JP4229781B2 - Work transfer device between presses - Google Patents

Description

  The present invention relates to a work transfer device between presses.

Conventionally, as a method for conveying a workpiece from one press machine to an adjacent press machine between presses in a tandem line, it is known to use a robot, for example (Patent Document 1).
In this method, a robot is disposed between the upstream press body and the downstream press body. The robot has an articulated arm, and this arm can turn. An attachment for gripping the workpiece is detachably attached to the tip of the arm. For conveying the workpiece, the workpiece formed by the upstream press body is first gripped by the attachment at the tip of the arm, and then the arm is turned to convey the workpiece to the downstream press body, and the downstream side The grip is released at a predetermined position of the press body and placed. When the transfer of the workpiece is completed, the robot arm is turned again and moved to the standby position.

Further, as a method of transferring a workpiece from one processing station of a transfer press to an adjacent processing station in a transfer press line, it is known to use, for example, a transfer feeder (Patent Document 2).
In this method, a pair of guide rails that are movable up and down are arranged in parallel along the workpiece conveyance direction between the uprights and uprights of the press body, and a plurality of carriers are provided between the guide rails. Each carrier is provided with a linear motor so that each carrier can independently run, and a crossbar having a workpiece gripping means is provided between the carriers.
The workpiece is first transferred to the uppermost stream side of the press machine by the workpiece gripping means of the crossbar on the most upstream side of the guide rail. The workpiece is gripped by the workpiece gripping means of the crossbar moved to the processing station. Next, the guide rail is raised to a predetermined height, and then each carrier moves on the guide rail at a high speed by a linear motor, and the guide rail is lowered at the next processing station position to release the workpiece.

JP 10-137997 A Japanese Patent Publication No.7-73756

  However, in the workpiece transfer method using the robot of Patent Document 1, the arm is swung to transport the workpiece formed by the upstream press body to the downstream press body. A large space is required. Moreover, when the space | interval of an upstream press main body and a downstream press main body is large, there exists a problem that the length of an arm becomes long and a turning space becomes still larger.

In the workpiece conveying method using the transfer feeder of Patent Document 2, a pair of guide rails are provided along the conveying direction between the uprights and uprights of the press main body, so that the interval between the uprights is increased. There is a problem that the whole space becomes large.
Moreover, since the dimension between a pair of guide rails is set corresponding to the size of a desired workpiece, when the transfer feeder of Patent Document 2 is applied to an existing tandem press line, the pair of guide rails Accordingly, there is a problem that the size of the mold attached to the press main body in the tandem press line is reduced, and as a result, the size of the desired workpiece cannot be accommodated. Therefore, the transfer feeder cannot be applied to an existing tandem press line.
In addition, since the transfer feeder is provided between the uprights of the press body, when performing maintenance of the transfer feeder alone, after performing maintenance of one transfer feeder, turn to the opposite side of the press body The other maintenance must be performed, which is troublesome and takes a lot of time. In this case, since a plurality of workers can perform both of them separately, it can be done in a short time, but there is a problem that a lot of manpower is required.

  An object of the present invention is to provide a work transfer device between presses that can save space, can be applied to an existing tandem press line, and can be easily maintained.

The invention according to claim 1 is a workpiece conveying device between presses that sequentially conveys a workpiece between presses, wherein the workpiece conveying device includes a workpiece holding portion that holds the workpiece, and a workpiece conveyance that conveys the workpiece holding portion. The work gripping part is supported by the work transport part and supported by the base end, and is pivotable in the horizontal direction. The work gripping part is provided on the arm member and rotates the arm member. An arm rotation drive means to be moved; an attachment bar having a work gripping means which is rotatably provided at the tip of the arm member and can grip the work; and the tip side and the base end side of the arm member and the arm member And a gear rotation mechanism that maintains the same posture in the horizontal plane of the attachment bar. The first pinion member fixed to the workpiece conveyance unit side at the rotation center portion of the arm member with the workpiece conveyance unit and the rotation center portion of the arm member with respect to the attachment bar are fixed to the attachment bar side. And a second pinion member, and a rack that is provided on the arm member and meshes with the first pinion member and the second pinion member, and is movable in the longitudinal direction of the arm member. The section is provided on one side of the press along the workpiece conveyance direction, and is a workpiece conveyance device between presses.

According to a second aspect of the present invention, there is provided a workpiece transfer device between presses for sequentially transferring a workpiece between presses, wherein the workpiece transfer device includes a workpiece holding unit that holds the workpiece and a workpiece transfer that transfers the workpiece holding unit. And the workpiece conveying portion is provided on one side along the workpiece conveying direction in the press, and is provided between the presses and is movable up and down in parallel with the workpiece conveying direction. A beam member, a carrier member provided so as to be movable in the longitudinal direction of the beam member, and carrier member driving means for driving the carrier member, wherein the workpiece gripping portion is attached to the carrier member. An arm member that is supported at the base end and is rotatable in the horizontal direction, and an arm rotation that is provided on the arm member and rotates the arm member. A drive means, an attachment bar having a work gripping means which is rotatably provided at the tip of the arm member and capable of gripping the work, and is provided across the arm member and the tip side and the base end side of the arm member; A gear rotation mechanism that maintains the same posture of the attachment bar in the horizontal plane, and this gear rotation mechanism is arranged on the carrier member side at the rotation center portion of the arm member with the carrier member. A first pinion member fixed to the attachment bar, a second pinion member fixed to the attachment bar side at a center of rotation of the arm member with the attachment bar, and the first pinion member provided on the arm member; together it is configured to include a movable rack, the longitudinal direction of the arm member meshes with the second pinion member And it is characterized in Rukoto.

According to a third aspect of the present invention, there is provided a workpiece transfer device between presses for sequentially transferring a workpiece between presses, wherein the workpiece transfer device includes a workpiece gripping portion that grips the workpiece, and a workpiece transport that transports the workpiece gripping portion. And the workpiece conveying portion is provided on one side along the workpiece conveying direction in the press, and is provided between the presses and is movable up and down in parallel with the workpiece conveying direction. Beam member, carrier member provided movably in the longitudinal direction of the beam member, carrier member driving means for driving the carrier member, and subcarrier member provided movably in the longitudinal direction of the carrier member When the subcarrier member driving means for driving the sub-carrier member is configured to include a said workpiece holding portion, said support An arm member supported at the base end by the carrier member and rotatable in the horizontal direction, an arm rotation driving means provided on the arm member for rotating the arm member, and rotated at the distal end of the arm member An attachment bar having a workpiece gripping means that is freely provided and capable of gripping the workpiece, and is provided across the arm member and the distal end side and the proximal end side of the arm member, and maintains the same posture in the horizontal plane of the attachment bar A gear rotation mechanism configured to include a first pinion member fixed to the subcarrier side at a rotation center portion of the subcarrier member, and the arm member. A second pinion member fixed to the attachment bar at the center of rotation with the attachment bar; and a front pin provided on the arm member And it is characterized in that it is configured to include a movable rack, the longitudinal direction of the arm member with meshes with a first pinion member and a second pinion member.

