JP3140969B2 - Work supply device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work supply apparatus provided with a work chuck device using a hydraulic cylinder as a drive source, and a base movable horizontally and movable up and down using a hydraulic cylinder as a drive source. Things.

[0002]

2. Description of the Related Art The above-mentioned work supply device chucks and lifts a work such as a round steel, a square steel, a flat steel or the like cut into a predetermined length, and moves and lowers the work in a horizontal direction. Immediately before reaching a supplied portion (for example, a pallet or container for packing or a workpiece already supplied to the pallet or the like), the lowering of the workpiece is stopped, and the chuck of the workpiece is released, and the workpiece is supplied to the supplied portion. In general, the work chuck device is lowered and stopped by servo control based on a command from a computer, and the work chuck device is switched to a chuck released state, so that the work is supplied to the supplied portion. Is supplied.

That is, if a workpiece has not yet been supplied to a supplied part such as a pallet or a container based on a command from a host computer, the descent of the workpiece is stopped at an appropriate height position relative to the supplied part. Or
If the workpiece has already been supplied to the part to be supplied, the descent of the workpiece is stopped at a height position less the height of the workpiece, and the workpiece is sequentially placed on the pallet, container, or already supplied workpiece. That is, it takes the form of

[0004]

However, in such a form of servo control, for example, in a situation where a workpiece is already supplied to the supply destination, the height of the workpiece is smaller than the true height. If the computer outputs erroneous information that is large or small, when the information is large, the chuck of the work is released at a high position, and the work is placed on the already supplied work. There has been a problem that the work is dropped by shock, and a loud interference sound is generated between the works and the work is damaged. On the other hand, when the height dimensional information is small, there is a problem that the apparatus is damaged by forcibly pressing the work on the already supplied work.

[0005] Alternatively, if the workpiece already supplied is displaced for some reason, this is particularly remarkable when the workpiece is circular, but in this case, regardless of the erroneous information, the above-mentioned height is disregarded. There is a problem that the workpiece is dropped from a higher position than when the dimension information is large, and moreover, the equipment cost is higher in the servo control system. But there was a problem.

[0006]

In order to solve the above-mentioned problems, a work chuck having a hydraulic cylinder as a driving source and a base movable in a horizontal direction and capable of moving up and down by using a hydraulic cylinder as a driving source. In the work supply device provided with the apparatus, according to the present invention, regardless of whether or not the work exists in the supply target such as the pallet or the container, the work already supplied to the supply target such as the pallet or the container is provided. Regardless of whether the workpiece is displaced or not, the work is continued to descend until the workpiece to be supplied reaches the supply destination (pallet, container, or work already supplied to these parts, etc.). The object of the present invention is to solve the above-mentioned problems at a low cost by mechanically releasing the chuck of the work at the time when the temperature reaches.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention is directed to a work supply apparatus as described at the beginning, wherein a first pressure chamber on the work lifting side of a base elevating cylinder has a first flow path for supplying a work lifting fluid and a work flow. A first valve for switching and connecting to a second flow path for lowering auxiliary fluid supply is connected, and a third pressure chamber for supplying a lower pressure fluid than the work lowering auxiliary fluid to the second pressure chamber of the base elevating cylinder. A second valve for switching and connecting the flow path and a fourth flow path for releasing a pressure fluid is connected, and further, a first pressure accompanying a seating of the workpiece on the supply target under the connection of the second and third flow paths. It is characterized in that a pressure switch for switching the first and second valves to the connection state of the first and fourth flow paths and the chucking hydraulic cylinder to the chuck release state is provided based on a decrease in the internal pressure of the chamber.

[0008] In the fluid pressure circuit according to the above configuration, a work fluid lowering assisting fluid is supplied to the first pressure chamber through the second flow path, and the pressure fluid is supplied to the second pressure chamber through the third flow path. A lower pressure than the work lowering auxiliary fluid is supplied, and the work pressing force based on the work weight and the fluid pressure of the pressurized fluid supplied to the second pressure chamber is:
By setting the pressure of each pressure fluid so as to be larger than the work lifting force based on the work lowering assisting pressure fluid supplied to the first pressure chamber, the smaller the difference is, the slower the work becomes. Descended.

