JP3794630B2 - Material feeder - Google Patents

Description

【００５２】
表１において、グリップポイントとは、帯板材９０を把持した何れかのグリッパ３０Ａ，３０Ｂの位置であり、第１グリッパ３０Ａで帯板材９０を把持した場合には、第１グリッパ３０Ａの位置がグリップポイントとなり、第２グリッパ３０Ｂで帯板材９０を把持した場合には、第２グリッパ３０Ｂの位置がグリップポイントとなる。表１では、グリップポイントになった第１グリッパ３０Ａ又は第２グリッパ３０Ｂの位置データのみが示されている。
【００５３】
なお、前述したように第１及び第２グリッパ３０Ａ，３０Ｂのうち一方の位置データにおけるＸ座標データの正負を逆にすると、他方の位置データになるから、ＣＰＵ１００は第１又は第２のグリッパ３０Ａ，３０Ｂのうち少なくとも一方の位置データを読み込めば、両グリッパ３０Ａ，３０Ｂを位置決め制御することができる。
【００５４】
さて、ＣＰＵ１００は、表１のグリップポイントＰ１に係る第１グリッパ３０Ａの位置データ（−２Ｌ，２Ｍ）を読み込むと、第１グリッパ３０Ａを図１０の第１のＸＹ座標における移動可能領域Ｓ１の左上側の位置Ｐ１に位置決めする。そして、グリッパ開閉コマンド「１ＯＮ ２ＯＦＦ」に基づき、第１グリッパ３０Ａにて帯板材９０を把持しかつ第２グリッパ３０Ｂを解放状態にする。
【００５５】
次いで、グリップポイントＰ２に係る第１グリッパ３０Ａの位置データ（−Ｌ，Ｍ）を読み込み、帯板材９０を把持した第１グリッパ３０Ａの位置を移動可能領域Ｓ１の中央の位置Ｐ２に移動する。以下、同様にして、グリップポイントとしての第１グリッパ３０Ａの位置が、移動可能領域Ｓ１における位置Ｐ３及び位置Ｐ４に順次に移動し、図１０においてグリップポイントの軌跡を示したベクトルＰ１→Ｐ２→Ｐ３→Ｐ４の方向に帯板材９０が移動する。
【００５６】
次いで、グリッパ開閉コマンド「１ＯＦＦ ２ＯＮ」が読み込まれて、帯板材９０の把持が第１グリッパ３０Ａから第２グリッパ３０Ｂに切り替えられる。即ち、グリップポイントが第１グリッパ３０Ａから第２グリッパ３０Ｂに切り替わる。このとき、グリップポイントが切り替わるだけだから、帯板材９０は移動しない。また、図１０では、第１のＸＹ座標におけるグリップポイントＰ４から同図の第２のＸＹ座標における移動可能領域Ｓ２の左下の位置のグリップポイントＰ４に切り替わる。
【００５７】
そして、ＣＰＵ１００は、グリップポイントＰ５に係る第２グリッパ３０Ｂの位置データ（Ｌ，Ｍ）に基づき、帯板材９０を把持した第２グリッパ３０Ｂを、移動可能領域Ｓ２の中央の位置Ｐ５に移動する。以下、同様にして、グリップポイントとしての第２グリッパ３０Ｂの位置が、移動可能領域Ｓ２における位置Ｐ６、位置Ｐ７に移動する。そして、この第２グリッパ３０Ｂの軌跡を示したベクトルＰ４→Ｐ５→Ｐ６→Ｐ７の方向に、帯板材９０が移動する。
【００５８】
従って、ＣＰＵ１００が表１に示したデータを読み込むことで、グリップポイントと共に帯板材９０全体が、図１２（Ａ）に示したベクトルＰ１→Ｐ２→Ｐ３→Ｐ４→Ｐ５→Ｐ６→Ｐ７のようにジグザグに移動する。また、この帯板材９０の移動により、帯板材９０における前記パンチ２８との対向位置は、図１２（Ｂ）に示すように上記ベクトルＰ１→Ｐ２→Ｐ３→Ｐ４→Ｐ５→Ｐ６→Ｐ７とは逆向きのベクトルＰ１’→Ｐ２’→Ｐ３’→Ｐ４’→Ｐ５’→Ｐ６’→Ｐ７’の方向に相対移動する。
【００５９】
以上の表１のデータに基づく動作を繰り返して「送給パターン」とすることで帯板材９０がプレス機２５に間欠的に送給され、この送給動作をプレス機２５の動作に連動させて、パンチ２８を点Ｐ１’〜Ｐ７’の各位置で降下させれば、図１２（Ｂ）に示した所定のパターンで帯板材９０から複数の円板が打ち抜かれる。
【００６０】
さて、ＣＰＵ１００には、図１１に示すようにインターフェース１０２を介してエンコーダ１０４（本発明の「位相検出手段」に相当する）が接続されており、プレス機２５の１サイクル中の位相がＣＰＵ１００に取り込まれる構成になっている。詳細には、エンコーダ１０４は、プレス機２５のうちボトムシャフト２２に連結され、このボトムシャフト２２の回転をもってプレス機２５の１サイクル中の位相を検出している。なお、ボトムシャフト２２は、パンチ２８及びダイ２９の１回の開閉動作、即ちプレス機２５の１サイクルの動作に伴って３６０°回転する。
【００６１】
ＣＰＵ１００では、エンコーダ１０４の位相データに基づぎ、例えば、１°毎にプレス機２５の１サイクル中の位相を識別している。さらに、本実施形態のＣＰＵ１００では、次述する送給パターンに対応させて、プレス機２５の６サイクル（３６０°×６＝２１６０°）まで累積した位相を求め、６サイクルに至るとまた１サイクル目から次の６サイクルまで累積した位相を求めるように構成されている。
【００６２】
メモリ１０１には、前述した表１に係る送給パターンで材料送り装置を動作させるためのデータ群がデータテーブルにして記憶されており、このデータ群の一部が表２に抜粋して示されている。
【００６３】
【表２】

【００６４】
この表２に示すように、このデータテーブルには、プレス機の１°毎の位相に対応させて、グリップポイントの位置データ、即ち、第１又は第２のグリッパ３０Ａ，３０Ｂの少なくとも何れかの位置データが記憶されている。これら位置データは、表１に示した位置データを元に設定してあり、全体としては、プレス機２５が１サイクルの動作を行う毎にグリップポイントを間欠的に移動し、プレス機２５が６サイクルの動作を行う間に、帯板材９０を図１２（Ａ）のＰ１→Ｐ２→Ｐ３→Ｐ４→Ｐ５→Ｐ６→Ｐ７（Ｐ１）の方向にジグザグに移動しながらプレス機２５に送給するものである。
【００６５】
ここで、帯板材９０の移動は、プレス機２５のパンチ２８及びダイ２９が開いている間に行う必要があり、パンチ２８及びダイ２９が閉じている間では帯板材９０を停止させる必要がある。図１３は、上記６サイクルの動作のうちグリップポイントＰ１→Ｐ２の移動における１サイクルの動作を示すタイミング線図である。本実施形態のプレス機２５では、図１３に示すように１サイクル中の１６０°〜３１０°の位相で、パンチ２８及びダイ２９が完全に開くようになっている。そこで、プレス機２５の位相が１サイクルのうち１６０°〜３１０°の間で帯板材９０を移動し、それ以外の位相では帯板材９０を停止させるようにプレス機２５の１°毎の位相とグリップポイントの位置データを対応させて設定してある。
【００６６】
詳細には、プレス機２５の位相が０°〜３６０°の範囲で変化する場合を例に挙げると、表２に示すように０°〜１６０°の間の各１°ずつの位相に対応さて同じグリップポイントＰ１の位置データ（−２Ｌ、２Ｍ）が１６１個記憶されると共に、３１０°〜３６０°の間の各１°ずつの位相に対応さてグリップポイントＰ２の位置データ（−Ｌ、Ｍ）が５１個記憶されている。そして、プレス機２５の位相が１６０°から３１０°まで１５０°位相が進む間に、グリップポイントをＰ１からＰ２に移動すべく、グリップポイントＰ１とグリップポイントＰ２との間を１５０等分したグリップポイントＰ１００１〜Ｐ１１５０（Ｐ２）を設け、それらグリップポイントＰ１００１〜Ｐ１１５０（Ｐ２）の位置データを、１６０°から３１０°の間の１°毎の位相に対応させて記憶してある。
【００６７】
以下同様にして、２サイクル（３６０°〜７２０°）、３サイクル（７２０°〜１０８０°）、・・・、６サイクル（１８００°〜２１６０°）における各１°毎の位相に対応さてグリップポイント（第１又は第２のグリッパ３０Ａ，３０Ｂの位置）の位置データを記憶してある。また、表１で説明した場合と同様に、所定の点Ｐ１，Ｐ４，Ｐ７に対応させてグリッパ開閉コマンドが記憶されており、これにより、第１と第２のグリッパ３０Ａ，３０Ｂの間でグリップポイントが切り替えられる。
【００６８】
次に、上記構成からなる本実施形態の動作を説明する。
材料送り装置の電源をオンすると、ＣＰＵ１００は、例えば初期設定用のプログラムをランし、第１及び第２のグリッパ３０Ａ，３０Ｂを共に開放する。次いで、エンコーダ１０４からプレス機２５の現状の位相を取り込み、その位相に対応した第１及び第２のグリッパ３０Ａ，３０Ｂの何れかの位置データをメモリ１０１から読み込むと共に、その位相より小さい位相側に遡って最初に登場するグリッパ開閉コマンドを読み込む。
【００６９】
そして、読み込んだ位置データに基づいて第１及び第２のグリッパ３０Ａ，３０Ｂを移動してから、グリッパ開閉コマンドに応じて、第１及び第２のグリッパ３０Ａ，３０Ｂの何れか一方を開放しかつ他方を閉じる。これにより、材料送り装置のグリップポイントの位置とプレス機２５の位相とが、メモリ１０１に記憶されたデータテーブル（表２参照）通りに対応した状態になり、初期設定が完了する。
【００７０】
従って、本実施形態の材料送り装置によれば、初期設定を行う際に、帯板材９０がプレス機２５のパンチ２８及びダイ２９の間に挟まれた状態であっても、帯板材９０を途中で切断することなく、材料送り装置における第１及び第２のグリッパ３０Ａ，３０Ｂの初期位置とプレス機２５の初期位相とを整合させることができる。また、帯板材９０が材料送り装置に把持されていない場合には、初期設定用のプログラムがランして、第１及び第２のグリッパ３０Ａ，３０Ｂを共に開放した状態で、帯板材９０を第１及び第２のグリッパ３０Ａ，３０Ｂの間に通せばよい。
【００７１】
このように初期設定が完了した状態で、プレス機２５を起動すると、パンチ２８及びダイ２９の開閉動作に連動してボトムシャフト２２が回転し、エンコーダ１０４からＣＰＵ１００に取り込まれるプレス機２５の位相データが変化する。すると、ＣＰＵ１００は、プレス機２５の位相が１°進む毎にメモリ１０１にアクセスし、表２に示したデータテーブルから各位相に対応した位置データを取り込み、取り込んだ位置データに対応した位置に、第１及び第２のグリッパ３０Ａ，３０Ｂを位置決め制御する。これにより、第１又は第２のグリッパ３０Ａ，３０Ｂに把持された帯板材９０が位置決め制御される。
【００７２】
具体的には、図１３に示すようにプレス機２５の位相が０°では、パンチ２８が下死点に位置してダイ２９に押し当てられる。ここからパンチ２８が上昇してプレス機２５の位相が１６０°になるまでの間は、位相１°毎に対応させてメモリ１０１に記憶した１６１個の同じ位置データ（−２Ｌ，２Ｍ）がＣＰＵ１００に読み込まれる。そして、これら同じ位置データに基づき、第１及び第２のグリッパ３０Ａ，３０Ｂが同じ位置に連続して位置決め制御され、帯板材９０が実質的に停止された状態になる。即ち、パンチ２８がダイ２９から完全に離間されるまでは、帯板材９０は停止された状態に保持される。
【００７３】
次いで、プレス機２５の位相が１６０°を超えて３１０°になるまでの間は、パンチ２８がダイ２９から完全に離れた状態になる。そして、このプレス機２５の位相が１６０°を超えて３１０°になるまでの間では、位相が１°進む毎に、図１０の位置Ｐ１（−２Ｌ，２Ｍ）と位置Ｐ２（−Ｌ，Ｍ）との間を１５０等分した各位置Ｐ１００１〜Ｐ１１５０（Ｐ２）の位置データが読み込まれ、これら異なる位置データに基づき、第１及び第２のグリッパ３０Ａ，３０Ｂが逐一異なる位置に位置決め制御され、帯板材９０が徐々にＰ１からＰ２の方向に移動される。即ち、パンチ２８がダイ２９から完全に離間されている間に、プレス機２５の位相毎に帯板材９０の位置を対応させながら、帯板材９０が送給される。
【００７４】
次いで、プレス機２５の位相が３１０°を超えると、パンチ２８が再びダイ２９に接近し、３６０°でパンチ２８が下死点になって、帯板材９０から円板が打ち抜かれる。そして、位相が５２０°（＝３６０°＋１６０°）まで進んで、パンチ２８がダイ２９から離れる。この３１０°から５２０°までの間では、各位相に対応させてメモリ１０１に記憶した同じ位置データ（−Ｌ，Ｍ）に基づき、第１及び第２のグリッパ３０Ａ，３０Ｂが同じ位置に連続して位置決め制御され、帯板材９０が実質的に停止された状態になる。以下同様にプレス機２５と材料送り装置とが連動して動作し、所定のパターンで帯板材９０から複数の円板が打ち抜かれる。
【００７５】
