JPH0116216B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a device for supplying pressed material to a predetermined press position and for transporting it to a predetermined position after pressing, and in particular, a device for feeding pressed material to a predetermined press position and transporting it to a predetermined position after pressing. The present invention relates to a pressed material conveying device that can be operated in a speed pattern.

[Technical background of the invention]

BACKGROUND ART Conventionally, it has been widely practiced to mass-produce various mechanical elements using press working methods such as punching, bending, and deep drawing using coiled materials, fixed-length materials, sketch materials, and the like.

By the way, in recent years, due to the need to automate production and save labor in press processing, automated equipment that supplies press processing materials into the press and transports processed products after pressing to the outside of the press has become widely used. ing. In particular, the use of intelligent automatic machines incorporating computers, so-called industrial robots, is rapidly expanding.

In general, press processing robots have a suction function for press processing materials and an operation function for two-dimensional or three-dimensional movement, and are used to supply and take out workpiece materials to a press machine. As a conveyance device using a robot,
A method in which a press line consisting of multiple press machines is connected by one or more robots, or a method in which multiple molds are installed on the bolster bed of a single press machine and transferred by a single robot. something is proposed.

[Problems with background technology]

However, since press work is originally a single, repetitive process, conventional robots often have a single function, that is, have simple operating functions. For this reason, there are drawbacks such as the inability to flexibly accommodate various types and shapes of processed materials to hold and transport the processed materials.

In addition, in order to improve the productivity of press working, it is necessary to speed up the operation of press working robots and shorten the transport time of processed materials as much as possible, but it is necessary to simply increase the robot's transport acceleration and speed. In the case of suction feeding, which is used in most robots, this is not preferable because situations such as the material to be processed slipping against the suction cup occur.

For this reason, conventional press working robots that rely on rotary cam drives or mechanical drives operate with speed patterns that intentionally keep acceleration and speed low, but this method improves productivity. It is not possible to aim for

[Purpose of the invention]

The present invention was made in view of the current situation, and an object of the present invention is to provide a pressed material conveying device that can shorten the time required for pressing and thereby significantly reduce manufacturing costs.

[Summary of the invention]

In general, press-formed parts come in a wide variety of shapes and weights, and in order to minimize processing time, it is desirable to transport each part at high speed with an optimal movement speed pattern depending on the characteristics of each part.

The present invention has been made based on this knowledge, and includes a main body that moves along the processing path of press-formed material, and a pair of main bodies that are provided on the main body and at least one of which is movable in the direction of movement of the main body independently of the main body. The apparatus comprises a holding arm and a holding part that is detachably attached to each holding arm and capable of holding at least one piece of press work material, and the holding arm and the main body that are movable independently with respect to the main body are positioned and controlled. It is characterized in that it can be driven by an electric motor that can operate at a speed pattern depending on the type of press processing material.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1, reference numeral 1 denotes a press machine with a bolster 2 formed on its front surface, and a slide 3 that moves up and down to approach and separate from the bolster 2 is disposed above the bolster 2 of this press machine 1. Four types of press molds (not shown) are arranged on the upper surface of the bolster 2 and the lower surface of the slide 3 in the order of process from left to right in FIG. 1, respectively.

As shown in FIG. 1, a pair of parallel rails 4 are laid on the floor in front of the press machine 1 in the processing direction, that is, in the longitudinal direction of the bolster 2. , a press processing material conveying device 5 is disposed so as to be self-propelled.

The conveyance device 5 has a box-shaped main body 6 equipped with four wheels 7 that roll on each of the rails 4, as shown in FIG. It is configured to be rotated at an arbitrary speed by an electric motor (not shown).

In this way, the main body 6 moves on the rails 4 laid independently from the press 1, so the press 1
The impact generated in this case is not transmitted to the main body 6 side.

Further, as shown in FIG. 1, a pair of holding arms 8 and 9 are protruded from the upper surface of the main body 6 at a required distance in the direction of movement. Using a long hole 10 bored in the upper surface with its long axis in the direction of movement as a guide, it is movable in the far and near directions relative to the other holding arm 8. This holding arm 9 is adapted to be driven at an arbitrary speed by another electric motor installed in the main body 6.

As shown in FIG. 1, both the holding arms 8 and 9 are composed of vertical parts 11 and 12 and horizontal parts 13 and 14 that project in the direction of the press machine 1 from their upper ends. , 12 is the lifting cylinder 1
5 and 16 are respectively provided, and each flat portion 13 and 14 is provided with a forward and backward movement cylinder 17 and 18, respectively. and each holding arm 8,9
are configured to be able to move up and down or move forward and backward independently of each other by operating the cylinders 15, 16, 17, and 18. Each of the cylinders 15,1
6, 17, and 18 are driven by the driving force of an electric motor (not shown) or the pressure of fluid such as air or oil.

