JP6219447B1 - Attachment / detachment support device for work holding tool - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support a workpiece holding tool for holding a workpiece detachably with respect to a cross bar easily and smoothly for a long period of time without rattling, while being simple and low-cost, lightweight and compact. A workpiece holding tool attachment / detachment support device 1 according to the present invention includes a piston 112 provided in a crossbar 100 and slidably received in a main body 111, a sheath portion 11A, a plurality of openings 111B, and a piston. A ball lock joint portion 110 configured to include a plurality of balls 113 accommodated between the small-diameter portions 112D ”,“ a ball lock hole 213 that accommodates the sheath portion 11A, and a throttle portion 216. In addition to the ball lock joint engaging portion 210 configured to include the positioning means, the piston side taper portion 112E and the throttle portion side taper portion 216A are provided. [Selection] Figure 5

Description

  The present invention relates to an attachment / detachment support device for a workpiece holding tool in a workpiece conveyance device that holds and conveys a workpiece.

Conventionally, various devices have been proposed as a workpiece transfer device between press machines and the like.
For example, there is a work transfer device including a crossbar unit extending in a direction substantially orthogonal to the work transfer direction. In such a device, for example, the work transfer device is disposed so as to cross the work transfer direction and in the work transfer direction. A work holding tool for holding and releasing a work by vacuum suction or magnetic suction is attached to a reciprocating crossbar.

  In addition, a plurality of types of such work holding tools are prepared according to the size and shape of the work, and work such as exchanging the work holding tool to be used corresponding to the work is performed during setup. .

JP2013-6185A European Patent Publication No. 1862237 (EP1862237B1)

  Here, there is an apparatus that can automatically replace the workpiece holding tool. For example, in Japanese Patent Application Laid-Open No. 2004-86400, the applicant of the present application uses a latch mechanism to chuck and unchuck the workpiece holding tool with respect to the crossbar. We have proposed a device that can do this.

When the latch mechanism is used, it is necessary to provide a gap as shown in FIG. 15A so as not to mischuck the frame of the work holding tool.
However, if there is such a gap, the frame of the workpiece holding tool moves (moves) relative to the crossbar within this gap, so that vibration is increased and stable when the crossbar is moved by the workpiece transfer operation. There is a possibility that it becomes difficult to increase the workpiece transfer speed to a certain level or more.

  If the gap is reduced, mischucking is likely to occur as described above, and the latch may be half-hanged during unchucking, and the workpiece holding tool may not come off the crossbar, resulting in misunchucking. (See FIG. 15B).

  Further, Patent Document 2 describes an apparatus having a mechanism that automatically attaches / detaches a work holding tool to / from a cross bar. In this apparatus, the work holding tool is moved relative to the longitudinal direction of the cross bar. A drive unit (electric motor, etc.) and a locking means for fixing the position of the work holding tool with respect to the cross bar are provided. When the work holding tool is automatically attached or detached, the cross bar is released with a release plate (cart, etc.) ) To release the locking means, and in that state, the drive unit is moved relative to the work holding tool to release the connection between the crossbar and the work holding tool (see FIG. 16 (A)).

  For this reason, since the drive part (electric motor etc.) which is a heavy article is mounted in the crossbar in the apparatus of patent document 2, since the weight of a movable part increases, when it speeds up, a vibration will become large and the conveyance speed of a workpiece | work will be increased. There is a problem that it is difficult to raise.

  Further, in the apparatus of Patent Document 2, as shown in FIG. 16B, the pin (38) on the work holding tool side has a slit (41), and the contact (45) and slit on the crossbar (6) side. Since the work holding tool is positioned and fixed with respect to the cross bar (6) by fitting with (41), a certain amount of gap is required in the fitting portion. Due to the floating movement with respect to the bar, vibrations may increase when the crossbar is moved by the workpiece transfer operation, making it difficult to achieve stable transfer, and it may be difficult to increase the workpiece transfer speed beyond a certain level. There is.

  Furthermore, since the contact (45) is not configured to force the pin (38) to the engagement position, there is a high possibility that the work holding tool is likely to be mischucked.

  The present invention has been made in view of such circumstances, and a cross-bar is a work holding tool that holds a work easily and smoothly, without being rattled over a long period of time, while having a simple, low-cost, lightweight and compact configuration. An object of the present invention is to provide an attachment / detachment support device for a work holding tool that can be detachably supported.

  In addition, by using the work holding tool attachment / detachment support device, the work holding tool can be easily exchanged for a crossbar, etc., making the setup work easy, quick, efficient and accurate. The purpose is to improve production efficiency by shortening the setup work time.

For this reason, the attachment / detachment support device for the workpiece holding tool according to the present invention is
An attachment / detachment support device for a workpiece holding tool that is detachably supported by a crossbar arranged substantially horizontally and substantially perpendicular to the workpiece conveyance direction of a press machine to hold and release the workpiece,
A ball lock joint provided on one of the crossbar or the work holding tool,
A piston that extends along the longitudinal direction of the crossbar, is slidably received in the body of the ball lock joint portion, and is elastically biased toward the other of the crossbar or the work holding tool by an elastic element;
A sheath that protrudes from the main body toward the other side and slidably accommodates the distal end side of the piston, the sheath having a plurality of openings communicating the inner peripheral side and the outer peripheral side of the sheath portion;
A plurality of balls disposed corresponding to the plurality of openings of the sheath portion and having a diameter larger than that of the opening, and formed on the plurality of openings of the sheath portion and a piston accommodated in the sheath portion. A plurality of balls that are held movably while being restricted from falling off the outside of the sheath part between the small diameter part and
A ball lock joint part configured to include:
A ball lock joint engaging portion provided on the other side,
A ball lock hole for accommodating the sheath,
A constricted portion that protrudes inward from the portion having the normal inner diameter of the ball lock hole to reduce the inner diameter;
A ball lock joint engaging portion comprising:
Positioning means for positioning the piston in the longitudinal direction between the ball lock joint portion and the ball lock joint engaging portion;
With
A piston-side tapered portion that connects a small diameter portion of the piston and a portion having a larger diameter than the small diameter portion in a tapered shape;
A throttle part-side taper part that connects a side opposite to the one across the minimum inner diameter part of the throttle part and a part having a normal inner diameter of the ball lock hole in a tapered shape,
Is provided.