ここで、プレス機２５の動作速度を変えた場合、本実施形態では、前述の如く、プレス機２５の各位相ごとに帯板材９０の位置を対応させながら送給しているから、プレス機２５の動作速度の変更に連動して帯板材９０の送給速度も自動的に変更される。これにより、プレス機２５の動作速度の変更作業が容易になる。また、プレス機２５の１°毎の位相に対応させて帯板材９０の位置決め制御しているから、１°より広い間隔の位相（例えば、１０°）毎に対応させて帯板材９０の位置決め制御した場合に比べて、プレスの開閉のタイミングと材料送り装置の駆動・停止のタイミングとを正確に同期させることができ、プレス機の高速化を図ることが可能になる。さらに、プレス機２５が停止した場合には、これに合わせて帯板材９０の送給も停止されるから、プレス機２５を停止させた際に、帯板材が詰まる心配もない。
【００７６】
ところで、プレス機２５に不具合が生じて、プレス機２５を逆転させて調整を行う場合がある。この場合、逆回転したボトムシャフト２２からプレス機２５の位相が検出され、プレス機２５が正転した場合と逆の順序で、位置データがメモリ１０１から読み込まれる。これにより、材料送り装置が、第１及び第２のグリッパ３０Ａ，３０Ｂによるグリップポイントを正規の場合とは逆の順序、つまり、図１０におけるＰ７→Ｐ６→Ｐ５→Ｐ４→Ｐ３→Ｐ２→Ｐ１の順序で移動し、帯板材９０を後退させる。即ち、プレス機２５を逆転させたときに自動的に帯板材９０が戻され、プレス機２５の調整や不具合処理を効率良く行うことができる。
【００７７】
本発明は、上述した本実施形態に限定されるものではなく、例えば、以下に説明する構成のものも本発明の技術的範囲に含まれ、さらに、下記以外にも要旨を逸脱しない範囲内で種々変更して実施することができる。
【００７８】
（１）本実施形態では、ボトムシャフト２２からプレス機２５の位相を検出していたが、プレス機２５のパンチ２８とダイ２９との開閉動作に連動して回転する回転軸であれば、どの回転軸からプレス機の位相を検出してもよい。従って、前記実施形態のカムシャフト１３又は垂直出力主軸２１からプレス機２５の１サイクル中の位相を検出してもよい。
【００７９】
（２）前記実施形態では、プレス機２５の１サイクル中の１°毎の位相に対応させて位置データをメモリ１０１に記憶した構成であったが、位置データに対応した位相の間隔は１°毎でなくてもよいし、等間隔でなくてもよい。従って、例えば、前記実施形態において、本実施形態において、プレス機２５の１サイクル中の位相が０°〜１６０°及び３１０°〜３６０°の間は、１０°毎に位置データを読み込んでその位置データに基づいて位置決め制御を行い、１６０°〜３１０°の間は、２°毎に位置データを読み込んでその位置データに基づいて位置決め制御を行う構成であってもよい。
【００８１】
（３）本実施形態では、送給パターンとして、図１２（Ｂ）に示すようにプレス機２５が６サイクル動作して、材料送り装置が最初の状態に戻る場合を例示したが、送給パターンはこれに限定されるものではなく、例えば、図１４に示すように、プレス機２５が３サイクル動作して、材料送り装置が最初の状態に戻る構成にしてもよい。
【００８２】
（４）また、帯板材９０から打ち抜かれる形状は、円板形状に限らない。従って、図１５に示すように、帯板材９０を１次元的に間欠的に移動して、帯板材９０から矩形板を打ち抜くために用いる材料送り装置に本発明を適用してもよい。
【００８３】
（５）本実施形態のＸ軸駆動部７０では、１対のボールネジ７４，７４を互いに逆回転させるために、各ボールネジ７４，７４に取り付けたギア７７，７７の間に複数のギヤを噛合させてあったが（図７参照）、図１６に示すように、各ボールネジ７４，７４に取り付けたギア７７，７７同志を直接噛合させた構成にしてもよい。
【００８４】
（６）本実施形態では、ボールネジ７４，７４を互いに逆回転させて、それらボールネジ７４，７４に螺合したボールナット８２，８２と共にグリッパ３０，３０を相反する方向に移動する構成であったが、逆向きの螺子を切った１対のボールネジを同じ方向に回転させることで、それらボールネジに螺合したボールナットと共にグリッパを相反する方向に移動する構成にしてもよい。
【００８６】
（７）本実施形態では、サーボモータの回転駆動力を、ボールネジ機構を用いて、直線駆動力に変える構成あったがこれに限られるものではなく、ラックとピニオンとを組み合わせた機構やカム機構等によって、サーボモータの回転駆動力を直線駆動力に変える構成にしてもよい。
【００８７】
（８）前記実施形態では、回転動力を出力するサーボモータを用いたが、リニアモータ構造のサーボモータにてグリッパを直線移動する構成にしてもよい。
【００８８】
＜実施形態に適用された発明の効果＞
上述したように本実施形態の材料送り装置によれば、プレス機２５の各位相ごとに帯板材９０の位置を対応させながら送給するから、プレス機２５の動作速度を変更した場合に、これに連動して帯板材９０の送給速度も自動的に変更され、プレス機２５の動作速度の変更作業を容易に行うことができる。また、プレス機２５が停止した場合には、これに合わせて帯板材９０の送給も停止されるので、材料詰まりも生じない。さらに、プレス機２５が逆転した場合であってもエンコーダ１０４が検出した位相データに基づいて、メモリ１０１から読み込んだ位置データを用いてサーボモータ５３，６４を数値制御するから、プレス機２５の逆転動作に連動させて材料送り装置も逆転動作させることができる。これにより、プレス機２５を逆転させたときに自動的に帯板材が戻され、プレス機２５の調整や不具合処理を効率良く行うことができる。
【図面の簡単な説明】
【図１】本発明の一実施形態に係るプレス機の正面図
【図２】本発明に係る材料送り装置の平面図
【図３】その材料送り装置の斜視図
【図４】その材料送り装置の側断面図
【図５】図４のＡ−Ａ切断面における材料送り装置の断面図
【図６】材料送り装置のベース部の斜視図
【図７】ツインボールネジ機構の部分拡大図
【図８】ツインボールネジ機構のギヤの噛合状態を示した概念図
【図９】送給動作を示した材料送り装置の部分側断面図
【図１０】グリッパの位置を示したグラフ
【図１１】材料送り装置の電気的構成を示したブロック図
【図１２】帯板材の平面図
【図１３】材料送り装置のタイミング線図
【図１４】送給パターンの変形例１を示した帯板材の平面図
【図１５】送給パターンの変形例２を示した帯板材の平面図
【図１６】ツインボールネジ機構の変形例を示した平面図
【符号の説明】
２２…ボトムシャフト（回転軸）
２５…プレス機（トランスファプレス機）
３０…グリッパ（把持手段）
５３…Ｙ軸サーボモータ
６４…Ｘ軸サーボモータ
７０…Ｘ軸駆動部（Ｘ軸移動手段）
７１…Ｙ軸駆動部（Ｙ軸移動手段）
７４…ボールネジ（螺桿）
７７…ギア（連結手段）
８０…大ギヤ（連結手段）
８１…小ギヤ（連結手段）
７９…ギヤ支軸（連結手段）
８２…ボールナット（ナット体）
１００…ＣＰＵ（制御手段）
１０１…メモリ
１０４…エンコーダ（位相検出手段）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a material feeding apparatus that intermittently feeds a strip material to a press machine.
[0002]
[Prior art]
As a conventional material feeding apparatus, those disclosed in Japanese Patent Laid-Open Nos. 10-118730 and 7-61707 are known. In such a conventional material feeding apparatus, in order to feed the strip material while the die set of the press machine is open, for example, the time when the press machine opens and closes within the time of one cycle of the press machine. As a reference, the timing of starting and stopping the feeding of the material feeding device and the feeding speed (hereinafter referred to as “feeding speed etc.”) are set to synchronize with the press machine.
[0003]
[Problems to be solved by the invention]
However, in the conventional configuration described above, if the time of one cycle is changed by changing the operation speed of the press machine, it is necessary to reset the feed speed of the material feeding device each time, and the press It took time to change the operating speed of the machine. In addition, since the conventional material feeding device continues to feed the strip plate material without being able to stop in accordance with this even if the press machine stops, when the press machine stops in a state where the strip plate material is pressed, Material clogging could occur. Furthermore, when the drive shaft of the press machine is rotated in reverse for adjustment, the band plate material does not reverse in the conventional material feeding device, so it is necessary to manually return the band plate material. I could not do it.
[0004]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a material feeding apparatus that can efficiently change and adjust the operation speed of a press.
[0005]
[Means for Solving the Problems]
