JP5881106B2 - Work reversal installation mechanism - Google Patents

Description

  The present invention relates to a transfer mechanism of a transfer machine, and in particular, is a work reversal installation mechanism that is suitable for a transfer press or the like and can change a work processing posture at an arbitrary angle such as reversing and horizontally placing a work. The present invention relates to a work reversal installation mechanism that can be used in a micro factory, which is a small machine tool for manufacturing a simple product.

In normal pressing, a hoop material is used for material supply. This is a long tape-shaped metal plate, and since the materials are connected until just before the product is obtained, the sample can be sent continuously, and this is a material supply method that is particularly advantageous when making products by performing multi-stage pressing. It is.
On the other hand, when performing multi-stage press processing, there is a case where high value-added processing is desired in which the work processing posture of the previous process and the processing posture of the next process are changed. A typical example is reversing the workpiece between strokes. In some cases, the direction of burrs is reversed because the direction of removal can be changed by reversal, which is convenient when assembling the product with other parts. In addition, if the workpiece can be placed horizontally, the horizontal punching of the product can be performed by a series of press processing, further expanding the applicability of press processing.
In such multi-stage press processing that changes the processing posture, the material supply method using a hoop material cannot be supported, and transfer press processing is suitable, in which workpieces cut out in advance are transported to the next process and pressed. ing. In this method, a large number of workpieces are fed simultaneously by a transfer device called a transfer bar that is linked with press working. If the transfer mechanism has a reverse / horizontal installation function, the machining posture can be changed during conveyance, and high-value-added machining with different extraction directions can be realized.

There have been proposed several methods and apparatuses for changing the position and orientation of a workpiece between two press machines or between transfer presses.
For example, in Patent Document 1, by providing a conveyance means including two belt conveyors having a suction mechanism between press machines, a workpiece can be conveyed while arbitrarily selecting whether the workpiece is reversed or not reversed. Yes. Also, in Patent Document 2, a large number of workpieces stacked on a pallet are transported and installed on a rotating drum mechanism, the workpiece is clamped by another pallet held at the top of the workpiece, the drum is rotated, the workpiece is inverted, and the pallet The work on the new pallet is pulled out again and separated for the next process.
In any of these methods, since a dedicated reversing mechanism is installed before and after the press machine for reversing the workpiece, a sufficient space is required between the press machines. For this reason, it is difficult to apply these techniques when performing a multi-stage press process while a plurality of press machines are interlocked with a single main motor and a workpiece is continuously conveyed as in a transfer press.
On the other hand, in Patent Document 3, a slide and a gripper attachment are provided on a transfer bar of a transfer press, so that the position and orientation of the workpiece can be arbitrarily changed while being sequentially carried to the next stroke.
In this method, it is necessary to provide and control a power mechanism of a separate system independent from the transfer mechanism, such as a servo motor for rotating the gripper attachment and a driving mechanism using compressed air for operating the gripper. Accordingly, when performing multi-stage transfer press processing, a large number of servo motors and compressed air control mechanisms are required, and the control becomes complicated.

JP 2000-71032 A Japanese Patent Laid-Open No. 8-252539 JP-A-2-295620

The above prior art is intended for press working of relatively large workpieces such as automobile parts. Therefore, it is difficult to apply to a micro factory, which is a small machine tool for manufacturing a micro product on the order of millimeters, due to space constraints even if the conventional technology is simply downsized.
The present invention provides a work reversal installation mechanism that realizes a high-value-added transfer press process capable of multi-stage reversal and horizontal placement with a small number of actuators by using a mechanical operation, particularly in the manufacture of minute products on the order of millimeters. is there.

