JP6753888B2 - Work retention tool change system for work transfer equipment in transfer press machines - Google Patents

Description

The present invention relates to a work holding tool changing system for a work transfer device of a transfer press machine.

As a work (material) transfer device of a transfer press machine in which a plurality of multi-process (plural) dies are arranged side by side in a work transfer direction for one slide and bolster, between the multi-process (plural) dies. There is a work transfer device that sequentially transfers a work from an upstream mold to a downstream mold.

For example, in a conventional transfer press machine, as shown in FIG. 12, a work (material) in the middle of molding of each stage having multiple processes (indicated from 1st.stg to 6th.stg in FIG. 12) is moved in the work transfer direction. Two extending feed bars 10A and 10B approach each other from both sides, and the workpieces in each process are clamped (supported and held) by the fingers 20A to 25A and 20B to 25B, and then lifted and advanced in that state. (Move to the downstream side in the work transfer direction), after going down, unclamp (release the work by separating the feed bars 10A and 10B), return (return to the original work transfer direction upstream side position), and repeat each stage. Work is transported between them and transfer processing is performed.

Further, as shown in FIG. 13, Patent Document 1 includes a feed bar 39 and a finger 44, and has a first carriage 41 that moves in an area between press stations and a second carriage 43 that moves in a direction perpendicular to the press line. A work transfer device that transfers a work by creating a three-dimensional motion (the operation of the above-mentioned clamp, lift, advance, down, and unclamp) by the elevating drive device 45 is described.

Japanese Unexamined Patent Publication No. 2004-50263

In the conventional work transfer device as described above, the two feed bars require a plurality of fingers corresponding to each stage in order to hold works having different shapes and sizes corresponding to each stage.

Therefore, when changing the mold to change the size and shape of the work in each process, it is necessary to replace the fingers according to the changed size and shape of the work.

However, in such a case, the following problems may occur.
(A) It takes time to replace each finger, such as removing the original finger from the feed bar and replacing it with another finger, which causes a decrease in production efficiency, and as a result, the down time of the press line becomes long. Prolonged outages are detrimental to improving production efficiency.

(B) Increasing cost and storage space Since each workpiece having a different processing shape and size requires a dedicated finger for its position and posture, it causes an increase in cost.
In addition, a space for storing a plurality of different types of fingers is also required, which hinders space saving in the production factory.

(C) The replacement work is complicated and causes mistakes, etc. When the replacement work is performed manually, there is a possibility that the wrong tool will be replaced due to the carelessness of the operator.
For this reason, a mistake in pinching the transfer work may occur, which may lead to a stop of the transfer operation (stop of the production line).

For this reason, it is conceivable that each transport tool itself including the fingers is provided with a drive mechanism for changing the tool (finger) posture to eliminate the replacement of the fingers.
However, if each transfer tool is provided with a drive mechanism, the weight will increase, the load on the feed bar will increase, and the life of the transfer device for the transfer press machine will be shortened (durability will decrease). There is a problem that it becomes difficult to increase the transport speed due to the increase in the weight of the feed bar (moving part).

The present invention has been made in view of such circumstances, and has a relatively simple and low-cost configuration, and the position and posture of the work holding tool (work holding device) with respect to the feed bar while suppressing the weight increase of the feed bar. To provide a work holding tool change system for the work transfer device of a transfer press machine that can be changed quickly and accurately according to the specifications (shape, size, material, etc.) of the work to be held without causing mistakes. With the goal.

Therefore, the present invention
For work holding tool for holding a workpiece of the workpiece transfer apparatus of a transfer press machine, a workpiece holding tool changing system for changing the relative position or attitude with respect to the feed bar,
The work holding tool change system is
Above the bolster of the transfer press machine, and two feed bars which are arranged facing in parallel,
Including a plurality of work holding tools provided in each of the feed bars .
Each of the plurality of work holding tools
X-axis moving mechanism for the draft of the work holding tool to full feed in Direction, Y-axis direction moving mechanism of the draft of the work holding tool clamp Direction, in plan the work holding tool lifts Direction A driven movement mechanism consisting of a Z-axis direction movement mechanism
It is composed of a finger supported by the driven movement mechanism via a grip portion.
The bolster moves to a mold changing position outside the transfer press machine together with the two feed bars and the plurality of work holding tools.
The mold exchange position is a place for exchanging a mold used for press working.
On both sides of the mold exchange position, a plurality of traveling rails extending along the long axis direction of the two feed bars and moving on each of the plurality of traveling rails so as to sandwich the mold exchange position. Multiple work holding tool change devices, and are installed,
While the plurality of work holding tool changing devices move along each of the plurality of traveling rails, each of the plurality of work holding tool changing devices sandwiches the grip portion of each of the work holding tools. By moving at least one of the X-axis direction moving mechanism, the Y-axis direction moving mechanism, and the Z-axis direction moving mechanism, the relative positions or postures of the plurality of work holding tools with respect to the feed bar are sequentially changed. It is characterized by.

In the present invention, each of the X-axis direction movement mechanism, the Y-axis direction movement mechanism, and the Z-axis direction movement mechanism of the driven movement mechanism can be characterized by being configured by a linear movement mechanism .
Further, in the present invention, the X-axis direction movement mechanism of the driven movement mechanism is a linear movement mechanism, the Y-axis direction movement mechanism is a first swing mechanism, and the Z-axis direction movement mechanism is a second swing. Each is composed by a mechanism
The first swing mechanism has a first arm supported by the X-axis direction moving mechanism via a first joint having a rotation axis in the X-axis direction.
The second swing mechanism has a second arm supported by the first arm via a second joint having a rotation axis in the X-axis direction.
The first arm and the second arm swing in a plane including the Y-axis and the Z-axis.
It can be characterized by that.

In the present invention,
The X-axis direction movement mechanism of the driven movement mechanism is configured by a rotation support mechanism, the Y-axis direction movement mechanism is configured by a first swing mechanism, and the Z-axis direction movement mechanism is configured by a second swing mechanism.
The rotation support mechanism has a rotation axis in the Z-axis direction, and includes a rotation base portion rotatably supported by the feed bar.
The first swing mechanism has a first arm supported by the rotation base portion via a first joint having a rotation axis in the X-axis direction.
The second swing mechanism has a second arm supported by the first arm via a second joint having a rotation axis in the X-axis direction.
The first arm may swing around the first joint, and the second arm may swing around the second joint .

In the present invention
The X-axis direction moving mechanism is movably supported by the feed bar.
The Z-axis direction moving mechanism is movably supported by the X-axis direction moving mechanism.
The Y-axis direction moving mechanism can be characterized in that it is movably supported by the Z-axis direction moving mechanism .
Further, in the present invention
Each of the plurality of work holding tools has a ball joint portion between the driven moving mechanism and the grip portion.
It can be characterized by that.

In the present invention
Along the Y-axis direction, there is another mold change position on the side opposite to the mold change position of the transfer press machine.
When the bolster after the posture of the work holding tool is changed is waiting at the mold change position.
The bolster in the transfer press machine before the posture of the work holding tool is changed moves toward the other mold changing position.
As the bolster moves to the other mold changing position, the bolster waiting at the mold changing position moves to the inside of the transfer press machine .
Further, in the present invention
The driven movement mechanism including the X-axis direction movement mechanism, the Y-axis direction movement mechanism, and the Z-axis direction movement mechanism includes a movement prohibition mechanism for each axial direction.
After the relative position or posture of the work holding tool is sequentially changed, the movement prohibiting mechanism maintains the changed relative position or posture.
It can be characterized by that.