  In order to achieve the above object, the material feeding device according to claim 1 is a material feeding device that intermittently feeds a strip material to a press to sequentially press a plurality of locations of the strip material.The first and second grippers which are provided in pairs in the longitudinal direction of the strip material and can grip the strip material, and the X axis which moves in the opposite direction of the first and second grippers in the longitudinal direction of the strip material A moving means, and a Y-axis moving means for integrally moving the first and second grippers in the same direction in the width direction of the band plate material;Press machinePlace ofPhase detection means for detecting the phase from the rotating shaft of the press machine;The position data of the first gripper in the first XY coordinates set in the movable area of the first gripper and the position of the second gripper in the second XY coordinates set in the movable area of the second gripper Data based on data and a data table storing gripper opening / closing commands for determining gripping or opening of the first and second grippers in correspondence with the phase of the press, and data based on the phase of the press detected by the phase detection means Control means for acquiring each position data and gripper opening / closing command from the table and controlling the positions and gripping states of the first and second grippers, and the first and second XY coordinates are the first or second If the sign of the X-axis coordinate data in one position data of the gripper is reversed, it becomes the other position data and is in contact with each other among the movable areas of the first and second grippers. Origin of the X-axis coordinate is set to be located at the end of the sideHowever, it has characteristics.
[0006]
  The invention of claim 2 is the material feeding device according to claim 1,If the position of the first or second gripper that grips the strip plate is the grip point, the data table is set so that the grip point moves in a different direction each time the punch and die of the press are opened and closed.However, it has characteristics.
[0007]
  The invention of claim 3 is claimed in claim2, the first and second XY coordinates are 2L for the maximum movement distance from the origin in the X-axis direction of the first and second grippers, and the maximum movement distance from the origin in the Y-axis direction. Is 2M, the grip point is (−2L, 2M) → (−L, M) → (−2L, 0) → (0,0) each time the punch and die of the press machine are opened and closed once. → (L, M) → (0,2M) → (2L, 2M) and the gripper open / close command is executed in (2L, 2M) to (−2L, 2M) Configured to switch toHowever, it has characteristics.
[0008]
According to a fourth aspect of the present invention, in the material feeding device according to any one of the first to third aspects, the control means runs the initial setting program on condition that the power of the material feeding device is turned on. The initial setting program includes the first step of opening both the first and second grippers, and the position data of one of the first and second grippers corresponding to the current phase of the press. A second step of reading from the data table and reading a gripper opening / closing command that first appears back to a phase side smaller than the phase, and a third step of moving the first and second grippers based on the read position data; And a fourth step of opening one of the first and second grippers and closing the other in response to a gripper opening / closing command.
According to a fifth aspect of the present invention, in the material feeding device according to any one of the first to fourth aspects, the position data is set in the data table for each constant value obtained by equally dividing one cycle of the press machine. Have
A sixth aspect of the present invention is the material feeding apparatus according to any one of the first to fifth aspects, wherein a pair of guide walls having slits through which the strip plate material is inserted are provided at both ends of the material feeding apparatus. It is characterized by
The invention of claim 7 is the material feeding device according to any one of claims 1 to 6, wherein the X-axis moving means includes a pair of screws that are threaded on the outer peripheral surface and extend in opposite directions to each other; A connecting means that connects both ends of the screws so that the both screws are interlocked and rotated in opposite directions, and a pair of nuts that are respectively screwed into the screws and that are close to and separated from each other by the interlocking rotation of the screws. And a pair of grippers are characterized in that they are arranged separately on each nut body.
According to an eighth aspect of the present invention, in the material feeding device according to the seventh aspect, the connecting means is connected to a pair of gears attached to the ends of the two screws butted against each other and a center point between the two screws. It is characterized in that it is composed of a pair of gears of the same shape meshed between a pair of gears arranged in point symmetry.
[0009]
  Claim9The invention of claim1 to 6In the material feeding apparatus according to any one of the above, the X-axis moving means includes a pair of screws extending in opposite directions and having oppositely threaded outer peripheral surfaces, and both the screws are interlocked in the same direction. A connecting means for connecting one ends of both screws so as to rotate, and a pair of nut bodies which are respectively screwed into the respective screws and interlocked and rotated so that the screws approach and separate from each other; ofGripperIs characterized in that it is arranged separately on each nut body.