In the present invention, the work gripping portion includes an arm member whose base end is supported by the carrier member or the subcarrier member and is rotatable, and an arm rotation that is provided on the arm member and rotates the arm member. An attachment bar having a drive means, a work gripping means that is rotatably provided at the tip of the arm member and capable of gripping the work, and an attachment bar rotation drive means that is provided on the arm member and rotates the attachment bar And may be configured.

In the present invention, the work gripping portion includes an arm member whose base end is supported by the carrier member or the subcarrier member and is rotatable, and an arm rotation that is provided on the arm member and rotates the arm member. An attachment bar having a drive means, a work gripping means provided rotatably at the tip of the arm member and capable of gripping the work, and a posture of the attachment bar provided on the arm member in the horizontal plane are kept the same. a parallel link mechanism to one side of the arm member may be configured with a.

According to a fourth aspect of the present invention, in the workpiece transfer apparatus between presses according to the third aspect , the subcarrier member driving means includes a linear motor.

According to a fifth aspect of the present invention, in the workpiece transfer apparatus between presses according to any one of the first to fourth aspects, the carrier member driving means includes a linear motor. Is.

The invention described in claim 6 is characterized in that, in the workpiece transfer apparatus between presses according to any one of claims 1 to 5 , the beam member is driven up and down by a linear motor. .

According to a seventh aspect of the present invention, in the workpiece transfer apparatus between presses according to any one of the first to sixth aspects, the beam member is provided on a neighboring upright of the adjacent press via a support member. It is characterized by being.

In the workpiece transfer device between presses according to claim 1, since the workpiece transfer unit of the workpiece transfer device is provided on one side along the workpiece transfer direction of the press, for example, in the case of a robot that requires a turning space, the transfer direction Compared to transfer feeders or the like arranged in parallel with each other, the space can be reduced, and as a result, space saving can be achieved.
Moreover, since the workpiece conveyance part of a workpiece conveyance apparatus is provided in the one side along a workpiece conveyance direction, it can provide in the position of the one side which does not become obstructive of a press work, for example, between the uprights of an adjacent press. Therefore, it can also be provided later on an existing tandem press line. Furthermore, when performing maintenance of the workpiece transfer unit, it can be easily performed by entering the press machine as well as from the outside of the machine. In addition, maintenance of the work gripping part can be easily performed by entering the press machine, and the maintenance becomes easy.
Further, since the rotation of the attachment bar is performed by the rack that moves with the rotation of the arm member, the driving means for rotating the attachment bar becomes unnecessary, and the cost can be reduced accordingly.

  In the workpiece transfer device between presses according to claim 2, the beam member moves up and down, and the carrier member driven by the carrier member driving means moves in the longitudinal direction of the beam member, so that the workpiece can be transferred with a simple configuration. .

  In the workpiece transfer apparatus between presses according to claim 3, since the subcarrier member is movably provided on the carrier member, when the workpiece is gripped and transferred, the subcarrier member is also moved while moving the carrier member. Therefore, the conveyance speed can be increased.

Here, when the workpiece gripping portion is configured to include an arm member, an arm rotation driving means, an attachment bar, and an attachment bar rotation driving means, the arm member is a carrier member or a subcarrier. As the member moves, it can move to the rotation position, and can rotate at that position to grip the workpiece. Therefore, the arm member may be formed so as to reach the workpiece from one end of the carrier member, so that the length of the arm member can be shortened and the apparatus can be downsized.
Also, the arm member can be rotated by the arm rotation drive means and the attachment bar can be rotated by the attachment bar rotation drive means, respectively, so that the posture of the attachment bar in the horizontal plane can be controlled by synchronizing in opposite directions. It can always be maintained in the same posture and can be transported without changing the posture of the workpiece.
Furthermore, since the workpiece gripping portion is provided with both the arm rotation driving means and the attachment bar rotation driving means, the workpiece can be consciously driven to rotate while the workpiece is being conveyed. As a result, it is possible to avoid an interference object during the conveyance, and it is possible to place the workpiece W on the lower die by changing the posture of the workpiece W due to the convenience of the mold.

Further, it provided rotatably the arm member to the subcarrier member, in the case of providing freely move in the sub-carrier member carrier member, when the arm member or the like, is moved from the standby position to the workpiece holding position, or When gripping the workpiece and then transporting it to the workpiece delivery position, the sub-carrier member can be moved while moving the carrier member, and the arm member can also be rotated, and the three members can be driven simultaneously. Therefore, the conveyance speed can be increased. Further, since the parallel link mechanism is used in order to keep the posture of the attachment bar always the same, the structure can be simplified.

In the workpiece transfer apparatus between presses according to the fourth aspect, since the subcarrier member can be moved by driving the linear motor, the structure is simplified, the transfer speed is improved, and as a result, the production efficiency can be improved. Further, almost no noise is generated when the subcarrier member is moved.

In the workpiece transfer device between presses according to claim 5, since the carrier member can be moved by driving the linear motor, the structure is simpler than, for example, transfer by a robot having an arm of a multi-joint mechanism and moving slowly, The conveyance speed is also improved, and as a result, the production efficiency can be improved. Further, almost no noise is generated when the carrier member moves.

In the workpiece transfer device between presses according to claim 6, since the beam member can be moved up and down by driving a linear motor, for example, the structure is simpler and can be moved up and down as compared to a lifting means using a gear mechanism driven by a motor. As a result, the speed becomes smoother and the speed is improved, and the transport speed is improved accordingly. As a result, the production efficiency can be improved. Further, since the beam member moves up and down by driving the linear motor, noise hardly occurs when the beam member moves up and down.

In the workpiece transfer apparatus between the presses according to claim 7 , since the support member may be mounted between adjacent uprights of adjacent presses, a support for fixing the beam member or the like is not required, and the structure is simple. In addition, for example, it can be attached to an existing tandem press line as a retrofit.

  In the present invention, the term “between presses” means “between independent press machines” in the tandem press line and “between processing stations, that is, places where press work is performed” in the transfer press. Is also included. Accordingly, “between adjacent uprights” includes the meaning of “between uprights of adjacent presses” on the tandem press line and the meaning of “between uprights of adjacent processing stations” on the transfer press.

Embodiments according to the present invention will be described below with reference to the drawings.
In 1 to 3, the workpiece transfer apparatus 1 between the press that a reference for understanding the present invention is shown as the first embodiment. In the first embodiment and the second and third embodiments and modifications described below, the same or corresponding components are denoted by the same reference numerals, and detailed description thereof is omitted or simplified.

