JP5274053B2 - Work transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece conveying device in which the distance between workpiece clamping means is adjustable. <P>SOLUTION: The workpiece conveying device A is provided with a first arm unit 15A and a second arm unit 15B which are supported rotatably on a base body which is arranged in a proper place between press stages, an elevating and lowering unit for elevating and lowering both the arm units. The first arm unit 15A is provided with a first slide arm 25A, the second arm unit 15B is provided with a second slide arm 25B and the first slide arm 25A and the second slide arm 25B are slidably connected. In the workpiece conveying device A, the first slide arm 25A is provided with a first workpiece clamping part 26A and the second slide arm 25B is provided with a second workpiece clamping part 26B. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a work transfer device that transfers a work between press stages in a press machine, particularly a tandem press line.

Conventional tandem press lines use a workpiece transfer device to transfer a workpiece from an upstream press stage to a downstream press stage. There are several types of workpiece conveyance types of the workpiece conveyance device, and one type is a loader / unloader method.
FIG. 9 schematically shows an embodiment of a workpiece transfer device that transfers workpieces by a loader / unloader method.
As shown in FIG. 9, a loader 101 for loading a workpiece W is equipped on the upstream press stage (I), and a workpiece loading unloader 102 is fitted on the downstream press stage (II).
A shuttle 100 or a belt conveyor is installed between the press machines, and the workpiece W is sequentially transferred between the loader 101, the shuttle 100, and the unloader 102 after being formed, and put into the press machine in the next process.

However, since the loader / unloader type work transfer device requires a large installation space such as a shuttle, the interval between the press stage placed upstream and the press stage placed downstream becomes large, There is a problem that the press equipment as a whole must be enlarged.
In addition, since the workpiece transfer method is a method in which the workpiece is transferred between a plurality of devices from the unloader to the shuttle and from the shuttle to the loader, a conveyance abnormality is likely to occur.

In order to solve this problem, a pair of arm units in which a plurality of arms are rotatably coupled to each other, a work gripping means attached to the tip of the arm unit, an elevating unit for raising and lowering the arm unit, Has been developed (see Patent Document 1).
This work transport means first holds the work placed on the upstream press stage by the work gripping means attached to the arm unit, lifts the entire arm unit by the lifting unit, and rotates the arm unit. The workpiece is moved horizontally, and finally the arm unit is lowered by the lifting unit to place the workpiece on the downstream press stage.

According to this work transfer device, the press facility can be reduced in size because a shuttle or the like is not required.
Moreover, since this apparatus conveys a workpiece | work with one apparatus, generation | occurrence | production of conveyance abnormality can also be suppressed.
JP 2007-216254 A

By the way, depending on the product processed by the press line, one workpiece may be divided into two in the middle of the line, and then the two divided workpieces may be respectively processed. In some cases, two workpieces arranged on the left and right are sequentially pressed at the same time.
In such a case, depending on the processing content of the line, it is necessary to make the interval between the left and right workpieces on the upstream side different from the interval between the left and right workpieces on the downstream side.
However, although the workpiece transfer apparatus described in Patent Document 1 can grip two workpieces at the same time, it does not have a function to widen the gap between gripped workpieces, and thus such a line is designed. In such a case, a special attachment is attached to the workpiece gripping means.
However, when this attachment is attached to the workpiece gripping means, the weight applied to the tip of the arm unit increases, and the bending stress generated at the joint between the arm unit and the arm unit base increases.
As a result, there is a high possibility that the workpiece transfer device is likely to be damaged or easily broken.
Further, since the weight of the entire arm unit increases, the inertial force increases, and the arm unit does not move efficiently.

  In order to solve this problem, an object of the present invention is to provide a workpiece transfer device capable of adjusting the distance between workpiece gripping means.

  Under these circumstances, the present inventors have intensively researched and found that the above problem can be solved by attaching a workpiece gripping part to each of two arm units that can move independently. The present invention has been completed based on knowledge.