[0010]
  Claim10The invention of claim1 to 6In the material feeding device according to any one ofThe drive sources for the X-axis moving means and the Y-axis moving means are:It is characterized by being a linear motor.
[0011]
  Claim11The invention of claim 1Thru 10The material feeding device according to any one ofAndThe control means can be used even when the rotary shaft of the press machine rotates in reverse.Acquire each position data and gripper opening / closing command from the data table to control the position and gripping state of the first and second grippersIt is characterized by being configured to do so.
[0013]
[Action and effect of the invention]
  <Claim1Invention>
  In the material feeding device of claim 1The position data of the first and second grippers and the gripper opening / closing command are acquired from the data table based on the phase of the press machine detected by the phase detecting means, and the positions and gripping states of the first and second grippers are controlled. Then, the strip material is fed. ThisFeeding can be performed while corresponding the position of the strip material for each phase of the press. Therefore, when the operating speed of the press machine is changed, the feeding speed of the strip plate material is automatically changed in conjunction with this, and the operation of changing the operating speed of the press machine can be easily performed. In addition, when the press machine is stopped, the feeding of the band plate material is also stopped accordingly, so that no material clogging occurs.
[0014]
<Inventions of Claims 2 and 3>
According to the second aspect of the present invention, the grip point is the position of the first or second gripper that grips the band plate material. Therefore, when the band plate material is gripped by the first gripper, the position of the first gripper is determined. Becomes the grip point, and when the band plate material is gripped by the second gripper, the position of the second gripper becomes the grip point. And every time the punch and die opening and closing operations of the press machine are performed, the grip point moves in a different direction and feeds the strip plate material, so that the entire strip plate material moves zigzag together with the grip point. The position punched by the press moves in a zigzag manner.
Specifically, according to the configuration of claim 3, the entire strip plate material together with the grip points moves zigzag as shown in the vector P1->P2->P3->P4->P5->P6-> P7 shown in FIG. To do. Then, as a result of the movement of the strip plate material, the position of the strip plate material facing the punch of the press machine is a vector in the opposite direction to the vector P1 → P2 → P3 → P4 → P5 → P6 → P7 as shown in FIG. The band plate material is punched by moving in a zigzag direction in the direction of P1 ′ → P2 ′ → P3 ′ → P4 ′ → P5 ′ → P6 ′ → P7 ′.
<Invention of Claim 4>
According to the invention of claim 4, when performing the initial setting, even if the band plate material is sandwiched between the punch and die of the press machine, the material feeding device without cutting the band plate material halfway It is possible to match the initial positions of the first and second grippers and the initial phase of the press. When the band plate material is not gripped by the material feeding device, the band plate material may be passed between the first and second grippers with both the first and second grippers opened.
<Invention of Claim 5>
According to the configuration of the fifth aspect, the data table is accessed every time the phase of the press machine advances by a certain value, the position data corresponding to each phase is taken in, and the first and second positions are taken in the positions corresponding to the taken position data. Position control of the gripper. Thereby, the opening / closing timing of the press and the driving / stopping timing of the material feeding device can be accurately synchronized.
<Invention of Claim 6>
According to the configuration of the sixth aspect, the band plate material is inserted into the slit formed in the guide wall, the movement in the thickness direction and the width direction is restricted, and is guided to the normal positions of the first and second grippers. .
[0015]
  <Claim7, 8, 9Invention>
  Claim7, 8, 9In this configuration, when the gripping member is gripped by one gripping means while the gripping means are separated from each other and the gripping means are brought close to each other, the stripping plate material is fed in one direction. When the gripping means are switched from one to the other while the gripping means are close to each other and the gripping means are separated from each other, the band plate material is further fed in one direction. In this way, the strip plate material can be moved in the longitudinal direction and fed to the press machine.
[0016]
  <Claim10Invention>
  Claim10Like the invention ofThe drive source for the X-axis moving means and the Y-axis moving meansYou may comprise with a linear motor.
[0017]
  <Claim11Invention>
  Claim11According to the configuration, the control means can be used even when the rotary shaft of the press machine rotates in the reverse direction.Acquire each position data and gripper opening / closing command from the data table to determine the position and gripping state of the first and second grippers.Therefore, the material feeding device can also be operated in reverse in conjunction with the reverse operation of the press machine. Thereby, when the press machine is reversely rotated, the band plate material is automatically returned, and the press machine can be adjusted and troubles can be efficiently performed.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
FIG. 1 shows a transfer press machine 25 (hereinafter simply referred to as “press machine 25”) as an example of a press machine. As shown in the figure, the press machine 25 includes an upper base 10 and a lower base 11 that are opposed to each other in the vertical direction and are assembled to a frame 24. The frame 24 includes a pair of side frames 23, 23 facing in the left-right direction across the upper base 10 and the lower base 11, and the lower base 11 is fixed between the side frames 23, 23. It is supported so that it can move up and down.
[0020]
Above the upper base 10, a camshaft 13 is passed between the side frames 23, 23, and a speed reducing portion 15 is connected to an end of the camshaft 13 that penetrates one side frame 23. Yes. In the speed reduction unit 15, the end of the camshaft 13 is fixed to the final gear, and the flywheel 16 is fixed to the first gear. Then, a pulley 18 is attached to the rotating shaft of the electric motor 17 disposed on the upper surface of the press machine 25, and the pulley 18 and the flywheel 16 are connected by a belt 19, whereby the electric motor 17 is driven as a drive source. As a result, the camshaft 13 rotates.
[0021]
A pair of cams 14 and 14 are provided at positions near both ends of the portion of the camshaft 13 sandwiched between the side frames 23 and 23. The cams 14 and 14 have the same shape and are fixed to the camshaft 13 so as to have the same phase. In addition, a pair of support members extending upward from the upper base 10 are provided with a pair of rollers 20 and 20 each sandwiching the cam 14 from the vertical direction. When the camshaft 13 is rotated, the roller 20 follows the cam 14 and the upper base 10 moves up and down. As a result, the upper and lower bases 10 and 11 are brought into contact with and separated from each other at a predetermined cycle.
[0022]
A vertical output main shaft 21 extends in the vertical direction on the outer surface of the side frame 23 on the opposite side of the speed reduction portion 15 of the frame 24, and an upper end portion of the vertical output main shaft 21 and an end portion of the camshaft 13 are connected to each other. Are connected by bevel gears 21G and 21G. Further, a bottom shaft 22 is provided between the side frames 23, 23 below the lower base 11 in the frame 24, and one end portion of the bottom shaft 22 and a lower end portion of the vertical output main shaft 21 are provided. Are connected by a bevel gear (see FIG. 11).
[0023]
Between the upper base 10 and the lower base 11, a plurality of processing stages ST1, ST2, ST3,... Are provided along the horizontal direction (the left-right direction in FIG. 1). In the first processing stage ST1 shown at the left end of FIG. 1, punching punches 28 and dies 29 are provided on the upper and lower bases 10 and 11, and as shown in FIG. 2, processing stages ST1 and ST2 , ST3,..., The strip plate material 90 is fed from a direction (right and left direction in FIG. 2) perpendicular to the arrangement direction. Then, in the first processing stage ST1, discs are punched from the strip material 90, and these discs are sequentially sent to the next processing stage by a transfer mechanism (not shown), and are drawn at each processing stage ST2, ST3,. Yoromeki cutting is applied.
[0024]
  The material feeding device of the present embodiment is provided for feeding the strip material 90 to the first processing stage ST1 in the press machine 25. 3 shows a part of the material feeding device as a perspective view. As shown in FIG. 3, the material feeding device includes a pair of grippers 30 and 3 capable of gripping the strip 90 in the thickness direction.0 isThe belt plate 90 is provided at two locations along the longitudinal direction. Then, the gripper 30 that holds the band plate material 90 is moved in the longitudinal direction and the width direction of the band plate material 90, so that a predetermined position of the band plate material 90 is positioned and controlled to be opposed to the punch 28 of the first processing stage ST1. However, the band plate material 90 is fed to the press machine 25.
[0025]
As shown in FIG. 3, each gripper 30 includes a flat rectangular tube-shaped housing 31 through which a strip plate material 90 is inserted, and a fixed block 32 and a movable block 33 sandwich the strip plate material 90 inside the housing 31. It is provided up and down. The fixing block 32 disposed below the strip plate material 90 extends across the strip plate material 90 in the width direction, and the lower half of the fixed block 32 is the bottom of the housing 31 as shown in FIGS. 4 and 5. It is buried and fixed in the wall.
[0026]
The movable block 33 disposed on the upper side of the band plate material 90 includes a guide shaft 34, 34 extending downward from both end portions in the width direction of the band plate material 90 and extending downward from both ends. The guide shafts 34 and 34 are inserted into through holes (not shown) in the bottom wall of the housing 31, so that the movable block 33 is allowed only to move up and down within the housing 31.