According to the present invention, a work specification in which the position and orientation of the work holding tool (work holding device) with respect to the feed bar should be held while suppressing the weight increase of the feed bar with a relatively simple and low cost configuration. It is possible to provide a work holding tool changing system for a work transfer device of a transfer press machine, which can be changed quickly and accurately according to (shape, size, material, etc.) without causing mistakes.

It is a perspective view which shows the whole structure of the transfer press machine which concerns on one Embodiment which concerns on this invention. It is a front view of the transfer press machine of FIG. 1 (the view seen from the direction along the work transfer direction). It is an overall perspective view explaining the state of the process of changing the relative position and posture of the holding tool on the feed bar by the work holding tool changing robot which concerns on embodiment (step 2). It is an enlarged perspective view explaining the state of the process of changing the relative position and posture of the holding tool on the feed bar by the work holding tool changing robot which concerns on embodiment (corresponding to step 2). It is an enlarged perspective view explaining the state of the process of changing the relative position and posture of the holding tool on the feed bar by the work holding tool changing robot which concerns on embodiment (corresponding to step 3). It is an enlarged perspective view explaining the state of the process of changing the relative position and posture of the holding tool on the feed bar by the work holding tool changing robot which concerns on embodiment (corresponding to step 5). It is an enlarged perspective view explaining the state of the process of changing the relative position and posture of the holding tool on the feed bar by the work holding tool changing robot which concerns on embodiment (corresponding to step 7). It is a front view (the view seen from the direction along the feed direction) of the work holding tool and the feed bar which concerns on the said embodiment. (A) is a front view (a view seen from a direction along the feed direction) showing a configuration example of a ball joint portion and a ball brake of the work holding tool according to the same embodiment, and (B) is (A). It is a cross-sectional view of AA of. FIG. 3 is a perspective view showing a configuration example of an X-axis linear brake of the work holding tool according to the same embodiment. It is a pneumatic system diagram (air supply route diagram) which shows an example of the lock system of the work holding tool which concerns on embodiment. It is a perspective view (a figure explaining operation) which shows an example of the work transfer apparatus (feed bar system) of the conventional press machine (transfer press machine). It is a perspective view which shows the other structural example of the work transfer apparatus (feed bar type) of the conventional press machine (transfer press machine). It is a perspective view which shows the whole structure of the transfer press machine which concerns on the other embodiment (second embodiment) which concerns on this invention. It is an enlarged perspective view explaining the state of the process of changing the relative position and posture of the holding tool on the feed bar by the work holding tool changing robot which concerns on embodiment (corresponding to step 3). (A) is a perspective view of the work holding tool and the feed bar according to the same embodiment (a perspective view seen from diagonally above the upstream side in the feed direction), and (B) is a work holding tool and the feed according to the same embodiment. It is a perspective view of a bar (a perspective view seen from diagonally above on the downstream side in the feed direction). (A) is a front view (a view seen from a direction along the feed direction) of the work holding tool and the feed bar according to the same embodiment (an example of a state in which the arm is extended), and (B) is (A). It is a front view when the arm is folded from the state of (C), (C) is a front view (an example of a state where the arm is extended) in a state where the finger is lowered from (A), and (D) is a front view of (C). It is a front view when the arm is folded from the state. It is a perspective view of the work holding tool and the feed bar which concerns on another embodiment (third embodiment) which concerns on this invention (the perspective view seen from diagonally above the downstream side in the feed direction).

Hereinafter, an embodiment showing an example of the work holding tool changing system of the work transfer device of the transfer 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.

<First Embodiment>
Here, in the present embodiment, the work transfer tool (work holding tool, work holding device) itself for the transfer press machine does not have a driving ability, and as described below, the grip portion and the ball lock joint It is composed of a part, X-axis direction (feed direction) linear motion mechanism (linear guide), Y-axis direction (clamp direction) linear motion mechanism (linear guide), Z-axis direction (lift direction) linear motion mechanism (linear guide), etc. ing. All of these components are driven mechanisms.

As shown in FIG. 1, the work transfer device (transfer) 100 according to the present embodiment is a feed arranged on both sides of the bolster 2 of the transfer press machine 1 so as to face substantially parallel to the work transfer direction (feed direction). It is configured to include bars 101R and 101L.

As shown in FIGS. 1 and 2, the feed bars 101R and 101L are holding tools for holding the workpieces at predetermined intervals along the feed (work transfer) direction (longitudinal direction of the feed bars 101R and 101L). A plurality of T1 to Tn are provided.
Here, the holding tools T1 to Tn correspond to an example of the work holding tool (work holding device) according to the present invention.

The holding tools T1 to Tn have positions and postures at which the work can be held (or supported, placed, etc.) according to the specifications (size, shape, material, etc.) of the work to be conveyed (not shown). It is provided with a finger 110 or the like adjusted so as to be (see FIGS. 2, 3, 4, 4, 8 and the like).

Here, in the present embodiment, the relative positions of the holding tools T1 to Tn with respect to the feed bar 101R (101L) and the relative positions and postures of the fingers 110 are changed according to the size and shape of the work to be conveyed. It is configured to be able to.
In the present embodiment, the relative position and posture can be changed by the configuration in which the holding tools T1 to Tn or the feed bar 101R (101L) do not have a drive source for changing the relative position or posture. There is.

Therefore, in the work holding tool changing system according to the present embodiment, holding tools T1 to Tn (fingers 110) for the feed bars 101R and 101L are used according to the size and shape of the work by the following method (step). ) Position and posture are changed.

<Change process of transfer tool itself for transfer press machine>
(Step 1) In the present embodiment, a moving bolster (MB) is adopted as the bolster 2, and the feed bar 101R (101L) supported by the pedestal 3 together with the moving bolster (MB) 2 and the holding tool T1 ~ Tn is moved from the inside of the transfer press machine 1 toward the mold exchange position X (or Y) of the moving bolster (MB) 2 outside the press line (see FIGS. 1 and 2).
Note that FIGS. 1 and 2 show the state after the bolster 2 has already been moved to the mold exchange position X. Further, the feed bar 101R (101L) is connected to the work transfer drive mechanism of the work transfer device (transfer) 100 and supports (sandwiches) the feed bar 101R (101L) so as to be separable from both sides in the long axis direction. It is in a state of being separated from the parts 102R (102L) and 103R (103L) (see FIG. 1) and placed on the pedestal 3.

Here, the moving bolster (MB) is a bolster 2 configured to be separable from the bed of the transfer press machine 1, and the bed position (press) in the transfer press machine 1 by the drive mechanism of the separated bolster 2 itself. The bolster is configured to move from the processing position) to the external mold exchange position X of the transfer press machine 1 (the mold exchange position Y when the mold exchange position Y is vacant).

At the mold exchange position X, the work holding tool changing robots (including: traveling carriage) RR1 and RL1 that can move along the robot traveling rails 4R and 4L extending along the long axis direction of the feed bars 101R and 101L are It is on standby (the same state as the state of the mold exchange position Y in FIG. 1). Similar work holding tool changing robots (including: traveling carriage) RR2 and RL2 are on standby at the mold exchange position Y (see FIGS. 1 and 2).
Here, the work holding tool changing robots RR1 and RL1 and the work holding tool changing robots RR2 and RL2 correspond to an example of the work holding tool changing device according to the present invention.

The mold exchange position X (Y) is a plurality of molds (lower mold: not shown) attached to the bolster 2 moved to the position along the long axis direction of the feed bar 101R (101L). It is used as a place to change to the mold to be used in the next press working, but in this embodiment, as described later, in addition to the mold change at the position, the work to be held The positions and postures of the holding tools T1 to Tn with respect to the feed bars 101R and 101L are changed according to the size, shape, and the like.