  As shown in FIGS. 1 and 2, the inter-press workpiece transfer apparatus 1 of the first embodiment is used in a tandem press line in which a plurality of press machines are arranged on the same line. 1 and 2 show the first press machine 101 on the upstream side and the second press machine 102 on the downstream side as a plurality of press machines of the tandem press line, but as an actual tandem press line, there are 3 It is also possible to arrange more than one unit.

In each of the press machines 101 and 102, uprights 103 are erected at four corners of a bed (not shown). A crown 104 is provided between the upper ends of the uprights 103 as shown in FIG. A slide 105 that is movable in the vertical direction is provided below the crown 104, and a slide drive device that moves the slide 105 up and down is incorporated in the crown 104. Further, the upper mold 106 of the mold is mounted on the slide 105.
A bolster 108 is provided on the upper part of the bed, and a lower mold 109 of a mold is attached to the bolster 108. A predetermined work W is placed on such a lower mold 109, and a predetermined press working is performed by moving the slide 105 up and down.

At this time, for example, the workpiece W is first pressed by the first press machine 101 and then sent to the second press machine 102, and the second press machine 102 performs the press process of the next process, Thereafter, the paper is sequentially sent to a downstream press machine, and predetermined press processing is performed by the press machine, and finally, it is taken out as a finished product.
Alternatively, a predetermined press-worked workpiece is sent from the upstream press machine (not shown) to the first press machine 101, and thereafter conveyed downstream through the above-described steps.

  The inter-press work transfer device 1 is a device that transfers a work W from the first press machine 101 having the above-described configuration to the second press machine 102. The work gripping unit 6 that grips the work W, and the work gripping. The workpiece conveyance unit 7 is configured to convey the unit 6, and the workpiece conveyance unit 7 is provided on one side of the first and second press machines 101 and 102 along the workpiece conveyance direction A.

  That is, between the adjacent uprights 103 in the adjacent first press machine 101 and the second press machine 102, a pedestal (supporting member) 28 made of, for example, a channel steel member is laid at a predetermined height position. In addition, a bracket 27 is provided so as to protrude inside the first press machine 101 and the second press machine 102 at a substantially central portion in the length direction of the gantry 28.

For example, substantially L-shaped frames 26 in plan view are attached to both sides of the bracket 27. Each frame 26 is arranged such that one side 26 </ b> A is along the workpiece conveyance direction A and the other side 26 </ b> B is opposed to each other with the bracket 27 interposed therebetween.
In addition, a guide member 32 having a U-shaped cross section is fixed to the front surface of each frame 26 with its back surface in contact with the frame 26 and one side surface with the bracket 27.

Each guide member 32 is engaged with a prism rod-shaped or round column-shaped lift rod 21 slidably in the vertical direction. A rack 22 is provided on the front surface (work transfer side) of each lift rod 21 over a predetermined length. The lift rod and the rack may be integrated.
A single lift beam (beam member) 10 parallel to the workpiece transfer direction A is fixed to the lower surface of the lift rod 21.

  A reduction gear 25 of the lift motor 24 is attached to the front surface of the bracket 27, and a horizontal rotation shaft 29 is bridged between the side surface of the reduction gear 25 and the other side 26 </ b> B of each frame 26. One end of the rotary shaft 29 is coupled to a bevel gear or the like of a reduction mechanism including a gear train (not shown) of the lift speed reducer 25. As a result, the rotational force from the lift motor 24 is reduced on the rotary shaft 29. To be transmitted.

  A pinion 23 is fixed in the middle of the rotary shaft 29, and the pinion 23 meshes with the rack 22. Then, the rotation of the lift motor 24 is decelerated by the lift speed reducer 25 and transmitted to the pinion 23, and the rotation of the pinion 23 causes the rack 22 to move up and down, that is, the lift rod 21 moves up and down. As a result, the lift beam 10 provided integrally with the lift rod 21 moves up and down so that it can be raised and lowered.

  As shown in FIG. 3, the lift beam 10 is formed in a substantially T-shaped cross section, and rail portions 10 </ b> A that protrude from both side surfaces are formed in the lower portion of the lift beam 10. The lift beam 10 can be raised and lowered as described above, and is lifted and placed at a high position in the standby state and the transport state, and is lowered when the workpiece W is gripped and released. It is in a low position. The cross-sectional shape of the lift beam 10 is not limited to a substantially T shape, and may be a box shape, for example.

As shown in FIGS. 1 and 2, a balance cylinder 30 is provided across the lift beam 10 and the frame 26. The balance cylinder 30 is composed of, for example, an air cylinder (or a hydraulic cylinder), and supports the load applied to the lift beam 10 at both ends of the lift beam 10 so that the balance cylinder 30 is supported with good balance.
One side surface of the balance cylinder 30 is fixed to the other side 26 </ b> B of the frame 26, and the rod portion 30 </ b> A is connected to the upper surface of the lift beam 10.
Therefore, by lifting and supporting the lift beam 10 in a balanced manner by the balance cylinder 30, the lift beam 10 can be supported without applying an extra load on the lift motor 24, and the lift beam 10 can be lifted and lowered easily.

The lift beam 10 is provided with a main feed carrier (carrier member) 11 that is movable in the longitudinal direction of the lift beam 10.
As shown in FIG. 3, the feed carrier 11 is fixed to, for example, a block-shaped main body portion 11A and the upper surface of the main body portion 11A, and is suspended and supported by the rail portion 10A of the lift beam 10. And a key-shaped guide portion 11B to be engaged. The feed carrier 11 is moved by a linear motor 16. The lift beam 10 and the feed carrier 11 may be connected using a general linear guide.

The linear motor 16 includes a primary coil 17 provided on the upper surface of the main body 11A of the feed carrier 11 and a secondary coil which is provided over the entire length of the lower surface of the lift beam 10 and faces the primary coil 17 with a predetermined gap. And a magnet 18 as a conductor.
Therefore, the feed carrier 11 is moved along the lift beam 10 by causing the primary coil 17 to pass a current to drive the linear motor 16. The primary coil 17 may be provided on the lift beam 10 side and the magnet 18 may be provided on the feed carrier 11 side.

  Here, the workpiece transport unit 7 is configured to include the above-described lift beam 10, the feed carrier 11, and the members having serial numbers from the lift rod 21 to the balance cylinder 30.

  1 and 2, the feed carrier 11 is provided with a rotatable arm (arm member) 12, and the arm 12 is provided with a rotatable attachment bar 14. The attachment bar 14 has a workpiece gripping means 13 that can grip the workpiece W.

  The attachment bar 14 is formed of a plate-like or box-like long member so that it can correspond to, for example, a rectangular workpiece W, and the attachment bar 14 is provided with a workpiece gripping means 13 that can grip the workpiece W. ing. The workpiece gripping means 13 includes a gripping part main body 13A that protrudes from the attachment bar 14 in a direction orthogonal to the longitudinal direction of the attachment bar 14, and is provided at an end of the gripping part main body 13A. And a suction portion 13B that can be vacuum-sucked by driving a vacuum device (not shown). The number and position of the suction portions 13B are arbitrarily determined according to the shape of the workpiece W.

