots 110A, 120A (clamp actuator that can be extended and contracted). A transfer table 300 provided with a vacuum cup or the like provided at the tip of 310 is connected (coupled) to the transfer table 300 so as to be rotatable (swingable) and supports the transfer table 300.

Here, FIG. 14 shows a configuration example of a linear servo motor including linear motor tables (mover elements) 100 and 200, a linear motor unit (magnet plate) 10 (stator: LM guide rail 11), and the like.
Such a linear servo motor corresponds to an example of a moving mechanism according to the present invention.

  The linear motor tables (movable elements) 100 and 200 can be independently driven and controlled, and can move independently along the longitudinal direction of the linear motor unit 10 (LM guide rail 11). It is configured.

  The linear motor table (mover) 100 (200) is configured substantially integrally with the LM guide 101, and the LM guide 101 is fixed substantially horizontally on the apparatus frame (or floor) side. 11 is engaged in linear motion while being restricted from moving in the lateral direction. Even when the LM guide 101 and the LM guide rail 11 are engaged with each other, even if the clamping actuator 310 receives a reaction force or the like when gripping the workpiece, the left and right direction in FIG. Direction).

  By the way, the workpiece transfer apparatus 1 including the linear motor tables (movable elements) 100 and 200 and the linear motor unit (stator) 10 is, for example, as shown in FIGS. 5 (A) and 5 (B). In addition, in the width direction of the workpiece conveyance direction, the crossbar unit 500 is disposed on both sides of the workpiece or the mold (lower die), and the crossbar unit 500 is stretched over the conveyance table 300 of the pair of workpiece conveyance devices 1 facing each other. Installed (built).

  The pair of opposing workpiece transfer devices 1 cooperate to support and transfer the workpiece via the workpiece support (holding) mechanism (vacuum cup 504, etc.) of the crossbar unit 500. Yes.

  As shown in FIGS. 5A and 5B, the crossbar unit 500 includes a bar-shaped crossbar 501 and a gripping (holding) tool 502 that extend in a direction substantially orthogonal to the workpiece conveyance direction. The gripping tool 502 is configured to include a leg-shaped pipe-like element 503, a vacuum cup 504, and the like, and the vacuum cup 504 can hold the workpiece by suction and release the workpiece held by suction. It is configured as follows.

  According to the workpiece transfer apparatus 1 of the first embodiment having such a configuration, as shown in FIGS. 2A and 2B, the two linear motor tables 100 and 200 are moved on the linear motor unit 10. That is, for example, by separating the two, the transport table 300 and the crossbar unit 500 and the work are brought down, and by bringing them closer together, the transport table 300 and the crossbar unit 500 and the work are lifted. It is possible. This eliminates the need for separate drive units for lift and down.

  In the workpiece transfer apparatus 1 according to the first embodiment, the lower ends of the arms 110 and 120 are pivotally supported (pin coupled) by the lower pivots 110B and 120B with respect to the linear motor tables 100 and 200. , 120 is pivotally supported (pin-coupled) to the transfer table 300 via the upper pivots 110A and 120A.

  However, since the posture such as the inclination and position of the transfer table 300 is unstable as it is, the same number of teeth that are rotatably and coaxially arranged with respect to the upper pivots 110A and 120A in order to prevent this. The gears 111 and 121 of the same module are substantially integrally fixed to the upper ends of the arms 110 and 120 and mesh with each other.

  The linear motor tables 100 and 200 are moved by the meshing of the gears 111 and 121 fixed to the upper ends of the arms 110 and 120 so that the arms 110 and 120 rotate (swing) around the upper pivots 110A and 120A. However, the work table 300 (plane 300A) and the workpiece, which are always supported by the upper pivots 110A and 120A of the arms 110 and 120, can be kept horizontal (parallel).

  That is, here, the angle between the transfer table 300 and the first arm 110 (or the second arm 120) is controlled by the meshing of the gears 111 and 121, and the posture of the transfer table is controlled. Become.

The gear 111 corresponds to an example of a first gear according to the present invention, and the gear 121 corresponds to an example of a second gear according to the present invention.
Further, the gears 111 and 121 fixed to the upper ends of the arms 110 and 120 and meshing with each other correspond to an example of the attitude control means according to the present invention.