(Step 2) In the following step 2, the work holding tool changing robot RR1 moves along the robot traveling rail 4R and moves to the upper side of the holding tool T1 (see FIGS. 3 and 4).
The work holding tool changing robot RR1 is an articulated arm type robot whose operation is controlled by a controller (control device) 500, and is configured to be movable and controllable along the robot traveling rail 4R.

(Step 3) In the following step 3, the grip portion 120 of the holding tool T1 is held (pinched) by the first gripper 201 and the second gripper 202 of the gripper 200 of the work holding tool changing robot RR1 (see FIG. 5). The grip portion 120 corresponds to an example of a single engaging portion according to the present invention. The engaging method is not particularly limited as long as it is a single engaging portion.

(Step 4) In the following step 4, as shown in the pneumatic system diagram of FIG. 11, by supplying air pressure (air pressure) to the air supply path of the lock system (by increasing the air pressure in the cylinder). , Release the operation of the lock system (ball brake 311, X-axis linear brake 321; Y-axis linear brake 331, Z-axis linear brake 341) in the holding tool T1 (the friction element of each brake resists the elastic urging force of the spring. Release the brake by pushing it back). That is, the step is a step in which the prohibition of movement or change of posture by the corresponding movement prohibition mechanism or posture change prohibition mechanism is released according to the present invention.

In the present embodiment, as shown in FIGS. 4, 5, 8, 9, 9 and the like, the grip portion 120 of the holding tool T1 is extended with respect to the feed bar 101R (the tip movable base 300 of the holding tool T1). Is provided with a ball brake 311 that fixes and releases the ball joint portion 310 for freely changing the posture of the finger 110, and here, the fixing (brake state) of the ball brake 311 is released. Details of the ball brake 311 will be described later.
Here, the ball joint portion 310 and the ball brake 311 correspond to an example of the posture change mechanism according to the present invention and the posture change prohibition mechanism for prohibiting the change of the posture.

Further, in the present embodiment, as shown in FIGS. 4, 8 and the like, the base movable base 301, the grip portion 120 and the finger 110 are set in the X-axis direction (feed direction: work transfer direction: length of feed bar 101R). An X-axis direction linear mechanism (linear motion mechanism) 320, which is a linear guide for moving relative to the feed bar 101R along the axial direction (X-axis direction guide rail 322), is provided, and the X-axis is provided. The X-axis linear brake 321 configured to be able to switch between the movement permitted state and the braking state (non-movable state) of the base movable base 301 in the directional linear mechanism (linear motion mechanism) 320 is provided.
Here, the X-axis direction linear mechanism 320 and the X-axis linear brake 321 correspond to an example of the X-axis direction linear motion mechanism and the X-axis direction movement prohibition mechanism for prohibiting the movement according to the present invention.

Further, as shown in FIGS. 4, 8 and the like, the Y-axis direction (clamping direction: workpiece transfer lateral direction: horizontal minor axis direction of the feed bar 101R) (Y-axis direction) with respect to the base movable base 301 and the feed bar 101R. The intermediate movable base 302 is provided with a Y-axis direction linear mechanism (linear motion mechanism) 330, which is a linear guide for relatively moving the tip movable base 300, the grip portion 120, and the finger 110 along the guide rail 332). In addition, the Y-axis linear brake 331 is provided so that the movement permitted state and the braking state (non-movable state) of the base 300 in the Y-axis direction linear mechanism (linear motion mechanism) 330 can be switched.
Here, the Y-axis direction linear mechanism 330 and the Y-axis linear brake 331 correspond to an example of the Y-axis direction linear motion mechanism and the Y-axis direction movement prohibition mechanism for prohibiting the movement according to the present invention.

Further, as shown in FIGS. 4 and 8, the Z-axis direction (lift direction: work transfer vertical direction: vertical short-axis direction of the feed bar 101R) (Z-axis direction) with respect to the base movable base 301 and the feed bar 101R. The Z-axis direction linear mechanism (linear motion mechanism) 340, which is a linear guide for relatively moving the intermediate movable base 302 and the tip movable base 300, the grip portion 120, and the finger 110 along the guide rail 342), is the base movable base. In addition to being provided in 301, a Z-axis linear brake 341 configured to be able to switch between a movement permitted state and a braking state (non-movable state) of the base 300 in the Z-axis direction linear mechanism (linear motion mechanism) 340 is provided. ing.
Here, the Z-axis direction linear mechanism 340 and the Z-axis linear brake 341 correspond to an example of the Z-axis direction linear motion mechanism and the Z-axis direction movement prohibition mechanism for prohibiting the movement according to the present invention.

The X-axis linear brake 321 and the Y-axis linear brake 331 and the Z-axis linear brake 341 can be configured by a mechanism as shown in FIG. 10, as will be described later.

(Step 5) In the following step 5, the position and posture of the holding tool T1 are changed by moving the grip portion 120 of the holding tool T1 so that the work holding tool changing robot RR1 takes a predetermined position and posture by the controller 500. Change (see FIG. 6).
That is, the finger 110 is passed through the X-axis direction linear mechanism 320, the Y-axis direction linear mechanism 330, and the Z-axis direction linear mechanism 340 according to the position and orientation change operation of the grip portion 120 of the holding tool T1 by the work holding tool changing robot RR1. The position of the finger 110 is moved and changed, and the posture of the finger 110 is arbitrarily changed via the ball joint portion 310.

(Step 6) After changing the holding tool T1 to the desired position / posture in step 5, in the following step 6, the work holding tool changing robot RR1 is holding the grip portion 120 of the holding tool T1. The lock system (ball brakes 311 and X) in the holding tool T1 is stopped by switching the passage of the lock system shown in FIG. 11 to the air supply path by the switching valve to reduce the air pressure in the cylinder. The shaft linear brake 321 and the Y-axis linear brake 331 and the Z-axis linear brake 341) are operated (the brake is operated by pressing the friction element of each brake with the elastic urging force of the spring).
As a result, the holding tool T1 is in a state of holding the changed position and posture with respect to the feed bar 101R. That is, the step is the step of "making the holding state prohibiting the movement or the change of the posture by the corresponding movement prohibition mechanism or the posture change prohibition mechanism" in the present invention.

(Step 7) After the brake is activated in step 6, in the following step 7, the work holding tool changing robot RR1 separates from the grip portion 120 of the holding tool T1 and changes the position / posture of the holding tool T2 adjacent to the holding tool T1. In order to do so, the robot travels on the robot traveling rail 4R along the extending direction of the feed bar 110A (see FIG. 7).

The work holding tool changing robot RR1 performs the processing of steps 1 to 7 on the holding tools T1 to Tn supported by the feed bar 101R, while the work holding tool changing robot RL1 performs the same processing. Is controlled by the controller 500 so as to perform the holding tools T1 to Tn supported by the feed bar 101L.

The positions and postures of the holding tools T1 to Tn supported by the feed bar 101R and the holding tools T1 to Tn supported by the feed bar 101L have been changed, and the bolster 2 mold has been replaced. When the setup work is completed, the work for replacing the bolster 2 and the feed bars 101R and 101L currently in use will be awaited.

According to the work holding tool changing system of the work transfer device of the present embodiment as described above, the holding tools T1 to Tn themselves do not have a drive capacity mechanism including a drive source and the like, and a plurality of holding tools T1 to 1 Work holding tool change robot RR1 (RL1) that changes the position and posture of Tn moves along the extending direction of the feed bar 101R (101L), and sequentially changes the position and posture of individual holding tools T1 to Tn. Therefore, while suppressing the increase in weight with respect to the feed bar 101R (101L), it is possible to significantly shorten the tool replacement time and eliminate mistakes in adjusting the position and posture as in the case of manual work by the operator. Therefore, it can contribute to the improvement of production efficiency.