The internal pressure of the first pressure chamber at this time varies depending on the setting of the above-described work descending speed. However, when a slow work descending mode is employed to minimize the difference, the work pushing force and the work pushing force are reduced. Lifting force will be under pressure close to balancing each other,
The pressure is set to be much higher than the supply pressure of the pressurized fluid supplied as a work lowering assistance.

[0010] When the workpiece is seated on the supplied portion as it descends, the weight of the workpiece, which had increased the internal pressure of the first pressure chamber, is instantaneously erased, and the internal pressure of the first pressure chamber is reduced. When the pressure change is detected by the pressure switch, the chuck hydraulic cylinder is switched to the chuck release state, and at the same time, the first and second valves are switched so that the first flow for lifting the workpiece is reduced. Road is first
The work chuck device is connected to the pressure chamber and the fourth flow path for releasing the pressurized fluid is connected to the second pressure chamber, and the work chuck device is raised to the stroke end of the hydraulic cylinder.

According to the present invention, the workpiece chuck is immediately released based on a mechanical detection result that the workpiece to be supplied has reached the portion to be supplied without relying on servo control or the like. That is, regardless of whether or not a workpiece exists in a supplied part such as a pallet or a container, or
Regardless of the position of the workpiece already supplied to the parts to be supplied such as pallets and containers, it is possible to supply the workpieces gently to the parts to be supplied irrespective of the shape, size and weight of the workpiece. it can.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 show an entire storage and cutting / boxing system for a bar-shaped work A such as a round steel, a square steel, and a flat steel, and a conveyor 1 for transporting the bar-shaped work A in a radial direction.
A sorting trolley 3 for feeding the work A from the conveyor 1 to the first stock unit 2, an apparatus 4 for measuring the shape and size of the end face of the work A during feeding of the work A to the first stock unit 2, There is provided a crane 7 for sorting the work A stored in the one stock unit 2 according to shape and size and storing the work A in a predetermined storage shelf 6 of the shelf group 5.

Further, a changer 9 for feeding the work A taken out of the storage shelf 6 by the crane 7 and feeding the work A to the conveyor 8, and an automatic control type and a manual control type for cutting the work A sent from the conveyor 8 to a predetermined length. The apparatus includes band saw devices 10 and 10A and a device 11 for packing cut workpieces into boxes.

As shown in FIGS. 3 and 4, the automatic box packing device 11 includes a pallet feeding device 13 for sending a box packing pallet 12 to a first work supply position X, and a box packing container 14 for a second work supply position. The apparatus includes a container feeding device 15 for feeding the material into the Y direction, a scrap material removing device 17 for removing the cut scraps to the cart 16, a work supply device 18 for supplying the cut workpiece to the pallet 12, the container 14, or the cart 16.

The work supply device 18 is configured as follows. That is, as shown in FIGS. 5 and 6, a pair of rails 19 are provided on the upper frame 21 of the portal frame 20 along the take-out direction of the cut workpiece a, and reciprocated by the servomotor 22 along the rails 19. The slide base 23 is provided as possible, and the slide base 23
A lift base 26 is provided so as to be able to move up and down via a rod type guide means 24 and by an air cylinder 25, and furthermore, a rail 27 in a direction orthogonal to the rail 19.
A second slide base 29 is provided so as to be able to reciprocate in a horizontal direction along the air cylinder 28 via an air cylinder 28.

The second slide base 29
In addition, a turning base 31 is provided so as to be able to turn around a vertical axis by an air cylinder 30, and the turning base 31
Further, a work chuck device 35 including a movable hand 34 and a fixed hand 33 that are slid horizontally by a hydraulic cylinder 32 is provided.

According to the above configuration, since the work chuck device 35 is capable of turning and moving up and down in the horizontal two-dimensional direction, the work a chucked by the pair of hands 33 and 34 is moved to the first or second position. The pallet 12 and the container 14 can be supplied to the work supply position X, Y at any position of the work supply position X, Y with its orientation changed as necessary.

The above-described air cylinder 2 for the lifting base 26
5 is shown in FIG. The air cylinders 28, 30 for the second slide base 29 and the revolving base 31 and the hydraulic cylinder 32 for the work chuck device 35 have these cylinders 28, 30,
Since a valve for simply switching and expanding / contracting the valve 32 is simply connected, the illustrated description is omitted.