In the present invention,
When engaging the ball lock joint part and the ball lock joint engaging part from a non-engaged state,
By sliding the piston with respect to the sheath portion, the ball is accommodated in the small-diameter portion so that the protrusion of the ball from the outer periphery of the sheath portion is less than a predetermined value, and in this state the ball is inserted into the ball lock hole. Is passed through the throttle portion to bring the ball lock joint portion and the ball lock joint engagement portion into a close contact state, and in this contact state, the piston is slid with respect to the sheath portion, and the ball is moved by the piston side taper portion. By pressing in the outer peripheral direction of the sheath portion, the ball can be pressed against the tapered portion side taper portion.

In the present invention,
When disengaging the ball lock joint part and the ball lock joint engaging part from the engaged state,
By sliding the piston with respect to the sheath portion, the ball is accommodated in the small diameter portion so that the protrusion of the ball from the outer periphery of the sheath portion is not more than a predetermined value, and in this state, the sheath portion is extracted from the ball lock hole, can do.

  In the present invention, the operation of sliding the piston with respect to the sheath portion is performed by applying a rod-like member erected on the workpiece holding tool exchanging carriage on which the workpiece holding tool is placed to the tapered portion provided at the tip of the piston. It can be characterized by being performed by contact.

  In the present invention, the operation of sliding the piston with respect to the sheath portion is a taper shape in which a lock release dog that is erected on a work holding tool exchanging carriage on which a work holding tool is placed is attached to the proximal end side of the piston. It can be characterized in that it is performed by contacting the part.

  In this invention, the operation | movement which slides the said piston with respect to a sheath part can be performed by compressed air, It can be characterized by the above-mentioned.

  According to the present invention, a work holding tool for holding a work can be easily attached to and detached from a crossbar, etc. easily and smoothly, without rattling over a long period of time, with a simple, low-cost, lightweight and compact configuration. It is possible to provide an attachment / detachment support device for a workpiece holding tool that can be made to operate.

  Further, according to the present invention, by using the work holding tool attaching / detaching support device according to the present invention, the work holding tool can be easily exchanged for a crossbar or the like, so that the setup work can be performed easily, quickly and efficiently. It is possible to improve production efficiency and the like by making it good and accurate, and by shortening the setup work time.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view schematically showing an overall configuration of a work transfer device for a press machine according to an embodiment (Example 1) according to the present invention. Front view of workpiece transfer device (crossbar, workpiece holding tool) and workpiece holding tool exchange support provided in workpiece holding tool exchange carriage of press machine of embodiment 1 as viewed from upstream (or downstream) of workpiece conveyance direction FIG. It is the figure (side view of FIG. 2) which looked at the workpiece conveyance apparatus of Example 1 same as the above arrange | positioned between press machines from the workpiece conveyance width direction. (A) is a top view for demonstrating attachment / detachment operation | movement of the crossbar which concerns on Example 1 same as the above, and a workpiece holding tool, (B) is a front view (work conveyance direction upstream (or downstream) view. Figure). Front sectional view for explaining the attaching / detaching operation between the cross bar (ball lock joint portion) and the work holding tool (ball lock joint engaging portion) according to the first embodiment as described above (from the upstream side (or downstream side) in the workpiece conveying direction). It is a view). (A) is front sectional drawing for demonstrating attachment / detachment operation | movement (engagement operation | movement: protrusion to the outer side of a ball | bowl) of the ball lock joint part and work holding tool (ball lock joint engaging part) which concern on Example 1 same as the above. FIG. 6B is a front cross-sectional view for explaining the same attaching / detaching operation (non-engaging operation: reduction of protrusion to the outside of the ball). It is front sectional drawing for demonstrating temporally the attachment or detachment operation | movement of the cross bar (ball lock joint part) which concerns on Example 1 same as the above, and the workpiece holding tool (ball lock joint engaging part). It is a front view for demonstrating attachment / detachment operation (tool exchange operation) with the crossbar (ball lock joint part) and work holding tool (ball lock joint engaging part) concerning Example 1 same as the above. It is a front view for demonstrating the tool exchange operation | movement by the workpiece conveyance apparatus (crossbar, workpiece holding tool) and workpiece holding tool exchange cart of a press machine which concerns on Example 1 same as the above. (A) is a view of the work holding tool exchange support base provided in the work transfer device (crossbar, work holding tool) and the work holding tool change carriage according to the first embodiment from the upstream side (or downstream side) in the work transfer direction. FIG. 4B is a front view during tool replacement, (B) is a side view of (A), and (C) is a plan view of (A). (A) is front sectional drawing for demonstrating attachment / detachment operation | movement (non-engagement operation | movement: reduction | decrease of the protrusion to the outer side of a ball | bowl) of the ball | bowl lock joint part and work holding tool (ball lock joint engaging part) which concern on Example 2. FIG. It is a figure, (B) is a front sectional view for explaining the attachment / detachment operation (engagement operation: protrusion of the ball to the outside). It is front sectional drawing explaining the structural example and attachment / detachment operation | movement of the ball lock joint part which concern on Example 3. FIG. (A) is front sectional drawing for demonstrating attachment / detachment operation | movement (non-engagement operation | movement: reduction | decrease of the protrusion to the outer side of a ball | bowl) of the ball | bowl lock joint part and work holding tool (ball lock joint engaging part) which concern on Example 3. FIG. It is a figure, (B) is a front sectional view for explaining the attachment / detachment operation (engagement operation: protrusion of the ball to the outside). FIG. 9 is a front view for explaining a tool change operation (an operation of pushing a button switch with a base (push bar)) by a work transfer device (crossbar, work holding tool) and a work holding tool exchange carriage of a press machine according to a third embodiment. is there. (A) is a figure explaining the problem of the clearance gap in the attachment / detachment support apparatus of the workpiece holding tool using the latch mechanism of the past (patent document 1), (B) is a figure explaining the half-hanging state of a latch mechanism. is there. (A) is the whole perspective view of the conventional workpiece conveyance robot (patent document 2), (B) is sectional drawing explaining attachment and detachment of a crossbar and a workpiece holding tool.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment showing an example of a work holding tool attachment / detachment support device used in a work transfer device of a press machine (press machine) according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

  The workpiece transfer device of the press machine according to the present embodiment is used for transferring the workpiece W between press machines, for example.