Further, according to the present embodiment, the need to prepare tools according to the specifications (shape, size, material, etc.) of the work to be held is greatly reduced, so that space saving can be realized.

That is, according to the present embodiment, the position and posture of the work holding tool (work holding device) with respect to the feed bar are held while suppressing the weight increase of the feed bar with a relatively simple and low cost configuration. It is possible to provide a work holding tool change system for a work transfer device of a transfer press machine, which can be quickly and accurately changed according to the specifications (shape, size, material, etc.) of the work to be processed without causing mistakes.

Here, a configuration example of the ball brake 311 that fixes and releases the ball joint portion 310 according to the present embodiment will be described with reference to FIG.

As shown in FIG. 9, the ball joint portion 310 is a universal joint having a spherical portion 312 that freely connects the grip portion 120 of the holding tool T1 and thus the finger 110 and the tip movable base 300 at an angle (posture). Yes, a ball brake 311 is provided so that the universal joint can be fixed at a desired position.

The ball brake 311 is configured to include brake movable elements 313A and 313B arranged on both sides of the spherical portion 312, and the brake movable elements 313A and 313B swingably tip around swing fulcrums 314A and 314B. It is supported by the movable base 300.

In the brake movable elements 313A and 313B, cam followers 315A and 315B are rotatably attached to the base end side on the opposite side of the swing fulcrum 314A and 314B of the spherical portion 312 on the tip end side.

A wedge element 316 is arranged between the opposing cam followers 315A and 315B so that they can move forward and backward. The air supply path of the lock system shown in FIG. 11 is connected to the back surface of the wedge element 316, and the wedge element 316 elastically urged by a spring or the like in a state where air pressure is not supplied (stopped). It is advanced (moved) toward the tip side and acts to separate the cam followers 315A and 315B. As a result, the wedge element 316 is swung so that the tip side approaches the swing fulcrums 314A and 314B, and by sandwiching the spherical portion 312, the grip portion 120 of the holding tool T1 and the finger 110 are tipped. It is configured so that it can be fixed to the movable base 300.

On the other hand, in the state where the air pressure is supplied, the wedge element 316 is retracted toward the proximal end side against the elastic urging force by the spring or the like, and the cam followers 315A and 315B are allowed to approach each other. As a result, the wedge element 316 is swung around the swing fulcrums 314A and 314B so that the tip side is separated, so that the spherical portion 312 is released and the grip portion 120 of the holding tool T1 and the finger 110 are movable at the tip. It can be freely displaced with respect to the base 300, that is, the posture can be freely changed.

Here, a configuration example of the X-axis linear brake 321 and the Y-axis linear brake 331 and the Z-axis linear brake 341 according to the present embodiment will be described with reference to FIG.

Although the X-axis linear brake 321 will be described as a representative, the X-axis linear brake 321 is substantially integrally attached to the corresponding base movable base 301 as shown in FIG. 10, and the X of the X-axis direction linear mechanism 320 By holding and releasing the axial guide rail (linear guide rail) 322, the corresponding base movable base 301 and the holding tool T1 can be moved with respect to the longitudinal direction (X-axis direction: feed direction) of the X-axis direction guide rail 322. It is configured so that it can be held (fixed) and released in place.
In FIG. 10, only one side of the guide rail 322 in the X-axis direction is displayed with the cut surface (see FIG. 10) in between.

As the X-axis linear brake 321, for example, a linear clamp (product name "Linear Clamper-Zee" (registered trademark)) manufactured by NBK (Nabeya Bi-Tech Co., Ltd.) can be used.
By directly clamping the X-axis direction guide rail 322, the X-axis linear brake 321 can hold and position the base movable base 301 and the holding tool T1 with respect to the X-axis direction guide rail 322. It is configured in.

For example, as shown in FIG. 10, the X-axis linear brake 321 is slidably engaged with the base movable base 301 in the longitudinal direction of the X-axis direction guide rail 322 by a spring 321B downward in FIG. An elastically urged piston 321A is provided, and a wedge element 321C having a narrowed lower side in FIG. 10 is attached to the back surface (lower side in FIG. 10) of the piston 321A.

A friction element 321D is provided on the left side of FIG. 10 of the wedge element 321C so as to face the X-axis direction guide rail 322, and the friction element 15D is provided with respect to the X-axis direction guide rail 322 in response to the vertical movement of the wedge element 15C. It is designed to be separated from each other.

That is, in a state where air pressure or the like is not applied to the back surface of the piston 321A, the piston 321A is pressed by the spring 321B and elastically urged downward in FIG. At this time, since the wedge element 321C under the piston 321A is also moved to the lower side in FIG. 10 in conjunction with it, the friction element 321D is displaced by the thick portion on the base end side (upper side in FIG. 10) of the wedge element 321C. Since it is pushed toward the directional guide rail 322 and comes into contact with it, a frictional force is generated between the friction element 15D and the X-axis directional guide rail 322, and the base movable base 301 and the holding tool T1 are the X-axis directional guide rail. It will be held (fixed) at 322.

On the other hand, when air pressure or the like is applied to the back surface of 321A, the piston 321A is moved upward in FIG. 10 against the elastic urging force of the spring 321B. At this time, since the wedge element 321C under the piston 321A is also moved to the upper side in FIG. 10, the thin portion on the tip side (lower side in the middle of FIG. 10) of the wedge element 321C is engaged with the friction element 321D. Therefore, the pressing force of the friction element 321D on the X-axis direction guide rail 322 disappears, so that the frictional force between the friction element 321D and the X-axis direction guide rail 322 disappears, and the base movable base 301 and the holding tool The T1 is in a state of being slidable with respect to the guide rail 322 in the X-axis direction.

However, the X-axis linear brake 321 and the Y-axis linear brake 331 and the Z-axis linear brake 341 according to the present embodiment are not limited to the configurations illustrated in FIG. 10, and may have other configurations. ..

In the present embodiment, the holding tool changing robots RR1, RL1, RR2, and RL2 are described by adopting an articulated arm type robot as shown in FIGS. 1 to 7, but the holding tools T1 to Tn are described. If the position and posture can be adjusted, the configuration is not limited to this.

Further, in the present embodiment, the holding tool changing robots RR1 and RL1, RR2 and RL2, which are articulated arm type robots, have been described as the work holding tool changing device according to the present invention, but the work holding tool according to the present invention has been described. The changing device is not limited to the robot that enables these movements with a relatively high degree of freedom, and can be a dedicated device configured exclusively as a work holding tool changing device.

Further, the number of fingers 110 included in the holding tools T1 to Tn is not limited to one, and a configuration including a plurality of fingers is also possible.

Further, in the present embodiment, the bolster 2 has been described as a moving bolster (MB), but the present invention is not limited to this, and a bolster fixed to a transfer press machine can be used. Further, the feed bar is not limited to the case where it is detachably configured from the work transfer device 100. That is, the present invention can also be applied to change the posture and position of the work holding tool supported by the feed bar in the transfer press machine. In other words, the present invention is applicable as long as the movable portion such as the feed bar when transporting the work does not support the drive source for changing the posture or position of the work holding tool.

