JPH0110116Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to a workpiece loading and unloading device for loading and unloading workpieces into and out of processing machines such as press machines. To provide a loading/unloading device capable of horizontally loading and unloading workpieces, capable of loading and unloading panel-shaped workpieces extremely smoothly, and capable of being evacuated from the conveyance path at any time. be.

The configuration of the present invention will be explained below based on the drawings.

In the figure, numerals 1 and 2 are first and second press machines installed in parallel and spaced apart, and a transfer unit 3 is installed between both press machines 1 and 2. Both of the above press machines 1,
A conveying device 4 is provided at approximately the same level as the press machine 2, so that the workpiece A can be conveyed from one press machine, for example, the first press machine 1 side to the second press machine 2 side. 5 is a belt constituting the conveying device 4, and 6 is a workpiece stand fixed to this belt 5.

Reference numerals 8 and 9 indicate workpiece loading and unloading devices according to the present invention installed between the two press machines 1 and 2, and one of these loading and unloading devices 8 and 9 is located on the first press machine 1 side. , and the other one is attached to the second press machine 2 side. And one of the above loading/unloading devices 8
, the workpiece A on the first press machine 1 is transported to the upstream end of the transport device 4, and the workpiece A at the downstream end of the transport device 4 is transported to the second press machine using the other transport device 9. It is now being moved to 2. The loading/unloading devices 8 and 9 have the same structure except that the mounting directions are reversed.

The specific structure of the carrying-in/out devices 8, 9 will be explained with respect to one carrying-in/out device 9 shown in FIGS. 4 to 7.

12 in the figure is a frame, and this frame 12
The slide base 13 is attached to the guide rails 14, 14.
is engaged so as to be slidable in the vertical direction along the .
A rack 15 is provided on the slide base 13 in the vertical direction, and a pinion 15a supported on the frame 12 side is meshed with the rack 15. This pinion 15a is connected via a reduction gear 16 and a timing belt 17 to a servo motor 18 for raising and lowering. This servo motor 18
is fixed to the frame 12. A cam follower 19 guides the slide base 13. Reference numeral 20 denotes an elevating balance cylinder for balancing the elevating direction of the slide base 13, one end of which is connected to the frame 12, and the other end connected to the slide base 13. 21 and 22 are vertical stoppers. A rotating shaft 23 is supported horizontally and perpendicularly to the conveyance direction at the lower end of the slide base 13, and a segment gear 24 is fixed to this rotating shaft 23. A pinion 25 is meshed with this segment gear 24.

26 is a guide rail 27 on the slide base 13
This is a slide plate that is slidably engaged in the vertical direction along the slide plate 26, and one ends of first and second links 28 and 29 of the same length are attached to this slide plate 26 and are rotatable in the direction of conveyance of the workpiece. and are horizontally spaced apart from each other in the transport direction. 26a is a cam follower that guides the slide plate 26.
A traveling base 30 is horizontally connected to the tips of both links 28 and 29, and this traveling base 3
0, both links 28 and 29 constitute a parallel link. An attachment holder 31 that holds the attachment 10 is fixed to the traveling base 30. Attachment 10 has workpiece A.
A vacuum cup 11 is provided for adsorbing.
Reference numeral 32 denotes a rotating lever, the base end of which is fixed to the rotating shaft 23, and the other end connected to a position 1/2 the length of the first link 28. be. This rotating lever 32 has a length that is half the length of the link 28 described above. 33 is a balance cylinder that supports the rotating lever 32, and its upper end is connected to the slide base 13 and its lower end is connected to the rotating lever 32.

A pinion 25 that drives the rotating shaft 23 is connected to a servo motor 36 for conveyance via a reduction gear 34 and a timing belt 35. Both pulleys around which the timing belt 35 is wound have the same diameter. This servo motor 36 is supported by a guide 37 provided on the frame 12 so as to be movable in a direction perpendicular to the conveying direction, and this servo motor 36 and the reduction gear 34 are connected by a turnbuckle 38.

Servo motors 18, 3 for lifting and transporting the above
6 are each controlled by an independent CNC system, so that each movement can perform variable stroke movements without being influenced by each other.