  Here, as shown in FIGS. 1 and 2, the base frame (horizontal beam 1 </ b> A), the linear movement mechanism 20, the articulated arm 30, the horizontal arm 40, and the crossbar 100 are configured. The workpiece transfer apparatus 1 will be described as an example.

  The base frame is disposed, for example, between adjacent press machines, has a gate shape (lower open U shape), and an upper horizontal beam 1A extending in the horizontal direction is substantially orthogonal to the workpiece conveying direction. It is installed in the direction to do.

  The linear moving mechanism 20 is installed suspended from the lower side of the base frame (horizontal beam 1A), and is configured to be horizontally movable along the longitudinal direction of the horizontal beam 1A. In other words, the linear movement mechanism 20 supports the articulated arm 30 so as to be rotatable about a vertical axis, and can move (operate horizontally) the articulated arm 30 in a direction substantially orthogonal to the workpiece transfer direction. It can be done.

  The operation mechanism of the linear movement mechanism 20 includes, for example, a linear guide that guides linear movement, and a rotation-linear motion conversion mechanism that converts the rotational motion of the servo motor into linear motion (for example, a mechanism using a rack and pinion or a ball screw). Can be used. Also, for example, a linear motor can be employed.

  The articulated arm 30 includes a rotation base 60, a drive arm 70, and a connecting tool 80 that connects the drive arm 70 and the horizontal arm 40.

  The rotation base 60 is supported so that the base end side (upper end side) of the rotation base 60 is below the linear movement mechanism 20 and is rotatable about a substantially vertical axis with respect to the linear movement mechanism 20 and the base frame (horizontal beam 1A). Is done.

  A drive arm 70 is supported on the front end side (lower end side) of the rotation base 60 so as to be swingable in the vertical direction. That is, the base end side of the drive arm 70 is pivotally supported (pivotally supported) on the distal end side of the rotation base 60 so as to be swingable within a predetermined vertical plane.

  The drive arm 70 is provided with a servo motor or the like on the base end side that is pivotally supported (connected) to the rotation base 60, and the tip end side is provided with a tip arm 71 that is rotated about the long axis direction of the main body of the drive arm 70. In addition, a connecting tool 80 to the horizontal arm 40 is provided at the tip of the tip arm 71.

  The connecting tool 80 to which the horizontal arm 40 is connected is pivotally supported (pivoted) with respect to the tip arm 71 and the drive arm 70 so as to be rotatable (oscillated) within a predetermined plane. The horizontal arm 40 connected thereto is supported (axially supported) at the tip of the connection tool 80 so as to be swingable within a plane intersecting (substantially orthogonal) with the swing plane of the connection tool 80.

  As shown in FIGS. 1 and 2, the crossbar 100 is supported on the front end side of the horizontal arm 40, and the work is releasably held by the work holding tool 200 supported by the crossbar 100. It has become so.

  The cross bar 100 is supported by the horizontal arm 40 via a rotation tilt mechanism 50 provided at the tip of the horizontal arm 40, and the rotation tilt mechanism 50 rotates around a rotation axis that is substantially orthogonal to the swing surface of the horizontal arm 40. The cross bar 100 is supported so as to be able to rotate and tilt (tilt) in a direction intersecting the swing surface of the horizontal arm 40.

  The crossbar 100 is detachably equipped with a workpiece holding tool 200 that holds a workpiece, and the workpiece holding tool 200 is attached to a pipe frame (frame member) 201 that extends along the longitudinal direction of the crossbar 100. The suction holding element 202 is configured to freely hold and release a workpiece (for example, a metal thin plate member) by suction such as vacuum or magnetic force.

  According to the workpiece transfer device 1 having such a configuration, as shown in FIG. 3, the linear movement mechanism 20, the multi-joint arm 30, the horizontal arm 40, the rotation base 60, the drive arm 70, the coupling tool 80, etc. After holding and gripping the work W in the previous process by the holding tool 200, the work W is transported to the next process and released there.

  Here, for example, when changing a workpiece W (including a blank, an intermediate processed product, and a finished product) to be formed by a press machine, the shape and size of the workpiece W are changed. It may be necessary to change to a suitable workpiece holding tool.

  In such a case, in the present embodiment (Example 1), the work holding tool replacement carriage 300 is arranged outside the press machine (not shown) (the place where the press line is retracted) and is attached to the cross bar 100. The tool 200 is configured to be automatically detachable and replaceable.

  For this reason, as shown in FIG. 4, the crossbar 100 according to the present embodiment (Example 1) includes a ball lock joint part (tool holder) 110 that detachably holds the work holding tool 200, and a locate pin ( Positioning pins) 120.

  The ball lock joint part 110 is attached to the cross bar 100 substantially integrally, and the ball lock of the work holding tool 200 is relatively approached from the longitudinal direction of the cross bar 100 (left and right direction in FIG. 4A). It is configured to be able to engage with the joint engaging portion 210 (see FIGS. 4 and 5).

  Further, the locating pin (positioning pin) 120 is attached to the cross bar 100 substantially integrally, and when the ball lock joint part 110 and the ball lock joint engaging part 210 are engaged, from the longitudinal direction of the cross bar 100. It is configured to be able to engage with a locate pin engaging portion 220 of the workpiece holding tool 200 to be approached.

  That is, as shown in FIG. 4, the ball lock joint portion 110 and the locate pin 120 are attached to the cross bar 100 at different positions in the longitudinal direction of the cross bar 100, and the ball lock joint portion 110 and the ball lock joint are engaged. The ball lock joint 110 and the locate pin 120 are crossed at different positions (offset) in the width direction of the cross bar 100 (vertical direction in FIG. 4A) so as not to interfere with the engaging operation with the portion 210. It is attached to the bar 100.