<Second Embodiment>
Subsequently, other embodiments of the present invention will be described.
Similar to the work holding tool change system of the work transfer device according to the first embodiment described with reference to FIGS. 1 to 11, the work holding tool change system of the work transfer device according to the present embodiment shown in FIG. Also in the present embodiment, the holding tools T1'to Tn'itself according to the present embodiment do not have a driving ability mechanism including a driving source and the like, and the positions and postures of the plurality of holding tools T1'to Tn' are changed. The work holding tool change robot RR1 (RL1) is configured to sequentially change the positions and postures of the individual holding tools T1'to Tn' while moving along the extending direction of the feed bar 101R (101L). ..

In this embodiment, the holding tools T1'to Tn'arranged on the feed bar 101R (101L) are different from those of the first embodiment, and other configurations and functions are the same. , The description of these similar elements will be omitted, and only the holding tools T1'to Tn'supported by the feed bar 101R (101L) will be described in detail.

Also in the present embodiment, as in the first embodiment, the work transfer tool (work holding tool, work holding device) itself for the transfer press machine does not have a driving ability, and will be described below. It is composed of a grip portion, a ball joint portion, a linear motion mechanism (linear guide) in the X-axis direction (feed direction), a first arm (swing mechanism), a second arm (swing mechanism), and the like. All of these components are driven mechanisms.

In the present embodiment, as shown in FIGS. 14 and 15, the feed bars 101R and 101L are provided with workpieces at predetermined intervals along the feed (work transfer) direction (long axis direction of the feed bars 101R and 101L). A plurality of holding tools T1'to Tn' for holding are provided.
Here, the holding tools T1'to Tn' correspond to an example of the work holding tool (work holding device) according to the present invention.

The holding tools T1'to Tn'are located at positions where the work can be held (or supported, placed, etc.) according to the specifications (size, shape, material, etc.) of the work to be conveyed (not shown). It includes fingers 110 and the like adjusted to be in a posture (see FIGS. 14, 15, 16, 17, and 17).
In the present embodiment, the fingers, ball joints, and the like have the same configuration as those in the first embodiment, so the same reference numerals are given and detailed description thereof will be omitted.

In the present embodiment, as shown in FIGS. 14 to 17, an X-axis direction linear mechanism (linear motion mechanism) 1320, which is a linear guide, is provided on the upper surfaces of the feed bars 101R and 101L.
The X-axis direction linear mechanism (linear motion mechanism) 1320 (X-axis direction guide rail 1322) is provided on the upper surfaces of the feed bars 101R and 101L, and the X-axis direction linear mechanism (linear motion mechanism) 1320 (X-axis) is provided. On the upper surface of the directional guide rail 1322), the base movable base 1301 is movably supported along the longitudinal direction of the X-axis direction linear mechanism (linear motion mechanism) 1320 (X-axis direction guide rail 1322).

That is, the base movable base 1301 is configured to be movable relative to the X-axis direction guide rail 1322 along the X-axis direction (feed direction: work transfer direction: major axis direction of the feed bar 101R (101L)). The grip portion 120 and the finger 110 supported by the base movable base 1301 are configured to be movable along the X-axis direction.
Further, an X-axis linear brake 1321 configured to be able to switch between a movement permitted state and a braking state (non-movable state) of the base movable base 1301 with respect to the X-axis direction linear mechanism (linear motion mechanism) 1320 is provided.

The X-axis direction linear mechanism (linear motion mechanism) 1320, the X-axis linear brake 1321, and the X-axis direction guide rail 1322 are the X-axis direction linear mechanism (linear motion mechanism) 320 and the X-axis according to the first embodiment. The linear brake 321 and the X-axis direction guide rail 322 have the same configuration except that the mounting location is different. In the first embodiment, the feed bar 101R (101L) is attached to the side surface, but in the present embodiment, the case where the feed bar 101R (101L) is attached to the upper surface is illustrated. However, in the present embodiment, the X-axis direction linear mechanism 1320 and the X-axis linear brake 1321 can be attached to the lower surface (substantially horizontal surface) or the side surface (substantially vertical surface) of the feed bar 101R (101L).

Here, the X-axis direction linear mechanism 1320 and the X-axis linear brake 1321 correspond to an example of the X-axis direction linear motion mechanism and the X-axis direction movement prohibition mechanism for prohibiting the movement according to the present invention.

Further, in the present embodiment, as shown in FIGS. 15 and 16, the first arm support base 1302 is attached to the upper surface of the base movable base 1301, and the first arm support base 1302 is the first. The first arm 1330 is swingably supported (coupling) in a substantially vertical plane (in a plane substantially parallel to the Z-axis direction) via the joint 1333 (around). However, it is also possible to configure the structure so that it can swing in a plane that is inclined predetermined with respect to the vertical plane.

The first joint 1333 is provided with a first arm brake mechanism 1331 and a first arm deceleration mechanism 1332 between the first arm support base 1302 and the first arm 1330, and the first arm 1330 is the first arm support base. It is configured so that it can be switched between a state in which it can swing with respect to 1302 and a state in which the swing is prohibited.

As the first arm brake mechanism 1331, a mechanical brake mechanism such as a drum type brake or a disc brake that applies a brake by pressing a friction element against a rotating body by air pressure or the like can be adopted. When there is no supply (during press processing), the brake is activated by pressing the friction element of the brake with an elastic urging force such as a spring, and when air is supplied (during tool posture change work), the brake is activated. The friction element of the above can be separated from the braking target against the elastic urging force of the spring or the like so that the brake is not activated.

However, it is also possible to adopt an electromagnetic brake as the first arm brake mechanism 1331. For example, a commercially available and easily available model “BXW” manufactured by Miki Pulley Co., Ltd. can be adopted. In this case, when power is not supplied (during press working), the friction element of the brake is pressed by an elastic urging force such as a spring to activate the brake, and when power is supplied (tool posture). (At the time of change), the friction element of the brake can be separated from the braking target against the elastic urging force such as the spring so that the brake is not activated.

Further, as the first arm deceleration mechanism 1332, for example, a harmonic drive (registered trademark) type deceleration mechanism such as the model “CSF-25-160-2UH” manufactured by Harmonic Drive Systems Co., Ltd. can be used. However, the present invention is not limited to this, and a general deceleration mechanism using a gear mechanism can also be adopted.

By providing the first arm reduction mechanism 1332 between the first arm 1330 and the first arm support base 1302, for example, a desired brake can be applied with a small force (torque) of about 1/120 while reducing the weight. It is possible to generate force (torque). However, when it is possible to generate a desired braking force even if the first arm deceleration mechanism 1332 is omitted, the first arm deceleration mechanism 1332 can be omitted. The contents described for the first arm deceleration mechanism 1332 can be similarly applied to each deceleration mechanism described below.

Here, the first joint 1333 and the first arm brake mechanism 1331 correspond to an example of the first joint and the first arm swing prohibition mechanism according to the present invention.

Further, in the present embodiment, the tip of the first arm 1330 makes the second arm 1340 (around) through the second joint 1343 in a substantially vertical plane (in a plane substantially parallel to the Z-axis direction). It is swingably supported (coordinated). However, it is also possible to configure the structure so that it can swing in a plane that is inclined predetermined with respect to the vertical plane.

The second joint 1343 is provided with a second arm brake mechanism 1341 and a second arm reducer 1342 between the first arm 1330 and the second arm 1340, and the second arm 1340 is attached to the first arm 1330. It is configured so that it can be switched between a swingable state and a swing-prohibited state.

Here, the second joint 1343 and the second arm brake mechanism 1341 correspond to an example of the second joint and the second arm swing prohibition mechanism according to the present invention.

The second arm brake mechanism 1341 and the second arm speed reducer 1342 can adopt the same configuration as the first arm brake mechanism 1331 and the first arm speed reduction mechanism 1332 described above.