[0027]
A cylinder 35 is fixed to the upper surface of the housing 31 in each grip 30, and a drive rod 36 provided in the cylinder 35 is attached to the movable block 33 through the upper wall of the housing 31. For example, when compressed air is supplied to the lower end side of the cylinder 35, the movable block 33 rises together with the drive rod 36, and the belt plate material 90 can freely pass between the fixed block 32 and the movable block 33. On the other hand, when compressed air is supplied to the upper end side of the cylinder 35, the movable block 33 moves down together with the drive rod 36, and the band plate material 90 is gripped between the fixed block 32 and the movable block 33.
[0028]
As shown in FIG. 3, the material feeding device is provided with a frame body 40 that supports the grippers 30, 30 so as to be movable in the longitudinal direction of the strip plate material 90. The frame body 40 joins the ends of a pair of longitudinal beams 41 and 41 extending in parallel on both sides of the strip 90 and a pair of lateral beams 42 and 42 crossing the strip 90 in the width direction. Are formed in a rectangular frame shape. Further, an intermediate beam 43 is passed between the longitudinal central portions of both the vertical beams 41, 41, and the space surrounded by the frame body 40 is divided into two regions S11, S12. The grippers 30 and 30 are arranged in S12.
[0029]
As shown in FIG. 5, rails 44 are attached to the vertical beams 41, 41, and groove-shaped sliders 45, 45 attached to both sides of each gripper 30 slide on the rails 44, 44. Engagement possible. Thereby, each gripper 30 can be slid in the longitudinal direction of the strip plate material 90 in each region S11, S12 in the frame body 40. Specifically, as shown in FIG. 5, one slider 45 is disposed on the lower surface of the protruding wall 31 </ b> T projecting from one side surface of the gripper 30 and engages with a rail 44 disposed on the upper surface of one vertical beam 41. The other slider 45 is disposed on the other side surface of the gripper 30 and engages with a rail 44 disposed on the side surface of the other vertical beam 41. As described above, the arrangement of the rails 44 and the sliders 45 is made different in direction so as to facilitate the assembly.
[0030]
The slider 45 and the rail 44 engaged with each other constitute a so-called LM guide, and the slider 59 and the rail 58, which will be described later, and the slider 62 and the rail 61 also constitute a so-called LM guide. The LM guide also serves to restrict the slider from moving in directions other than the longitudinal direction of the rail.
[0031]
As shown in FIG. 4, guide walls 26 and 26 are provided at both ends in the longitudinal direction of the strip plate material 90 in the frame body 40, and the strip plate material 90 is formed in slits 26 </ b> S and 26 </ b> S formed in the guide walls 26 and 26. , The movement of the strip 90 in the thickness direction and the width direction is restricted with respect to the frame body 40 and guided to the normal positions of the grippers 30 and 30.
[0032]
Further, as shown in FIG. 2, a pair of slide poles 47, 47 are penetrated through the strip 90 in the width direction at both ends in the longitudinal direction of the strip 90 in the frame 40. 47 is provided between both side walls 51, 51 of the base portion 50 covering the periphery of the frame body 40. As a result, the entire frame 40 including the gripper 30 can slide in the width direction of the band plate material 90 with respect to the base portion 50. As described above, the gripper 30 is slidable in both the longitudinal direction and the width direction of the strip plate material 90.
[0033]
The gripper 30 is moved by the X-axis drive unit 70 (corresponding to the “X-axis moving means” of the present invention) in the longitudinal direction of the strip plate material 90, and the Y-axis drive unit 71 (the book) Corresponding to the “Y-axis moving means” of the invention.
[0034]
The Y-axis drive unit 71 is as follows. That is, a ball screw 48 is inserted between the side walls 51 and 51 and is rotatably supported at an intermediate position between the slide poles 47 and 47 in the base portion 50 as shown in FIG. The ball screw 48 is screwed into a ball nut 49 fixed to the lower surface of the intermediate beam 43 in the frame 40 as shown in FIG. Further, as shown in FIG. 5, a Y-axis servomotor 53 is attached to an edge portion of the lower surface of the base portion 50 on the side wall 51 side via an L-shaped bracket 52. Pulleys 54 and 54 are fixed to the drive shaft and one end of the ball screw 48 that protrudes outward from the side wall 51, and both pulleys 54 and 54 are connected by a timing belt 55. As described above, the Y-axis drive unit 71 configured to move the grippers 30 and 30 together with the frame body 40 in the width direction of the band plate 90 using the Y-axis servomotor 53 as a drive source is configured.
[0035]
The X-axis drive unit 70 is as follows. That is, as shown in FIGS. 5 and 6, a pair of rail walls 57, 57 stand up from the bottom wall 56 of the base portion 50 and extend parallel to the longitudinal direction of the strip plate material 90. And between these rail walls 57 and 57, the twin ball screw mechanism 73 (refer FIG. 4) is accommodated. As shown in FIG. 4, the twin ball screw mechanism 73 includes a pair of ball screws 74 and 74 (corresponding to “screws” according to the present invention) arranged in a straight line, and one end of each ball screw 74 and 74 is formed at the base portion. 50, the two side walls 75, 75 opposed to each other in the longitudinal direction of the band plate material 90 are rotatably supported on one side and the other end of each ball screw 74, 74 between the side walls 75, 75. A pair of upright walls 76, 76 erected from the bottom wall 56 at the center is pivotally supported by one and the other.
[0036]
An X-axis servomotor 64 is attached to an edge of the lower surface of the base portion 50 on the side of the side wall 75 via an L-shaped bracket 63, and the drive shaft of the X-axis servomotor 64 and one ball screw 74. Pulleys 74P and 74P are respectively fixed to one end portion protruding outward from the side wall 75, and both pulleys 74P and 74P are connected by a timing belt 74B.
[0037]
Furthermore, gears 77 and 77 are attached to the end portions of both ball screws 74 and 74 that face each other, and these gears 77 and 77 are connected by a plurality of gears. Specifically, as shown in FIG. 7, a pair of gear supports are provided between opposing walls 78 and 78 erected from the bottom wall 56 of the base portion 50 on both sides of the abutted portions of the ball screws 74 and 74. The shafts 79 and 79 are passed and rotatably supported. Further, a large gear 80 and a small gear 81 are fitted to each gear support shaft 79, and both are prevented from rotating on the gear support shaft 79 by a key.
[0038]
Then, as schematically shown in FIG. 8, the small gear 81 attached to the upper gear support shaft 79 in FIG. 8 meshes with the gear 77 attached to the ball screw 74 on the left side of FIG. The small gear 81 attached to the gear support shaft 79 on the side meshes with the gear 77 attached to the ball screw 74 on the right side of the figure, and the large gears 80 and 80 attached to the gear support shafts 79 and 79 are connected to the ball screw 74. 74 is engaged. When viewed as a whole, each pair of gears having the same shape (at least the same number of teeth) is arranged in point symmetry with respect to the center point between the ball screws 74 and 74 and meshes.
[0039]
As a result, when the left ball screw 74 in the figure is rotated by the X-axis servomotor 64, the right ball screw 74 rotates in the reverse direction at the same rotational speed as the left ball screw 74. Specifically, when the ball screw 74 on the left side in FIG. 8 rotates in the clockwise direction as viewed from the left in FIG. 8, the upper gear support shaft 79 in FIG. 8 rotates in the counterclockwise direction, while the lower side in FIG. The gear support shaft 79 rotates in the clockwise direction, and the right ball screw 74 rotates in the counterclockwise direction opposite to the left ball screw 74.
[0040]
As shown in FIG. 4, the screw of the same shape is cut on the outer periphery of the ball screws 74, 74, and ball nuts 82, 82 (corresponding to the “nut body” of the present invention) are screwed onto these screws. Yes. The ball nuts 82 and 82 are arranged symmetrically with respect to the center between the ball screws 74 and 74, and are attached to moving plates 60 and 60 that are passed between the rail walls 57 and 57 as shown in FIG. Yes. Rails 58, 58 are laid on the upper surface of the rail wall 57, and sliders 59, 59 attached to both ends of the lower surface of the movable plates 60, 60 are slidably engaged with the rails 58, 58. As described above, when the X-axis servomotor 64 is driven, the ball screws 74 and 74 rotate in the opposite directions and move together with the ball nuts 82 and 82 in the opposite directions.
[0041]
A rail 61 is attached to the upper surface of each moving plate 60 in a direction crossing the rail walls 57, 57. As shown in FIGS. 4 and 5, each rail 61 is attached to the lower surface of each gripper 30. The slider 62 is slidably engaged. The X-axis drive unit 70 is configured as described above, and when the X-axis servo motor 64 is driven to move the moving plates 60, 60 in opposite directions as described above, the grippers 30, 30 together with the moving plates 60, 60 It is moved in the direction opposite to the longitudinal direction of 90.