If the posture of the transfer table 300 can be controlled, the first gear and the second gear are not limited to the same number of teeth because the transfer table 300 is not limited to being maintained substantially horizontally. .
In other words, any posture can be used as long as it can control the posture of the transfer table by controlling the angle between the transfer table 300 and the arm 110 (first arm) or the arm 120 (second arm). It can be a control means.

  Incidentally, as shown in FIGS. 5A, 5B, etc., the linear motor tables 100, 200, the arms 110, 120, and the transfer table 300 are arranged on both sides with a work or a mold interposed therebetween. Since the cross bar unit 500 is installed on each transfer table 300, the vertical movement (work lift and down operation) of the cross bar unit 500 is controlled by controlling the distance (relative distance) between the linear motor tables 100 and 200. It becomes possible. For this reason, it is possible to eliminate the need for a large-capacity drive unit for lifting and lowering the workpiece by moving the entire apparatus up and down as in the prior art.

When the transfer table 300 is moved from the low position (down position) to the high position (lift position) (the same applies when the transfer table 300 is moved from the high position to the low position), both of the two linear motor tables 100 and 200 are moved. The transport table 300 can be moved from the low position to the high position by moving the two in the approaching direction, and the transport table 300 can be moved to the low position by moving the other while the other is stopped. To a higher position. Furthermore, it is also possible to move the conveyance table 300 from the low position to the high position by moving both of the two linear motors 100 and 200 in the same direction at different speeds and making them approach each other.
That is, according to the workpiece transfer apparatus 1 of the first embodiment, the height of the transfer table 300 is appropriately changed by changing the relative distance (interval) between the two linear motor tables 100 and 200 in the workpiece transfer direction. (See FIGS. 2A and 2B).

Here, in the workpiece conveyance device 1 of the first embodiment, as a specific example, the workpiece is conveyed as follows.
In the following description, the workpiece transfer operation of a set of workpiece transfer devices 1 is described. In practice, the workpiece transfer device 1 is provided between the press machines A to D in the tandem press line. In addition, it can be configured to be provided for work loading into the tandem press line (uppermost part) and work removal from the tandem press line (most downstream part). Each workpiece conveyance device 1 (1a to 1d in FIG. 1) performs the same operation as described below, and conveys the workpiece from the upstream process (previous process) to the downstream process (next process).
In FIG. 1, although it is up to the press machine D, it can be applied even to a press line in which more or fewer press machines are arranged in tandem.

  In Step 1, first, after supporting (holding) the workpiece in the previous step (for example, position P in FIG. 1), the workpiece is supported at a high position by the vacuum cup 504 (in a lifted state) (FIG. 2B ), See FIG. 5 (B)), the workpiece conveying devices 1 (1a) having two linear motor tables 100, 200 that face each other in the width direction (one with the crossbar unit 500 installed). As a pair (see FIG. 5A and FIG. 5B), the linear motor unit 10 is moved over the current position (for example, position P in FIG. 1) to the next target position (for example, position A in FIG. 1). ).

  In step 2, at the position A, the distance between the linear motor tables 100 and 200 in the workpiece conveyance direction is increased, the conveyance table 300 and the crossbar unit 500 and the workpiece are lowered (lowered), and the lower die (die) ), The vacuum cup 504 is released to release the support of the workpiece, and then the workpiece transfer device 1a returns to the original position P. If it is necessary to avoid interference with the lower mold during the returning operation, the distance between the linear motor tables 100 and 200 in the workpiece conveyance direction is narrowed, and the conveyance table 300 is lifted to a predetermined height.

  In step 3, in this state (in a state where each work transfer device 1 is retracted to a position that does not interfere with the press work), the slide (upper die) is lowered by each press machine A to D, and press work is performed. .

  In the subsequent step 4, when the press working is finished and there is no possibility of interference with the slide, the work transfer device 1b moves to the position A to pick up the processed work. Then, at the position A, the distance between the linear motor tables 100 and 200 in the workpiece conveyance direction is increased to lower the height of the conveyance table 300 and the crossbar unit 500, and the workpiece is adsorbed by the vacuum cup 504 to support the workpiece. .