Each of the loading/unloading devices 8, 9 is provided with guide frames 40, 4 provided on the side of each press machine 1, 2.
It is supported by 0. Both guide frames 40, 40
are provided in a direction perpendicular to the transport direction, and the loading/unloading devices 8 and 9 are supported movably in the direction perpendicular to the transport direction.

The related structure of the loading/unloading devices 8, 9 and the guide frame 40 will be described below with reference to FIGS. 8 to 11.

Guide rails 42 and 43 are provided on the upper and lower surfaces of the guide frame 40, and a chain 44 is provided on the side surface in the longitudinal direction. Reference numeral 45 denotes a running frame, and this running frame 45 is provided with wheels 46 and cam followers 47 that engage with both the guide rails 42 and 43.
7 and is engaged with the guide frame 40 so as to be freely movable. The running frame 45 is provided with a sprocket 48 that meshes with the chain 44. This sprocket 48 has a reducer 49
A traveling motor 50 is connected to the frame 45 through the sprocket 48, and the traveling frame 45 is caused to travel by rotationally driving the sprocket 48.

On the other hand, a guide rail 51 is provided in the vertical direction on the back side of the main body 12 of the loading/unloading devices 8, 9, and this guide rail 51 is guided by a cam follower 52 provided on the traveling frame 45, and the loading/unloading devices 8, 9 are It is engaged with the traveling frame 45 so as to be slidable in the vertical direction. A bracket 53 is fixed to the main body 12 of the carry-in/out device 8, 9, and this bracket 53 is screwed into a screw rod 54 provided vertically on the traveling frame 45.

The threaded rod 54 is connected to a height adjustment motor 56 via a reduction gear 55, and its tip end is connected to a height adjustment position detection device 58 via a reduction gear 57. Reference numerals 59 and 60 indicate limit switches for detecting the limits of vertical movement of the loading and unloading devices 8 and 9.

Reference numerals 61 and 61 designate locking devices provided within the running frame 45, and these locking devices 61 and 61 include a ram 62 that protrudes using air pressure, a cylinder 63 into which this ram 62 fits, and a lining that is fixed to the end surface of the ram 62. 64, and the ram 62 is the guide frame 4.
It faces the lower guide rail 43 of 0.

In the above configuration, the servo motor 36 for conveyance
By reciprocatingly driving the pinion 25,
The rotating lever 32 is rotated back and forth via the segment gear 24 and the rotating shaft 23. When the rotation lever 32 rotates back and forth, the first and second links 28 and 29 rotate back and forth. At this time, the first and second links 28,
29 are the same length and parallel; the rotation link 32 is connected to the midpoint of the first link 28;
As the slide plate 26 supporting the upper ends of both links 28 and 29 moves up and down, the traveling base 30 connected to the tips of both links 28 and 29 is reciprocated in the horizontal direction.

On the other hand, the slide base 13 is moved up and down via the pinion 15a and the rack 15 by reciprocating and rotating the servo motor 18 for raising and lowering.

However, in FIG. 1, the first press machine 1
The processed workpiece A is operated by the loading/unloading device 8,
That is, with the slide base 13 moved upward, the traveling base 30 is moved upstream to position the vacuum cup 11 above the workpiece A, and then the slide base 13 is moved downward and upward to transfer the vacuum cup 11 to the vacuum cup 11. The workpiece A is adsorbed by the workpiece A, and then the traveling base 30 is moved in the transport direction, and the workpiece A is dropped at a transport upstream position of the transfer unit 3. The workpiece is carried out onto the workpiece table 6. The carried out workpiece A is then conveyed to the downstream side by the transfer unit 3.

The workpiece A transferred to the downstream side of the transfer unit 3 is carried into the second press machine 2 by the other carrying-in/out device 9, which operates in the same manner as the carrying-in/out device 8.

In the operation of the loading and unloading devices 8 and 9, the slide base 13 and the rotating lever 32 are each elastically supported upward by the balance cylinders 20 and 33, so that their respective weights are balanced and the influence of the weight is reduced. each servo motor 1
8,36 burden will be reduced.

When the slide base 13 goes up and down, the conveying servo motor 36 is reciprocated in a direction perpendicular to the conveying direction via the turnbuckle 38, and the servo motor 3
6 and a timing belt 35 connecting the reducer 34
The wrapping length of will not change.

The height of the loading/unloading devices 8, 9 is adjusted by a height adjusting motor 56. At this time, the loading/unloading devices 8 and 9 are moved up and down along the traveling frame 45.