That is, the present invention includes (1) a first arm unit and a second arm unit that are rotatably supported by a base body disposed at an appropriate position between the press stages, a lifting unit that lifts and lowers both arm units, The first arm unit includes a first slide arm, the second arm unit includes a second slide arm, and the first slide arm and the second slide arm are slidably coupled to each other. Te, the first slide arm comprises a first workpiece holding portion, said second slide arm comprises a second workpiece holding part, which first arm unit and the second arm unit is movable independently arms The workpiece conveying apparatus is characterized in that the interval between the workpiece gripping portions can be adjusted by the behavior of the unit .

According to the present invention, (2), each arm unit is pivotally attached to an arm unit base that supports each arm unit, and is pivotable to an end of the first arm bar. and a mounted second arm bar, when feeding transportable upstream of the work to the downstream, the left and right of the work each arm unit grips individually, and the distance between the workpiece on the upstream side, the downstream side When the distance between the workpieces is the same, the amount of rotation of the first arm bar and the amount of rotation of the second arm bar when gripping the workpiece with the upstream press stage, and when placing the workpiece on the downstream press stage the rotation amount of the rotation amount and the second arm bar of the first arm bar in, but is the same, the distance between the workpiece on the upstream side, and the distance between the workpiece on the downstream side In this case, the rotation amount of the first arm bar and the rotation amount of the second arm bar when the workpiece is gripped by the upstream press stage, the rotation amount of the first arm bar when the workpiece is placed on the downstream press stage, and It exists in the workpiece conveyance apparatus of the said (1) description from which the rotation amount of a 2nd arm bar differs .

In the present invention, (3) the first work gripping part and the second work gripping part are a hand bar attached to an end of the second arm bar, a work gripping means for gripping the work, only containing the workpiece gripping means consists in the work conveying apparatus of (2) described is to hold the workpiece by vacuum suction.

Further, according to the present invention, (4) a drive motor for rotationally driving the first arm bar is mounted on both sides of the arm unit base, and the second arm bar is rotationally driven on the first arm bar. drive motor that is equipped resides in the work conveying apparatus of the above (2), wherein.

  Further, according to the present invention, (5), the elevating unit has a pair of vertical drive shafts spaced in parallel to each other, and has a tilt mechanism that allows the entire arm units to tilt in the vertical direction. It exists in the workpiece conveyance apparatus as described in said (1).

  According to the present invention, (6) a tilt mechanism that allows the first slide arm to tilt in the vertical direction is provided at an end of the second arm bar of the first arm unit. The workpiece conveying apparatus according to the above (2), in which a tilt mechanism that allows the second slide arm bar to tilt in the vertical direction is provided at an end of the arm.

  In addition, as long as the objective of this invention is met, the structure which combined the said invention suitably is also employable.

The workpiece transfer apparatus of the present invention includes two arm units that can move independently, and each arm unit has a separate workpiece gripping portion, so that each arm unit can grip a workpiece individually. .
For this reason, the workpiece transfer device according to the present invention is configured so that the distance between the workpiece gripping portions depends on the behavior of the arm unit even if the distance between the left and right press stages on the upstream side is different from the distance between the left and right press stages on the downstream side. That is, the distance between the workpieces can be adjusted.

FIG. 1 is a schematic perspective view of the entire workpiece transfer apparatus in the present embodiment, FIG. 2 is a schematic front view thereof, FIG. 3 is a schematic side view thereof, and FIG. 4 is a schematic plan view thereof.
The workpiece transfer apparatus 10 is disposed between the upstream press stage (I) and the downstream press stage (II) (see FIG. 3).

  The press stage (I) and the press stage (II) are respectively press slides 1 (I) and 1 (II) including an upper die and lower dies 2 (I) and 2 (II) mounted on a die change carriage. The workpiece W formed by the press stage (I) is transferred to the press stage (II) by the workpiece transfer device 10 (see FIG. 3).