  When the ball lock joint 110 and the locate pin 120 are offset in the width direction as described above, even if a rotational moment or a torsional moment acts around the longitudinal center of the work holding tool 200, the crossbar 100 and Since the attachment rigidity between the workpiece holding tool 200 and the workpiece holding tool 200 can be increased, it is possible to counteract these moments with high rigidity.

  As shown in FIG. 5, the ball lock joint portion 110 includes a main body (body) 111 of the ball lock joint portion 110 that is fixedly attached to the cross bar 100, and is fitted and held in the main body (body) 111. A piston 112 slidable (movable) along the longitudinal direction of the crossbar 100, and a pair of ball lock joint portion locating pins (positioning pins) 116 extending along the longitudinal direction of the crossbar 100. I have.

  The front end portion 112A of the piston 112 is configured to be inserted into a sheath portion (cylindrical guide portion) 111A provided at the right end of the main body 111 in FIG. 5 and to protrude a predetermined amount from the right end of the sheath portion 111A in FIG. The tip of the tip 112A is formed in a tapered shape with a tapered tip.

  On the other hand, the base end portion 112B of the piston 112 protrudes from the left end of the main body 111 in FIG. 5 and is attached with a handle 112a for enabling manual operation.

  Further, the piston 112 is disposed between the left side of the flange 112 </ b> C whose diameter is expanded and the left wall of FIG. 5 facing the cylinder part (gap) 114 formed in the main body 111. The elastic element 115 such as a coil spring is elastically biased (pressed) toward the right side of FIG. The elastic element 115 may be an air cushion or the like that urges using air.

  Further, the piston 112 is formed with a small-diameter portion 112D having a reduced diameter at a portion where the piston 112 is accommodated in the sheath portion 111A. The small-diameter portion 112D and the subsequent portion of the piston 112 having a normal diameter (the portion having a larger diameter than the small-diameter portion 112D) are connected by a tapered shape or the like.

  The sheath 111A of the main body 111 is provided with an opening 111B that accommodates the ball 113 that is accommodated between the sheath 111A and the small diameter portion 112D. The inner diameter of the opening 111B is set to be smaller than the outer diameter of the ball 113, and the outer periphery of the ball 113 can protrude outward from the outer periphery of the sheath portion 111A, but the ball 113 is configured not to drop out of the sheath portion 111A. ing.

According to such a configuration, when the piston 112 is elastically biased (pressed) toward the right direction (piston tip side) in FIG. 6 by the elastic element 115, the small diameter portion 112D is positioned on the right side (piston The ball 113 is pushed to the outer peripheral side by expanding the diameter of the left tapered portion 112E, and the outer periphery of the ball 113 protrudes outward from the outer peripheral surface of the sheath portion 111A to a predetermined extent. (See FIG. 6A).
The tapered portion 112E corresponds to the piston side tapered portion according to the present invention.

  On the other hand, when the piston 112 is slid (moved) toward the left side of FIG. 6 (the base end side of the piston) against the elastic bias of the elastic element 115, the small diameter portion 112D and the tapered portion 112E are also left ( Since the taper 112E is gradually slid (moved) to the base end side of the piston, the pressing action of the tapered portion 112E toward the outer periphery of the ball 113 gradually disappears. While falling into the small diameter portion 112D while being accommodated in 111B, the ball 113 becomes freely movable (free), and the protrusion of the ball 113 to the outer peripheral side of the sheath portion 111A is less than or equal to a predetermined value (see FIG. 6B).

Next, a configuration example of the ball lock joint engaging portion 210 according to the present embodiment (Example 1) will be described.
As shown in FIGS. 5 and 6 and the like, the ball lock joint engaging portion 210 of the work holding tool 200 is provided so as to engage with the ball lock joint portion 110 attached to the crossbar 100 side. , And an engaging block 211 that accommodates and engages the sheath portion 111A and the tip end portion 112A of the piston 112. The engagement block 211 is attached to the left end in FIG. 4 (the left end in FIG. 5) of the pipe frame 201 of the work holding tool 200.

  The engagement block 211 extends in the longitudinal direction of the crossbar 100 and a positioning hole 212 that extends in the longitudinal direction of the crossbar 100 and inserts the ball lock joint portion locating pin 116 on the crossbar 100 side for positioning. A ball lock hole 213 that accommodates the sheath portion 111A on the crossbar 100 side and the tip end portion 112A of the piston 112, and a hanger hole 214 that intersects the ball lock hole 213 and extends in a substantially vertical direction. It has been.

  Here, at least one ball lock joint portion locating pin 116 and at least one positioning hole 212 corresponding thereto correspond to an example of positioning means according to the present invention. The rotation direction about the longitudinal center of the piston 112 between the ball lock joint 110 and the ball lock joint engaging part 210 by engaging the ball lock joint locating pin 116 and the positioning hole 212. Positioning is performed. Since the movement of the end surface 117 and the end surface 217 other than the rotation direction is restricted by the engagement of the sheath portion 111A and the ball 113, it cooperates with this and at least one other positioning means. Thus, positioning in the rotation direction can be performed.

The hanger hole 214 is a hole into which a hanger pin 310 that is a rod-like member standing substantially vertically on the work holding tool exchange support base 301A (301B) mounted on the work holding tool exchange carriage 300 is inserted. Yes (see FIG. 5, FIG. 6, etc.).
Here, the hanger pin 310 corresponds to an example of a rod-shaped member according to the present invention.

In this embodiment (Example 1) having such a configuration, the workpiece holding tool 200 is replaced as follows.
Here, the ball lock joint part 110 and the ball lock joint engaging part 210 according to the present embodiment (Example 1) correspond to an example of a work holding tool attaching / detaching support device according to the present invention.

<Step 1>
As shown in FIG. 7A, an empty crossbar 100 (ball lock joint portion 110) that does not carry the workpiece holding tool 200 and a workpiece holding tool 200 (ball lock joint engagement) that is next attached to the crossbar 100. Part 210) is made to approach along the longitudinal direction of the crossbar 100 with the sheath part 111A of the ball lock joint part 110 and the ball lock hole 213 of the ball lock joint engaging part 210 facing each other.
Note that the crossbar 100 as a whole is operated as shown in FIGS.