Further, in the present embodiment, the tip of the second arm 1340 supports the grip portion 120 and the finger 110 via the third joint 1351 at any angle (posture) with respect to the second arm 1340. ing.

The third joint 1351 corresponds to the spherical portion 312 of the ball joint portion 310 which is a universal joint, and similarly to the first embodiment, the spherical portion 312 (universal joint portion) of the ball joint portion 310 is formed. A ball brake 311 is provided so that it can be fixed at a desired position (posture position) (see FIG. 9).

Here, the third joint 1351 (ball joint portion 310) and the ball brake 311 correspond to an example of the posture change mechanism according to the present invention and the posture change prohibition mechanism for prohibiting the change of the posture.

<Change process of transfer tool itself for transfer press machine>
Also in the present embodiment, as in the first embodiment, as shown in FIG. 14, at the mold exchange position X, the robot traveling rail 4R extending along the long axis direction of the feed bars 101R and 101L By the work holding tool change robot (including: traveling carriage) RR1 and RL1 that can move along 4L, the position and posture of the fingers 110 of the holding tools T1'to Tn' can be changed to the size and shape of the work to be held. It is designed to be changed accordingly.

The method of changing the position and posture of the fingers 110 of the holding tools T1'to Tn' is the same as that of the first embodiment.
Specifically, the grip portion 120 of the holding tool T1'is held (held) by the first gripper 201 and the second gripper 202 of the gripper 200 of the work holding tool changing robot RR1 as shown in FIG. Equivalent to step 3). Since the same applies to steps 1 to 2 described in the first embodiment, the description thereof will be omitted here.

Next (corresponding to step 4 described above), as shown in the air pressure system diagram of FIG. 11, by supplying air pressure (air pressure) to the air supply path of the lock system, the lock system in the holding tool T1'(corresponding to step 4 described above). The operation of the ball brake 311, the X-axis linear brake 1321, the first arm brake mechanism 1331, and the second arm brake mechanism 1341) is released (the brake is released by pushing back the friction element of each brake against the elastic urging force of the spring. release).
That is, the step is the movement, swing, and movement by the "X-axis direction movement prohibition mechanism, the first arm swing prohibition mechanism, the second arm swing prohibition mechanism, and the posture change prohibition mechanism" according to the present invention. This is a step in which the prohibition on changing the posture is lifted.

Subsequently (corresponding to step 5 described above), the work holding tool changing robot RR1 moves the grip portion 120 of the holding tool T1'so that the work holding tool changing robot RR1 takes a predetermined position and posture by the controller 500, thereby locating the holding tool T1'. And change the posture (see FIGS. 15, 17, etc.).
That is, the movement of the linear mechanism 1320 in the X-axis direction, the swing of the first arm 1330, and the swing of the second arm 1340 are accompanied by the position and orientation change operations of the grip portion 120 of the holding tool T1'by the work holding tool changing robot RR1. The position of the finger 110 (relative to the feed bar 101R) is moved and changed via the ball joint portion 310, and the posture of the finger 110 is arbitrarily changed via the ball joint portion 310.

After that (corresponding to step 6 described above), while the work holding tool changing robot RR1 is holding the grip portion 120 of the holding tool T1', air pressure is supplied to the air supply path of the lock system shown in FIG. The lock system (ball brake 311, X-axis linear brake 1321, first arm brake mechanism 1331, second arm brake) in the holding tool T1'by stopping by switching the passage with the switching valve to lower the air pressure in the cylinder. The mechanism 1341) is operated (the brake is operated by pressing the friction element of each brake with the elastic urging force of the spring).
As a result, the holding tool T1'is in a state of holding the changed position and posture with respect to the feed bar 101R.

That is, the step is the "movement, swing, and posture by the X-axis direction movement prohibition mechanism, the first arm swing prohibition mechanism, the second arm swing prohibition mechanism, and the posture change prohibition mechanism" in the present invention. This is the step of setting the "holding state" that prohibits the change of.

The following steps (step 7 described above) are the same, and thus the description thereof will be omitted here.

The work holding tool changing robot RR1 performs such processing on the holding tools T1'to Tn'supported by the feed bar 101R, while the work holding tool changing robot RL1 performs the same processing on the feed bar 101R. It is controlled by the controller 500 to perform for the holding tools T1'to Tn'supported by 101L.

According to the work holding tool changing system of the work transfer device of the present embodiment as described above, the holding tools T1'to Tn' themselves do not have a drive capacity mechanism including a drive source and the like, and a plurality of holding tools The work holding tool changing robot RR1 (RL1) that changes the position and posture of T1'to Tn'moves along the extending direction of the feed bar 101R (101L), and the individual holding tools T1'to Tn' are sequentially moved. By changing the position and posture of the feed bar 101R (101L), it is possible to significantly shorten the tool replacement time while suppressing the increase in weight with respect to the feed bar 101R (101L), and the position and posture as in the case of manual work by the operator. Since it is possible to eliminate adjustment mistakes, etc., it is possible to contribute to the improvement of production efficiency.

Further, according to the present embodiment, the need to prepare tools according to the specifications (shape, size, material, etc.) of the work to be held is greatly reduced, so that space saving can be realized.

That is, according to the present embodiment, the position and posture of the work holding tool (work holding device) with respect to the feed bar are held while suppressing the weight increase of the feed bar with a relatively simple and low cost configuration. It is possible to provide a work holding tool change system for a work transfer device of a transfer press machine, which can be quickly and accurately changed according to the specifications (shape, size, material, etc.) of the work to be processed without causing mistakes.

In particular, according to the present embodiment, the holding tools T1'to Tn' are placed on the upper surface of the feed bar via the first arm support base 1302, and the first arm 1330 and the second arm 1340 are placed in a substantially vertical plane. Since it is configured to swing in (in a plane substantially parallel to the Z-axis direction), the feed bar is closer to the mold than when it is attached to the side surface of the feed bar as in the first embodiment. Even if there is, the possibility that the holding tools T1'to Tn' come into contact with the mold is reduced. As a result, the space in the clamping direction can be reduced, which can contribute to the reduction of the installation space of the press line and the improvement of the degree of freedom of installation.
However, the present invention is not limited to this, and a configuration in which the first arm support base 1302 is attached to the side surface (substantially vertical surface) or the lower surface (substantially horizontal surface) of the feed bar can also be adopted.

<Third Embodiment>
Subsequently, other embodiments of the present invention will be described.
Similar to the work holding tool changing system of the work transfer device according to the first embodiment and the second embodiment, the holding tools T1 "to Tn" itself according to the present embodiment is a drive capability mechanism including a drive source and the like. While the work holding tool changing robot RR1 (RL1) that does not have the above and changes the positions and postures of the plurality of holding tools T1 "to Tn" is moving along the extending direction of the feed bar 101R (101L). , The positions and postures of the individual holding tools T1 "to Tn" are sequentially changed.

In this embodiment, the X-axis direction linear mechanism (linear motion mechanism) 1320 and the X-axis linear brake 1321 arranged on the upper surface of the feed bar 101R (101L) in the second embodiment are omitted. Instead, the upper surface of the feed bar 101R (101L) is provided with a rotation support mechanism that rotatably supports each of the holding tools T1 "to Tn" in a substantially horizontal plane. Since other configurations and functions are the same as those in the second embodiment, they are designated by the same reference numerals and the description thereof will be omitted.

In the present embodiment as well, the work transfer tool (work holding tool, work holding device) itself for the transfer press machine has a driving ability as in the first embodiment and the second embodiment. However, as will be described below, it is composed of a grip portion, a ball joint portion, a rotation support mechanism, a first arm (swing mechanism), a second arm (swing mechanism), and the like. All of these components are driven mechanisms.