As is apparent from the drawing, the air cylinder 25 for raising and lowering the elevating base 26 and, consequently, the work chuck device 35 is provided with a first pressure chamber B on the work lifting side thereof for supplying the first air for work lifting air supply. A first valve V1 for switching and connecting the flow path b and the second flow path c for supplying work lowering auxiliary air is connected. The second pressure chamber C is connected with a second valve V2 for switching and connecting a third flow path d for supplying air at a pressure lower than the work lowering assist air and a fourth flow path e for air release. ing.

Further, based on a decrease in the internal pressure of the first pressure chamber B due to the seating of the work a on the portion to be supplied under the connection of the second and third flow paths c and d, the first and second valves V1 , V2 are connected to the first and fourth flow paths b and e, and a pressure switch S for switching the chuck hydraulic cylinder 32 to the chuck release state is provided. Note that an end-lock type air cylinder which locks the air cylinder 25 at the rising stroke end is used as the air cylinder 25, but this is not an essential requirement.

In the above configuration, a pair of hands 33,
In a state in which the air cylinder 25 is opened, the work chuck device 35 is positioned above the work take-out conveyor 37, and the high-pressure air P ₀ Kgf / cm ² for lifting the work is passed through the first flow path b of the first valve V1 to the air cylinder 25. Connected to the first pressure chamber B, the work chuck device 35 is lifted to the highest position, and a fourth passage e for air release of the second valve V2 is connected to the second pressure chamber C, and an air cylinder 7 is locked at the stroke end by the end lock pin 25a.
The supply of the work a is started as the home position.

That is, for example, when control information of work supply to the pallet 12 sent to the first work supply position X is input, first, the hydraulic cylinder 32 is operated, and the pair of hands 33 and 34 handle the work a. The chuck is chucked, and then the slide base 23 moves to the first work supply position X. Then, here, the first and second valves V1, V2 are switched to the state shown in FIG.
And the third flow paths c and d are connected.

Thus, until then, P ₀ Kgf / c
The first pressure chamber B to which the high-pressure air of m ² has been supplied is supplied with high-pressure air of P ₁ Kgf / cm ² for assisting the descent of the work a. On the other hand, high pressure air of P ₂ Kgf / cm ² , which is lower in pressure than the above-mentioned work lowering auxiliary air, is supplied to the second pressure chamber C which has been opened to the atmosphere through the fourth flow passage e, and is supplied to the air cylinder. 25 end lock pins 25
a will be switched to the release state.

Here, the weight of the work a, the lifting part (WKg) indicated by G in FIG. 5 and the P ₂ K supplied to the second pressure chamber C
The work pressing force based on the high-pressure air of gf / cm ² is larger than the work lifting force based on the high-pressure air of P ₁ Kgf / cm ² supplied to the first pressure chamber B, that is, the first work force. against internal pressure P ₃ of the pressure chamber B, (P ₂ K
gf / cm ² + WKg) so that the pressure -P ₁ Kgf / cm ² is large, and the idea to the pressure setting of the respective high-pressure air, and Thus, the internal pressure _{P 3 <(P 2 Kgf /} cm
² + WKg) −P ₁ Kgf / cm ^{2 In} the formula, the smaller the difference, the slower the work chuck device 35 and, consequently, the work a are lowered, and, of course, the internal pressure P of the first pressure chamber B. No. ₃ is placed under a pressure much higher than the supply pressure P ₂ Kgf / cm ^{2 of the} high-pressure air supplied for lowering the work.

When the work a is seated on the supply target with the lowering of the work a by the pressure setting described above, the first work is performed until then.
By the weight of the weight and the lifting portion G of the workpiece a which is raising the internal pressure of the pressure chamber B (WKG) is erased in an instant, the internal pressure P ₃ of the first pressure chamber B is rapidly lowered, the pressure fluctuation Is detected by the pressure switch S, and the work chuck device 35
7 is switched to the chuck release state, and at the same time, the first and second valves V1 and V2 are
The state is switched to the state shown in
The flow path b is connected to the first pressure chamber B, the fourth flow path e for releasing the pressurized fluid is connected to the second pressure chamber C, and the work chuck device 35 rises to the stroke end of the air cylinder 25. Then, it is locked at the end position by the end lock pin 25a, and the slide base 23 moves to the conveyor 37 side, and returns to the original home position so that the work supply device 18 prepares for the next work supply.