[0042]
Here, an example of the operation in which the X-axis drive unit 70 is operated to feed the band plate material 90 in the longitudinal direction will be described with reference to FIGS. 9 (A) to 9 (D). Hereinafter, when distinguishing both grippers 30 and 30, the side far from the press machine 25 will be referred to as a “first gripper 30A” and the side close to the press machine 25 will be referred to as a “second gripper 30B”.
[0043]
In FIG. 9, the magnitude of the movement stroke of both grippers 30 and 30 is “K”. In FIG. 9A, the first gripper 30A is located at the left end of the stroke K in the same figure. The second gripper 30B is located at the right end of the drawing in the stroke K. In this state, the band plate material 90 is gripped by the first gripper 30A, and the second gripper 30B is opened.
[0044]
Then, as shown in FIG. 9B, the first gripper 30 </ b> A holding the strip plate material 90 is moved to the right end of the stroke K. Then, the strip plate material 90 is moved to the right side of the figure by the distance “K”. Further, in conjunction with this operation, the second gripper 30B moves to the left end of the drawing in the stroke K.
[0045]
Here, as shown in FIG. 9C, the gripping of the band plate material 90 is switched from the first gripper 30A to the second gripper 30B. Then, by moving the second gripper 30B that holds the band plate material 90 to the right end of the stroke K, the band plate material 90 can be moved further to the right side of the drawing by the distance “K”. At this time, the first gripper 30A moves to the left end of the stroke K in the figure, and here, the gripping of the band plate material 90 is switched from the second gripper 30B to the first gripper 30A, and the first state (FIG. 9). The state returns to (A). By repeating this operation, the strip 90 can be intermittently fed to the right side of the figure.
[0046]
In the material feeding device of the present embodiment, the grippers 30A and 30B can be moved two-dimensionally by the X-axis and Y-axis drive units 70 and 71 described above, and predetermined reference points in the grippers 30A and 30B. The movable area (for example, the intersection of the axis of the cylinder 35 and the band plate 90) can be indicated by the rectangular movable areas S1 and S2 shown in FIG. In each material feeding device, coordinate axes for specifying the positions of the reference points of the grippers 30A and 30B (hereinafter simply referred to as the positions of the grippers 30A and 30B) are set separately.
[0047]
Specifically, the first XY coordinate axis related to the first gripper 30A and the second XY coordinate axis related to the second gripper 30B are shown in FIG. ) Is the X coordinate axis, and the width direction of the strip 90 is the Y coordinate axis. With respect to the X coordinate axis, for example, in each movable region S1, S2 shown in FIG. 10, the direction approaching the press machine 25 (feeding direction) is set with the end portions close to each other as the X coordinate origin. Each X coordinate axis is set to be positive. Accordingly, the X coordinate of the first gripper 30A is always a negative value, and the X coordinate of the second gripper 30B is always a positive value.
[0048]
Regarding the Y coordinate axis, for example, the lower end in FIG. 10 of each of the movable regions S1 and S2 is set as the origin, and the upper side in the figure is set to be positive of the Y coordinate axis. FIG. 2 shows a state where the first and second grippers 30A and 30B are both located at the origin. Here, as described above, the first and second grippers 30A and 30B move in opposite directions in conjunction with each other in the longitudinal direction of the strip plate material 90, that is, the X-axis direction. Since the Y-axis direction moves integrally in the same direction, if the sign of the X coordinate value of one of the first gripper 30A and the second gripper 30B is reversed, the other position data is obtained.
[0049]
  FIG. 11 shows an electrical configuration of the material feeding apparatus. In the figure, reference numeral 100 denotes a CPU according to the present invention."Control means"It corresponds to. That is, the CPU 100 stores the memory 101 orLa Position DayTThe X and Y axis servo motors 53 and 64 are numerically controlled so that the first and second grippers 30A and 30B are moved to positions corresponding to the read position data. The CPU 100 also sends a gripper opening / closing command from the memory 101 together with the position data.TheA signal is sent to the cylinder drive circuit 103 for driving the cylinders 35, 35 of each gripper 30A, 30B based on the gripper opening / closing command, and the grippers 30A, 30B are switched between the gripping state and the opening state.
[0050]
Hereinafter, a case where the CPU 100 reads the position data and the gripper opening / closing command exemplified in Table 1 in order from the upper side of the table will be described as an example.
[0051]
[Table 1]

[0052]
In Table 1, the grip point is the position of one of the grippers 30A and 30B that grips the strip plate material 90. When the strip plate material 90 is gripped by the first gripper 30A, the position of the first gripper 30A is the grip. When the band plate material 90 is gripped by the second gripper 30B, the position of the second gripper 30B becomes the grip point. In Table 1, only the position data of the first gripper 30A or the second gripper 30B serving as grip points is shown.
[0053]
Note that, as described above, if the sign of the X coordinate data in one of the first and second grippers 30A, 30B is reversed, the other position data is obtained, so the CPU 100 has the first or second gripper 30A. , 30B, the positioning of the grippers 30A, 30B can be controlled.
[0054]
When the CPU 100 reads the position data (−2L, 2M) of the first gripper 30A related to the grip point P1 in Table 1, the CPU 100 moves the first gripper 30A to the upper left of the movable region S1 in the first XY coordinates of FIG. Position to the side position P1. Then, based on the gripper opening / closing command “1ON 2OFF”, the first gripper 30A grips the band plate material 90 and releases the second gripper 30B.
[0055]
Next, the position data (-L, M) of the first gripper 30A related to the grip point P2 is read, and the position of the first gripper 30A holding the strip 90 is moved to the center position P2 of the movable area S1. Similarly, the position of the first gripper 30A as a grip point sequentially moves to a position P3 and a position P4 in the movable region S1, and the vectors P1 → P2 → P3 showing the locus of the grip point in FIG. → The strip material 90 moves in the direction of P4.
[0056]
Next, the gripper opening / closing command “1OFF 2ON” is read, and the gripping of the band plate material 90 is switched from the first gripper 30A to the second gripper 30B. That is, the grip point is switched from the first gripper 30A to the second gripper 30B. At this time, since the grip points are only switched, the strip plate material 90 does not move. Further, in FIG. 10, the grip point P4 at the first XY coordinate is switched to the grip point P4 at the lower left position of the movable region S2 at the second XY coordinate in the same figure.
[0057]
Then, based on the position data (L, M) of the second gripper 30B related to the grip point P5, the CPU 100 moves the second gripper 30B holding the strip 90 to the center position P5 of the movable region S2. Hereinafter, similarly, the position of the second gripper 30B as the grip point moves to the position P6 and the position P7 in the movable region S2. Then, the strip plate material 90 moves in the direction of vectors P4 → P5 → P6 → P7 indicating the locus of the second gripper 30B.
[0058]
Therefore, when the CPU 100 reads the data shown in Table 1, the entire band plate material 90 together with the grip points is zigzag as shown in the vector P1-> P2-> P3-> P4-> P5-> P6-> P7 shown in FIG. Move to. Further, as a result of the movement of the band plate member 90, the position of the band plate member 90 facing the punch 28 is opposite to the above-described vectors P1-> P2-> P3-> P4-> P5-> P6-> P7 as shown in FIG. It moves relative to the direction vector P1 ′ → P2 ′ → P3 ′ → P4 ′ → P5 ′ → P6 ′ → P7 ′.
[0059]
  Repeat operations based on the data in Table 1 above"By making the “feed pattern”, the strip plate material 90 is intermittently fed to the press machine 25, and this feed operation is linked to the operation of the press machine 25 so that the punch 28 is positioned at points P1 ′ to P7 ′. Is lowered, the plurality of discs are punched from the strip 90 in a predetermined pattern shown in FIG.
[0060]
As shown in FIG. 11, an encoder 104 (corresponding to the “phase detection means” of the present invention) is connected to the CPU 100 via the interface 102, and the phase in one cycle of the press machine 25 is connected to the CPU 100. It is configured to be imported. Specifically, the encoder 104 is connected to the bottom shaft 22 of the press machine 25, and detects the phase during one cycle of the press machine 25 by the rotation of the bottom shaft 22. The bottom shaft 22 rotates 360 ° with one opening / closing operation of the punch 28 and the die 29, that is, with one cycle operation of the press machine 25.
[0061]
In the CPU 100, for example, the phase in one cycle of the press machine 25 is identified every 1 ° based on the phase data of the encoder 104. Further, the CPU 100 according to the present embodiment obtains the accumulated phase up to 6 cycles (360 ° × 6 = 2160 °) of the press machine 25 in correspondence with the feeding pattern described below. The phase accumulated from the first to the next six cycles is obtained.
[0062]
In the memory 101, a data group for operating the material feeding apparatus with the feeding pattern according to Table 1 described above is stored as a data table, and a part of this data group is extracted and shown in Table 2. ing.
