JP2525368Y2 - Transfer equipment between press equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application field] The present invention relates to a transfer device between press machines in a forging press line or the like.

(Prior art)

In a series of forging press lines consisting of a preforming process, a die forging process, a finish forming process, and the like, such as hot forging of a long heavy object such as a crankshaft, a discharge device of a pre-process press transfers a charge of a post-process press. It is necessary to quickly transfer the work to the apparatus, and it is necessary to discharge the work out of the line when the work in the previous process stays.

As such a transfer device, a transfer device using a conveyor has been conventionally proposed (Japanese Utility Model Laid-Open No. 62-3242). This involves placing a discharge pallet at the tip of the roll exit conveyor of the forging roll, connecting the press entry conveyor of the forging press to the middle of this roll exit conveyor, and pushing the work on the roll exit conveyor. After receiving the workpiece on the press entry side conveyor by the material receiver, the workpiece is transferred to the material receiver of the charging conveyor of the forging press by a pusher.

On the other hand, as a gripper of a manipulator for holding a long work, a slide claw that can move forward and backward, and a swing claw that is connected to the slide claw through an interlocking link and that can swing in the vertical direction are provided at the distal end of the manipulator housing. Is proposed (Japanese Utility Model Application No. 60-102633).

Further, there has been proposed a claw attaching / detaching device in which an opening / closing claw of a manipulator is provided in a supporting finger portion and is detachably engaged in the opening / closing direction by a groove and a mortise, and a half-moon-shaped locking piece is provided to press and fix the mortise in the groove. (No. 47-28856).

[Problems to be solved by this invention]

However, the above-described transfer device using a conveyor, pusher, or the like cannot cope with the recent increase in the speed of production lines, and cannot perform accurate positioning, particularly on a crankshaft having a complicated shape. There were many troubles that caused the user to lose grip and become unable to transfer.

On the other hand, in the gripper composed of the slide claw and the swing claw, the slide claw and the swing claw are attached to the claw body so as to be engaged and fixed and can be replaced, but the slide claw and the swing claw are adjusted in the longitudinal direction of the work. It is not possible to cope with works of various dimensions and shapes in high-mix low-volume production and the like.

Further, in the case of the open / close claw, although the claw can be easily replaced, it cannot cope with works of various sizes and shapes, and further, the claw cannot be firmly fixed only by the lock piece.

The purpose of this invention is to solve the above-mentioned problems. The purpose of the invention is to enable high-speed transfer of a workpiece, accurate positioning of the workpiece, and the use of a workpiece gripper in the longitudinal direction of the workpiece. An object of the present invention is to provide a transfer device between press machines, which can easily adjust the position in the direction and can firmly fix the position.

[Means for solving the problem]

As shown in FIGS. 1 to 3, the present invention comprises a slide claw 12 which can move forward and backward in the longitudinal direction of the manipulator housing, and a slide claw 12 provided at a distal end portion of the manipulator housing 1 which projects horizontally from the apparatus main body. Link to link 18
The gripper 2 is provided with a swing claw 13 which is connected through a hook and can swing vertically. The slide claw 12 and the swing claw 13 respectively have claw bases 12A and 13A, and claw bodies 12B and 13B.
To be able to move in the longitudinal direction of the workpiece W and serration
4 and 5, the manipulator housing 1 is attached to the turning housing 4 so as to be vertically tiltable, and the turning housing 4 is turned horizontally. It is possible and can be fixed at an arbitrary turning position.

[Action]

When the slide claw 12 is moved forward to the work W in a state where the manipulator housing 1 has stopped rotating to the work position in the previous process, the swing claw 13 which has been moved up and down is lowered in conjunction with the slide claw 12, and the positioned work W But slide nails
Accurate and quick gripping by the 12 and the swing claw 13 without trouble such as gripping failure.

The work W is taken out only by tilting the manipulator housing 1 upward, and the work W is positioned at the transfer position or the discharge position of the work W if the swivel housing 4 is horizontally turned and stopped, so that high-speed transfer is possible. Becomes

In this state, only by manipulating the manipulator housing 1 downward and retreating the slide claw 12 from the work W, the slide claw 12 and the swing claw 13 are separated from the work W, and the work W is accurately and quickly delivered. In discharging, the workpiece W is quickly discharged if the gripper 2 is unclamped as described above after the manipulator housing 1 is turned horizontally and stopped.