A main base 12 is fixed to a beam 11 laid horizontally on the upright 3 at an appropriate space between the press stage (I) and the press stage (II), and sub-bases 13 are provided on both sides of the main base 12 via pins 14. (See FIGS. 2 and 3).
The main base 12 and the sub base 13 are provided with a lifting unit (not shown) for lifting and lowering the first arm unit 15A and the second arm unit 15B.
The elevating unit has a pair of vertical drive shafts spaced in parallel to each other, and a tilt mechanism for allowing the first arm unit 15A and the second arm unit 15B to tilt in the vertical direction. Yes.
The workpiece W is held by a workpiece gripping portion 26A attached to the end of the first arm unit 15A and a workpiece gripping portion 26B attached to the end of the second arm unit 15B.
The held workpiece W is transported between the press stages by the operation of the arm units 15A and 15B.

A lift motor base 16 is fixed to the sub-base 13, and a lift motor 17 for moving the rod 18 up and down is mounted on the lift motor base 16.
The rod 18 and the lift slider 19 are coupled, and the lift slider 19 moves up and down via the rod 18 that moves up and down.
The main base 22 and the lift slider 19 are connected, and the main base 22 moves up and down in accordance with the vertical movement of the lift slider 19.
Further, by making the vertical movement amount of the lift slider 19 different, the entire arm unit base 22 can be tilted in the vertical direction.
For example, as shown in FIG. 5A, the amount of lowering of the left lift slider 19 is made smaller than that on the right side so that it is tilted upward as shown, and conversely, the amount of lowering on the left side is made larger than that on the right side. For example, it can be tilted upward as shown in FIG.

  The lift sliders 19 disposed on both sides of the workpiece transfer device 10 slide in a state where they are housed in the sub-base 13, and the lift slider 19 disposed in the center slides in a state where they are housed in the main base 12. .

A balancer 20 is connected to each lift slider 19 and the load on the lift motor 17 can be greatly reduced.
The balancer 20 is provided with a cylinder, and the load on the lift motor 17 is reduced by making the lifting weight below the lift slider 19 always pulled by its own weight.

An arm unit base 22 for connecting the first arm unit 15A and the second arm unit 15B to the main base 12 is connected and supported via pins 21 at the lower end of each lift slider 19.
The first arm unit 15A includes a first arm bar 23A that is rotatably attached to the arm unit base 22 and a second arm bar 24A that is rotatably attached to an end of the first arm bar 23A. It has become.
Similarly to the first arm unit 15A, the second arm unit 15B is also provided with a first arm bar 23B rotatably attached to the main base 22 and a first arm bar 23B rotatably attached to the end of the first arm bar 23B. 2 arm bar 24B.

The first slide arm 25A is rotatably connected to the end of the second arm bar 24A, and similarly, the second slide arm 25B is rotatably connected to the end of the second arm bar 24B.
The first slide arm 25A and the second slide arm 25B are slidably coupled to each other.

A first workpiece gripping portion 26A for gripping the workpiece W is attached to the first slide arm 25A, and a second workpiece gripping portion 26B for gripping the workpiece W is also attached to the second slide arm 25B. Yes.
Further, the first work gripping part 26A and the second work gripping part 26B are configured to include a hand bar 27 and a work gripping means 28 for gripping the work W.
The work gripping means 28 is detachably attached to the hand bar 27, and the type, the number of attachments, and the like can be appropriately adjusted according to the shape of the work W and the like.
For example, a suction pad that grips the workpiece W using vacuum suction may be employed as the workpiece gripping means 28.

As described above, the workpiece transfer device 10 of this embodiment is attached to the tandem press at one location, and the first arm unit 15A and the second arm unit 15B do not have a travel axis for traveling between the tandem presses. Therefore, it can be easily and properly arranged in the space between the tandem presses.
Therefore, the installation, maintenance, and the like can be performed very easily without enlarging the entire press device in order to secure the installation space for the workpiece transfer device 10.