[0063]
[Table 2]

[0064]
As shown in Table 2, in this data table, the grip point position data, that is, at least one of the first and second grippers 30A and 30B is associated with the phase of each 1 ° of the press. Position data is stored. These position data are set based on the position data shown in Table 1. As a whole, each time the press machine 25 performs one cycle of operation, the grip point is moved intermittently. During the operation of the cycle, the strip 90 is fed to the press 25 while moving zigzag in the direction of P1, P2, P3, P4, P5, P6, and P7 (P1) in FIG. It is.
[0065]
Here, the movement of the strip plate material 90 needs to be performed while the punch 28 and the die 29 of the press machine 25 are open, and the strip plate material 90 needs to be stopped while the punch 28 and the die 29 are closed. . FIG. 13 is a timing diagram showing the operation of one cycle in the movement of the grip points P1 → P2 among the operations of the above six cycles. In the press machine 25 of the present embodiment, as shown in FIG. 13, the punch 28 and the die 29 are completely opened at a phase of 160 ° to 310 ° in one cycle. Therefore, the phase of the press machine 25 is moved between 160 ° to 310 ° in one cycle, and the phase of the press machine 25 is changed every 1 ° so that the belt plate material 90 is stopped at other phases. The grip point position data is set correspondingly.
[0066]
Specifically, taking the case where the phase of the press machine 25 changes in the range of 0 ° to 360 ° as an example, as shown in Table 2, it corresponds to each phase of 1 ° between 0 ° and 160 °. 161 pieces of position data (−2L, 2M) of the same grip point P1 are stored, and position data (−L, M) of the grip point P2 corresponding to each phase of 1 ° between 310 ° to 360 °. 51 are stored. A grip point obtained by dividing the grip point P1 and the grip point P2 into 150 equal parts so that the grip point is moved from P1 to P2 while the phase of the press machine 25 advances from 160 ° to 310 °. P1001 to P1150 (P2) are provided, and the position data of these grip points P1001 to P1150 (P2) are stored in correspondence with the phase every 1 ° between 160 ° and 310 °.
[0067]
In the same manner, grip points corresponding to the phase of each 1 ° in 2 cycles (360 ° to 720 °), 3 cycles (720 ° to 1080 °), ..., 6 cycles (1800 ° to 2160 °). The position data of (the position of the first or second gripper 30A, 30B) is stored. Similarly to the case described in Table 1, gripper opening / closing commands are stored in correspondence with the predetermined points P1, P4, P7, whereby the grip between the first and second grippers 30A, 30B is stored. Points can be switched.
[0068]
Next, the operation of the present embodiment configured as described above will be described.
When the power of the material feeding device is turned on, the CPU 100, for example, runs a program for initial setting, and opens both the first and second grippers 30A and 30B. Next, the current phase of the press machine 25 is fetched from the encoder 104, the position data of one of the first and second grippers 30A and 30B corresponding to the phase is read from the memory 101, and the phase is smaller than the phase. Reads the first gripper open / close command that appears retroactively.
[0069]
Then, after moving the first and second grippers 30A, 30B based on the read position data, one of the first and second grippers 30A, 30B is opened according to the gripper opening / closing command, and Close the other. Thereby, the position of the grip point of the material feeding device and the phase of the press machine 25 are in a state corresponding to the data table (see Table 2) stored in the memory 101, and the initial setting is completed.
[0070]
Therefore, according to the material feeding device of the present embodiment, when the initial setting is performed, even if the strip plate material 90 is sandwiched between the punch 28 and the die 29 of the press machine 25, the strip plate material 90 is in the middle. The initial positions of the first and second grippers 30 </ b> A and 30 </ b> B in the material feeding device can be matched with the initial phase of the press machine 25 without cutting. In addition, when the band plate material 90 is not gripped by the material feeding device, the initial setting program is run, and the first and second grippers 30A and 30B are both opened, and the band plate material 90 is moved to the first position. What is necessary is just to pass between 1st and 2nd grippers 30A and 30B.
[0071]
When the press machine 25 is started with the initial setting completed in this way, the bottom shaft 22 rotates in conjunction with the opening and closing operations of the punch 28 and the die 29, and the phase data of the press machine 25 taken into the CPU 100 from the encoder 104. Changes. Then, the CPU 100 accesses the memory 101 every time the phase of the press machine 1 advances by 1 °, takes in the position data corresponding to each phase from the data table shown in Table 2, and at the position corresponding to the fetched position data, Positioning control of the first and second grippers 30A and 30B is performed. As a result, the positioning of the strip 90 held by the first or second gripper 30A, 30B is controlled.
[0072]
Specifically, as shown in FIG. 13, when the phase of the press machine 25 is 0 °, the punch 28 is positioned at the bottom dead center and pressed against the die 29. From here, until the punch 28 moves up and the phase of the press machine 25 reaches 160 °, 161 identical position data (−2L, 2M) stored in the memory 101 corresponding to every phase 1 ° are stored in the CPU 100. Is read. Then, based on these same position data, the first and second grippers 30A, 30B are continuously positioned and controlled at the same position, and the strip 90 is substantially stopped. That is, the strip 90 is held in a stopped state until the punch 28 is completely separated from the die 29.
[0073]
Next, the punch 28 is completely separated from the die 29 until the phase of the press machine 25 exceeds 160 ° and reaches 310 °. Then, until the phase of the press machine 25 exceeds 160 ° and reaches 310 °, the position P1 (−2L, 2M) and the position P2 (−L, M) in FIG. ) And position data of the respective positions P1001 to P1150 (P2) divided into 150 equally, and based on these different position data, the first and second grippers 30A and 30B are positioned and controlled at different positions one by one, The strip material 90 is gradually moved from P1 to P2. That is, while the punch 28 is completely separated from the die 29, the band plate material 90 is fed while the position of the band plate material 90 is made to correspond to each phase of the press machine 25.
[0074]
Next, when the phase of the press machine 25 exceeds 310 °, the punch 28 approaches the die 29 again, and at 360 °, the punch 28 becomes the bottom dead center, and the disc is punched from the strip material 90. Then, the phase advances to 520 ° (= 360 ° + 160 °), and the punch 28 moves away from the die 29. In the range from 310 ° to 520 °, the first and second grippers 30A and 30B are continuously located at the same position based on the same position data (-L, M) stored in the memory 101 corresponding to each phase. Thus, the positioning control is performed, and the strip 90 is substantially stopped. Similarly, the press machine 25 and the material feeding device operate in conjunction with each other, and a plurality of discs are punched from the strip material 90 in a predetermined pattern.
[0075]
Here, when the operating speed of the press machine 25 is changed, in the present embodiment, as described above, the feeding is performed with the position of the strip plate material 90 corresponding to each phase of the press machine 25. In conjunction with the change in the operation speed, the feeding speed of the band plate material 90 is also automatically changed. Thereby, the change operation | work of the operating speed of the press machine 25 becomes easy. Further, since the positioning of the strip plate material 90 is controlled in correspondence with the phase of every 1 ° of the press machine 25, the positioning control of the strip plate material 90 is performed in correspondence with every phase (for example, 10 °) wider than 1 °. Compared to the case, the opening / closing timing of the press and the timing of driving / stopping the material feeding device can be accurately synchronized, and the speed of the press machine can be increased. Further, when the press machine 25 is stopped, the feeding of the band plate material 90 is also stopped accordingly. Therefore, when the press machine 25 is stopped, there is no fear that the band plate material is clogged.
[0076]
By the way, a malfunction may occur in the press machine 25, and adjustment may be performed by reversing the press machine 25. In this case, the phase of the press machine 25 is detected from the reversely rotated bottom shaft 22, and position data is read from the memory 101 in the reverse order to the case where the press machine 25 rotates forward. As a result, the material feeding device has the reverse order of the grip points by the first and second grippers 30A and 30B, that is, the order of P7 → P6 → P5 → P4 → P3 → P2 → P1 in FIG. It moves in order and retracts the strip 90. That is, when the press machine 25 is reversely rotated, the band plate material 90 is automatically returned, and the press machine 25 can be adjusted and malfunctions can be performed efficiently.
[0077]
The present invention is not limited to the above-described embodiment, and, for example, the configurations described below are also included in the technical scope of the present invention. Various modifications can be made.
[0078]
(1) In the present embodiment, the phase of the press machine 25 is detected from the bottom shaft 22, but any rotary shaft that rotates in conjunction with the opening / closing operation of the punch 28 and the die 29 of the press machine 25 can be used. You may detect the phase of a press from a rotating shaft. Therefore, the phase in one cycle of the press machine 25 may be detected from the camshaft 13 or the vertical output main shaft 21 of the embodiment.
[0079]
(2) In the above embodiment, the position data is stored in the memory 101 in correspondence with the phase every 1 ° in one cycle of the press machine 25. However, the phase interval corresponding to the position data is 1 °. It does not have to be every time, and may not be equally spaced. Therefore, for example, in the present embodiment, when the phase in one cycle of the press machine 25 is 0 ° to 160 ° and 310 ° to 360 ° in the present embodiment, the position data is read every 10 ° and the position is read. Positioning control may be performed based on the data, and between 160 ° and 310 °, position data may be read every 2 ° and positioning control may be performed based on the position data.