As shown in FIG. 3, a motor (arm rotation driving means) 40 is provided on the lower surface of the main body 11 </ b> A of the feed carrier 11 via a mounting plate 42 fixed by bolts 41. The base ends of the arms 12 are connected by connecting means (for example, bolts) 44. The arm 12 rotates together with the rotation of the main shaft 40A of the motor 40.
As shown in FIGS. 1 and 2, the lower end of the tip of the arm 12 is connected to the attachment bar 14, and a motor (attachment bar rotating drive means) 50 is provided at the upper end of the arm 12. At this time, the attachment bar 14 rotates as the main shaft (not shown) of the motor 50 rotates. The rotations of these two motors 40 and 50 are controlled by a control device (not shown). In addition, it is also possible to give rotational movement to the workpiece | work W during workpiece conveyance by setting the rotation angle of these two motors 40 and 50 separately.

  And here, the said work holding part 6 is comprised including the said arm 12, the workpiece | work holding means 13, the attachment bar 14, and the motors 40 and 50, and the said workpiece holding part 6 and the said workpiece conveyance part 7 are included, and the said A workpiece transfer device 1 between presses is configured.

Next, with reference to FIG. 1, the conveyance of the workpiece | work W by the workpiece conveyance apparatus 1 of the above structures is demonstrated. Here, description will be made assuming that the left first press machine 101 is the most upstream press machine and the workpiece W is conveyed from the first press machine 101 to the second press machine 102 side.
Further, in FIG. 1, the center position between the first press machine 101 and the second press machine 102 is the standby position M1 of the arm 12, etc., the solid line part on the first press machine 101 side is the workpiece gripping position M2, and the second press. The portion of the phantom line on the machine 102 side is a workpiece transfer position M3.
In addition, each operation described below is described as being performed sequentially and independently over time for ease of understanding and explanation, but in practice, some operations are concurrent. This is done to shorten the work time.

First, the lift beam 10 stands by in a state where it is raised to a predetermined height, and the feed carrier 11, the arm 12, the work gripping means 13, the attachment bar 14, and the like stand by at the standby position M1.
For example, a rectangular workpiece W is conveyed and placed on the lower mold 109 of the first press machine 101 by a conveying means (not shown), and the first press machine 101 performs a predetermined pressing process on the workpiece W, and slide 105 Rises. Next, in order to grip the processed workpiece W, the linear carrier 16 is driven to move the feed carrier 11 horizontally toward the workpiece gripping position M2.

  When the feed carrier 11 has moved to the moving end of the lift beam 10, the arm 12 is rotated clockwise by a predetermined angle in FIG. At this time, in order to keep the posture of the attachment bar 14 constant, the rotation of the motor 50 is rotated in the opposite direction to the motor 40, that is, counterclockwise while synchronizing with the rotation of the motor 40, and the attachment bar 14 is moved to the arrow. Control to rotate in the C1 direction.

When the arm 12 and the attachment bar 14 are rotated and the attachment bar 14 and the workpiece gripping means 13 correspond to the workpiece gripping position M2, the pinion 23 is rotated by driving the lift motor 24, and the rack 22 meshing with the pinion 23 is moved. Then, the lift beam 10 is lowered, and the workpiece W is vacuum-sucked by the suction portion 13B of the workpiece gripping means 13.
Thereafter, the lift motor 24 is driven again to lift the lift beam 10, and the arm 12 is rotated in the direction of the arrow B <b> 2 to the position where the arm 12 is orthogonal to the lift beam 10 by driving the motor 40. At this time, the motor 50 is synchronously driven with the motor 40 and rotates in the direction of the arrow C <b> 2 to maintain the posture of the attachment bar 14.

When the arm 12 is rotated to a position orthogonal to the lift beam 10, the linear motor 16 is continuously driven to move the feed carrier 11 along the lift beam 10 and beyond the standby position M1, and then the workpiece delivery position M3 of the lift beam 10. Move horizontally to the side edge. During this horizontal movement, the arm 12 remains orthogonal to the lift beam 10.
Next, the motor 40 is rotated to rotate the arm 12 counterclockwise in the direction of the arrow B2, as indicated by the phantom line in FIG. 1, so that the workpiece gripping means 13 corresponds to the workpiece delivery position M3. At this time, the motor 50 rotates in synchronization with the motor 40 and rotates clockwise in the direction of the arrow C2 to maintain the posture of the attachment bar 14.

When the workpiece gripping means 13 corresponds to the workpiece delivery position M3, the lift beam 10 is lowered by driving the lift motor 24 or the like, the suction action of the suction portion 13B of the workpiece gripping means 13 is released, and the workpiece W is moved to the second press machine 102. Place on the lower mold 109 to complete the delivery.
Thereafter, the lift motor 24 is driven again to raise the lift beam 10, and the motors 40 and 50 are driven synchronously to rotate the arm 12 in the direction of arrow B 1 to a position orthogonal to the lift beam 10. At this time, the motor 50 rotates in the direction of the arrow C1 to maintain the posture of the attachment bar 14.
When the arm 12 rotates to a position orthogonal to the lift beam 10, the linear motor 16 is continuously driven to move the feed carrier 11 along the lift beam 10 to the standby position M1.
Thereafter, in the second press machine 102, the press process of the next process is performed.
Thereafter, predetermined pressing is performed in the same procedure.

  In actual operation, as described above, in order to shorten the time, for example, when the workpiece W is taken from the standby position M1 to the workpiece gripping position M2, the arm 12 is moved by the synchronous drive of the motors 40 and 50. In FIG. 1, the feed carrier 11 may be moved horizontally while rotating the attachment bar 14 counterclockwise while rotating clockwise as indicated by an arrow B <b> 1. Since the work W can be gripped by the work gripping means 13 simply by lowering the lift beam 10 at the position, the speed can be increased.

Further, when gripping the workpiece W and transporting it to the delivery position M3, the feed carrier 11 is moved horizontally while rotating the arm 12 counterclockwise as shown by arrow B2 in FIG. It may be moved.
Further, the standby position M1 is substantially the center of the first and second press machines 101 and 102. If the arm 12 or the attachment bar 14 is a position that does not interfere with the press work, the standby position M1 is on standby. It is good also as a position.

According to the present embodiment as described above, the following effects are obtained.
(1) Since the workpiece transfer section 7 of the workpiece transfer apparatus 1 between presses is provided on one side along the workpiece transfer direction A, for example, in the case of a robot that requires a swiveling space or in parallel along the transfer direction Compared to a transfer feeder or the like, the space can be small, and as a result, space saving can be achieved.