On both sides of the arm unit base 22, a drive motor 29A that rotates the first arm bar 23A and a drive motor 29B that rotates the first arm bar 23B are mounted.
The first arm bar 23A is mounted with a drive motor 30A that rotates the second arm bar 24A, and the first arm bar 23B is mounted with a drive motor 30B that rotates the second arm bar 24B. (Description of the transmission mechanisms in the first arm bars 23A and 23B and the second arm bars 24A and 24B is omitted).
In this way, each arm unit 15A, 15B is provided with a drive motor, so that independent movement that is not constrained by the movement of one arm unit is also possible.

FIG. 6 is an explanatory diagram showing a state of coupling between the slide arms.
As shown in FIG. 6, the second slide arm 25B is inserted and coupled to the first slide arm 25A so as to be slidable in the direction of the arrow.

In addition, the first slide arm 25A and the second slide arm 25B can rotate around the longitudinal axis 31 (in the direction of arrow B) so that the first slide arm 25A can rotate to the end of the second arm bar 24A. The second slide arm 25B is supported by the end of the second arm bar 24B so as to be rotatable.
In this case, a rotation drive unit (not shown) is provided at the base of the first slide arm 25A and the second slide arm 25B, and the first slide arm 25A and the second slide arm 25B are set at a desired angle by the rotation drive unit. It is designed to rotate (see FIG. 7). Note that a tilt mechanism is configured by the rotation drive unit.

Next, the operation of the work transfer device of this embodiment will be described.
When the distance between the two left and right workpieces on the upstream press stage (I) is the same as the distance between the two left and right workpieces on the downstream press stage (II) in this workpiece transfer device Shown by example.

  The basic work W transport flow of the work transport apparatus 10 of the present embodiment is as follows. First, the first arm bar 23 (23A, 23B) and the second arm bar 24 (24A, 24B) of each arm unit are rotated, The first workpiece gripping portion 26A and the second workpiece gripping portion 26B are moved immediately above the workpiece W placed on the press stage (I).

Next, each lift slider 19 is driven by the same amount, and the arm unit base 22 is lowered horizontally to a position where the workpiece gripping portions 26A and 26B can grip the workpiece W.
Next, the first workpiece gripping portion 26A and the second workpiece gripping portion 26B are driven to grip two workpieces placed side by side simultaneously.
For example, when a suction pad is used as the work gripping means 28, vacuum suction is performed after the suction pad contacts the work W, and the work W is sucked by the suction pad.

After the workpiece W is gripped by the workpiece gripping portions 26A and 26B, the lift unit 19 is then driven by the same amount to raise the arm unit base body 22 horizontally.
Next, the first arm bar 23A of the first arm unit 15A and the first arm bar 23B of the second arm unit 15B are rotated at an equiangular speed, and at the same time, the second arm bar 24A of the first arm unit 15A and the second arm The second arm bar 24B of the unit 15B is rotated at an equal angular speed, and the work W is transported above the press stage (II) in parallel to the transport line.

  Next, the lift sliders 19 are driven by the same amount to lower the arm unit base 22 horizontally, and then the driving of the workpiece gripping portions 26A and 26B is stopped to bring the workpiece W to the press stage (II). Place.

Next, the lift sliders 19 are again driven by the same amount to raise the arm unit base 22 horizontally.
When the arm unit base 22 is raised, the first arm bar 23 (23A, 23B) and the second arm bar of each arm unit in the direction opposite to the direction when the workpiece W is moved from the press stage (I) to the press stage (II). 24 (24A, 24B) is rotated to move the first workpiece gripping portion 26A and the second workpiece gripping portion 26B to the position immediately above the workpiece W placed on the press stage (I) again.
Hereinafter, the workpiece transfer apparatus 10 repeatedly performs the above-described movement, and continues to transfer the upstream workpiece W downstream.