In order to solve the above-described problems, the present invention grips a workpiece by moving the finger toward and away from the workpiece and driving the finger to open and close the workpiece in a transfer mechanism of a transfer machine that sequentially performs processing at multiple processing stations. Using only three linear actuators: a finger expansion / contraction actuator for picking up, a pickup actuator for driving the finger up and down, and a transfer stage for transferring the finger back to the next processing station A workpiece reversal installation mechanism that allows the fingers to approach / hold, pick up, transport, install, and return the workpiece, and change the posture of the workpiece,
The transfer stage is reciprocated by a distance between adjacent processing stations along multi-stage processing stations,
The pickup actuator is provided on the transfer stage, and drives the case that supports the finger expansion / contraction / opening / closing mechanism inside the transfer stage.
The finger expansion / contraction / gripping actuator reciprocates the push rod in a direction to move the finger toward / separate from the processing station, and operates the finger expansion / contraction / opening mechanism supported by the case by the reciprocation of the push rod. ,
A rotary shaft is inserted between the push rod and the finger expansion / contraction / opening / closing mechanism, the rotary shaft is connected to the push rod side via a rotary joint, and the finger expansion / contraction / opening / closing mechanism side is connected via a slip clutch. Connected,
A pinion is provided at an intermediate portion of the rotating shaft, and a rack that engages with the pinion is provided on a bar fixed along a multistage processing station. The rack and the pinion are adjacent to each other with the case raised. Engage between processing stations at the time of forward movement and backward movement, rotate the rotating shaft, and transmit the rotation to the finger expansion / contraction / opening / closing mechanism side via the sliding clutch,
In order to set the rotation transmitted to the finger expansion / contraction / opening / closing mechanism via a slip clutch to a desired angle, a latch is provided on the finger expansion / contraction / opening / closing mechanism side, and a stopper that engages with the latch and regulates the rotation range of the latch is Provided on the case side, the rotation of the rotating shaft during the forward movement is transmitted until the latch hits the stopper, after which the slip clutch slides and the rotation position of the finger is held at a desired position, and the rotation during the backward movement The rotation of the shaft is transmitted until the latch hits the stopper, after which the sliding clutch slips and holds the finger in its original rotational position.
Further, according to the present invention, in the work reversal installation mechanism, an adsorption fixing device that is weaker than a force for pulling the latch away from the stopper via the clutch is provided on one of the surfaces where the stopper and the latch are engaged with each other. It is characterized by.
Further, the present invention is characterized in that, in the work reversal installation mechanism, a friction plate is adopted instead of the rack, and a friction roller is adopted instead of the pinion.
The present invention is also characterized in that, in the work reversal installation mechanism, the transfer machine that sequentially performs processing at the multistage processing station is a micro transfer press that sequentially performs press processing with a multistage press die.
Further, the present invention is characterized in that, in the work reversal installation mechanism, the three linear actuators are mechanically linked from a driving source for moving the multi-stage press mold up and down.

The work reversal installation mechanism of the present invention can realize high value-added processing such as reversal placement and horizontal placement in a transfer machine, and is particularly effective for a transfer press.
Moreover, since it is suitable for conveying a minute work, it is particularly effective for a micro transfer press in a micro factory.
The present invention is basically a series of reverse placement of gripping, picking up, rotating transporting, setting and returning to a workpiece by only three drive mechanisms of a finger expansion / contraction and gripping actuator, a pickup actuator and a transport stage. Since it can be placed horizontally, it can be easily applied to multi-stage transfer presses with few actuators and simple control.
In the present invention, since the suction device is provided on the engagement surface between the latch and the stopper, the suction device can be held at a predetermined rotational position, and the rotational position can be prevented from being displaced due to repulsion caused by the impact of contact.

It is a figure which shows the outline | summary of the workpiece | work reverse installation mechanism of this invention. It is a figure explaining the operation | movement procedure of the workpiece | work inversion installation mechanism shown in FIG. It is a figure explaining the rotation stopper mechanism for implement | achieving inversion of the workpiece | work in the workpiece inversion installation mechanism of this invention. FIG. 4 is a view of the rotation stopper mechanism shown in FIG. 3 as seen from the y direction of FIG. 3. It is the figure which showed the case where horizontal placement is implement | achieved using the rotation stopper mechanism shown in FIG. It is a figure explaining the expansion-contraction and opening / closing mechanism of a finger. It is a figure explaining operation | movement of the expansion-contraction / opening-closing mechanism of the finger shown in FIG. 6, and is a figure which shows the state which shrunk and opened the finger. It is a figure explaining operation | movement of the expansion-contraction and opening / closing mechanism of the finger shown in FIG. 6, and is a figure which shows the state which extended the finger and opened. It is a figure explaining operation | movement of the expansion-contraction and opening / closing mechanism of the finger shown in FIG. 6, and is a figure which shows the state which tries to hold | grip a workpiece | work by closing a finger. It is a figure which shows one Example which applied the workpiece conveyance mechanism of this invention to the four-stage micro truss fa press.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
FIG. 1 shows an outline of an application example to a micro-transfer press apparatus that performs a one-stage transfer operation in order to explain the work reversal installation mechanism of the present invention.
FIG. 1 relates to a transfer mechanism (work transport mechanism) that transports between micro press dies 8a and 8b while reversing the work 7 by means of tweezers-like fingers 101 and 102. It has the feature that it can be reversed. There are only three drive mechanisms, the finger expansion / contraction / gripping actuator 5 (y direction), the pickup actuator 9 (z direction), and the transfer stage 10 (x direction). Even if the transfer press has multiple stages, x If the linear actuators in the, y, and z axis directions can be used in common, they can be operated with only three drive mechanisms.