  At this time, the workpiece holding tool 200 is supported by the workpiece holding tool exchange support base 301A (301B) of the workpiece holding tool exchange carriage 300 in a state where the hanger pin 310 is inserted into the hanger hole 214 of the engagement block 211. ing.

  The approaching action described above is not limited to the case where the crossbar 100 is moved by operating the work transfer device 1, but after the crossbar 100 is brought to a predetermined position as shown in FIGS. The work holding tool exchange support base 301A (301B) mounted on the work holding tool exchange carriage 300 can be moved closer by moving it horizontally by a hanger slide drive actuator (air cylinder, hydraulic cylinder, electric motor, etc.) 320. It is possible (see FIGS. 8B and 8C). The workpiece holding tool exchange support base 301A (301B) is slidably mounted along the longitudinal direction of the crossbar 100 via the slide guide 330 with respect to the workpiece holding tool exchange carriage 300.

<Step 2>
Next, as shown in FIG. 7B, the sheath portion 111A of the ball lock joint portion 110 of the empty crossbar 100 and the tip portion 112A of the piston 112 are inserted into the ball lock hole 213, and the ball lock joint portion locating pin is inserted. 116 is inserted into the positioning hole 212, and the tip 112 </ b> A of the piston 112 is brought into contact with the hanger pin 310.
In this state, since the piston 112 is still elastically biased toward the right side (piston tip side) in FIG. 7 by the elastic element 115, the small diameter portion 112D moves to the right side (piston tip side), and the left taper. The ball 113 is pushed to the outer peripheral side by expanding the diameter of the portion 112E, and the outer periphery of the ball 113 protrudes outward from the outer peripheral surface of the sheath portion 111A in a predetermined manner (see FIG. 6A, etc.).

<Step 3>
When the ball lock joint portion 110 of the cross bar 100 is further moved closer to the ball lock joint engaging portion 210 on the workpiece holding tool 200 side from the state of FIG. 7B, the tip end portion 112A of the piston 112 becomes the hanger pin 310. 7 is restricted from sliding (moving) to the right side (piston tip side) in FIG. 7, the piston 112 resists the elastic element 115 and the body (body) of the ball lock joint 110. With respect to 111, relative movement is started on the left side of FIG. 7 (the base end side of the piston) (FIG. 7C).

  As a result, the pressing action on the outer peripheral side of the ball 113 by the tapered portion 112E gradually disappears, and the ball 113 falls into the small-diameter portion 112D while being accommodated in the opening 111B and becomes free (free), and the outer periphery of the sheath portion 111A The protrusion of the ball 113 toward the side is gradually reduced (see FIG. 6B).

For this reason, when the ball lock joint part 110 and the ball lock joint engaging part 210 are further approached, the ball 113 has a tapered part 215 and an inner diameter reduced on the ball lock joint engaging part 210 side. It is possible to get over the throttle part 216 (moving from the left side (taper part 215 side) in FIG. 7 to the right side (taper part 216A side) in FIG. It is completely inserted into the ball lock hole 213.
Thereby, the end surface 117 of the ball lock joint part 110 of the cross bar 100 and the end surface 217 of the ball lock joint engaging part 210 on the work holding tool 200 side are brought into close contact with each other in the longitudinal direction of the cross bar (see FIG. 7 (D) and FIG. 8 (C)).

<Step 4>
In the state of FIG. 7D, when the cross bar 100 is lifted upward, the work holding tool 200 is also lifted upward, and the tip 112A of the piston 112 gradually disengages from the hanger pin 310. (FIG. 7E).

  Accordingly, the piston 112 is elastically biased toward the right side (piston tip side) in FIG. 7 by the elastic element 115 and starts to move in this direction, so that the small diameter portion 112D is also moved to the right side (piston tip side). ) And the ball 113 is pushed to the outer peripheral side by the diameter expansion of the tapered portion 112E, so that the outer periphery of the ball 113 is projected outward from the outer peripheral surface of the sheath portion 111A.

At this time, the ball 113 passes over the throttle portion 216, which is a small diameter portion on the ball lock joint engaging portion 210 side, to the right side in FIG. 7, and the throttle portion 216 has a tapered portion 216A on the right side in FIG. When the tapered portion 216A comes into contact with the ball 113, the ball 113 pressed outward is automatically adjusted while the radial contact position thereof is adjusted, and the tapered portion 216A (the throttle portion 216 extends to the ball lock joint). A thrust force (an axial load) that causes the engaging portion 210) to be directed toward the ball lock joint portion 110 is generated.
The tapered portion 216A corresponds to the throttle portion side tapered portion according to the present invention.

  Therefore, the crossbar 100 (ball ball (ball ball)) is maintained while maintaining good and reliable contact between the end surface 117 of the ball lock joint portion 110 of the crossbar 100 and the end surface 217 of the ball lock joint engagement portion 210 on the work holding tool 200 side. The lock joint portion 110) and the work holding tool 200 (ball lock joint engagement portion 210) can be reliably engaged (substantially integrated).

  7E, the ball 113 is brought from the left side of FIG. 7 to the right side of FIG. 7 over the throttle portion 216 which is a small diameter portion on the ball lock joint engaging portion 210 side. Is pressed from the inside to the outside by the taper portion 112E of the piston 112, the ball 113 is restricted from moving to the left side of the throttle portion 216 unless the piston 112 is moved relative to the main body 111 in the left direction in FIG. Is done. That is, in this state, the crossbar 100 (ball lock joint portion 110) and the work holding tool 200 (ball lock joint engagement portion 210) are reliably engaged (substantially integrated). Become.

<Step 5>
From the state of FIG. 7E, the hanger pin 310 and the work holding tool 200 are separated by further lifting the cross bar 100 upward. As a result, the crossbar 100 receives the workpiece holding tool 200 from the workpiece holding tool exchange carriage 300 (see FIGS. 7F and 8D).

  The above is the description of the operation in which the empty crossbar 100 receives the workpiece holding tool 200 to be used next time from the workpiece holding tool exchange carriage 300 while automatically chucking.

  In addition, by performing an operation reverse to the above description (FIG. 7F → FIG. 7A), the crossbar 100 automatically unchucks the workpiece holding tool 200 used so far. Then, an operation of passing to an empty work holding tool exchanging carriage 300 can be performed.