Next, the slide claw 12 and the swing claw 13 are moved to the claw body 12B, 1
By removing the fixing to 3B and moving it in the longitudinal direction of the work W and fixing it to the claw main bodies 12B and 13B by the engagement means, the position can be easily adjusted in the longitudinal direction of the work W, and various dimensions and
It can correspond to a work W having a shape. In addition, the nail can be easily replaced. Furthermore, the slide claw 12 and the swing claw 13 can be firmly fixed to the claw bodies 12B and 13B by the engagement means.

〔Example〕

Hereinafter, the present invention will be described based on an embodiment shown in the drawings. As shown in FIG. 1 to FIG. 3, in a hot forging press line for a crankshaft, a twister (twist forming machine) or a coining (light forming) press P is discharged from a discharge device D of a hot forging press P _{1. The} work W is transferred to the charging device C of No. ₂ and the discharge container E
An example in which discharge into the center between the workpiece receiving R ₂ of the workpiece receiving R ₁ and charging device C of the discharge device D arranged on one line, placing the transfer device of the present invention, 90
° Install the discharge container E at the turning position.

The transfer device according to the present invention mainly includes a gripper 2 at a tip end thereof, and a manipulator housing 1 that can be tilted up and down by a lift cylinder 3, supports the manipulator housing 1, and can be horizontally turned by a servo motor 5. It comprises a swiveling housing 4 that can be stopped at a position and a fixed housing 6 that supports the swiveling housing 4 so as to be able to swivel.

Manipulator housing 1 includes a base 1A, intermediate portion 1B, it consists tip 1C, as grippers 2 provided at the tip portion 1C is disposed above the workpiece receiving R _1, R _2, horizontally from the upper swivel housing 4 It is a protruding arm member, and is supported so that it can be tilted up and down by attaching the base 1A opposite to the gripper side to the upper surface of the revolving housing 4 via the horizontal pin 7. In the lift cylinder 3, the cylinder body is pivotally mounted on the revolving housing 4, the tip of the piston shaft is pivotally mounted on the gripper side of the base 1A, and the gripper 2 is raised and lowered with the horizontal pin 7 as a fulcrum. The upper limit of the elevation is set by the cylinder stroke end, and the lower limit is set by a stopper 8 attached to the upper surface of the revolving housing 4 and protruding from the lower surface of the base 1A.

On both sides of the lift cylinder 3, a balancer spring 9 whose both ends are attached to the turning housing 4 and the base 1A, respectively, and which can elastically support the base 1A is provided (see FIG. 3). By balancing with the weight, the manipulator housing 1 can be smoothly tilted. Further, a guide plate 10 is provided on the upper part of the revolving housing 4 so as to sandwich the base 1A.
And a liner 11 that is in contact with the base 1A is attached to the inner surface of the guide plate 10 so that the swinging direction of the manipulator housing 1 at the rotation stop end can be suppressed while slidingly supporting the tilting manipulator housing 1. I do.

The gripper 2 includes a slide claw 12 and a swing claw 13,
One set or a plurality of sets (two sets in the present embodiment) are provided at the tip 1C in the longitudinal direction of the work W. Slide claw 12 is base 1A
Drive rod 1 by grip cylinder 14 attached to
5, via slider 16 and connecting rod 17 (see Fig. 2)
The swing pawl 13 is connected to the slide pawl 12 via an interlocking link 18 (see FIG. 4), and can swing up and down. The connecting rod 17 is attached to the slider 16 to which the tip of the driving rod 15 is fixed.
The slide claw 12 can be pressed toward the work W by the pressing spring 19 (see FIG. 2) so as to be able to absorb variations in the dimensions of the work W and the like.

In such a gripper 2, as shown in FIGS. 4 and 5, the slide claw 12 and the swing claw 13 can be moved and fixed in the longitudinal direction of the work W so that the position adjustment and the exchange can be easily performed. I do. That is, the slide claw 12 and the swing claw 13 are fixed to the claw bases 12A and 13A, respectively, and the claw bases 12A and 13A are fixed to the claw bodies 12B and 13B by engagement with grooves and mortises in the longitudinal direction of the work W. Only slidable.