FIG. 2 shows an operation procedure.
In FIG. 2, the work 7 is first installed on a mold 8a incorporated in a micro press (not shown), and the transfer mechanism is at the position O. The fingers 101 and 102 are opened and contracted to a position where they do not interfere even if the micro press performs a pressing operation.
When the press operation is finished, the linear actuator 5 is extended, and the pinion 401, the sliding clutch 301, the finger expansion / contraction / opening / closing mechanism 2 and the fingers 101, 102 connected to the rotating shaft 305 are moved in the + y direction. The fingers 101 and 102 are extended to the gripping position in the y direction by the finger expansion / contraction / opening / closing mechanism 2 that performs a mechanical operation, and then the fingers 101 and 102 are closed.
Next, the transfer mechanism moves to the position A by a z-direction actuator (not shown) and picks up the workpiece 7. At this time, the pinion 401 and the rack 402 are engaged with each other.
The fingers 101 and 102 are rotated as indicated by B by the operation of the x-direction stage (not shown), the pinion 401 and the rack 402 to invert the workpiece 7. Even if the pinion 401 is rotated by 180 ° or more by the slip clutch 301 and the rotation stopper mechanism 3 , the sample 7 is conveyed while maintaining the inverted state.
After the transfer mechanism has moved to the position C, it is moved to the position D by the z-direction actuator (not shown). When the linear actuator 5 moves in the −y direction, the fingers 101 and 102 are opened by the finger expansion / contraction / opening / closing mechanism 2 and then the sample 7 is released onto the mold 8b, so that the finger is contracted and separated from the sample.
Thereafter, while the micro press is performing the press operation of the next cycle, the transfer mechanism returns to the original state by following D → C → A → O with the hand contracted, and one cycle of the transport operation is completed. This return operation is performed in a state in which the linear actuator 5 is contracted, unlike the conveyance operation. For this reason, the pinion 401 is offset in the −y direction from the transport operation. If the thickness of the rack 402 in the y direction is sufficient, the pinion 401 and the rack 402 are engaged with each other even in the return operation, and the fingers 101 and 102 can be returned to the initial direction by the slip clutch 301 and the rotation stopper mechanism 3 .

FIG. 3 shows the structure from the linear actuator 5 to the rotation stopper mechanism 3 . A push rod 502 extending from the linear actuator body 501 moves back and forth in the y direction. The rotary shaft 305 is connected to the push rod 502 via the rotary joint 404, rotates when the pinion 401 and the rack 402 are engaged with each other, and transmits the rotation to the input side 306 of the slip clutch. These are supported on the case 6 by bearings 403. The rotation stopper mechanism 3 includes stoppers 303 a and 303 b attached to the fixing ring 304 and a latch 302 attached to the slip clutch output side 301. Adsorption fixing devices 307a and 307b such as magnets are attached to upper end portions of the stoppers 303a and 303b, and hold them when the latch 302 contacts the stopper. Since the latch 302 has a sufficient length in the y-axis direction, the latch 302 does not rotate out of the stopper even if the push rod 502 of the linear actuator is in an expanded or contracted state.

FIG. 4 is a diagram illustrating an operation state when the pinion 401, the rack 402, the slip clutch output side 301, and the rotation stopper mechanism 3 of FIG. 3 are viewed from the y direction. This is the relationship at the position B in FIG. The latch 302 is held by the suction device 307a on the stopper 303a side at the position A in FIG. 2. However, as the transfer device advances in the + x direction, the latch 302 leaves the suction device, and the pinion 401, the slip clutch output side 301, and the rotating shaft 305 are separated. At the same time, when it rotates 180 ° around the y axis and hits the stopper 303b side, it is held by the suction device 307b. As the transfer device further advances in the + x direction, the pinion 401 and the rotation shaft 305 continue to rotate, but the latch 302 and the slip clutch output side 301 maintain the same rotation angle. Since the fingers 101 and 102 and the finger expansion / contraction / opening / closing mechanism 2 in FIG. 2 are attached to the slip clutch output side 301, the finger can be rotated 180 ° by the + x direction movement of the transfer device. When the transfer device performs a return operation in the −x direction, the latch 302 rotates from the stopper 303b to the 303a direction, and returns the finger to the original rotation position. It is assumed that the suction force of the suction devices 307a and 307b is weaker than the force that separates the latch 302 by rotation on the slip clutch input side.
By changing the position of the stopper in FIG. 4, not only the sample can be inverted but also the posture can be changed at a desired angle such as a horizontal position.
FIG. 5 shows an example of the arrangement of the stoppers that realizes 90 ° finger rotation by changing the position of the stoppers.