  As described above, according to the present embodiment, switching between the protruding state and the retracted state of the ball 113 from the outer periphery of the sheath portion 111A is automatically performed in conjunction with the axial movement of the tapered portion 112E provided on the piston 112. The ball 113 can be moved from the outer periphery of the sheath portion 111A in a state where the ball lock joint portion 110 on the crossbar 100 side and the ball lock joint engagement portion 210 on the work holding tool 200 side are in contact with each other. When protruding, the ball 113 is brought into contact with the tapered portion 216A of the ball lock joint engaging portion 210. Therefore, the tapered portion 216A is pivoted from the force that the ball 113 is pushed outward by the tapered portion 112E. It is possible to generate a force component that pushes in the direction.

  Therefore, according to the present embodiment, the contact state (contact state) between the end surface 117 of the ball lock joint 110 of the cross bar 100 and the end surface 217 of the ball lock joint engaging unit 210 on the work holding tool 200 side is set. The cross bar 100 (ball lock joint portion 110) and the work holding tool 200 (ball lock joint engagement portion 210) can be reliably engaged (substantially integrated) while maintaining good and reliable.

  Further, in the present embodiment (Example 1), since the tapered portion 216A and the ball 113 are brought into contact with each other, these radial contact positions are automatically adjusted. It is possible to contribute to providing an engagement (substantially integrated) between the reliable cross bar 100 (ball lock joint part 110) and the workpiece holding tool 200 (ball lock joint engagement part 210) without (rattle).

  Further, in the present embodiment (Example 1), the ball 113 is viewed from the left side of FIG. 7 (the ball lock joint part 110 side) over the throttle part 216 which is a small diameter part on the ball lock joint engaging part 210 side. 7 is brought to the right side (ball lock joint engaging portion 210 side), and the ball 113 is pressed from the inside to the outside by the taper portion 112E of the piston 112. Therefore, the piston 112 is moved to the left side in FIG. 7 (the base end side of the piston). Unless the ball 113 is moved relative to the main body 111, the ball 113 is restricted from moving to the left side of the throttle portion 216. That is, according to the present embodiment (Example 1), the crossbar 100 (ball lock joint portion 110) and the work holding tool 200 (ball The lock joint engaging portion 210) can be reliably maintained in an engaged (substantially integrated) state.

  Further, in the present embodiment (Example 1), when the piston 112 is moved relative to the main body 111 from the engagement state to the left side in FIG. 7 (the base end side of the piston), the ball formed by the tapered portion 112E. Since the force that presses 113 outward disappears, the ball 113 is idled in the opening 111B and retracted from the outer periphery of the sheath 111A. Therefore, the ball 113 moves over the throttle 216 and moves to the left in FIG. Thus, the engagement (substantially integrated) between the cross bar 100 (ball lock joint portion 110) and the work holding tool 200 (ball lock joint engagement portion 210) can be easily released with one touch.

  As described above, according to the present embodiment (Example 1), the workpiece holding tool 200 can be reliably attached to and detached from the crossbar 100 by a simple operation. In addition to improving the ease and reliability of attaching / detaching (replacement) work to the head, it is possible to contribute to shortening the time required for the setup work.

  That is, according to the present embodiment (Example 1) including the ball lock joint portion 110 and the ball lock joint engaging portion 210, it is simple and low cost, lightweight and compact configuration, and easily and smoothly. It is possible to provide a work holding tool attachment / detachment support device that can support a work holding tool for holding a work detachably with respect to a crossbar or the like without looseness over a long period of time.

  Further, according to the present embodiment (Example 1), by using the attachment / detachment support device for the workpiece holding tool, the workpiece holding tool can be easily exchanged for a crossbar, etc. It is possible to improve production efficiency by making it quick, efficient and accurate, and by shortening the setup work time.

  By the way, for example, a plurality of workpiece holding tool exchange trolleys 300 are prepared, and are usually evacuated to a evacuation place that does not interfere with others as shown in FIG. When the workpiece holding tool 200 is automatically exchanged, the workpiece holding tool 200 is moved as follows to perform the exchange work.

  For example, in FIG. 2, the work holding tool exchange support carriage 300 on the right side does not hold the work holding tool 200, and the work holding tool exchange support carriage 300 on the left side corresponds to the workpiece W to be formed next. A case in which 200 is held will be described as an example.

  In such a case, when the tool is changed, the workpiece holding tool exchange support carriage 300 in the retracted position on the right side of FIG. 2 receives the workpiece holding tool 200 currently held by the crossbar 100 and receives a predetermined tool changing position X. (See FIG. 9A), the workpiece holding tool 200 is received from the crossbar 100 (see FIG. 9B), and then returned to the original retracted position (see FIG. 9C).

  Next, the work holding tool replacement support carriage 300 in the retracted position on the left side of FIG. 2 is moved to a predetermined tool replacement position X (see FIG. 9C). The empty crossbar 100 not carrying the workpiece holding tool 200 receives the workpiece holding tool 200 to be used next time held by the workpiece holding tool exchange support carriage 300 at the predetermined tool exchange position X (FIG. 9D). . The workpiece holding tool replacement support carriage 300 that has passed the workpiece holding tool 200 and is empty returns to the original retracted position (FIG. 9E).

  By transferring the workpiece holding tool 200 to the crossbar 100, the automatic exchange of the workpiece holding tool 200 is completed.

  In the present embodiment (Example 1), the workpiece transfer device 1 has been described as an example. However, the application of the attachment / detachment support device for a workpiece holding tool according to the present invention is not limited to this, for example, a press Arm-type work transport device that transports a work by swinging an arm installed on a pillar provided between machines in a vertical plane, and a feed bar supported by a rail mounted between press machines The present invention can be applied to a feed bar type work transfer device that transfers a work by moving in the direction, and any other type of work transfer device.

