JP2514162Y2 - Manipulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a manipulator for carrying a workpiece in and out of a processing machine such as press working.

(Prior Art) Conventionally, for carrying in a work before processing and carrying out a work after processing to a processing machine such as a forging press,
A technique of installing a clamp pawl for clamping a work on a tip head portion of an arm and installing a manipulator for holding a processed work and then carrying out the unprocessed work to a processing position is disclosed in, for example, It is known as seen in Japanese Patent Laid-Open No. 58-77732.

(Problems to be solved by the invention) In the manipulator as described above, the manipulator is moved to the processing position after the processing of the processing machine is completed, and the workpiece after the processing is clamped and conveyed to the carry-out position. After that, the work is moved to the carry-in position to clamp the work before processing, and then the work is moved to the work position to place the work. For this reason, the manipulator is reciprocated twice, and the time required for carrying in and out the work is large compared to the processing capacity of the processing machine, which is an obstacle to improving the processing efficiency. .

Further, in response to the above point, in a structure in which a plurality of clamp mechanisms are installed in the head portion of the manipulator to clamp the workpieces before and after processing at the same time, there is a problem that the driving mechanism is complicated and the weight increases. .

In view of the above circumstances, an object of the present invention is to provide a manipulator in which the processing time for loading and unloading a work can be shortened without adding a clamp mechanism.

(Means for Solving the Problems) In order to achieve the above object, the manipulator of the present invention moves a manipulator head part back and forth and vertically to move the head part to a work loading position, a machining position, and a work unloading position. A manipulator body is provided, and the manipulator head portion is provided with a clamp mechanism for gripping a workpiece before machining during machining by a machining machine and separating it at a machining position of the machining machine, and holding the workpiece after machining on the manipulator head portion. A fork to be transferred to the carry-out position is provided, and the work held by the clamp mechanism is set after the work is lifted by the fork at the processing position of the processing machine.

(Operation) In the manipulator as described above, the manipulator head moves to the workpiece carry-in position while the workpiece is being machined by the processing machine, holds the workpiece before machining by the clamp mechanism, and moves to the machining position when the machining is completed. Then, the workpiece after machining is first lifted and held by the fork of the head section, then the workpiece before machining held in the clamp mechanism is set to the machining position, and then the manipulator head section is carried out. By moving the workpiece after machining, which is held in the fork by moving it to the position, the entire manipulator carries in and out the workpiece with one reciprocating motion for one cycle of machining. I try to improve efficiency.

(Embodiment) Hereinafter, an embodiment of the present invention will be described with reference to the drawings. First
FIG. 1 shows a schematic structure of a processing machine equipped with a manipulator according to one embodiment, FIGS. 2 and 3 show the overall structure of the manipulator, FIG. 4 shows the structure of the manipulator head portion and a work, and FIG. The operating states are sequentially shown in FIGS. In this embodiment, the processing machine performs a sizing press on the work (crank shaft) after the step forming.

The manipulator 1 (only a part of which is shown in FIG. 1) supplies the work 3A before processing to the press machine 2 from the work loading conveyor 5 and the work 3B after processing to the work unloading conveyor 6. It is to be shipped to. In order to perform the above operation, the manipulator head portion 7 is supported by the manipulator body 8 (see FIG. 2) so as to move back and forth and up and down with respect to the processing machine 2. Further, the manipulator head portion 7 is provided with a clamp mechanism 10 for clamping the work 3 on the head base 7a, and a fork 11 for placing the work 3 on the tip end side.

The manipulator 1 will be described with reference to FIGS. 2 and 3.
The manipulator head portion 7 is attached to the tip of a horizontally moving advancing / retreating rod 15, and the advancing / retreating rod 15 is supported by an elevating base 16 so as to be movable back and forth. The advancing / retreating rod 15 is moved in the front-rear direction by a first actuator 17 via a rack and a pinion. The elevating base 16 is installed to be vertically movable along a vertical guide 20 installed on the vertical member 19 of the main body frame 18, and the vertical movement is performed by the expansion and contraction operation of the second actuator 21.