  The workpiece transfer device 1a sucks and holds the workpiece to be transferred next supplied from the workpiece stocker at the position P, and when the workpiece transfer device 1b carries out the workpiece from the position A in step 5 described later, the position A Head to. At position A, the distance between the linear motor tables 100 and 200 in the workpiece conveyance direction is increased to reduce the height of the conveyance table 300 and the crossbar unit 500, and the workpiece is set on the lower die (die). When the vacuum cup 504 is released to release the workpiece support, the workpiece transfer device 1a returns to the original position P.

  In step 5, when the workpiece conveyance device 1b attracts the workpiece at the position A, the interval between the linear motor tables 100 and 200 in the workpiece conveyance direction is narrowed, and the conveyance table 300 and the workpiece are moved to a predetermined height (the workpiece and the lower mold do not interfere with each other). Lift to the height (refer to FIG. 5 (B)) and head to position B in FIG.

  And each workpiece | work conveyance apparatus 1 (1a-1d) repeats the operation | movement of the said steps 1-5, A workpiece | work is conveyed from the front process to the following process.

  By repeating the steps as described above, the workpieces are sequentially conveyed to the molds arranged in a plurality of press machines arranged in tandem by the workpiece conveyance device 1 (1a to 1d) according to the first embodiment, and the press work is performed. Will be given.

  As described above, according to the workpiece transfer apparatus 1 according to the first embodiment, the workpiece can be transferred with a relatively lightweight and compact configuration of the linear motor tables 100 and 200, the arms 110 and 120, the transfer table 300, and the crossbar unit 500. Since it is possible to eliminate the need for a feed bar having a large size and a large weight as in the prior art, a large-capacity actuator for moving these can also be eliminated. Therefore, it is possible to realize a relatively simple, low-cost, lightweight and compact configuration, thereby reducing vibration noise and freedom of workpiece posture (here height) during workpiece transfer. In addition to improving the speed of the workpiece, it is possible to contribute to the improvement of the work transfer speed, thereby shortening the cycle time and improving the production efficiency.

  In the second embodiment, the upper pivots 110A and 120A can be rotated. In the first embodiment, one of the gears 111 and 121 (one) fixed to the arms 110 and 120 (both can be used. , The gear 121 (eco-rise gear b)) on the arm 120 (arm b) side is moved around the upper pivot 120A (around the rotation center of the gear 121 (eco-rise gear b)) by the servo motor 210 (for pitching). As shown in FIG. 4 and the like, the workpiece (material) can be rotated relative to b) and can be stopped and maintained at a predetermined rotation angle position and rotated by a predetermined rotation angle. Can be tilted at any angle (tilted, tilted, pitched).

  As a result, it is possible not to lower the workpiece vertically even when the workpiece is down, but for each process, for example, to lower it obliquely according to the direction of the mold, etc. The workpiece (material) can be lowered in an inclined state and set in a mold (lower mold) (see FIG. 5B).

  For example, as shown in FIGS. 3A to 3C, the gear 121 (eco-rise gear b) on the arm 120 (arm b) side is moved around the upper pivot 120A by the servo motor 210 (the gear 121 (eco-rise gear b)). By configuring the rotation angle position to be controllable relative to the arm 120 (arm b) around the rotation center, the work (material) is tilted (tilted) at an arbitrary angle as shown in FIG. Tilt: pitch).

  In addition, a mechanism for rotating the transfer table 300 relative to the arm 120 (arm b) by the servo motor 210 to tilt the work (material) to an arbitrary angle (tilt, tilt, pitch) is particularly used. It is not limited.

  That is, the angle formed between the transfer table 300 and the second arm 120 (or the first arm 110) is controlled by the rotation control by the servo motor 210, and the posture of the transfer table 300 and the crossbar unit 500 is controlled. If it is, it is included in the attitude control means.

