JPH0211340B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a press material conveying device that uses a servo motor as a power source.

Prior Art A transfer device installed in a conventional transfer press obtains its driving source from the transfer press through gears, a link mechanism, a cam mechanism, and the like. For this reason, the X, Y, and Z movements are fixed as shown in Figures 13 and 14, making it impossible to change the conveyance mode in response to changes in the shape of the material or product. , it lacked versatility.

Purpose of the Invention The present invention was conceived in view of the above, and uses a servo motor as a drive source for each operation of the feed, clamp, and lift, and drives these simultaneously and independently, and further interlocks with each of the above operations. By making it possible to import materials intermittently,
It is an object of the present invention to provide a press material conveying device that can carry out conveyance according to changes in material form and product shape.

Structure of the Invention A pair of transfer bars are provided in parallel between each upright of a transfer press along the material conveying direction, and a feed motor consisting of a servo motor is used as a drive source near these transfer bars to move the transfer bars into an adpan. and a feed mechanism 3 that drives in the return direction, a clamp motor that is a servo motor as a drive source, a clamp mechanism that drives the transfer bar in the clamp and unclamp directions, and a lift motor that is a servo motor as a drive source. A lift mechanism for driving the transfer bar in the lift and down directions is provided independently and can be controlled synchronously, and a movable gripper fixed to the carrier of the feed mechanism is provided on the upstream side of the transfer bar in the conveying direction, and a movable gripper is provided on the fixed frame side. An intermittent feed mechanism consisting of a fixed gripper fixed to a fixed gripper, and a gripper mechanism consisting of a pair of grippers fixed to one transfer bar on the downstream side of the intermittent feed mechanism in the conveying direction in synchronization with the movement of the transfer bar. The gripper section is provided to operate, and various conveying patterns can be obtained by operating the above-mentioned mechanisms.

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings.

In the figure, 1 and 2 are a pair of transfer bars arranged between the uprights of a transfer press (not shown), facing each other in the clamping direction (Y direction) and parallel to the feed direction (X direction). A feed mechanism 3 is provided at the upstream end of the feed mechanism 2 in the feed direction, and one set of a clamp mechanism 4 and one set of a lift mechanism 5 are provided on the upstream side and the downstream side, respectively.

The feed mechanism 3 has a feed motor 6 made of a servo motor, and the rotation of the feed motor 6 is reduced by a reducer 7 and then transmitted to one end of a rotating shaft 8. The rotating shaft 8 is supported horizontally in a direction perpendicular to the transfer bars 1 and 2, and pinions 10 that mesh with racks 9 are fixed to both ends. The rack 9 is mounted on a carrier 11 parallel to each transfer bar 1, 2.
is fixed to the bottom of the The carrier 11 is supported by feed direction guide rods 12 provided parallel to each transfer bar 1, 2, and is movable along these feed direction guide rods 12. Further, the carrier 11 is provided with a clamp direction guide rod 13 in a direction perpendicular to the feed direction guide rod 12, and a small carrier 14 is supported on this clamp direction guide rod 13. 15 is provided protrudingly. The guide pin 15 is longer than the lift amount of the transfer fibers 1 and 2, and the upstream end portions of the transfer fibers 1 and 2 are passed through the guide pin 15 so as to be slidable in the vertical direction.

Both clamp mechanisms 4, 4 have the same configuration, and each has a clamp motor 16 made of a servo motor. After the rotation of this clamp motor 16 is decelerated by a reducer 17,
The signal is transmitted to an output shaft 18 that projects vertically upward. A pinion 19 is fixed to the output shaft 18 at the center between both transfer bars 1 and 2, and a pinion 19 is provided on each pinion 19 and 19 to protrude from a bracket 20 and 20 attached to each transfer bar 1 and 2, respectively. The racks 21, 21 are engaged from both sides.

Both lift mechanisms 5 are the same mechanism, each having a lift motor 22 made of a servo motor, and the rotation of this lift motor 22 is decelerated by a reducer 23 and then input to one end side of an equalizer shaft 24. ing. The equalizer shaft 24 is a ball spline shaft provided in a direction perpendicular to the transfer bars 1 and 2, and is rotatably supported by a bearing (not shown). And this equalizer shaft 24
A pinion 25 is splined to both ends of the shaft. Each pinion 25 is connected to the above bracket 2.
0, each transfer bar 1,
Rack 27, 27 formed on each guide rod 26, 26 protruding downward from the bottom of 2 in parallel with each other.
are engaged. Each of the guide rods 26, 26 passes through the inside of the bracket 20 in the vertical direction together with other guide rods, and supports each transfer bar 1, 2 so as to be vertically movable.

A pair of carriers 11 of the above feed mechanism 3,
A pair of movable grippers 28, 28 facing each other are provided at the facing portions of the grippers 11, respectively. Further, on the upstream side in the feed direction from the feed mechanism 3, there are fixed grippers 29, 2 corresponding to the movable grippers 28, 28.
9 is fixedly provided on the main body side, and these two grippers 28 and 29 constitute an intermittent feed mechanism 30.

Furthermore, a gripper mechanism 31 is provided on one bar 2 of the pair of transfer bars 1 and 2 adjacent to the downstream side of the intermittent feed mechanism 30.

That is, a pair of grippers 32, 32 are protruded from the inside of one of the transfer fibers 2, and are designed to grip one side of the plate-shaped material conveyed between the transfer fibers 1, 2. There is.