As shown in FIG. 4, the structure of the clamp mechanism 10 has a structure in which the head base 7a of the manipulator head portion 7 has two structures.
Book shafts 23, 24 are arranged side by side, and clamp claws 25, 25 are fixed to face both ends of the shafts 23, 24, respectively.
The clamp claws 25, 25 are formed so as to rotate integrally with the shafts 23, 24. Further, linking members 27 and 28 are fixed to the central portions of the shafts 23 and 24, respectively, and gear portions 27a and 28a formed on a part of the circumference of both linking members 27 and 28 mesh with each other. At the same time, a clamp cylinder 29 is connected to the tip of a lever portion 28b extending from one of the linking members 28. By the operation of this clamp cylinder 29, a linking member
Shafts 23 and 24 rotate in opposite directions via 27 and 28,
The two sets of clamp claws 25, 25 are configured to be opened and closed at the same time.

On the other hand, the fork 11 has the manipulator head portion 7
Two are provided on both sides of the tip at a position corresponding to the clamp claw 25. The shape of the fork 11 is substantially L when viewed from the side.
The back piece of the vertical piece 11a is fixed to the head portion 7 and the lower support piece 11b is formed so as to project forward, and the support piece 11b has an engaging recess 11c on the upper side and the work 3 on the side surface. A locking member 12 is attached to abut a part of the member to restrict its rotation.

The work 3 conveyed by the clamp mechanism 10 and the fork 11 as described above is a crankshaft, and has journal portions 3a to 3e between the cylinders at the center of rotation thereof.
Clamp the 2nd and 4th journal parts 3b and 3d
It is supported by 5,25 and forks 11,11.

Next, as shown in FIG. 1, the press machine 2 has a press die 31 divided into upper and lower parts, and a lower die 31a has a fixed base 32.
The upper die 31b is installed on the lower surface of the elevating base 33, and the work 3 after forging is inserted into the cavity of a predetermined shape in the die 31 and pressed to perform sizing to a predetermined dimension. . Further, the lower die 31a is provided with an eject member 34 for lifting the sizing work 3B from the lower die 31a.

Further, the work-carrying-in conveyor 5 is for carrying in the work 3A after forging and before sizing processing, and carriages 38, 38 capable of traveling on rails 37, 37 arranged on the front and rear of the conveyor table 36. A jig 39 for mounting the unprocessed work 3A is installed on the upper end of the carriages 38, 38, and the works 3 are loaded alternately by the carriages 38, 38 on both sides.

Further, the work unloading conveyor 6 is disposed adjacent to the press machine 2 and between the work unloading conveyor 5 and runs on an upper portion of a conveyor frame 41.
A jig 43 for mounting the processed work 3B is installed in the.

The support position of the work 3 by the eject member 34 in the lower die 31a of the press machine 2 and the support position of the work 3 by the jigs 39, 43 of the carry-in and carry-out conveyors 5, 6 are as follows.
Clamp claws 25, 25 and fork 1 of the manipulator 1
1st and 5th journal parts 3a, 3e of work 3 (crankshaft) so as not to interfere with the support position at 1,11
Is set to support.

The loading / unloading action of the work 3 will be described in order. First, FIG. 1 shows a state in which the die 31 of the press machine 2 is closed and the work 3 is sized, and in this state,
The head part 7 of the manipulator 1 moves backward so that the clamp claw 25 is positioned on the unworked work 3A conveyed by the work carry-in conveyor 5, and then the clamp claw 25 is lowered to the clamp position in an open state. After the clamp cylinder 29 is operated to close the clamp claw 25 and hold the work 3, the work 3 is lifted to the height of the die 31.

When the sizing process in the press machine 2 is completed, the upper mold 31b is lifted to open the mold 31, and the eject member 34 of the lower mold 31a is lifted to move the processed work 3B to the lower mold.
Lift from 31a.

Then, as shown in FIG. 5, the manipulator head portion 7 is moved forward, and the fork 11 at the tip is inserted onto the lower die 31a below the processed work 3B that is lifted by the eject member 34, and in this state The manipulator head section 7 is moved up by and the workpiece 3B is machined on the fork 11.
Place and lift. At that time, the work 3A before processing is held by the clamp claws 25, 25.