(2) Since the arm 12 provided on the feed carrier 11 moves to the predetermined position and rotates at that position to grip or deliver the workpiece W, the arm 12 reaches the workpiece W from the rotation position. Alternatively, the length of the arm 12 can be shortened, and the apparatus can be downsized.
(3) Since the workpiece transfer unit 7 is provided on one side along the workpiece transfer direction A, maintenance can be performed from the outside of the machine, or can be performed inside the machine for maintenance. Becomes easy.

  (4) Since the arm 12 can be rotated by the motor 40 and the attachment bar 14 can be rotated by the motor 50, the posture of the attachment bar 14 in the horizontal plane is always the same by rotating in the opposite directions while synchronizing with each other. As a result, it can be conveyed without changing the posture of the workpiece W, and there is no interference between the workpiece W and the press machine. In addition, by individually setting the rotation angles of the motor 40 and the motor 50, the workpiece W can be rotationally moved during the workpiece conveyance. Then, by rotating the workpiece W during the workpiece conveyance, it becomes possible to avoid the interference in the middle of the conveyance, and also the posture of the workpiece W is changed due to the convenience of the mold so that the workpiece W is placed on the lower die. It becomes possible to mount.

(5) Since the feed carrier 11 can be moved by driving the linear motor 16, for example, the structure is simplified and the conveyance speed is improved as compared with conveyance by a robot having an arm of a multi-joint mechanism. Improvements can be made.
(6) Since both ends of the lift beam 10 are supported by the balance cylinders 30, the lift beam 10 can be supported without imposing an extra load on the lift motor 24, and the lift beam 10 can be easily moved up and down. Yes.

  (7) A lift rod 21 integrated with the lift beam 10 of the workpiece transfer unit 7 is provided on a bracket 27 via a guide 32, and this bracket 27 is fixed to a gantry 28. Since it is sufficient that the press machine 101, 102 is installed between adjacent uprights 103, a stand for fixing the lift beam 10 or the like is not required, and the structure can be simplified. For example, an existing tandem press line can be installed later. Can be attached.

Next, a second embodiment as a reference of the present invention will be described based on FIGS.
In the inter-press workpiece transfer apparatus 1A of the present embodiment, a feed carrier (carrier member) 51 having substantially the same structure as the main feed carrier 11 in the first embodiment extends along the workpiece transfer direction A, that is, a lift beam. In addition to the subcarrier 52 movable in the longitudinal direction, the rotation of the arm 12 and the rotation of the attachment bar 14 with respect to the arm 12 are configured using a parallel link mechanism 60.

  In other words, in the present embodiment, the workpiece conveying unit 7A is configured to include the lift beam 10, the numbered members from the lift rod 21 to the balance cylinder 30, the feed carrier 51, and the subcarrier 52, and the arm 12, The work gripping portion 6A is configured to include the gripping means 13, the attachment bar 14, the motor 40, and the parallel link mechanism 60.

Although the feed carrier 51 of this embodiment is different in side shape from the feed carrier 11 of the first embodiment, it can move in the longitudinal direction of the lift beam 10 as described above, and this movement is the feed carrier of the first embodiment. 11 is performed by the linear motor 16.
That is, as shown in FIG. 6, the feed carrier 51 is fixed to the rectangular main body portion 51 </ b> A that is long in the transport direction A in a plan view and the upper surface of the main body portion 51 </ b> A, and the rail portion 10 </ b> A of the lift beam 10. 5 is configured to include a key-shaped guide portion 51B that engages while being suspended and supported, and a plate-like bottom portion 51C provided on the lower surface of the main body portion 51A, and the side shape is substantially as shown in FIG. It has a trapezoidal shape. Moreover, two rows of rail portions 51D are provided on the bottom surface of the bottom portion 51C in the width direction over the entire length along the transport direction A of the bottom portion 51C.

As shown in FIG. 6, the subcarrier 52 is fixed to a planar rectangular main body 52A and the upper surface of the main body 52A, and encloses the rail 51D of the bottom 51C of the feed carrier 51. And a guide portion 52B to be engaged. The subcarrier 52 is formed to have a length that can move, for example, about three times the length of the main body 52A with respect to the bottom 51C of the feed carrier 51 (see FIG. 5). Is not limited.
Note that a general linear guide may be used at the connecting portion between the lift beam 10 and the feed carrier 51 as in the connecting portion between the feed carrier 51 and the subcarrier 52.

The subcarrier 52 is movable in the longitudinal direction of the feed carrier 51, and this movement is also performed by a linear motor 56 as shown in FIG.
That is, the linear motor 56 is provided over the entire length of the primary coil 57 provided on the upper surface of the main body portion 52A of the subcarrier 52 and the bottom surface of the bottom portion 51C of the feed carrier 51, and a predetermined gap is provided from the primary coil 17. And a magnet 58 as a secondary conductor facing each other.

Accordingly, the subcarrier 52 is movable along the feed carrier 51 by causing the current to flow through the primary coil 57 to drive the linear motor 56.
The primary coil 57 may be provided on the feed carrier 51 side, and the magnet 58 may be provided on the subcarrier 52 side. The motor 40 for rotating the arm 12 is provided on the lower surface of the main body 52A of the subcarrier 52.

  As shown in FIG. 4, the parallel link mechanism 60 includes an arm 12 serving as a drive link, a parallel link 63 provided in parallel to the arm 12, and a base end portion and a lower portion of the arm 12 so that the arm 12 can freely rotate. A proximal end side auxiliary link 61 that is pin-coupled to the arm 12, and a distal end side auxiliary link 62 that is pivotally coupled to the arm 12 at the distal end portion and the lower portion of the arm 12 and has the same length as the proximal end side auxiliary link 61. The base end side auxiliary link 61, the front end side auxiliary link 62, and the parallel link 63 are rotatably coupled to each other by pins. The attachment bar 14 is fixed to the distal end side auxiliary link 62 at a predetermined angle (90 ° in the present embodiment).

  Therefore, when the arm 12 is rotated by driving the motor 40, the proximal end side auxiliary link 61 and the distal end side auxiliary link 62, and the arm 12 and the parallel link 63 are always maintained in a parallel state. Since the attachment bar 14 is fixed to the link 62 at a predetermined angle (90 °), the positions of the distal end side auxiliary link 62 and the attachment bar 14 can always be maintained. Therefore, when the arm 12 grips the workpiece W from the position of the first press machine 101 in FIG. 4 and rotates toward the second press machine 102 side, when the distal end side auxiliary link 62 grips the workpiece W. It is possible to rotate while maintaining the same posture as that in the horizontal plane. Also, the posture can be maintained during conveyance and when turning to the second press machine 102 side.