Further, although not shown in the drawings, gripping members such as ordinary fingers, grippers, and vacuum cups are selectively attached to opposing portions of the pair of transfer bars 1 and 2, respectively.

In the above configuration, when the feed motor 6 of the feed mechanism 3 reciprocates by a predetermined number of rotations, the carrier 11 reciprocates via the rack and pinions 9, 10, and both transfer bars 1, 2 move to the return position in the operating diagram of FIG. and advance operation.

When the clamp motor 16 of the clamp mechanism 4 reciprocates by a predetermined rotation, the rack, pinion 19,
The brackets 20 and 20 move toward and away from each other via the brackets 21, thereby causing the pair of transfer bars 1 and 2 to perform the clamping and unclamping operations in the above operation diagram.

Next, as the lift motor 22 of the lift mechanism 5 reciprocates by a predetermined rotation, the guide rod 27 moves up and down via the rack and pinions 25 and 26.
As a result, the transfer bars 1 and 2 perform lift and down operations according to their operation diagrams.

The intermittent feed mechanism 30 operates in conjunction with the movement of the carriers 11, 11, and when the carriers 11, 11 return, the movable grippers 28, 28 grip and the stationary grippers 29, 29 ungrip. And in that state, carrier 11, 11
advances, and at the end of its stroke, the movable grippers 28, 28 ungrip, and the fixed grippers 2
9 and 29 become grips, and the carriers 11 and 11 return in that state. From this state, the above operation is performed again to intermittently feed the material gripped by the gripper.

The gripper mechanism 31 operates in conjunction with the operation of the transfer bar 2, performs a grip operation when the transfer bar 2 is clamped, and in that state performs an advance operation together with the transfer bar 2.
It ungrips at its end and is returned to its original position by return and unclamping operations.

The motors of the feed mechanism 3, clamp mechanism 4, and lift mechanism 5, as well as the drive units of the intermittent feed mechanism 30 and gripper mechanism 31, are controlled by a synchronization signal output in synchronization with the operation of the transfer press by a control means (not shown). It is designed to perform each action.

That is, the pair of transfer bars 1 and 2 are connected to a feed mechanism 3, a clamp mechanism 4, and a lift mechanism 5.
By controlling each servo motor of
Dimensional transfer mode, three-dimensional robot mode shown in FIG. 4, and two-dimensional robot mode shown in FIG. 5 are each performed arbitrarily.

Also, by using the movement of the two-dimensional transfer mode, the gripper mechanism 31 is used as shown in FIG.
An XY mode operation is performed.

Further, the operation of the feed mechanism 3 causes the intermittent feed mechanism 30 to operate in the progressive mode shown in FIG.

Similarly, FIG. 8 shows transfer bars 1 and 2.
This figure shows a combination of the three-dimensional transfer mode operation and the progressive mode operation described above. a in the diagram
indicates the standby (midway stop) point of each operation.

FIG. 9 shows the operation of the transfer bars 1 and 2 in which the two-dimensional transfer mode operation and the progressive mode operation are combined.

FIG. 10 shows the operation of the transfer bars 1 and 2 in a combination of three-dimensional robot mode operation and pre-gradation mode operation.

Figure 11 shows the combination of each operation in 2D robot mode and progressive mode, and Figure 12 shows
Each combination of operations in XY mode and progressive mode is shown.

Each of the above operations is performed by controlling actuators such as motors and cylinders of each mechanism,
Each actuator is controlled using a microcomputer, and the transport method corresponding to changes in material form and product shape is retrieved from the stroke pattern memory of the control circuit to drive each mechanism.

Effects of the invention Since the positions are as described above, by using various material feeding patterns singly or in combination, various conveying means can be carried out in one device, and changes in material form and product shape can be achieved. Transport can be carried out according to the requirements.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is an overall perspective view, FIGS. 2 to 12 are explanatory views of the operation of the apparatus of the present invention, and FIGS. 13 and 14 are views of a conventional example. 1 and 2 are transfer bars, 3 is a feed mechanism, 4 is a clamp mechanism, 5 is a lift mechanism, 6 is a feed motor, 11 is a carrier, 16 is a clamp motor, 22 is a lift motor, 28 is a moving gripper, 29 is a fixed gripper, 30 is an intermittent feed mechanism, 31 is a gripper mechanism, and 32 is a gripper.

Claims (1)

[Claims] 1. A pair of transfer bars 1 and 2 are provided in parallel between each upright of the transfer press along the material conveying direction, and a feed motor 6 consisting of a servo motor is used as a drive source near these transfer bars 1 and 2. A feed mechanism 3 that drives the transfer bars 1 and 2 in the advance and return directions, and a clamp mechanism 4 that drives the transfer bars 1 and 2 in the clamp and unclamp directions using a clamp motor 16 consisting of a servo motor as a drive source. , a lift mechanism 5 for driving the transfer bars 1 and 2 in the lift and down directions using a lift motor 22 consisting of a servo motor as a drive source is provided independently so as to be capable of synchronous control;
An intermittent feed mechanism 30 consisting of a movable gripper 28 fixed to the carrier 11 of the feed mechanism 3 and a fixed gripper 29 fixed to the fixed frame is installed on the upstream side in the conveyance direction, and on the downstream side in the conveyance direction from this intermittent feed mechanism 30. , one transfer bar 2
A press material conveyance device characterized in that a gripper mechanism 31 consisting of a pair of grippers 32, 32 fixed to the press is provided so that each gripper part operates in synchronization with the operation of the transfer bars 1, 2, respectively.