  By the way, in the above, relative movement in the axial direction of the piston 112 with respect to the main body 111 (in other words, chuck / uncuck of the cross bar 100 (ball lock joint part 110) and the work holding tool 200 (ball lock joint engaging part 210)). (Switching (engagement / non-engagement)) has been described as an example in which the hanger pin 310 can be automatically used, but the present invention is not limited to this. When the operator manually operates the handle 112a, the piston 112 is moved relative to the main body 111 in the axial direction, and the crossbar 100 (ball lock joint portion 110) and the work holding tool 200 (ball lock joint engagement) are moved. The present invention also applies to the case where the portion 210) is chucked / unchucked (engaged / disengaged). It is intended to be included within the scope.

  In the present embodiment (Example 1), the ball lock joint portion 110 is attached to the cross bar 100 and the ball lock joint engaging portion 210 is attached to the work holding tool 200. However, the present invention is not limited to this. The present invention is also applicable to the case where the ball lock joint engaging portion 210 is attached to the cross bar 100 and the ball lock joint portion 110 is attached to the work holding tool 200.

  In the above, when the piston 112 is moved to the tip 112A side (right side in FIGS. 5 and 6), the ball 113 is projected to the outer peripheral side by the tapered portion 112E, and the ball lock joint 110 and the ball lock While engaging the joint engaging part 210, when the piston 112 is moved to the base end part 112B side (left side in FIGS. 5 and 6), the pushing of the ball 113 to the outer peripheral side by the tapered part 112E is released. In addition, the configuration example in which the ball lock joint portion 110 and the ball lock joint engagement portion 210 are disengaged has been described, but the present invention is not limited to this.

  That is, on the contrary, when the piston 112 is moved to the base end portion 112B side (left side in FIGS. 5 and 6), the ball 113 is projected to the outer peripheral side by the taper portion 112F, and the ball lock joint portion. 110 and the ball lock joint engaging portion 210 are engaged, and when the piston 112 is moved to the tip portion 112A side (right side in FIGS. 5 and 6), the taper portion 112F pushes the ball 113 to the outer peripheral side. The ball lock joint part 110 and the ball lock joint engaging part 210 can be disengaged from each other, and this point is the same in other embodiments described later.

Next, Example 2 will be described.
In the second embodiment, instead of the hanger pin 310 of the first embodiment, as shown in FIGS. 11A and 11B, an unlocking dog 400 is mounted on the work holding tool exchanging carriage 300. The workpiece holding tool replacement support base 301A (301B) is erected substantially vertically.

  As shown in FIG. 11 (B), the unlocking dog 400 has a U-shaped concave portion 401 having an opening at the tip, and the tip is formed in a tapered shape.

  Further, in the second embodiment, instead of the handle 112a of the first embodiment, the base end portion 112B of the piston 112 has a handle 112b formed with a taper shape with a diameter increasing toward the base end. It is attached.

  Then, when the ball lock joint part 110 attached substantially integrally to the cross bar 100 is lowered toward the work holding tool exchange carriage 300, the tapered part of the handle 112b attached to the base end part of the piston 112 is It abuts on the unlocking dog 400 on the work holding tool exchange carriage 300.

  Thereafter, when further lowered, the concave portion 401 of the unlocking dog 400 enters the gap between the tapered portion of the handle 112b and the main body 111, the concave portion 401 pushes the tapered portion of the handle 112b, and the piston 112 is on the proximal side ( It is moved to the left side in FIG.

  Accordingly, when the ball 113 is accommodated in the opening 111B (see FIG. 11A) and the hanger slide drive actuator 320 is operated to bring the ball lock joint portion 110 and the engagement block 210 closer to each other, the sheath The portion 111A is inserted into the ball lock hole 213 on the engagement block 210 side.

When the cross bar 100 is raised in this state, the engagement between the lock release dog 400 and the piston 112 is released, and the ball 113 protrudes to the outer peripheral side, so that the sheath portion 111A is a ball on the engagement block 210 side. As a result, the ball lock joint portion 110 and the engagement block 210 are engaged (substantially integrated) as in the first embodiment.
By performing the reverse operation to the above, the engagement (substantially integrated) between the ball lock joint portion 110 and the engagement block 210 can be easily released (separated) with one touch, as in the first embodiment. it can.

Therefore, also according to the second embodiment, the same operational effects as those of the first embodiment described above can be achieved.
However, according to the second embodiment, the tip 112A (tapered tapered portion) of the piston 112, the tip of the hanger pin (bar-shaped member) 310 (tapered tapered portion), and the like can be omitted.

In the third embodiment, a configuration example in which the piston 112 is moved in the left-right direction relative to the ball lock joint portion 110 by air drive will be described.
As shown in FIG. 12, the compressed air supplied from the compressed air control valve (mechanical valve) 550 passes through the chuck port 501 provided in the body 511 of the ball lock joint unit 500 and is expanded in the diameter of the piston 112. It is configured to be sent to an engagement side cylinder 510A of a cylinder portion 510 in which a certain flange portion 112C is slidably inserted. Note that an O-ring for maintaining airtightness is disposed in the outer peripheral groove of the flange portion 112C.

  An unchuck port 502 is connected to the release side cylinder 510B on the opposite side across the flange 112C of the piston 112 of the engagement side cylinder 510A.

  In such a configuration, during normal operation (when the button switch 551 of the compressed air control valve (mechanical valve) 550 is not pressed), compressed air is supplied to the chuck port 501 via the compressed air control valve 550. Since the compressed air is supplied from the port 501 to the engagement side cylinder 510A and the release side cylinder 510B is opened to the atmosphere via the unchuck port 502, the piston 112 is moved to the tip end portion 112A side by the taper portion 112E. The balls 113 are maintained in an engaged state (chucked state) in which the balls 113 protrude outward from the sheath portion 111A (see FIGS. 12 and 13B).

  In the third embodiment, in order to perform the unchuck operation, the cross bar 100 is lowered to a predetermined position on the work holding tool exchanging carriage 300 (see FIG. 14).

  In conjunction with this downward movement, the base (push bar) 600 on the work holding tool exchanging carriage 300 pushes the button switch 551 (see FIG. 14).

  Thereby, the internal flow path of the compressed air control valve (mechanical valve) 550 is switched, compressed air is supplied to the unchuck port 502, and the chuck port 501 is opened to the atmosphere. Accordingly, compressed air is supplied from the unchuck port 502 to the release side cylinder 510B, and the engagement side cylinder 510A is released to the atmosphere via the chuck port 501, so that the piston 112 is moved to the base end portion 112B side, and the ball 113 is maintained in a non-engaged state (unchucked state) in which pushing out to the outside is released (see FIGS. 12 and 13A).