In this embodiment, as shown in FIG. 18, a rotation support mechanism 2320 for rotatably supporting each of the holding tools T1 "to Tn" in a substantially horizontal plane is provided on the upper surfaces of the feed bars 101R and 101L. ..
In the rotation support mechanism 2320, a fixed portion on the outer peripheral side thereof is fixedly supported by a rotation base portion 2301 fixed to the upper surfaces of the feed bars 101R and 101L, while the rotation movable portion inside the rotation support mechanism 2320 is first. It is attached to the arm support base 2302.

Therefore, in the present embodiment, the first arm support base 2302 rotates (rotates, shakes) in a substantially horizontal plane with respect to the rotation base portion 2301 and the feed bars 101R and 101L via the rotation support mechanism 2320. It is configured to be supported freely (in other words, rotatably around the rotation center axis 2323 (substantially vertical axis)).

Although the case where the rotation support mechanism 2320 is attached to the upper surface of the feed bar 101R (101L) is illustrated here, it may be attached to the side surface (substantially vertical surface) or the lower surface (substantially horizontal surface) of the feed bar 101R (101L). it can.

Further, the rotation support mechanism 2320 according to the present embodiment is provided with a rotation base portion brake mechanism 2321 and a rotation base portion reduction mechanism 2322 between the rotation base portion 2301 and the first arm support base 2302. The arm support base 2302 is configured to be rotatable with respect to the rotation base portion 2301 around the rotation center axis (substantially vertical axis) 2323 and a state in which the rotation is prohibited.

Here, the rotation support mechanism 2320 and the rotation base portion brake mechanism 2321 correspond to an example of the rotation support mechanism and the rotation prohibition mechanism for prohibiting the rotation according to the present invention.

The rotation base portion brake mechanism 2321 can adopt the same configuration as the first arm brake mechanism 1331 described above.
The configurations other than the rotation support mechanism 2320 and the rotation base brake mechanism 2321 are the same as those in the second embodiment, and thus detailed description thereof will be omitted.

<Change process of transfer tool itself for transfer press machine>
Also in the present embodiment, as in the first and second embodiments, at the mold exchange position X, along the robot traveling rails 4R and 4L extending along the long axis direction of the feed bars 101R and 101L. The position and orientation of the fingers 110 of the holding tools T1 "to Tn" are changed according to the size and shape of the work to be held by the movable work holding tool changing robots (including: traveling carriage) RR1 and RL1. Ru.

The method of changing the position and posture of the fingers 110 of the holding tools T1 "to Tn" is the same as that of the second embodiment.
Specifically, the grip portion 120 (see FIG. 18) of the holding tool T1 ”is held by the first gripper 201 and the second gripper 202 of the gripper 200 of the work holding tool changing robot RR1 as shown in FIG. (Pinching) (corresponding to step 3 described above). Since the same applies to steps 1 to 2 described in the first embodiment, the description thereof will be omitted here.

Next (corresponding to step 4 described above), as shown in the air pressure system diagram of FIG. 11, by supplying air pressure (air pressure) to the air supply path of the lock system, the lock system in the holding tool T1 ”(corresponding to step 4 described above). Releases the operation of the ball brake 311, the rotation base brake mechanism 2321, the first arm brake mechanism 1331, and the second arm brake mechanism 1341 (brake by pushing back the friction element of each brake against the elastic urging force of the spring. To release).
That is, the step is the "rotation, swing, and posture change by the rotation prohibition mechanism, the first arm swing prohibition mechanism, the second arm swing prohibition mechanism, and the posture change prohibition mechanism" according to the present invention. It is a step to make the prohibition lifted.

Subsequently (corresponding to step 5 described above), the grip portion 120 of the holding tool T1 ”is held so that the work holding tool changing robot RR1 is in a predetermined position and posture by the controller 500, as in the second embodiment. By moving it, the position and posture of the holding tool T1 ”are changed.
That is, the rotation of the rotation support mechanism 2320, the swing of the first arm 1330, and the swing of the second arm 1340 are performed according to the position and orientation change operation of the grip portion 120 of the holding tool T1 "by the work holding tool changing robot RR1. The position of the finger 110 (relative to the feed bar 101R) is moved and changed, and the posture of the finger 110 is arbitrarily changed via the ball joint portion 310.

After that (corresponding to step 6 described above), while the work holding tool changing robot RR1 is holding the grip portion 120 of the holding tool T1 ”, air pressure is supplied to the air supply path of the lock system shown in FIG. By switching the passage with the switching valve to stop and reduce the air pressure in the cylinder, the lock system (ball brake 311, rotary base brake mechanism 2321, first arm brake mechanism 1331, second arm) in the holding tool T1 " The brake mechanism 1341) is activated (the brake is activated by pressing the friction element of each brake with the elastic urging force of the spring).
As a result, the holding tool T1 ”is in a state of holding the changed position and posture with respect to the feed bar 101R.

That is, the step changes the rotation, swing, and posture by the "rotation prohibition mechanism, the first arm swing prohibition mechanism, the second arm swing prohibition mechanism, and the posture change prohibition mechanism" in the present invention. This is the step of setting the "prohibited holding state".

Since the same applies to the subsequent steps (step 7 described above), the description thereof will be omitted here.

The work holding tool changing robot RR1 performs such processing on the holding tools T1 "to Tn" supported by the feed bar 101R, while the work holding tool changing robot RL1 performs the same processing on the feed bar 101R. It is controlled by the controller 500 to perform for the holding tools T1 "to Tn" supported by the 101L.

According to the work holding tool changing system of the work transfer device of the present embodiment as described above, the holding tools T1 "to Tn" themselves do not have a drive capacity mechanism including a drive source and the like, and a plurality of holding tools The work holding tool changing robot RR1 (RL1) that changes the position and posture of T1 "to Tn" moves along the extending direction of the feed bar 101R (101L), and the individual holding tools T1 "to Tn" are sequentially changed. By changing the position and posture of the feed bar 101R (101L), it is possible to significantly shorten the tool replacement time while suppressing the increase in weight with respect to the feed bar 101R (101L), and the position and posture as in the case of manual work by the operator. Since it is possible to eliminate adjustment mistakes, etc., it is possible to contribute to the improvement of production efficiency.

Further, according to the present embodiment, the need to prepare tools according to the specifications (shape, size, material, etc.) of the work to be held is greatly reduced, so that space saving can be realized.

That is, according to the present embodiment, the position and posture of the work holding tool (work holding device) with respect to the feed bar are held while suppressing the weight increase of the feed bar with a relatively simple and low cost configuration. It is possible to provide a work holding tool change system for a work transfer device of a transfer press machine, which can be quickly and accurately changed according to the specifications (shape, size, material, etc.) of the work to be processed without causing mistakes.

In particular, according to the present embodiment, the X-axis direction linear mechanism (linear motion mechanism) 1320 and the X-axis linear brake 1321 arranged on the upper surface of the feed bar 101R (101L) in the second embodiment are omitted. Instead, the upper surface of the feed bar is provided with a rotation support mechanism 2320 and a rotation base brake mechanism 2321, and the first arm 1330 and the second arm 1340 are placed in a substantially vertical plane (a plane substantially parallel to the Z-axis direction). Since it is configured to swing in (inside), the work holding tool can be used in the mold even when the feed bar is close to the mold, as compared with the case where it is attached to the side surface of the feed bar as in the first embodiment. The possibility of contact with is reduced. As a result, the space in the clamping direction can be reduced, which can contribute to the reduction of the installation space of the press line and the improvement of the degree of freedom of installation.
However, the present invention is not limited to this, and a configuration in which the rotation support mechanism 2320 and the rotation base brake mechanism 2321 are attached to the side surface (approximately vertical surface) or the lower surface (approximately horizontal surface) of the feed bar can be adopted. is there.