Then, as shown in FIG. 6, the manipulator head portion 7 is driven forward to move the unworked work 3A held by the clamp claws 25 onto the lower die 31a and then to lower the clamp cylinder 29. The opening operation is performed to open the clamp claw 25, and the work 3A before processing is placed on the lower die 31a. that time,
The ejector pin of the lower die 31a is lowered.

After the work 3A before processing is carried into the die 31 as described above, as shown in FIG. 7, the manipulator head portion 7 is moved backward so that the fork 11 moves the work carrying conveyor 6
When the work 3B is placed above the fork 11, the processed work 3B placed on the fork 11 is transferred to the work carrying-out conveyor 6
It is transferred onto the jig 43 of. Subsequently, the manipulator head portion 7 returns to the state of FIG. 1 in order to hold the work 3A before the next processing on the clamp claw 25 thereof, while the press machine 2 lowers the upper die 31b to move the work 3A. The sizing process is started. Then, the work-carrying-in conveyor 5
Then, before the manipulator head portion 7 returns, the unworked work 3A is mounted on the jig 39 of the other carriage 38 and moved to the carry-in position.

According to the embodiment as described above, in performing the sizing process by the press machine 2, the holding of the processed work 3B by the fork 11 and the set of the unprocessed work 3A held by the clamp claws 25 are performed by the manipulator head. Since the part 7 is moved forward to the processing machine 2 and the work 3 is carried in and out for one cycle of machining, the manipulator head part 7 is moved back and forth in a large amount in one reciprocation, thereby significantly reducing the moving time. Can be shortened to increase the operating rate.

In the above-described embodiment, the fork 11 is arranged on the tip end side of the clamp claw 25 installed on the manipulator head 7, but as a modification thereof, the position of the fork 11 and the position of the clamp claw 25 are reversed. You may make it arrange | position. That is, the fork 11 is installed behind the clamp claw 25, and the mold
Manipulator head part 7 when replacing work 3 with 31
Although the forward and backward movement and the vertical movement are slightly different from the above, the basic operation can be performed in the same manner.

(Effect of the Invention) According to the present invention as described above, the manipulator head portion is provided with the clamp mechanism for grasping the workpiece before machining during the machining by the machining machine and separating it at the machining position of the machining machine, and the workpiece after machining. It is equipped with a fork that holds the workpiece and transfers it to the unloading position.The workpiece is held by the clamp mechanism after the workpiece is lifted by the fork at the processing position of the processing machine. It is possible to exchange the workpieces before and after machining with a simple structure with an additional fork without increasing the clamp mechanism, and it is possible to improve the processing efficiency by shortening the manipulator operating time. is there.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a processing machine equipped with a manipulator according to an embodiment of the present invention, FIG. 2 is a front view of the manipulator, FIG. 3 is a side view of the manipulator, and FIG. 4 is a manipulator head portion and a workpiece. A plan view and FIGS. 5 to 7 are schematic configuration diagrams sequentially showing operating states. 1 ... Manipulator, 2 ... Processing machine, 3,3A, 3B ... Work, 5 ... Work carry-in conveyor, 6 ... Work carry-out conveyor, 7 ... Manipulator head part, 8 ... Manipulator body, 10 …… Clamp mechanism, 11 …… Fork, 25
...... Clamp claw, 29 …… Clamp cylinder, 31 …… Mold, 34 …… Eject member.

Claims (1)

(57) [Scope of utility model registration request] 1. A manipulator for loading and unloading a workpiece to and from a processing machine such as press working, wherein the manipulator head is moved back and forth and up and down to move the head into a workpiece loading position, a machining position, and a workpiece unloading position. A manipulator main body that moves to and from the manipulator head part, and a manipulator head part is provided with a clamp mechanism for gripping a work before processing during processing by a processing machine and separating it at the processing position of the processing machine, and the manipulator head part after processing A manipulator characterized by comprising a fork for holding the workpiece and transferring it to the carry-out position, and setting the workpiece held by the clamp mechanism after the workpiece is lifted by the fork at the processing position of the processing machine.