An air cylinder 20 and serrations (angle teeth) 21 and 22 are used for fixing the claw bases 12A and 13A. The air cylinder 20
Attached to the claw bodies 12B and 13B and the piston rod
23 can move in the guide hole opened to the claw bases 12A and 13A. The serrations 21 and 22 are made of teeth that mesh with each other and prevent movement of the claw bases 12A and 13A. The serrations 21 are formed on the distal end surface of the piston rod 23, and are formed on the surfaces of the claw bases 12A and 13A corresponding to the serrations 22. It is formed continuously in the longitudinal direction of the work W. The piston rod 23 moves forward and backward by air, but the engagement and fixing of the serrations 21 and 22 is maintained by the pressing force of the compression coil spring 24 provided in the air cylinder 20. Claw base of piston rod 23
When retracted from 12A, 13A, the engagement and fixing of the serrations 21, 22 are released, and the slide claw 12 and the swing claw 13 can be moved in the longitudinal direction of the work W, but the moving positions can be easily grasped. A scale plate 25 is provided above the claw base 13A on the front surface of the claw body 13B.

As shown in FIG. 2, a spring capable of pressing the slider 16 in the gripper 2 direction is provided at the distal end of the drive rod 15.
26 is provided as a safety mechanism that can hold the workpiece W in grip even when the pressure of the grip cylinder 14 is reduced.

As shown in FIG. 3, the swivel housing 4 has swivel rings 27 and 28 integrally attached to a lower part, and the swivel rings 27 and 28 are integrally mounted on an upper portion of the fixed housing 6. The rotating power is transmitted to the swing ring 28 while being supported by the bearings 29 and 30 via the bearing 31. That is,
The input side of the speed reducer 32 is fixed to the fixed ring 30, and the speed reducer 32
Is connected to a revolving ring 28, and the rotational power of the servomotor 5 is transmitted to the speed reducer 32 via a coupling 33 and a shaft right-angle gear box 34.

The servo motor 5 includes a turning position detector and a controller (not shown), and can turn the manipulator housing 1 at high speed and stop at an arbitrary turning position based on a control program and a detected position value.

Also, as shown in FIGS. 2 and 3, the swivel ring 27 has an engagement protrusion 35 that projects horizontally at an angle of 180 ° or more.
And a pair of proximity switches 36 that can detect the engagement protrusion 35 and a stopper 37 that can prevent the movement of the engagement protrusion 35 are provided on the side of the fixing rings 29 and 30. Equipment. When the manipulator housing 1 exceeds the turning position of 0 ° or 180 ° in FIG. 2, the servo motor 5 is stopped by the proximity switch 36, and the manipulator housing 1 is stopped by the stopper 37.

The lift cylinder 3, grip cylinder 14, etc.
To pivot with the manipulator housing 1 etc.
Pressurized oil and compressed air are supplied via a rotary joint 38 provided above 1A.

 In the above configuration, the operation is as follows.

(B) in a state of normal operation (i) manipulator housing 1 is stopped at 0 ° swivel position of the discharge device D of the hot forging press P ₁ in a horizontal state, the slide pawl 12 actuates the grip cylinder 14 When the workpiece is moved forward with respect to the work W, the swinging claw 13 which has been moved up and down is lowered by the interlocking link 18, and the material receiver R ₁
The upper work W is gripped from both sides by the slide claws 12 and the swing claws 13.

The (ii) a manipulator housing 1 is tilted upward by the lift cylinder 3, picks up the workpiece W from the work receiving R _1.

(Iii) Rotating housing 4 is rotated 180 ° by servo motor 5
When pivoted down, the tip of the manipulator housing 1 reaches 180 ° pivoted position of the charging device C Twister P _2.

When tilting the (iv) a manipulator housing 1 downward, gripped workpiece W gripper 2 is positioned on the work receiving R _2.

(V) retracting the slide pawls 12 by the grip cylinder 14 from the work W, in conjunction with this swing claw 13 is raised retracted, the workpiece W is placed on the work receiving R _2.

(Vi) After turning the manipulator housing 1 by 180 ° in the reverse direction, the manipulator housing 1 is tilted downward, and the above operation is repeated.