At the tips of the horizontal parts 13 and 14 of each of the holding arms 8 and 9, holding parts 19 and 20 for holding a pressed material (not shown) are attached, as shown in FIG. is adapted to be attached and removed at a holding section exchange station 24, which will be described later.

One of the holding parts 19 is provided with a single holding head 21 as shown in FIG. The press processing material on the material supply station 22 is conveyed to a first processing position above the bolster 2 of the press machine 1.

The other holding section 20 is provided with, for example, four holding heads 23a, 23b, 23c, and 23d corresponding to the number of processing steps, as shown in FIG. Part 19
The press processing material supplied to the first processing position is sequentially transferred to the next processing position, and the product after the final press processing is carried out to a predetermined position outside the press machine 1.

By making the pair of holding arms 8 and 9 independently movable in the direction toward the press 1 and in the vertical direction, the suction position of the holding part 19 of the holding arm 8 and the suction position of the holding part 20 of the holding arm 9 , press machine 1 independently depending on the shape of the press material.
It can be adjusted both towards and vertically.

Each of the holding heads 21, 23a, 23b, 23
c, 23d are designed to attract and release the pressed material using a vacuum adsorption method or an electromagnetic magnet method, and each holding section 19, 20 uses an optimal holding method according to the material, shape, etc. of the pressed material. The holding part exchange station 24 is located on the right side of the press 1 in FIG.
It is designed to be automatically attached and detached. This attachment/detachment/replacement work and the drive system of the transport device 5 are all controlled by a computer (not shown).

Therefore, whether the pressed material is a magnetic material or a non-magnetic material, its adsorption and release are performed in an optimal state. Further, the holding section 20 having a number of holding heads corresponding to the number of processing steps of the press machine 1 is automatically selected.

Next, the effect will be explained.

First, the conveyance device 5 is driven by an internal electric motor (not shown) to travel on the rails 4 and stops at the holding part exchange station 24 . At the tips of the horizontal parts 13 and 14 of each of the holding arms 8 and 9, holding parts 19 and 20 are provided with holding heads suitable for the material, shape, and number of press working steps (not shown) of the pressed material.
will be automatically selected and installed.

Next, the conveyance device 5 moves in the opposite direction and stops at a position where the holding arm 8 faces the supply station 22. Thereafter, the holding head 21 at the tip of the holding arm 8 is brought into pressure contact with the pressed material by the operation of the cylinders 15 and 17, and the pressed material is attracted by a vacuum suction method or an electromagnetic method.

Next, the conveying device 5 moves in the opposite direction again, and moves the pressed material held at the tip of the holding arm 8 to the first processing position of the press 1. At this point, the holding head 21 is released from holding the pressed material, and the pressed material is placed at the first processing position.

Next, both holding arms 8 and 9 are attached to cylinders 17 and 18.
As a result of the operation, the press machine 1 is retracted from above the bolster 2, and then the slide 3 is lowered to perform the first stage of press working.

After the slide 3 is raised, the conveying device 5 starts moving toward the supply station 22, and the holding arms 8, 9 start moving toward the press 1 due to the operation of the cylinders 17, 18. When the holding head 23a at the left end of the holding arm 9 in FIG. Station 22 supplied by
The holding arm 9 continues to move until it assumes a position opposite to the holding arm 9, but then the holding arm 9 begins to move at the same speed along the elongated hole 10 of the main body 6 in the opposite direction to the conveying device 5. For this reason,
The holding arm 9 continues to assume the position with its holding head 23a facing the pressed material.

When the holding arm 8 moves to a position facing the supply station 22 and stops, the holding head 21 of the holding arm 8 attracts the unprocessed pressed material on the supply station 22, and the holding head 23a of the holding arm 9 The pressed material that has been processed in the first stage is held by suction.

Thereafter, the conveying device 5 moves the holding head 2 of the holding arm 8
1 moves until it reaches the 11th stage processing position,
The holding arm 9 moves independently of the main body 6, and only moves to a position where the left end holding head 23a in FIG. 1 faces the second stage machining position. Thereafter, the material to be processed in each holding head 21, 23a is left in the processing positions of the first stage and the second stage, and both the holding arms 8, 9 are retracted from the press machine 1, and the slide 3 is lowered to be pressed again. will be carried out.