  An example of the attitude control means will be described. As shown in FIG. 3B, the main body of the servo motor 210 is fixed to the transfer table 300, and the rotation output shaft of the servo motor 210 is engaged with the key groove (or spline engagement). ) Or the like and is rotationally coupled to the gear 121 (eco-rise gear b). The arm 120 (arm b) is rotatably supported by the transfer table 300 via a pivot 120A (fulcrum pin b).

  On the other hand, the gear 111 (eco-rise gear a) meshed with the gear 121 (eco-rise gear b) is integrally attached to the arm 110 (arm a), and the gear 111 (eco-rise gear a) and the arm 110 (arm a). Is supported by the transfer table 300 so as to be rotatable around the pivot 110A (fulcrum pin a).

  For this reason, when the rotation output shaft of the servo motor 210 is rotated by a predetermined angle, the gear 121 (eco-rise gear b) is rotated by a predetermined angle around the pivot 120A (fulcrum pin b), and the gear 111 (eco-rise gear) engaged therewith. a) As a result, the arm 110 (arm a) is rotated by a predetermined angle around the pivot 110A (fulcrum pin a).

  Accordingly, the angle formed between the transfer table 300 and the second arm 120 (or the first arm 110) is controlled, and the posture of the transfer table 300 and the crossbar unit 500 is controlled. That is, it is possible to control the work (material) to be tilted (tilted, tilted, pitched) to an arbitrary angle.

  When it is desired to maintain the posture of the transfer table 300 and the crossbar unit 500 horizontally, the same operation as when the gear 121 (eco-rise gear b) and the second arm 120 are integrally coupled is performed. Thus, the horizontal posture can be achieved by controlling the rotation angle position of the gear 121 (eco-rise gear b) by the servo motor 210 according to the operation of the second arm 120.

Here, a configuration example of the attitude control means in the case where the angle between the transfer table 300 and the second arm 120 (or the first arm 110) is always controlled by the servo motor without the eco-rise gear will be described.
As shown in FIGS. 6A and 6B, the main body of the servo motor 210 is fixed to the transfer table 300, the rotation output shaft of the servo motor 210 is attached to the arm 120 (arm b), and the arm 120 ( The arm b) is configured to be rotationally driven around the pivot 120A (fulcrum pin b) by the servo motor 210.

  On the other hand, the arm 110 (arm a) is supported by the transfer table 300 so as to be rotatable around the pivot 110A (fulcrum pin a).

  With this configuration, when the rotation output shaft of the servo motor 210 is rotated by a predetermined angle, the arm 120 (arm b) is rotated by a predetermined angle around the pivot 120A (fulcrum pin b), and the arm 110 ( The arm a) is rotated by a predetermined angle around the pivot 110A (fulcrum pin a).

  By performing such an operation in conjunction with the movement of the linear motor table 100 and the linear motor table 200, the angle formed by the transfer table 300 and the second arm 120 (or the first arm 110) is arbitrarily controlled. It is possible to control the posture of the transfer table and the crossbar unit 500. That is, even when the eco-rise gear is omitted, the workpiece (material) can be kept horizontal and can be controlled to be tilted (tilted or tilted) at an arbitrary angle.

  As shown in FIGS. 7 and 8, the workpiece transfer apparatus 1 according to the third embodiment moves the crossbar unit 500 supported by the transfer table 300 in the horizontal direction (width direction: left-right direction: It is configured to be movable (horizontal movement) relative to the conveyance table 300 along the longitudinal direction of the cross bar 501.

  That is, the pinion gear 131 is attached to the rotation output shaft of the left / right movement servo motor 130 installed on the transfer table 300, and the rack gear 132 meshing with the pinion gear 131 is in the longitudinal direction of the crossbar unit 500 (crossbar 501). Along the crossbar 501.

Therefore, when the rotation output shaft of the servo motor 130 for left / right movement is rotated to one side (the other) and the pinion gear 131 is rotated, the rack gear 132 meshing with this and the crossbar unit 500 is moved to the other side (the other side). Will be moved.
The left / right moving servo motor 130, the pinion gear 131, the rack gear 132, and the like constitute an example of a horizontal moving mechanism.