As described above, when the distance between the two left and right workpieces on the upstream side is the same as the distance between the two right and left workpieces on the downstream side, when the workpiece W is gripped by the upstream press stage. The rotation amount of the first arm bar 23A and the rotation amount of the second arm bar 24A are the same as the rotation amount of the first arm bar 23A and the rotation amount of the second arm bar 24A when the work W is placed on the downstream press stage. To.
Similarly, the amount of rotation of the first arm bar 23B and the amount of rotation of the second arm bar 24B when the workpiece W is gripped by the upstream press stage, and the first when the workpiece W is placed on the downstream press stage. The rotation amount of the arm bar 23B and the rotation amount of the second arm bar 24B are made the same.

Next, regarding the operation of the workpiece transfer device of the present embodiment, the distance between the two left and right workpieces on the downstream side press stage (II) of the workpiece transfer device is the left and right sides on the upstream press stage (I). An example in which the distance between two workpieces is different (wider) will be described.
In this case, the amount of rotation of the first arm bars 23A and 23B and the amount of rotation of the second arm bars 24A and 24B when the workpiece W is gripped by the upstream press stage (I), and the workpiece on the downstream press stage (II) The amount of rotation of the first arm bars 23A and 23B and the amount of rotation of the second arm bars 24A and 24B when W is placed are different. (See FIG. 8).

Specifically, as in this example, when the distance between the left and right workpieces in the downstream press stage (II) is larger than the distance between the left and right workpieces in the upstream press stage (I), First, in order to hold the workpiece W placed on the upstream prestage (I), the first arm bar 23A is rotated by an angle θ _{1 with} respect to the main base 12, and the second arm bar 24A is moved with respect to the first arm bar 23A. angle theta ₂ is rotated.
At the same time, the first arm bar 23B also is the angle theta ₁ rotates relative to the main body 12 to and also the second arm bar 24B by an angle theta ₂ rotates relative to the first arm bar 23B (see FIG. 8 (a)) .

Then, in order to place the workpiece W on the downstream press stage (II), the first arm bars 23A and 23B and the second arm bars 24A and 24B are rotated in a direction opposite to the direction when the workpiece W is gripped. Move to just below the main substrate 12.
After the first arm bars 23A, 23B and the second arm bars 24A, 24B are moved to just below the main base body 12, the first arm bars 23A, 23B are then angled θ ₃ smaller than the angle θ _{1 with} respect to the main base body 12. is rotated, the second arm bar 24A, is larger angle theta ₄ only rotation than the angle theta ₂ to 24B relative to the first arm bar 23A (see Figure 8 (b)).

Thus, by changing the rotation angle when gripping the workpiece W and the rotation angle when placing the workpiece W apart, the distance L1 between the workpieces when gripping the workpiece W is set as When placing the workpiece W, the distance between the workpieces can be increased to L2 (L1 <L2).
For this reason, the workpiece transfer apparatus 10 of the present invention is a case where the distance between the left and right workpieces in the upstream press stage (I) is different from the distance between the left and right workpieces in the downstream press stage (II). It can respond flexibly.

As mentioned above, although this invention was demonstrated with embodiment, this invention is not limited only to these embodiment, A change etc. are possible within the scope of the present invention.
For example, in the above-described embodiment, the example in which the workpiece W is conveyed between the press stages of the tandem press has been described. However, the present embodiment is also applicable when the workpiece W is taken out from a single press or supplied to a single press. Inventive device is applicable.
Moreover, although the workpiece conveyance apparatus of embodiment mentioned above showed in the case of arrange | positioning the two workpiece | work arrange | positioned at a certain space | interval in one press stage at a wider space | interval in the other press stage. Of course, the present invention can also be applied to a case where a single workpiece is cut into two workpieces arranged at intervals.