Next, the conveyance of the workpiece | work W by the workpiece conveyance apparatus 1A between the presses of the above 2nd Embodiment is demonstrated.
With respect to the work W placed on the lower die 109 of the first press machine 101, the lift beam 10 is raised to a predetermined height and is on standby. Further, the feed carrier 51, the subcarrier 52, and the arm 12 are on standby at the standby position M1.

  After predetermined press work is performed by the first press machine 101, the feed carrier 51 or the like waiting at the standby position M1 is horizontally moved to the workpiece gripping position M2 side by driving the linear motor 16. Next, by driving the motor 40, the arm 12 is rotated clockwise in the direction of the arrow B1 so that the work gripping means 13 of the attachment bar 14 is in a normal posture with respect to the work W. At this time, since the proximal end side auxiliary link 61 and the distal end side auxiliary link 62 and the arm 12 and the parallel link 63 are always maintained in the parallel state, the posture of the workpiece W can be maintained.

  Next, the lift beam 10 is lowered by driving the lift motor 24 and the like, and the workpiece W is attracted (gripped) by the workpiece gripping means 13. Thereafter, the lift beam 10 is raised again, and the arm 12 is rotated counterclockwise (direction B2). Even when the arm 12 is rotated counterclockwise, the attachment bar 14 is always maintained in the same posture by the action of the parallel link mechanism 60, and thus can be rotated without changing the posture of the workpiece W. Thereafter, the linear motors 16 and 56 are driven to horizontally move the feed carrier 11 and the subcarrier 52 to the second press machine 102 side, respectively.

When the subcarrier 52 and the feed carrier 51 move to a predetermined position on the second press machine 102 side, the arm 12 is rotated to the second press machine 102 side (B2 direction) by driving the motor 40, and the workpiece gripping means 13 is moved. When it corresponds to the workpiece delivery position M3, the lift beam 10 is lowered and the workpiece W is placed on the lower die 109 of the second press machine 102, and the gripping by the gripping means 13 is released.
Next, the lift beam 10 is raised and the arm 12 is rotated to the first press machine 101 side, and then the feed carrier 51, the subcarrier 52, the arm 12, and the like are moved to the standby position M1. During these operations, the posture of the attachment bar 14 is always maintained in the same posture by the action of the parallel link mechanism 60.
Subsequently, the second press machine 102 performs the press process of the next process.
Thereafter, predetermined pressing is performed in the same procedure.

According to the second embodiment as described above, in addition to the same effects as the above (1) to (3), (6), and (7), there are the following effects.
(8) Since the arm 12 is movably provided on the subcarrier 52, and the subcarrier 52 is movably provided on the feed carrier 51, the arm 12 and the like are moved from the standby position M1 to the workpiece gripping position M2 side. Or when the workpiece W is gripped and then transferred to the workpiece transfer position M3, the subcarrier 52 can be moved while moving the feed carrier 51, and the arm 12 can also be rotated. Since the three parties can be driven simultaneously, the conveyance speed can be increased. Further, it is possible to move the workpiece W in the workpiece conveyance direction A by a longer distance than the length of the lift beam 10.

  (9) The posture of the attachment bar 14 is always maintained to be the same by the parallel link mechanism 60, and the parallel link mechanism 60 includes the proximal end side auxiliary link 61 and the distal end side auxiliary link 62, and the arm 12 and the parallel link 63. As a result, the number of motors that rotationally drive the arm 12 can be reduced to one, and the entire workpiece transfer unit can have a simple structure.

Next, with reference to FIG 7-10, the present invention will be described as a third embodiment.
In the workpiece transfer apparatus 1B between presses of this embodiment, the arm 12 with respect to the subcarrier 52 and the attachment bar 14 with respect to the arm 12 of the second embodiment are rotated using the rotation of the motor 40 and the gear rotation. The moving mechanism 70 is used.

As shown in FIGS. 7 and 8, the arm 12 is fixed to the main shaft 40 </ b> A of the motor 40 which is the arm rotation driving means provided on the subcarrier 52.
On the other hand, a first pinion 72 is fixed to the subcarrier 52 via a fixing portion such as a case of the motor 40 at the end of the arm 12 on the subcarrier 52 side. In addition, a second pinion 73 is fixed to a shaft 74 protruding from the attachment bar 14 on the upper surface of the tip of the arm 12 on the attachment bar 14 side.

As shown in FIGS. 9 and 10, the arm 12 is provided with a rack 75 that is movable in the longitudinal direction of the arm 12. A first rack portion 75A and a second rack portion 75B are formed at both ends of the rack 75 in the length direction, the first rack portion 75A meshes with the first pinion 72, and the second rack portion 75B is a second pinion. 73 is engaged. The first pinion 72 and the second pinion 73 have the same shape such as the number of teeth. The rack 75 is slidably held by guide members 76 that guide both side surfaces thereof, and the guide members 76 are fixed to the arm 12.
Here, the workpiece gripping portion 6B is configured including the arm 12, the attachment bar 14 having the workpiece gripping means 13, the motor 40, and the gear rotation mechanism 70.

Here, the rotation of the arm 12 and the attachment bar 14 by the gear rotation mechanism 70 as described above will be described.
As shown in FIG. 9, if the arm 12 is rotated in the direction of the arrow B <b> 1 by driving the motor 40, the first pinion 72 cannot be rotated because it is fixed integrally with the subcarrier 52. However, since the first pinion 72 and the first rack portion 75A are engaged with each other, the rack 75 moves in the direction of the arrow E1 by the first pinion 72 that rotates relative to the arm 12. Therefore, the rack 75 moves by the amount of rotation of the motor 40, and the second pinion 73 engaged with the second rack portion 75B also rotates in the D direction. Therefore, the attachment bar 14 can always maintain the same posture.

  Now, when the arm 12 and the attachment bar 14 are at the position of the first press machine 101 in FIG. 7, the first rack portion 75A of the rack 75 is at its outer end as shown in FIG. The two rack portions 75B are end portions on the inner side and mesh with the first pinion 72 and the second pinion 73, respectively.

As shown in FIG. 10, after the workpiece W is gripped and the arm 12 or the like passes through the standby position M1 and is conveyed toward the workpiece delivery position M3, the workpiece 12 is rotated in the direction of the arrow B2 to deliver the workpiece W. When moved, the first rack portion 75A is closer to the inner side and the second rack portion 75B is closer to the outer side, and meshes with the first pinion 72 and the second pinion 73, respectively.
During the transfer of the workpiece W, the first rack portion 75A and the second rack portion 75B are engaged with the first pinion 72 and the second pinion 73, respectively, at approximately the middle position in the length direction.