[0081]
(3)In the present embodiment, the case where the press machine 25 operates for 6 cycles and the material feeding device returns to the initial state as shown in FIG. For example, as shown in FIG. 14, the press machine 25 may operate for three cycles, and the material feeding device may return to the initial state.
[0082]
(4) MaIn addition, the shape punched from the band plate material 90 is not limited to the disc shape. Therefore, as shown in FIG. 15, the present invention may be applied to a material feeding apparatus used for punching a rectangular plate from the strip plate material 90 by moving the strip plate material 90 one-dimensionally and intermittently.
[0083]
(5)In the X-axis drive unit 70 of the present embodiment, a plurality of gears are engaged between the gears 77 and 77 attached to the ball screws 74 and 74 in order to reversely rotate the pair of ball screws 74 and 74. However (see FIG. 7), as shown in FIG. 16, gears 77 and 77 attached to the ball screws 74 and 74 may be directly meshed with each other.
[0084]
(6)In the present embodiment, the ball screws 74 and 74 are rotated in the opposite directions, and the grippers 30 and 30 are moved in opposite directions together with the ball nuts 82 and 82 screwed into the ball screws 74 and 74. By rotating a pair of ball screws having the screws cut in the same direction, the gripper may be moved in the opposite direction together with the ball nut screwed to the ball screws.
[0086]
(7)In the present embodiment, the rotational driving force of the servo motor is changed to a linear driving force using a ball screw mechanism, but is not limited to this, and by a mechanism or cam mechanism that combines a rack and a pinion, You may make it the structure which changes the rotational drive force of a servomotor into a linear drive force.
[0087]
(8)In the above embodiment, the servo motor that outputs rotational power is used. However, the gripper may be linearly moved by a servo motor having a linear motor structure.
[0088]
<Effect of the invention applied to the embodiment>
As described above, according to the material feeding apparatus of the present embodiment, the feeding is performed while the position of the strip plate material 90 is made to correspond to each phase of the press machine 25. In conjunction with this, the feeding speed of the band plate material 90 is also automatically changed, so that the operation speed of the press machine 25 can be easily changed. Further, when the press machine 25 is stopped, the feeding of the band plate material 90 is also stopped in accordance with this, so that no material clogging occurs. Further, since the servo motors 53 and 64 are numerically controlled using the position data read from the memory 101 based on the phase data detected by the encoder 104 even when the press machine 25 is reversely rotated, the reverse rotation of the press machine 25 is detected. In conjunction with the operation, the material feeding device can also be operated in reverse. Thereby, when the press machine 25 is reversely rotated, the band plate material is automatically returned, and the adjustment and defect processing of the press machine 25 can be performed efficiently.
[Brief description of the drawings]
FIG. 1 is a front view of a press according to an embodiment of the present invention.
FIG. 2 is a plan view of a material feeding apparatus according to the present invention.
FIG. 3 is a perspective view of the material feeding device.
FIG. 4 is a side sectional view of the material feeding device.
5 is a cross-sectional view of the material feeding device taken along the line AA in FIG. 4;
FIG. 6 is a perspective view of a base portion of a material feeding device.
FIG. 7 is a partially enlarged view of a twin ball screw mechanism.
FIG. 8 is a conceptual diagram showing the meshing state of a twin ball screw mechanism gear.
FIG. 9 is a partial cross-sectional view of a material feeding apparatus showing a feeding operation.
FIG. 10 is a graph showing the position of the gripper.
FIG. 11 is a block diagram showing the electrical configuration of the material feeding apparatus.
FIG. 12 is a plan view of the strip material
FIG. 13 is a timing diagram of the material feeding device.
FIG. 14 is a plan view of a strip material showing a first variation of the feeding pattern.
FIG. 15 is a plan view of a strip material showing a second variation of the feeding pattern
FIG. 16 is a plan view showing a modification of the twin ball screw mechanism;
[Explanation of symbols]
  22 ... Bottom shaft (rotating shaft)
  25 ... Press machine (transfer press machine)
  30 ... Gripper (gripping means)
  53 ... Y-axis servo motor
  64 ... X-axis servo motor
  70 ... X-axis drive unit (X-axis moving means)
  71 ... Y-axis drive unit (Y-axis moving means)
  74 ... Ball screw (screw)
  77 ... Gear (connecting means)
  80 ... Large gear (connecting means)
  81 ... Small gear (connecting means)
  79 ... Gear support shaft (connection means)
  82 ... Ball nut (nut body)
100 ... CPU(Control means)
101 ... MemoRe
104. Encoder (phase detection means)

Claims (11)

In a material feeding device that intermittently feeds the strip material to a press machine to sequentially press a plurality of locations of the strip material,
A pair of first and second grippers which are provided in pairs in the longitudinal direction of the strip material and are capable of gripping the strip material;
X-axis moving means for moving the first and second grippers in opposite directions in the longitudinal direction of the strip material;
Y-axis moving means for integrally moving the first and second grippers in the same direction in the width direction of the band plate material;
A phase detection means for detecting the position phase of the press from the pressing machine rotary shaft,
Position data of the first gripper in the first XY coordinates set in the movable area of the first gripper and the second data in the second XY coordinates set in the movable area of the second gripper A data table storing gripper position data and gripper opening / closing commands for determining gripping or releasing of the first and second grippers in correspondence with the phase of the press machine;
Control means for acquiring the position data and the gripper opening / closing command from the data table based on the phase of the press machine detected by the phase detection means and controlling the positions and gripping states of the first and second grippers. And
The first and second XY coordinates become the other position data when the sign of the X-axis coordinate data in one position data of the first or second gripper is reversed, and the first and second XY coordinates. A material feeding apparatus , wherein the origin of the X-axis coordinate is set at an end portion of each of the movable regions of the gripper which are close to each other . Assuming that the position of the first or second gripper gripping the strip material is a grip point, the grip point moves in a different direction each time the punch and die of the press are opened and closed. The material feeding apparatus according to claim 1, wherein a data table is set . When the maximum movement distance from the origin in the X-axis direction of the first and second grippers is 2L, and the maximum movement distance from the origin in the Y-axis direction is 2M,
The grip point is (−2L, 2M) → (−L, M) → (−2L, 0) → (0,0) → (L every time the punch and die of the press machine are opened and closed once. , M) → (0, 2M) → (2L, 2M) and the gripper opening / closing command is executed in (2L, 2M) to switch from (2L, 2M) to (−2L, 2M). The material feeding device according to claim 2 , wherein the material feeding device is configured as described above. The control means is configured to run an initial setting program on condition that the power of the material feeder is turned on,
The initial setting program includes a first step of opening both the first and second grippers;
The position data of any of the first and second grippers corresponding to the current phase of the press machine is read from the data table, and the gripper opening / closing command that appears first on the phase side smaller than the phase is received. A second step of reading,
A third step of moving the first and second grippers based on the read position data;
According to any one of claims 1 to 3, characterized by comprising a fourth step of closing either the opening and the other of said first and second gripper according to the gripper command Material feeder. The material feeding apparatus according to any one of claims 1 to 4 , wherein the position data is set in the data table for each constant value obtained by equally dividing one cycle of the press machine . 6. The material feeding device according to claim 1, wherein a pair of guide walls having slits through which the band plate material is inserted are provided at both ends of the material feeding device. The X-axis moving means connects a pair of screws whose outer peripheral surface is threaded and extending in opposite directions to each other, and both ends of the screws so that both the screws rotate in opposite directions. A coupling means and a pair of nut bodies that are respectively screwed into the respective screws and the two screws rotate together to move toward and away from each other, and the pair of grippers are attached to the nut bodies. The material feeding device according to any one of claims 1 to 6 , wherein the material feeding device is arranged separately.   The connecting means is arranged in point symmetry with respect to the center point between the pair of gears attached to the ends of the two screws butted against each other and meshed between the pair of gears. The material feeding device according to claim 7, wherein the material feeding device comprises a pair of gears having the same shape. The X-axis moving means includes a pair of screws extending in opposite directions and having oppositely threaded outer peripheral surfaces, and one ends of the screws so that both the screws rotate in the same direction. and connecting means connecting the said result and a nut member of a pair of toward and away from each other by the two threaded rods screwed to each screw rod is interlocked rotates, the pair of grippers, each The material feeding device according to any one of claims 1 to 6 , wherein the material feeding device is arranged separately on the nut body. The material feeding apparatus according to any one of claims 1 to 6 , wherein a driving source of the X-axis moving unit and the Y-axis moving unit is a linear motor. Before SL control means, the position and the gripping state of the press machine rotary shaft reverse rotated to the from the data table the respective position data and the gripper command to get the first and second cases of the gripper The material feeding device according to any one of claims 1 to 10 , wherein the material feeding device is configured to control .

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