Therefore, according to the above configuration, the work chuck is immediately released without relying on servo control or the like, based on a mechanical detection result that the work a to be supplied has reached the portion to be supplied. By raising the work chuck device 35, the work a is already supplied to the supplied portion such as the pallet 12 or the container 14 irrespective of whether or not the work a exists in the supplied portion such as the pallet 12 or the container 14. Irrespective of whether or not the work a is displaced, the work a can be quietly supplied to the portion to be supplied irrespective of the shape, size, and weight of the work.

In the above embodiment, the air cylinders 25, 28, and 30 are used as driving sources for the lifting base 26, the second slide base 29, and the turning base 31, and the driving source for the movable hand 33 of the work chuck device 35 is used. Although the hydraulic cylinder 32 is used as an example, all the driving sources can be implemented as air cylinders or hydraulic cylinders, and these air and hydraulic cylinders are referred to as hydraulic cylinders in the present invention.

The slide chuck 23 is equipped with a second slide base 29 and a swivel base 31 so that the work chuck device 35 can be swiveled in two horizontal directions and moved up and down. Work a
Can be moved in the horizontal one-dimensional direction and the work chuck device can be moved in the horizontal one-dimensional direction and up and down if the target is a work supply device in which the work a is stacked on the supplied part at any point during the movement. In this case, the second slide base 29 and the turning base 31 may be omitted.

[0029]

The present invention is embodied in the form as described above, and has a base which is movable in the horizontal direction and which can be raised and lowered by using a hydraulic cylinder as a driving source, and a work chuck which uses a hydraulic cylinder as a driving source. In a work supply device equipped with a device, the adoption of a special pressure fluid supply means for the fluid pressure cylinder not only makes the equipment expensive, but also causes problems such as interference noise and damage to the device. Without relying on the servo control of inclusiveness, based on the mechanical detection result that the workpiece to be supplied has reached the supplied part, regardless of whether or not the workpiece exists in the supplied part, or Regardless of whether the workpiece already supplied is out of position,
Furthermore, regardless of the shape, size and weight of the work,
The workpiece can be quietly supplied to the supply destination.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a storage and cutting / boxing system for a bar-shaped work.

FIG. 2 is a schematic plan view of a storage and cutting / boxing system for a bar-shaped work.

FIG. 3 is a schematic plan view of the automatic box packing device.

FIG. 4 is a schematic side view of the automatic box packing device.

FIG. 5 is a side view of the work supply device.

FIG. 6 is a front view of the work supply device.

FIG. 7 is an air supply circuit diagram for an air cylinder for a lifting base.

FIG. 8 is an air supply circuit diagram for the air cylinder when the elevating base is lowered.

[Explanation of symbols]

25 ... air cylinder, 26 ... lifting base, 32 ... hydraulic cylinder, 35 ... work chuck device, B ... 1st pressure chamber,
C: second pressure chamber, V1: first valve, V2: second valve, S: pressure switch, b: first flow path, c: second flow path,
d: third flow path, e: fourth flow path.

Continuation of front page (56) References JP-A-6-155220 (JP, A) JP-A-2-232187 (JP, A) JP-A-4-146096 (JP, A) JP-A-62-178094 (JP) , A) JP-A-60-129793 (JP, A) JP-A-7-13693 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23Q 7/00 B25J 9/14 B25J 19/00

Claims (1)

(57) [Claims] 1. A work supply device comprising a base movable in a horizontal direction and movable up and down by using a fluid pressure cylinder as a drive source, and a work chuck device driven by the fluid pressure cylinder as a drive source. A first valve for switching and connecting a first flow path for supplying a work lifting fluid and a second flow path for supplying a lowering auxiliary fluid for the work is connected to the first pressure chamber on the work lifting side. The second pressure chamber has a third flow path for supplying a pressure fluid having a lower pressure than the work lowering auxiliary fluid, and a fourth flow path for releasing the pressure fluid.
A second valve for switching and connecting the flow path is connected, and further,
Based on the decrease in the internal pressure of the first pressure chamber accompanying the seating of the work on the supply target under the connection of the second and third flow paths, the first and second
A work supply device comprising a pressure switch for switching a valve between a first and a fourth flow path and a chuck hydraulic pressure cylinder to a released state.