FIG. 1 is a schematic perspective view of a workpiece transfer apparatus according to an embodiment of the present invention. FIG. 2 is a schematic front view of the workpiece transfer device according to the embodiment of the present invention. FIG. 3 is a schematic side view of the workpiece transfer apparatus according to the embodiment of the present invention. FIG. 4 is a schematic plan view of the workpiece transfer device according to the embodiment of the present invention. FIG. 5 is a schematic side view showing an example of the behavior of the arm unit base body of the workpiece transfer apparatus according to the embodiment of the present invention. FIG. 6 is an explanatory diagram showing a state of coupling between the slide arms. FIG. 7 is a schematic plan view showing an operation example of the slide arm in the embodiment of the present invention. FIG. 8 is a schematic plan view showing an operation example of the arm unit according to the embodiment of the present invention. FIG. 9 is an explanatory diagram schematically showing an example of a conventional apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 (I) ... Press slide 1 (II) ... Press slide 2 (I) ... Lower mold 2 (II) ... Lower mold 3 ... Upright 10 ... Work conveyance device 11 ... Beam 12 ... Main substrate 13 ... Sub substrate 14 ... Pin 15A ... first arm unit 15B ... second arm unit 16 ... lift motor base 17 ... lift motor 18 ... rod 19 ... lift slider 20 ... balancer 21 ... pin 22 ... arm unit base 23 ... first arm bar 23A ... first arm bar 23B ... first arm bar 24 ... second arm bar 24A ... second arm bar 24B ... second arm bar 25A ... first slide arm 25B ... second slide arm 26A ... first work gripping part 26B ... second work gripping part 27 ... hand bar 28 ... Work gripping means 29A ... drive motor 29B ... drive motor 30A ... drive motor 30B ... Moving motor 31 ... longitudinal axis 100 ... shuttle 101 ... loader 102 ... unloader W ... work

Claims (6)

A first arm unit and a second arm unit that are rotatably supported by a base body disposed at an appropriate position between the press stages;
A lifting unit that lifts and lowers both arm units;
The first arm unit includes a first slide arm,
The second arm unit includes a second slide arm;
A work transfer device in which a first slide arm and a second slide arm are slidably coupled to each other,
The first slide arm includes a first workpiece gripping portion;
The second slide arm includes a second workpiece gripping portion;
The first arm unit and the second arm unit are movable independently ,
A workpiece transfer device characterized in that the distance between workpiece gripping portions can be adjusted by the behavior of both arm units . Each of the arm units includes a first arm bar that is rotatably attached to an arm unit base that supports each arm unit, and a second arm bar that is rotatably attached to an end of the first arm bar,
When feeding transportable upstream of the work to the downstream, left and right each arm unit grips the individual workpiece,
If the distance between the workpiece on the upstream side, and the distance between the workpiece on the downstream side is the same, the amount of rotation of the first arm bar at the time of gripping the workpiece upstream of the press stage and the rotation amount of the second arm bar When the rotation amount of the rotation amount and the second arm bar of the first arm bar at the time for placing the workpiece into the press stage downstream, but the same,
The distance between the workpiece on the upstream side, if the distance between the workpiece on the downstream side are different, and the amount of rotation of the first arm bar and the rotation amount of the second arm bar at the time of gripping the workpiece upstream of the press stage, 2. The workpiece transfer apparatus according to claim 1, wherein the amount of rotation of the first arm bar and the amount of rotation of the second arm bar when the workpiece is placed on the downstream press stage are different . The first workpiece gripping portion and the second workpiece gripping portion include a hand bar attached to an end portion of the second arm bar, and a workpiece gripping means for gripping the workpiece,
3. The workpiece transfer apparatus according to claim 2, wherein the workpiece holding means holds the workpiece by vacuum suction. Drive motors that rotate the first arm bar are mounted on both sides of the arm unit base.
The workpiece transfer device according to claim 2, wherein the first arm bar is mounted with a drive motor that rotationally drives the second arm bar.   2. The lift unit according to claim 1, further comprising: a tilt mechanism that has a pair of vertical drive shafts spaced in parallel to each other and that allows the entire arm units to tilt in the vertical direction. Work transfer device. A tilt mechanism is provided at the end of the second arm bar of the first arm unit to enable the first slide arm to tilt in the vertical direction.
The workpiece transfer device according to claim 2, wherein a tilt mechanism that allows the second slide arm to tilt in a vertical direction is provided at an end portion of the second arm bar of the second arm unit.

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