  The elongated hole 134 is opened in the cross bar 501. The shaft 133 connecting the pinion gears 131 facing each other and the cross bar 501 are movable in the longitudinal direction of the long hole 134 so as not to interfere with the horizontal movement of the cross bar unit 500. The shaft 133 is supported via the engaging bracket 135 so as to be rotatable and movable along the longitudinal direction of the cross bar 501.

  Thereby, the workpiece can be moved (horizontal movement: offset) in the horizontal direction (width direction: left-right direction) orthogonal to the workpiece conveyance direction, and the degree of freedom of the workpiece conveyance posture can be increased. Accordingly, the workpiece can be conveyed in a posture adapted to the shape of the mold.

Furthermore, the workpiece transfer apparatus 1 according to the third embodiment is configured so that the crossbar unit 500 can be rotated (oscillated: yawing) about a substantially vertical axis (in a substantially horizontal plane).
Specifically, as shown in FIGS. 8, 9, and 10, a vertical pin (pivot) 140 is erected substantially vertically on the transfer table 300, and can be rotated (oscillated) around the vertical pin 140. The crossbar unit 500 is supported via the support base 141 disposed in the front.

  Here, since the left / right movement servomotor 130 is supported by the support base 141, the crossbar unit 500 can be moved substantially along the longitudinal direction by the pinion gear 131 and the rack gear 132, while the crossbar unit 500 is moved substantially vertically. It can be rotated (oscillated) around the shaft.

  According to such a configuration, as shown in FIGS. 9A to 9C, the positions of the pair of workpiece transfer apparatuses 1 connected by the crossbar unit 500 in the workpiece transfer direction (in the workpiece transfer direction). The distances LA and LB) from the reference position can be made different from each other. At this time, the distance between the vertical pins 140 of the pair of workpiece transfer apparatuses 1 changes according to the degree of inclination (inclination angle: yawing angle), but at least one of the left and right movement servo motors 130 is free. By setting the state, by changing the meshing position of the pinion gear 131 and the rack gear 132, such a change in the distance between the vertical pins 140 can be absorbed.

  Therefore, according to the workpiece conveyance device 1 according to the third embodiment, the workpiece can be conveyed in a posture rotated (yawed) about a substantially vertical axis, thereby increasing the degree of freedom of the workpiece conveyance posture. As a result, the workpiece can be conveyed in a posture adapted to the shape of the mold.

  In the workpiece transfer apparatus 1 according to the third embodiment, since the crossbar unit 500 is supported by the pinion gear 131 and the rack gear 132, the crossbar unit 500 can be mounted even if the left and right workpiece transfer apparatuses 1 have different heights. Since it has a supportable degree of freedom, as shown in FIGS. 11 (A) and 11 (B), the height (HA, HB) of the pair of work transfer devices 1 connected by the crossbar unit 500 is shown. ) Can be different from each other.

  At this time, the meshing position of the pinion gear 131 and the rack gear 132 between the pair of work transfer devices 1 changes according to the degree of inclination (inclination angle: rolling angle). By setting the free state, the meshing position of the pinion gear 131 and the rack gear 132 can be changed, and thus the support can be continued satisfactorily even if such an inclination is given to the crossbar unit 500.

  Therefore, according to the workpiece transfer apparatus 1 according to the third embodiment, as shown in FIGS. 11A and 11B, the workpiece is rotated (tilted: rolled) around the central axis in the transfer direction. Therefore, the degree of freedom of the workpiece conveyance posture can be increased, and the workpiece can be conveyed in a posture adapted to the shape of the mold.

  Furthermore, in the workpiece transfer apparatus 1 according to the third embodiment, as described above, the crossbar unit 500 (crossbar 501) can be tilted (tilted) about its longitudinal axis, and thus the rolling described above. In combination with the operation, the workpiece can be conveyed in the posture as shown in FIGS. 12 (A) and 12 (B).

  Furthermore, in the workpiece transfer apparatus 1 according to the third embodiment, it is possible to transfer a workpiece in a posture as shown in FIGS. 13A to 13C by combining with the yawing operation described above. .

  That is, according to the workpiece transfer device 1 according to the third embodiment, the workpiece can be transferred in a pitched, yawed, and rolled posture, thereby increasing the degree of freedom of the workpiece transfer posture. As a result, the workpiece can be conveyed in a posture adapted to the shape of the mold.