(B) At the time of discharging the work This is a step of discharging the work W flowing from the previous process to the discharge container E when the work receiving posture in the subsequent process such as a twister is not prepared. Similarly, when gripping the workpiece → lift → 90
° Turn → work ungrip → 90 ° return → down repeatedly. In this case, it is not necessary to tilt the manipulator housing 1 downward at the position of the discharge container E, and the grip of the work W may be released immediately.

Next, when adjusting the position of the slide claw 12 and the swing claw 13 in the longitudinal direction of the work W, the following is performed.

(I) By supplying air to the rod side of the air cylinder 20, the piston rod 23 is retracted from the claw bases 12A, 13A to disengage the serrations 21, 22.

(Ii) The slide claw 12 and the swing claw 13 are moved in the longitudinal direction of the work W by a manual operation of an operator to change the gripping position with respect to the work W having various sizes and shapes. This gripping position is, for example, a bearing portion of a crankshaft, and the gripping position is matched with the position of the bearing portion while looking at the scale plate 25.

(Iii) When air is supplied to the piston side of the air cylinder 20, the piston rod 23 advances toward the claw bases 12A and 13A, and the serrations 21 and 22 mesh with each other. This meshing state is held by the compression coil spring 24. .

Further, even if the pressure of the grip cylinder 14 decreases, the grip force is held by the spring 26.

Although the transfer of a work between a forging press and a twister has been described above, it goes without saying that the present invention can be applied to transfer between other presses.

[Effect of the invention]

As described above, the transfer device between press machines of the present invention has a slide claw that moves forward and backward in the longitudinal direction of the manipulator housing at the tip end of the manipulator housing that projects horizontally from the device body, and moves up and down in conjunction with the slide claw. A gripper consisting of a swing claw that swings in the direction is provided. The manipulator housing is attached to the swivel housing so as to be vertically tiltable, and the swivel housing can be horizontally swiveled.
In addition, since it can be fixed to any turning position, it can be accurately and quickly taken out of the previous process without trouble such as gripping of the work, quickly transferred by horizontal turning / stopping, and accurately and promptly delivered to the subsequent process In addition to speeding up the transfer of the work, it is possible to eliminate the transfer trouble by accurately positioning the work. Also, the work can be discharged quickly as well.

Furthermore, since the slide claw and the swing claw are attached to the claw body so as to be movable in the longitudinal direction of the work and fixed by the engagement means, the position of the work gripper can be easily adjusted in the longitudinal direction of the work, and the work of various sizes and shapes can be adjusted. , And can be firmly fixed by the engagement means.

[Brief description of the drawings]

1, 2, and 3 are a front view, a plan view, and a side view showing an embodiment of the transfer device of the present invention. FIG. 4 is a cross-sectional view showing the gripper of the present invention. Fig. 5 is a view as viewed from the line V-V in Fig. 4. DESCRIPTION OF SYMBOLS 1 ... Manipulator housing 2 ... Gripper, 3 ... Lift cylinder 4 ... Revolving housing 5, ... Servo motor 6 ... Fixed housing, 7 ... Horizontal pin 8 ... Stopper 9 ... Balancer spring 10 ... Guide Plate, 11… Liner 12… Slide claw, 13… Swing claw 14… Grip cylinder 15… Driving rod, 16… Slider 17… Connecting rod, 18… Interlocking link 19… Pressing cylinder, 20 ... Air cylinders 21, 22 ... Serrations 23 ... Piston rods, 24 ... Compression coil springs 25 ... Scale plates, 26 ... Springs 27, 28 ... Swivel rings, 29, 30 ... Fixed rings 31 ... Bearing, 32 Reducer 33 Coupling, 34 Gear box 35 Engagement protrusion, 36 Proximity switch 37 Stopper 38 Rotary joint

Claims (1)

(57) [Scope of request for utility model registration] 1. A slide claw that can move forward and backward in the longitudinal direction of a manipulator housing at a distal end of a manipulator housing that projects horizontally from an apparatus body, and is connected to the slide claw via an interlocking link and can swing vertically. A gripper comprising a simple swing claw is provided, and the slide claw and the swing claw are configured such that a claw base is mounted on the claw body so as to be movable in the longitudinal direction of the work and fixed by a meshing means, and the manipulator housing is vertically moved. A transfer device between press machines, characterized in that the device is mounted on a revolving housing so as to be tiltable in a direction, and the revolving housing can be horizontally revolved and fixed at an arbitrary revolving position.