  Thus, according to the third embodiment, by using compressed air, the ball lock joint portion 500 and the ball lock joint engagement portion 210 can be easily engaged (chucked) and disengaged (unchucked). Therefore, as in the first embodiment, the work holding tool for holding the work can be easily and smoothly held for a long time without rattling, as in the first embodiment. Accordingly, it is possible to provide an attachment / detachment support device for a work holding tool that can be detachably supported. Further, as in the first embodiment, the work holding tool can be easily replaced with a crossbar, etc., making the setup work easy, quick, efficient and accurate, and thus the setup work time. The shortening can improve the production efficiency.

  In the third embodiment, the case where the relative movement of the piston 112 with respect to the ball lock joint portion 500 is performed by expanding or reducing the volumes of the engagement side cylinder 510A and the release side cylinder 510B by compressed air has been described. However, the present invention is not limited to this, and the elastic urging force (restoring force) of the elastic spring when the volume of one of the engagement side cylinder 510A and the release side cylinder 510B is expanded or contracted is released to the atmosphere. A configuration (for example, a configuration using the spring 115 of the first embodiment) can be employed.

  The embodiment described above is merely an example for explaining the present invention, and various modifications can be made without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Work conveying apparatus 100 Crossbar 200 Work holding tool 201 Pipe frame (frame member)
202 Adsorption holding element 110 Ball lock joint part 111 Main body (body)
111A sheath (cylindrical guide)
111B Opening 112 Piston 112A Tip (piston tip)
112B Base end (Piston end of piston)
112C collar part 112D small diameter part 112E taper part (piston side taper part)
112a Handle (Handle for manual operation)
113 Ball 114 Cylinder part (gap)
115 Elastic elements (coil springs, air cushions, etc.)
116 Ball lock joint portion locating pin 210 Ball lock joint engagement portion 211 Engagement block 212 Positioning hole 213 Ball lock hole 214 Hanger hole 216 Restriction portion 216A Taper portion (restriction portion side taper portion)
300 Work holding tool exchange cart 301A Work holding tool exchange support base (left side in FIG. 2)
301B Work holding tool replacement support stand (right side of Fig. 2)
310 Hanger pin (bar-shaped member)
320 Hanger slide drive actuator 330 Slide guide 400 Unlocking dog
550 Compressed air control valve (mechanical valve)
W Work

Claims (6)

An attachment / detachment support device for a workpiece holding tool that is detachably supported by a crossbar arranged substantially horizontally and substantially perpendicular to the workpiece conveyance direction of a press machine to hold and release the workpiece,
A ball lock joint provided on one of the crossbar or the work holding tool,
A piston that extends along the longitudinal direction of the crossbar, is slidably received in the body of the ball lock joint portion, and is elastically biased toward the other of the crossbar or the work holding tool by an elastic element;
A sheath that protrudes from the main body toward the other side and slidably accommodates the distal end side of the piston, the sheath having a plurality of openings communicating the inner peripheral side and the outer peripheral side of the sheath portion;
A plurality of balls disposed corresponding to the plurality of openings of the sheath portion and having a diameter larger than that of the opening, and formed on the plurality of openings of the sheath portion and a piston accommodated in the sheath portion. A plurality of balls that are held movably while being restricted from falling off the outside of the sheath part between the small diameter part and
A ball lock joint part configured to include:
A ball lock joint engaging portion provided on the other side,
A ball lock hole for accommodating the sheath,
A constricted portion that protrudes inward from the portion having the normal inner diameter of the ball lock hole to reduce the inner diameter;
A ball lock joint engaging portion comprising:
Positioning means for positioning the piston in the longitudinal direction between the ball lock joint portion and the ball lock joint engaging portion;
With
A piston-side tapered portion that connects a small diameter portion of the piston and a portion having a larger diameter than the small diameter portion in a tapered shape;
A throttle part-side taper part that connects a side opposite to the one across the minimum inner diameter part of the throttle part and a part having a normal inner diameter of the ball lock hole in a tapered shape,
A device for attaching and detaching a workpiece holding tool, comprising: When engaging the ball lock joint part and the ball lock joint engaging part from a non-engaged state,
By sliding the piston with respect to the sheath portion, the ball is accommodated in the small-diameter portion so that the protrusion of the ball from the outer periphery of the sheath portion is less than a predetermined value, and in this state the ball is inserted into the ball lock hole. Is passed through the throttle portion to bring the ball lock joint portion and the ball lock joint engagement portion into a close contact state, and in this contact state, the piston is slid with respect to the sheath portion, and the ball is moved by the piston side taper portion. 2. The attachment / detachment support device for a work holding tool according to claim 1, wherein the ball is pressed against the tapered portion side taper portion by pressing the sheath portion in the outer peripheral direction. When disengaging the ball lock joint part and the ball lock joint engaging part from the engaged state,
By sliding the piston with respect to the sheath portion, the ball is accommodated in the small diameter portion so that the protrusion of the ball from the outer periphery of the sheath portion is not more than a predetermined value, and in this state, the sheath portion is extracted from the ball lock hole, The attachment / detachment support device for a workpiece holding tool according to claim 1 or 2.   The operation of sliding the piston with respect to the sheath portion is performed by bringing a rod-like member standing on a workpiece holding tool exchange carriage on which the workpiece holding tool is placed into contact with a tapered portion provided at the tip of the piston. The attachment / detachment support device for a work holding tool according to any one of claims 1 to 3, wherein the attachment / detachment support device is performed.   The operation of sliding the piston with respect to the sheath portion is brought into contact with a taper-shaped portion attached to the base end side of the piston with a lock release dog erected on a workpiece holding tool exchanging carriage on which the workpiece holding tool is placed. The attachment / detachment support device for a work holding tool according to any one of claims 1 to 3, wherein the attachment / detachment support device is performed. The operation of sliding the piston with respect to the sheath portion is performed by compressed air, and the attachment / detachment support device for a work holding tool according to any one of claims 1 to 3.