FIG. 6 shows an outline of the structure of the finger expansion / contraction / opening / closing mechanism 2 . A slider block 201 is fixed to the tip of the rotation stopper mechanism 3 . The finger base 203 is held via fixed rods 204a and 204b and sliders 202a and 202b, and can be moved relative to the slider block in the y direction by the amount of the slider groove. The finger base 203 is normally pressed forward in the + y direction of the slider block 201 and the sliders 202a and 202b by the force of the spring 206. The fingers 101 and 102 pass through the rotating plate 103 held by the bearing 104 and are fixed to the finger base 203. The fingers 101 and 102 have a tweezer structure having elasticity. These structures rotate around the y axis integrally with the rotation of the slip clutch output side 301.

7-9 is a figure for demonstrating the expansion-contraction and opening / closing operation | movement of a finger.
FIG. 7 shows a state in which the fingers are contracted and opened. By the linear actuator (not shown), the entire finger expansion / contraction / opening / closing mechanism moves in the + y direction until it hits the stopper pin 105. FIG. 8 shows a state when it hits the stopper pin. Thereby, the finger can be extended and opened. Thereafter, when the linear actuator further extends in the + y direction, the slider block 201 and the slider 202a move in the + y direction on the stationary finger base 203 while pressing and contracting the spring 206, as shown in FIG. At this time, the ball rollers 207a and 207b attached to the slider block 201 slide on the inclined upper and lower surfaces of the fingers 101 and 102 attached to the finger base 203, whereby the fingers are elastically deformed, and a gripping operation is performed.

  With the above-described mechanism, it is possible to realize gripping and rotational conveyance of a transfer press workpiece with only three drive mechanisms: a finger expansion / contraction / gripping actuator, a pickup actuator, and a conveyance stage.

FIG. 10 is a diagram showing an example when applied to a four-stage micro-transfer press as an embodiment of the present invention. This shows a situation where the transfer apparatuses 1a to 1d carry workpieces between adjacent dies when the dies 8a to 8d are incorporated in a series of micro transfer presses not shown. . Here, drive mechanisms 10, 5 and 9 for moving all the transfer devices simultaneously in the x, y and z directions are provided, and the transfer operation is synchronized with the press working. These mechanisms can be realized even with independent control mechanisms, but a mechanism that operates synchronously from the main motor for driving the transfer press via the link mechanism, such as a transfer bar in a normal transfer press, can be constructed. good.
The state of conveyance and processing of the workpiece in this example is as follows. First, the hoop material 11 is supplied to the mold 8a and cut out as a product-sized workpiece 7a, and then sent to the mold 8b by the transfer device 1a. The workpiece 7b bent here is inverted and placed on the mold 8c by the transfer device 1b and the rack 402. The workpiece 7c that has been drilled and partially cut off on the opposite surface is placed horizontally on the mold 8d by the transfer device 1c and the rack 402, and a part of the surface is bent to form a product. Finally, the transfer device 1d takes out the workpiece 7d from the mold 8d and delivers the product to a product transport device (not shown).

  In this example, since only the transfer devices 1b and 1c perform the workpiece rotation operation, the pinion and the rack are illustrated so as to mesh with each other. However, with the rotation stopper mechanism shown in FIG. 4, the latch 302 does not move at all. If a stopper is set at the position, the transfer devices 1a and 1d may be transported while meshing with the rack. If the rotation stopper mechanism has a mechanism that can set the stopper installation angle arbitrarily, the basic configuration of the transfer device may be the same, and even if the target product changes and another rotation installation is required It is possible to respond flexibly by changing the system.

  In the above description, the work reversal installation mechanism of the transfer press processing apparatus will be described as an example, and in particular, it is a reversal installation mechanism effective in a transfer press processing apparatus that handles small-sized workpieces. It can be widely used. Further, the present invention can be applied not only to press working but also as a reverse installation mechanism of a transfer mechanism of a micro transfer machine.