Further, by rotating the sprocket 48, the carry-in/out devices 8, 9 run on the guide frame 40 along the guide rails 42, 43 via the chain 44, and are moved in and out of the conveyance path. At each position in the traveling direction, the lock device 61,
It is fixed by actuating 61.

The present invention is as described above, and the slide base 13 is provided so as to be movable up and down with respect to the frame 12.
The slide plate 26 is engaged so as to be movable up and down, and two links 28, 2 are attached to the slide plate 26.
One end of each of the links 28 and 29 is connected horizontally apart, and the other ends of both links 28 and 29 are connected to each other.
The traveling base 30 is connected horizontally with the links 8 and 29 parallel to each other, and at the midpoint of one of the links 28 and 29, 1/1 of the length of this link 28 is attached.
One end of the rotary lever 32 having a length of 2 is connected, and the other end of the rotary lever 32 is connected to the slide base 13.
A servo motor 18 for raising and lowering the slide base 13 is attached to a rotating shaft 23 which is pivotally supported on the slide base 13, and a servo motor 18 for transporting the rotating shaft 23 for reciprocating the rotating shaft 23. The motors 36 are connected to each other, and the attachment 10 for gripping the workpiece is fixed to the traveling base 30.
A guide frame 40 is provided in a direction perpendicular to the conveying direction, and a traveling frame 45 is provided on this guide frame 40.
The frame 12 supporting the slide base 13 is engaged with the running frame 45 so as to be movable up and down, and a locking device 61 is interposed between the guide frame 40 and the running frame 45. By rotating the rotating shaft 23 while raising and lowering the slide base 13, the traveling base 30
The attachment 10 fixed to the press machine is moved vertically and horizontally, so that the workpiece A can be horizontally carried in and out of the press machine, and the panel-shaped workpiece can be carried in and out very smoothly. The loading/unloading device can be retracted at any time in a direction perpendicular to the conveyance path, so that the loading/unloading device does not get in the way when replacing molds in the press machine.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIGS. 1 to 3 show the whole when the loading/unloading device according to the present invention is used in a press machine. The figure is a plan view, Figure 3 is a side view, and Figures 4 to 7 show the main parts of the loading/unloading device.
The figure is a partially cutaway front view, Figure 5 is a partially cutaway side view,
Fig. 6 is a sectional view taken along the - line in Fig. 5, Fig. 7 is a sectional view taken along the - line in Fig. 5, and Figs. 8 is a partially broken side view, FIG. 9 is a partially broken front view, and FIG. 10 is a sectional view taken along the - line in FIG. 9.
FIG. 11 is a sectional view taken along the line XI-XI in FIG. 9. 10 is attachment, 12 is frame, 13
is the slide base, 18 and 36 are the servo motors,
23 is a rotation axis, 26 is a slide plate, 28,
29 is a link, 30 is a traveling base, 32 is a rotating lever, 40 is a guide frame, 45 is a traveling frame, and 61 is a locking device.

Claims (1)

[Scope of utility model registration request] A slide plate 26 is engaged with a slide base 13 that is movable up and down with respect to the frame 12 so as to be movable up and down.
One end of each of the book links 28, 29 is connected horizontally apart, and the traveling base 30 is horizontally connected to the other end of both links 28, 29 with both links 28, 29 parallel to each other, Both links above 2
One end of a rotating lever 32 having a length of 1/2 of the length of this link 28 is connected to the midpoint of one of the links 28 and 29, and the other end of this rotating lever 32 is connected to the slide base 13. A servo motor 18 for lifting and lowering is attached to the slide base 13, and a servo motor 18 for transporting the slide base 13 is attached to the rotating shaft 23, and a servo motor 18 is attached to the rotating shaft 23 for reciprocating the rotating shaft 23. 36 are connected to each other, an attachment 10 for grasping the workpiece is fixed to the traveling base 30, and a guide frame 40 is provided in a direction perpendicular to the conveying direction by the traveling base 30, so that the traveling frame 45 can travel on this guide frame 40. The frame 12 supporting the slide base 13 is engaged with the running frame 45 so as to be able to move up and down, and a locking device 61 is interposed between the guide frame 40 and the running frame 45. A device for loading and unloading workpieces.