In such an embodiment, the arm 12 or the like waiting at the standby position M1 grips the workpiece W on the first press machine 101 side by driving the linear motors 16 and 56, so that the feed carrier 11 and the sub The carrier 52 is horizontally moved to a predetermined position toward the workpiece gripping position M2.
At that position, the arm 12 is rotated by the motor 40 in the arrow B1 direction by a predetermined angle, and then the lift beam 10 is lowered, and the workpiece W is gripped by the workpiece gripping means 13.
When rotating for gripping, when rotating to move from there and shifting to conveyance, and when rotating for delivery, as described above, by the action of the gear rotation mechanism 70 The attachment bar 14 is always maintained in the same posture.

According to the third embodiment as described above, there are the following effects in addition to the same effects as the above (1) to (3) and (6) to (8).
(10) The gear rotation mechanism 70 that always maintains the same posture of the attachment bar 14 is integrated with the attachment bar 14 on the top surface of the first pinion 72 fixed to the subcarrier 52 and the end of the arm 12 on the attachment bar 14 side. Since the arm 12 and the rack 75 can be rotated and moved by driving of the motor 40, respectively, the second pinion 73 fixed to the rack, the rack 75 meshing with the pinions 72 and 73, and the like can be rotated. As in the embodiment, the motor 50 for rotating the attachment bar 14 becomes unnecessary, and the cost can be reduced accordingly.

The present invention is not limited to the above-described embodiments, and includes other modifications as long as the object of the present invention can be achieved.
For example, in the first, second, and third embodiments, the configuration in which the lift beam 10 is raised includes the lift motor 24, the rack 22, and the pinion 23, but is not limited thereto. As shown in FIG. 11, a configuration using a linear motor 86 may be used.

That is, as shown in FIG. 11, a primary coil 87 constituting the linear motor 86 is provided over the entire length on one side of the lift rod 21, whereas the primary coil 87 and a predetermined coil are provided on one side of the guide member 32. A magnet 88 is provided as a secondary conductor facing the primary coil 87 with a gap therebetween.
In this modified embodiment, the workpiece transfer unit 7A is configured including the linear motor 86 instead of the lift motor 24, the rack 22 and the pinion 23, the gantry 28, and the like.
In such an embodiment, the lifting / lowering operation of the lift beam 10 such as when the workpiece W is attached / detached, transported, and waiting is performed by driving the linear motor 86.
In the above modification, the positions of the primary coil 87 and the magnet 88 may be reversed. That is, the magnet 88 may be attached to one side of the lift rod 21 and the primary coil 87 may be attached to one side of the guide member 32.
In addition, although rotation of the arm 12 in this modification form is using the parallel link mechanism 60 of the said 2nd Embodiment, it is applicable also to 1st Embodiment and 3rd Embodiment.

  According to such a modification, the lift beam 10 can be moved up and down by driving the linear motor 86. Therefore, the structure becomes simpler than the lifting means using a gear mechanism driven by a motor, for example. As the speed increases, the transport speed also increases, and as a result, the production efficiency can be improved. Further, since the linear motor 86 is raised and lowered, almost no noise is generated when the lift beam 10 is raised and lowered, and a quiet raising and lowering operation can be achieved.

  The configuration of the linear motor 16 in the first embodiment is such that the primary coil 17 and the magnet 18 are arranged in the vertical direction. However, the configuration is not limited to this, and a configuration as shown in FIG. That is, two rectangular grooves 90A along the longitudinal direction of the lift beam 90 are formed on the lower surface of the lift beam 90, whereas the upper surface of the feed carrier 91 is formed in the two angular grooves 90A. Two rows of protrusions 91A that can be accommodated are formed.

A primary coil 97 constituting the linear motor 96 is provided on both side surfaces of the central portion 90B facing the square groove 90A of the lift beam 90, and linear surfaces are provided on the side surfaces of the two rows of protrusions 91A so as to be opposed thereto. Magnets 98 constituting the motor 96 are provided. In addition, rails 92 are provided on the lower surfaces of both side portions 90C in the width direction of the lift beam 90, and guides 93 for guiding the rails 92 are provided on the upper surfaces of both side portions 91B in the width direction of the feed carrier 91.
And the workpiece conveyance part 7C is comprised including each member of the serial number from the above lift beam 90, the feed carrier 91, and the lift rod 21 to the balance cylinder 30. As shown in FIG.
In this way, since the rail 92 and the guide 93 are provided on both sides of the lift beam 90 and the feed carrier 91 in the width direction, more stable movement is possible.
In the above modification, the positions of the primary coil 97 and the magnet 98 may be reversed. That is, the magnet 98 may be attached to both side surfaces of the central portion 90B, and the primary coil 97 may be attached to the side surface of the protrusion 91A.
The above configuration may be applied to the configuration of the linear motor 16 of the second and third embodiments provided with the subcarrier 52.

  In the third embodiment, the first pinion 72 and the second pinion 73 of the gear rotation mechanism 70 are connected to each other by meshing with the rack 75. However, the present invention is not limited to this. You may connect. Even if it does in this way, the same effect as the time of using the rack 75 is acquired.

  Further, in each of the embodiments, the movement of the feed carriers 11 and 51 with respect to the lift beam 10 is performed by the linear motor 16, and in the second and third embodiments, the movement of the subcarrier 52 with respect to the feed carrier 51 is performed by the linear motor 56. However, each movement is not limited to this, and the feed carrier and the subcarrier may be moved using, for example, a servo motor or a servo-driven fluid pressure cylinder. And even if it does in this way, it can be set as the apparatus which can move smoothly and has few noises similarly to the time of using a linear motor.

  Moreover, in each said embodiment, although the workpiece conveyance apparatus 1 grade | etc., Is used for a tandem press line, you may apply not only to this but a transfer press, for example. In this case, each processing station of the transfer press corresponds to one press.

In addition, the best configuration, method, and the like for carrying out the present invention have been disclosed in the above description, but the present invention is not limited to this. That is, the invention has been illustrated and described primarily with respect to particular embodiments, but without departing from the spirit and scope of the invention, the shape, quantity In other detailed configurations, those skilled in the art can make various modifications.
Therefore, the configuration disclosed above is described as an example to facilitate the understanding of the present invention, and does not limit the present invention. The description by the name of the member which removed the limitation is included in the present invention.

  The present invention can be used not only between presses in an existing tandem press line, but also between presses that transport workpieces between transfer press processing stations.

Entire plan view showing a workpiece transfer device as the first embodiment between the press as a reference for the present invention. The whole side view of the said 1st Embodiment. The front view which shows the principal part of the said 1st Embodiment. Entire plan view showing a workpiece transfer device as the second embodiment between the press as a reference for the present invention. The whole side view of the said 2nd Embodiment. The front view which shows the principal part of the said 2nd Embodiment. Overall plan view showing the work conveying apparatus between the press according to the present invention as a third embodiment. The side view which shows the principal part of the said 3rd Embodiment. The top view which shows the rotation state of the arm of the said 3rd Embodiment. The top view which shows the different rotation state of the arm of the said 3rd Embodiment. The top view which shows the modification of the workpiece conveyance apparatus between the presses concerning this invention. The front view which shows the modification of the linear motor in the workpiece conveyance apparatus between the presses concerning this invention.