  By the way, in each Example mentioned above, although the crossbar unit 500 was spanned over a pair of workpiece conveyance apparatus 1, it demonstrated as a structure which supports a workpiece | work with the workpiece | work support mechanism with which this crossbar unit 500 is provided. The present invention is not limited to this, and the pipe-like elements 503 are directly or indirectly connected to the transfer table 300 independently without connecting the pair of facing workpiece transfer apparatuses 1 with the crossbar unit 500. A configuration including a vacuum cup 504 and the like and having a gripping (holding) tool 502 attached thereto can be adopted.

  In the embodiment described above, the posture of the transfer table is controlled by controlling the angle formed by the transfer table and the second arm by a servo motor or the like. However, the first arm (arm 110) The conveyance table can also be obtained by controlling the angle formed by the first moving unit (linear motor table 100) or the angle formed by the second arm (arm 120) and the second moving unit (linear motor table 200) by a servo motor. It is possible to control the attitude of this, and such a configuration is also included in the present invention.

Here, as described above, since the conventional workpiece transfer device is large in size, as illustrated in FIG. 17, only one workpiece transfer device can be arranged between the presses.
For this reason, the trim discharge hole for removing the trim residue is provided on the residue (trim residue) such as metal pieces generated by trim processing (processing for removing unnecessary portions remaining on the outer periphery of the product after being molded by press). The workpiece is directly discharged through the trim discharge hole by the trim mold provided, and the workpiece transfer device transfers the trim completed component (workpiece).

  Therefore, even if there is a request for shortening the process time (improving production efficiency), it has been difficult to perform the re-striking process and the trim process at the same time. In other words, because of the structure of the wrist-like mold, a hole for removing the trim residue cannot be provided in the mold, so one workpiece transfer device carries out trim trim parts (work pieces) and trim residue from the mold at the same time. While it is necessary to discharge only the trim residue to a scrap chute or the like while the workpiece is transferred to the next process, it has been difficult to achieve this.

However, according to the workpiece conveyance apparatus 1 which concerns on this Embodiment, since it is a compact structure, multiple units | sets can be arrange | positioned between the press machines of a tandem press line.
Moreover, since the movement is also highly flexible, it can be used for various purposes.

  That is, in the fourth embodiment, for example, as shown in FIG. 15, a trim scrap between a press machine X that simultaneously performs a restric process and a trim process and a press machine Y (for example, a normal press process) in the next process. A work conveying apparatus 1x for carrying out the trim residue (also a kind of conveying object) and a work conveying apparatus 1y for conveying the work to the next process are used.

  According to such a configuration, even when the press machine X performs trim and wrist-like simultaneous processing, the work transport device 1x goes to the press machine X to take the trim residue after processing, and the work transport device 1y The work can be taken to the press machine X independently of the transfer device 1x.

  After that, the workpiece transfer device 1y transfers the workpiece to the press machine Y of the next process, while the workpiece transfer device 1x can put (trim) the trim residue into the discharge chute after exiting from the press machine X. It becomes.

  As described above, according to the work transfer device 1 having a compact configuration, there is no restriction of one transfer device between the presses, and therefore, it is possible to freely operate a plurality of work transfer devices. Even in the simultaneous process of trim and wrist-like, which is impossible until now, the work transfer devices for product transfer and trim residue can be operated in a compact manner, so that such a process can be shortened.

  That is, according to the fourth embodiment, for example, by using a relatively simple, low-cost, lightweight and compact transfer device as exemplified in the first to third embodiments, a workpiece can be used in a tandem press line. Even when the conveyance objects such as the above are divided into a plurality of parts, it is possible to provide a tandem press line conveyance method capable of smoothly conveying each conveyance object to the next process.

  The workpiece conveyance device 1x and the workpiece conveyance device 1y are mutually independent of each other by the linear motor tables 100 (200) disposed on the common linear motor unit 10 (LM guide rail 11). It can be configured to be movable along the LM guide rail 11). As described above, when the common linear motor unit 10 (LM guide rail 11) is used, the longitudinal relationship in the workpiece conveyance direction between the workpiece conveyance device 1x and the workpiece conveyance device 1y is maintained.