(About FIGS. 1-9)
O Position of the transfer mechanism before gripping the workpiece A Position of the transfer mechanism that picks up the workpiece B Position of the transfer mechanism that transports and rotates the workpiece C Position of the transfer mechanism that transports the workpiece D Position of the transfer mechanism where the workpiece is installed
2- finger expansion / contraction mechanism
3- turn stopper mechanism
5 Finger expansion / contraction / gripping actuator 6 Case 7 Work 8a Transfer source mold 8b Transfer destination mold 9 Pickup actuator 10 Transfer stage 101 Finger 102 Upper finger 103 Rotating plate 104 Bearing 105 Stopper pin 201 Slider block 202a Slider left 202b Slider right 203 Finger base 204a, 204b Fixed rod 205 Spring guide pin 206 Spring 207a, 207b Ball roller 301 Sliding clutch output side 302 Latch 303a First stopper 303b Second stopper 304 Fixed ring 305 Rotating shaft 306 Sliding clutch input side 307a First suction device 307b Second suction device 401 Pinion 402 Rack 403 Bearing 404 Rotary joint 501 Actuator book 502 push rod

(About Figure 10)
DESCRIPTION OF SYMBOLS 1a 1st transfer mechanism 1b 2nd transfer mechanism that can be reversed 1c 3rd transfer mechanism that can be horizontally placed 1d 4th transfer mechanism
5- finger expansion / contraction / gripping actuator 7a Work cut out from hoop material 7b Folded work 7c Work piece drilled and partially cut off on opposite surface 7d Work completed as product 8a First mold 8b Second Mold 8c Third mold 8d Fourth mold 9 Pickup actuator 10 Transport stage 11 Hoop material

Claims (5)

In a workpiece transfer mechanism of a transfer machine that sequentially performs processing at multi-stage processing stations, a finger expansion / contraction / gripping actuator for gripping the workpiece by driving the finger toward and away from the workpiece and opening / closing the finger, and a finger Using only three linear actuators, a pickup actuator for driving in the vertical direction and a transfer stage for transferring the finger to the next processing station and returning it, the finger approaches and grips the workpiece, picks up, and transfers It is a work reversal installation mechanism that can change the posture of the work while performing installation and return,
The transfer stage is reciprocated by a distance between adjacent processing stations along multi-stage processing stations,
The pickup actuator is provided on the transfer stage, and drives the case that supports the finger expansion / contraction / opening / closing mechanism inside the transfer stage.
The finger expansion / contraction / gripping actuator reciprocates the push rod in a direction to move the finger toward / separate from the processing station, and operates the finger expansion / contraction / opening mechanism supported by the case by the reciprocation of the push rod. ,
A rotary shaft is inserted between the push rod and the finger expansion / contraction / opening / closing mechanism, the rotary shaft is connected to the push rod side via a rotary joint, and the finger expansion / contraction / opening / closing mechanism side is connected via a slip clutch. Connected,
A pinion is provided at an intermediate portion of the rotating shaft, and a rack that engages with the pinion is provided on a bar fixed along a multistage processing station. The rack and the pinion are adjacent to each other with the case raised. Engage between processing stations at the time of forward movement and backward movement, rotate the rotating shaft, and transmit the rotation to the finger expansion / contraction / opening / closing mechanism side via the sliding clutch,
In order to set the rotation transmitted to the finger expansion / contraction / opening / closing mechanism via a slip clutch to a desired angle, a latch is provided on the finger expansion / contraction / opening / closing mechanism side, and a stopper that engages with the latch and regulates the rotation range of the latch is Provided on the case side, the rotation of the rotating shaft during the forward movement is transmitted until the latch hits the stopper, after which the slip clutch slides and the rotation position of the finger is held at a desired position, and the rotation during the backward movement The work reversal installation mechanism is characterized in that the rotation of the shaft is transmitted until the latch hits the stopper, and then the sliding clutch slips to hold the rotation position of the finger back.   2. The workpiece according to claim 1, wherein a suction fixing device weaker than a force for pulling the latch away from the stopper via the clutch is provided on one of the surfaces where the stopper and the latch are engaged with each other. Inverted installation mechanism.   The work reversal installation mechanism according to claim 1, wherein a friction plate is used instead of the rack, and a friction roller is used instead of the pinion.   The work reversal installation according to any one of claims 1 to 3, wherein the transfer machine that sequentially performs processing at the multi-stage processing station is a micro transfer press that sequentially performs press processing with a multi-stage press die. mechanism.   5. The work reversal installation mechanism according to claim 4, wherein the three linear actuators are driven mechanically in conjunction with a drive source for moving the multi-stage press mold up and down.

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