The embodiments described above are merely examples for explaining the present invention, and various modifications can be made without departing from the gist of the present invention.

1 Transfer press machine 2 Bolster 3 Cradle 4R, 4L Robot travel rail 100 Work transfer device (transfer)
101R, 101L Feed bar 110 Finger 120 Grip part (single engaging part)
200 Gripper 310 Ball joint (posture change mechanism)
311 Ball brake (posture change prohibition mechanism)
320 X-axis direction linear mechanism (X-axis direction linear motion mechanism)
321 X-axis linear brake (X-axis direction movement prohibition mechanism)
322 X-axis direction guide rail 330 Y-axis direction linear mechanism (Y-axis direction linear motion mechanism)
331 Y-axis linear brake (Y-axis direction movement prohibition mechanism)
332 Y-axis direction guide rail 340 Z-axis direction linear mechanism (Z-axis direction linear motion mechanism)
341 Z-axis linear brake (Z-axis direction movement prohibition mechanism)
342 Z-axis direction guide rail 500 controller (control device)
RR1, RL1 work holding tool changing robot (work holding tool changing device according to the present invention)
T1 to Tn holding tool (work holding tool according to the present invention)
X, Y type exchange position T1'to Tn'holding tool (work holding tool of the second aspect according to the present invention)
1301 Base movable base 1302 First arm support base 1320 X-axis direction linear mechanism (linear motion mechanism)
1321 X-axis linear brake 1322 X-axis direction guide rail 1330 1st arm 1331 1st arm brake mechanism (1st arm swing prohibition mechanism)
1332 1st arm deceleration mechanism 1333 1st joint 1340 2nd arm 1341 2nd arm brake mechanism (2nd arm swing prohibition mechanism)
1342 2nd arm deceleration mechanism 1343 2nd joint 1351 3rd joint (corresponding to the spherical part 312 of the ball joint part 310)
T1 "to Tn" holding tool (work holding tool of the third aspect according to the present invention)
2301 Rotation base part 2302 1st arm support base 2320 Rotation support mechanism (rotation support mechanism)
2321 Rotation base brake mechanism (rotation prohibition mechanism)
2322 Rotation base reduction mechanism 2323 Rotation center axis (approximately vertical axis)

Claims (8)

For work holding tool for holding a workpiece of the workpiece transfer apparatus of a transfer press machine, a workpiece holding tool changing system for changing the relative position or attitude with respect to the feed bar,
The work holding tool change system is
Above the bolster of the transfer press machine, and two feed bars which are arranged facing in parallel,
Including a plurality of work holding tools provided in each of the feed bars .
Each of the plurality of work holding tools
X-axis moving mechanism for the draft of the work holding tool to full feed in Direction, Y-axis direction moving mechanism of the draft of the work holding tool clamp Direction, in plan the work holding tool lifts Direction A driven movement mechanism consisting of a Z-axis direction movement mechanism
It is composed of a finger supported by the driven movement mechanism via a grip portion.
The bolster moves to a mold changing position outside the transfer press machine together with the two feed bars and the plurality of work holding tools.
The mold exchange position is a place for exchanging a mold used for press working.
On both sides of the mold exchange position, a plurality of traveling rails extending along the long axis direction of the two feed bars and moving on each of the plurality of traveling rails so as to sandwich the mold exchange position. Multiple work holding tool change devices, and are installed,
While the plurality of work holding tool changing devices move along each of the plurality of traveling rails, each of the plurality of work holding tool changing devices sandwiches the grip portion of each of the work holding tools. By moving at least one of the X-axis direction moving mechanism, the Y-axis direction moving mechanism, and the Z-axis direction moving mechanism, the relative positions or postures of the plurality of work holding tools with respect to the feed bar are sequentially changed. A work holding tool change system for the work transfer device of a transfer press machine. In the work holding tool changing system of the work transfer device of the transfer press machine according to claim 1.
A work transfer device of a transfer press machine , wherein each of the X-axis direction movement mechanism, the Y-axis direction movement mechanism, and the Z-axis direction movement mechanism of the driven movement mechanism is configured by a linear movement mechanism . Work retention tool change system. In the work holding tool changing system of the work transfer device of the transfer press machine according to claim 1.
The X-axis direction movement mechanism of the driven movement mechanism is configured by a linear motion mechanism, the Y-axis direction movement mechanism is configured by a first swing mechanism, and the Z-axis direction movement mechanism is configured by a second swing mechanism.
The first swing mechanism has a first arm supported by the X-axis direction moving mechanism via a first joint having a rotation axis in the X-axis direction.
The second swing mechanism has a second arm supported by the first arm via a second joint having a rotation axis in the X-axis direction.
A work holding tool changing system for a work transfer device of a transfer press machine, wherein the first arm and the second arm swing in a plane including the Y axis and the Z axis . In the work holding tool changing system of the work transfer device of the transfer press machine according to claim 1.
The X-axis direction movement mechanism of the driven movement mechanism is configured by a rotation support mechanism, the Y-axis direction movement mechanism is configured by a first swing mechanism, and the Z-axis direction movement mechanism is configured by a second swing mechanism.
The rotation support mechanism has a rotation axis in the Z-axis direction, and includes a rotation base portion rotatably supported by the feed bar.
The first swing mechanism has a first arm supported by the rotation base portion via a first joint having a rotation axis in the X-axis direction.
The second swing mechanism has a second arm supported by the first arm via a second joint having a rotation axis in the X-axis direction.
A work holding tool changing system for a work transfer device of a transfer press machine, wherein the first arm swings around the first joint and the second arm swings around the second joint . In the work holding tool changing system of the work transfer device of the transfer press machine according to claim 1 or 2.
The X-axis direction moving mechanism is movably supported by the feed bar.
The Z-axis direction moving mechanism is movably supported by the X-axis direction moving mechanism.
The Y-axis direction moving mechanism is movably supported by the Z-axis direction moving mechanism.
A work holding tool change system for a work transfer device of a transfer press machine. In the work holding tool changing system of the work transfer device of the transfer press machine according to any one of claims 1 to 5.
Each of the plurality of work holding tools has a ball joint portion between the driven moving mechanism and the grip portion.
A work holding tool change system for the work transfer device of a transfer press machine. In the work holding tool changing system of the work transfer device of the transfer press machine according to any one of claims 1 to 6.
Along the Y-axis direction, there is another mold change position on the side opposite to the mold change position of the transfer press machine.
When the bolster after the posture of the work holding tool is changed is waiting at the mold change position.
The bolster in the transfer press machine before the posture of the work holding tool is changed moves toward the other mold changing position.
As the bolster moves to the other mold change position, the bolster waiting at the mold change position moves inside the transfer press machine.
A work holding tool change system for the work transfer device of a transfer press machine. In the work holding tool changing system of the work transfer device of the transfer press machine according to any one of claims 1 to 7.
The driven movement mechanism including the X-axis direction movement mechanism, the Y-axis direction movement mechanism, and the Z-axis direction movement mechanism includes a movement prohibition mechanism for each axial direction.
After the relative position or posture of the work holding tool is sequentially changed, the relative position or posture after the change is maintained by the movement prohibition mechanism.
A work holding tool change system for the work transfer device of a transfer press machine.

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