Therefore, the holding arm 9 moves independently relative to the main body 6, and although both holding arms 8 and 9 are provided on the main body 6, they move with their own strokes. Become. As a result, while the holding head 21 of the holding arm 8 repeats the supply of press working material from the supply station 22 to the first stage processing position, the holding arm 9 is held sequentially from the holding head 23a at the left end in FIG. head 23c
It becomes possible to transfer the material that is being press-formed to the next processing step. By repeating this operation, the pressed material is processed to the final stage, and the product after final processing is delivered to a predetermined discharge position outside the press 1 by the holding head 23d at the right end in FIG. 1 of the holding arm 9. It will be carried out.

In this way, it is possible to supply press processing material to the press machine 1, transfer the material to the processing process position within the press machine 1, and carry out the finished product after final processing using one conveyance device 5. becomes.

By the way, the main body 6 and the holding arm 9 of the conveying device 5
As mentioned above, these are driven by separate electric motors as drive sources. For this reason, by using the well-known servo control technology of the electric motor, the press machine 1 can be controlled from outside the press machine 1.
Movement to a processing position within the press 1, movement to the next process within the press 1, and movement from the inside of the press 1 to the outside of the press 1 can be performed by applying arbitrary acceleration/deceleration.

Figures 2 and 3 show the main body 6 or the holding arm 9.
Examples of motion curves for various press-processed materials are shown, with each diagram (a) showing acceleration and each diagram (b) showing velocity.

In general, for relatively heavy press work materials, the holding heads 21, 23a, 23b, 23
It is preferable to reduce the acceleration during transportation so as not to cause slips between the press-formed material and the press-formed material. Therefore, in this case, as shown in FIG. 2, the acceleration is made as small as possible between the starting point and the ending point, so that the speed is maximized at the center point of the conveying distance.

On the other hand, for press-formed materials of relatively small weight, there is no risk of the press-formed material slipping even if the acceleration is increased, and moreover, by increasing the acceleration, high-speed conveyance is possible. Therefore, in this case, as shown in FIG. 3, the acceleration near the starting point is made slightly larger than in the case of FIG. 2 in order to increase the constant speed region during conveyance.

Here, the motion speed curves of the main body 6 and the holding arm 9 have an optimal pattern for the shape and weight of each press material, especially the weight, but this is determined in advance through experiments and this is controlled. All you have to do is store it in your computer's memory.

Therefore, it becomes possible to convey the press-formed material according to a movement speed pattern depending on the type of the press-formed material, and thereby the time required for press-forming can be significantly shortened.

In the above embodiment, the transport device 5 is moved on the rails 4, but the rails 4 may be placed in the air and the transport device 5 may be suspended from the rails.

Further, in addition to the holding arm 9, the holding arm 8 may also move independently relative to the main body 6. In this way, a greater degree of freedom can be obtained in holding the pressed material.

Furthermore, at least one of the holding arms 8 and 9 is provided with a weight detector, and based on the weight detection signal from this detector, an optimal pattern is selected from several predetermined movement speed patterns. Also, the number of processing steps is not limited to four.

〔Effect of the invention〕

As explained above, the present invention provides a pair of holding arms that are movable independently of each other, and these are driven by an electric motor that can control positioning, so that the pressed material can be moved according to its type. It becomes possible to convey the material in a speed pattern, thereby shortening the time required for press working and significantly reducing manufacturing costs.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing one embodiment of the present invention;
The figure is a graph showing an example of a motion speed pattern when conveying a relatively heavy pressed material.
The figure is a graph showing an example of a motion speed pattern when conveying a relatively small weight of pressed material. DESCRIPTION OF SYMBOLS 1... Press machine, 2... Bolster, 5... Conveyance device, 6... Main body, 8, 9... Holding arm, 15, 1
6... Lifting cylinder, 17, 18... Forward/backward movement cylinder, 19, 20... Holding part, 21, 23a, 2
3b, 23c, 23d...holding head, 22...
Supply station, 24...Holding part exchange station.

Claims (1)

[Claims] 1. A main body that moves on a rail installed independently of the press machine along the processing path of the press-processed material;
A pair of holding arms provided on the main body facing toward the press machine, at least one of which is movable in the direction of movement of the main body independently of the main body, and a pair of holding arms each of which is detachably attached to each holding arm and press-processed at least one sheet each. a holding part capable of holding a material; the pair of holding arms are each independently movable relative to the main body in a direction toward the press machine and in a vertical direction; A press work material conveying device characterized in that a holding arm movable in the movement direction of the main body and the main body are driven by an electric motor whose positioning can be controlled, thereby making it possible to operate at a speed pattern depending on the type of press work material. 2. Pressing according to claim 1, characterized in that at least one holding arm is provided with a detector for detecting the weight of the pressing material, and the speed pattern is determined based on a detection signal from this detector. Material conveyance equipment.