  However, as shown in FIG. 16, the linear motor units 10 (LM guide rails 11) are arranged in parallel in the width direction (direction substantially orthogonal to the workpiece transfer direction), and the respective linear motor units 10 (LM guide rails 11). The workpiece transfer devices 1x and 1y are arranged at the same height, and the workpiece transfer device 1x and the workpiece transfer device 1y interfere with each other by setting the lift height so that the workpiece and the crossbar unit (finger, vacuum cup, etc.) do not interfere with each other. In addition, it is possible to move in the workpiece transfer direction, so that not only can workpieces and other objects to be transferred (such as trim residue) be transferred in order from the upstream side to the downstream side, but one can overtake the other and It is possible to move in the opposite direction, and it can be transported to any process or place.

  In addition, the workpiece conveyance apparatuses 1x and 1y according to the fourth embodiment are not limited to the trim residue, but one workpiece is divided into a plurality of workpieces (pieces) by one press working, and then each workpiece (piece) is independent. It can also be applied to the case of transporting the machine.

  Further, the present invention is not limited to the two workpiece transfer devices 1x and 1y, and the present invention is also applicable to a case where a transfer object (workpiece, trim residue, etc.) after press working is transferred by three or more workpiece transfer devices. Is possible.

  The embodiment described above is merely an example for explaining the present invention, and various modifications can be made without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Work conveying apparatus 1x, 1y Work conveying apparatus 100 Linear motor table (equivalent to the 1st moving part which concerns on this invention) (movable element)
200 Linear motor table (corresponding to the second moving unit according to the present invention) (mover)
110 arm (corresponding to the first arm according to the present invention)
120 arm (corresponding to the second arm according to the present invention)
111 gear (corresponding to the first gear according to the present invention)
121 gear (corresponding to the second gear according to the present invention)
110A, 120A Upper pivot 110B, 120B Lower pivot 130 Left / right movement servo motor 131 Pinion gear 132 Rack gear 140 Vertical pin (pivot)
210 Servo motor (for pitching)
300 Transfer table 310 Clamping actuator 500 Crossbar unit 501 Crossbar 502 Grasping (holding) tool 503 Pipe-shaped element 504 Vacuum cup

Claims (4)

A transport method for a transport target in a tandem press line,
In the case where the object to be transported is divided into a plurality of parts after processing by one press machine,
A plurality of transfer devices are provided corresponding to a plurality of divided transfer targets,
A tandem press line transfer method, wherein each transfer object is transferred to the next process by the plurality of transfer devices.   2. The tandem press line conveying method according to claim 1, wherein the one press machine simultaneously performs a restric process and a trim process. The transfer device is
A transport table having a transport target support mechanism for releasably supporting the transport target;
A first arm whose one end side is connected to the transfer table via a first pivot in a substantially vertical plane along the transfer direction;
A second arm having one end connected to the transfer table so as to be rotatable via a second pivot in a substantially vertical plane along the transfer direction;
A first moving part in which the other end of the first arm is rotatably connected via a pivot;
A second moving part in which the other end side of the second arm is rotatably connected via a pivot;
At least one of an angle formed by the transfer table and the first arm or the second arm, an angle formed by the first arm and the first moving unit, or an angle formed by the second arm and the second moving unit. Attitude control means for controlling the attitude of the transport table by controlling one;
Comprising
The first moving unit and the second moving unit are configured to be movable in the transport direction by a moving mechanism,
While lifting and down the transfer table by changing the interval between the first moving unit and the second moving unit,
The transport object is transported by moving the transport table in the transport direction by moving the first moving unit and the second mobile unit in the same transport direction. The tandem press line conveying method described. The posture control means is
A first gear that is substantially integral with the first arm, and is rotatably supported by a pivot that connects the transfer table and the first arm;
A gear that meshes with the first gear and is substantially integral with the second arm, and is rotatably supported by a pivot that connects the transfer table and the second arm. Two gears,
The tandem press line conveying method according to claim 3, comprising:

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