Explanation of symbols

    DESCRIPTION OF SYMBOLS 1,1A, 1B ... Work conveying apparatus between presses, 10 ... Lift beam (lift member), 11, 51 ... Feed carrier (carrier member), 12 ... Arm (arm member), 13 ... Work gripping means, 14 ... Attachment Bar, 16, 56 ... Linear motor, 40 ... Motor (arm rotation drive means), 50 ... Motor (attachment bar rotation drive means), 60 ... Parallel link mechanism, 70 ... Gear rotation mechanism, 72 ... First pinion 73 ... 2nd pinion, 75 ... Rack, 101 ... 1st press machine, 102 ... 2nd press machine, W ... Workpiece, A ... Workpiece conveyance direction.

Claims (7)

In a workpiece transfer device ( 1B ) between presses that sequentially transfers a workpiece (W) between the presses (101, 102),
The workpiece transfer device ( 1B ) includes a workpiece gripper ( 6B ) that grips the workpiece (W), and a workpiece transporter ( 7A ) that transports the workpiece gripper ( 6B ) along the workpiece transport direction (A). And comprising
The work gripping part (6B) is supported by the work transport part (7A) at the base end, and the arm member (12) which is rotatable in the horizontal direction;
Arm rotation drive means (40) provided on the arm member (12) for rotating the arm member (12);
An attachment bar (14) having a work gripping means (13) provided rotatably at the tip of the arm member (12) and capable of gripping the work (W);
A gear rotation mechanism (70) provided over the arm member (12) and the distal end side and the proximal end side of the arm member (12), and maintaining the same posture in the horizontal plane of the attachment bar (14); Configured with
The gear rotation mechanism (70) includes a first pinion member (72) fixed to the workpiece transfer section (7A) at the rotation center of the arm member (12) with the workpiece transfer section (7A). A second pinion member (73) fixed to the attachment bar (14) side at a center of rotation of the arm member (12) with the attachment bar (14), and the arm member (12). A rack (75) that meshes with the first pinion member (72) and the second pinion member (73) and is movable in the longitudinal direction of the arm member (12),
The workpiece transfer device ( 1B ) between presses, wherein the workpiece transfer unit ( 7A ) is provided on one side along the workpiece transfer direction (A) in the press. In a workpiece transfer device ( 1B ) between presses that sequentially transfers a workpiece (W) between the presses (101, 102),
The workpiece transfer device ( 1B ) includes a workpiece gripping part ( 6B ) that grips the workpiece (W),
A workpiece conveyance unit ( 7A ) configured to convey the workpiece gripping unit ( 6B ) along the workpiece conveyance direction (A),
The work transport unit ( 7A ) is provided on one side along the work transport direction (A) in the press ,
A beam member (10) which is provided between the presses (101, 102) and is movable up and down in parallel with the workpiece conveying direction (A);
A carrier member (51) provided movably in the longitudinal direction of the beam member (10), and carrier member driving means (16) for driving the carrier member (51).

The workpiece gripping part (6B) is supported by the carrier member (51) at its base end and is horizontally rotatable in an arm member (12);
Arm rotation drive means (40) provided on the arm member (12) for rotating the arm member (12);
An attachment bar (14) having a work gripping means (13) provided rotatably at the tip of the arm member (12) and capable of gripping the work (W);
A gear rotation mechanism (70) provided over the arm member (12) and the distal end side and the proximal end side of the arm member (12), and maintaining the same posture in the horizontal plane of the attachment bar (14); Configured with
The gear rotation mechanism (70) includes a first pinion member (72) fixed to the carrier member (11) at a rotation center portion of the arm member (12) with the carrier member (11), A second pinion member (73) fixed to the attachment bar (14) side at a center of rotation of the arm member (12) with the attachment bar (14), and provided on the arm member (12). A rack (75) that meshes with the first pinion member (72) and the second pinion member (73) and is movable in the longitudinal direction of the arm member (12). A workpiece transfer device (1B) between presses. In a workpiece transfer device ( 1B ) between presses that sequentially transfers a workpiece (W) between the presses (101, 102),
The workpiece transfer device ( 1B ) includes a workpiece gripper ( 6B ) that grips the workpiece (W), and a workpiece transporter ( 7A ) that transports the workpiece gripper ( 6B ) along the workpiece transport direction (A). And comprising
The work transport unit ( 7A ) is provided on one side along the work transport direction (A) in the press ,
A beam member (10) which is provided between the presses (101, 102) and is movable up and down in parallel with the workpiece conveying direction (A);
A carrier member (51) provided movably in the longitudinal direction of the beam member (10), carrier member driving means (16) for driving the carrier member (51),
A subcarrier member (52) provided movably in the longitudinal direction of the carrier member (51);
Subcarrier member driving means (56) for driving the subcarrier member (52),
The workpiece gripping portion (6B) is supported by the subcarrier member (52) at the base end and is horizontally rotatable in an arm member (12);
Arm rotation drive means (40) provided on the arm member (12) for rotating the arm member (12);
An attachment bar (14) having a work gripping means (13) provided rotatably at the tip of the arm member (12) and capable of gripping the work (W);
A gear rotation mechanism (70) provided over the arm member (12) and the distal end side and the proximal end side of the arm member (12), and maintaining the same posture in the horizontal plane of the attachment bar (14); Configured with
The gear rotation mechanism (70) includes a first pinion member (72) fixed to the subcarrier (52) side at a rotation center portion of the arm member (12) with the subcarrier member (52). A second pinion member (73) fixed to the attachment bar (14) side at a center of rotation of the arm member (12) with the attachment bar (14), and the arm member (12). The rack includes a rack (75) that meshes with the first pinion member (72) and the second pinion member (73) and is movable in the longitudinal direction of the arm member (12). The work conveyance device between presses ( 1B ). In the workpiece transfer apparatus (1B) between presses according to claim 3,
The subcarrier member driving means (56) includes a linear motor, and is a work transfer device (1B) between presses. In the workpiece conveyance apparatus ( 1B ) between the presses in any one of Claims 2 thru | or 4 ,
The carrier transporting device ( 1B ) between presses, wherein the carrier member driving means ( 16 ) includes a linear motor. In the workpiece conveyance apparatus ( 1B ) between presses in any one of Claims 2 thru | or 5 ,
Workpiece transfer device between a press, characterized in that the lifting drive of the beam member (10) is effected by a linear motor (86) (1B). In the workpiece conveyance apparatus ( 1B ) between the presses in any one of Claims 1 thru | or 6 ,
The workpiece conveying apparatus between presses, wherein the beam member (10) is provided on an adjacent upright (103, 103) of the adjacent press (101, 102) via a support member (28). ( 1B ).

Images