JPH0250010B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a workpiece posture control device that controls the conveyance posture of a workpiece while the workpiece is being conveyed.

(Prior Art) Conventionally, as a device for controlling the posture of a work while the work is being transported, there is a work reversing device that appropriately reverses the work between each press machine on a press line, but in this case, each work transport device Since the workpiece is equipped with a workpiece reversing device manufactured to specific specifications, the transporting position of the workpiece can be changed to any position other than inversion, or the workpiece can be transported in a controlled position, or the workpiece's rotational position during transport. If the specifications are changed, such as when the position of the workpiece is to be moved to a different position, a workpiece posture control device must be manufactured again to meet the new specifications.

(Problems to be Solved by the Invention) An object of the present invention is to provide a workpiece posture control device that can easily adapt to changes in specifications despite its relatively simple structure.

(Means for Solving the Problem) The present invention includes a main body frame, a carriage movable according to a specific trajectory on the main body frame, and an external power device for the carriage for driving the carriage along the trajectory. , a carriage power transmission device located between the carriage external power device and the carriage on the track and configured to cause the carriage to travel along the track by driving the carriage external power device; an external power device for a rotary support for driving a rotary support for gripping a workpiece rotatably supported by a carriage;
between the external power device for the rotary support body and the rotary support body, the rotary support body is moved onto the carriage by asynchronous operation of the external power device for the rotary support body and the external power device for the carriage. and a power transmission device for a rotary support for relative rotation in a workpiece.

(Function) In the workpiece posture control device configured as described above, if only the external power device for the rotary support is driven while the external power device for the carriage is stopped, the rotary support for gripping the workpiece rotates and the workpiece can be moved in any direction. When only the external power unit for the carriage is driven when the external power unit for the rotary support body is stopped, the rotary support body for gripping the workpiece rotates while the carriage travels on the track, and the workpiece can be held in any position. When the external power device for the carriage and the external power device for the rotary support are operated in synchronization in a preset constant relationship, the rotation of the rotary support is prevented as the carriage travels. , only the carriage runs on the track when the rotation support is stopped.

Therefore, by appropriately operating the external power device for the carriage and the external power device for the rotary support body in synchronization or non-synchronization, the rotary support body can be rotated or stopped in any state, and at any rotation speed or rotation. The carriage can be run with the rotary support rotating in the direction.

(Example) Next, the configuration of an example of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view of an embodiment in which a workpiece posture control device is mainly used as an intermediate conveyance device of a press line, and shows a main body frame 2 formed to correspond to the width of a plate 1 of a press workpiece. A carriage 4 is attached to the upper two opposing rails 3 for reciprocating along the rails 3 in a state where it is fitted in a dovetail shape, for example, and the carriage 4 on both rails 3
is attached so that it can be integrally driven by a pulley 5 and a belt 6 attached to the main body frame 2 and a connecting shaft 7, and pulleys 9 and 10 and a belt 11 are driven by a servo motor 8 attached to the main body frame 2.
They are integrally reciprocated by the rotation of the connecting shaft 7 via.

On the other hand, the carriage 4 has a work gripping tool 13 shown in FIG.
A rotary support body 20 is rotatably attached to which a work gripping tool 13 is integrally attached, which is rotated to the unclamp/clamp open/close position via a link 19 by the reciprocating movement of the piston rod 18. 20 is attached so that it can be integrally rotated by a pulley 21 attached to the rotating support 20, pulleys 22 and 23 attached to the main body frame 2, an idle pulley 24, a belt 25, and a connecting shaft 26. , pulleys 28 and 29 driven by a servo motor 27 attached to the main body frame 2
The rotation of the connecting shaft 26 via the belt 30 drives the rotation of the connecting shaft 26 as a unit.

Next, the operation of this embodiment will be explained.

Workpiece posture control device 3 configured in this way
1, when only the servo motor 27 of the external power device for the rotary support 20 is driven when the servo motor 8 of the external power device for the carriage 4 is stopped, the workpiece gripping rotary support 20 rotates while the carriage 4 is stopped. The plate body 1 can be controlled in any position, and when the servo motor 27 of the external power device for the rotary support body is stopped and only the servo motor 8 of the external power device for the carriage 4 is driven, the carriage 4 runs on the rail 3. At the same time, the rotary support 20 for gripping the workpiece rotates to control the plate 1 to any desired posture. When synchronized operation is performed in a predetermined relationship, rotation of the rotary support 20 is prevented as the carriage 4 travels, and only the carriage 4 travels on the rail 3 when the rotation of the rotary support 20 is stopped.

Therefore, by appropriately operating the servo motor 8 and the servo motor 27 of the external power device for the carriage and the external power device for the rotary support body in synchronization or out of synchrony, the rotary support body 20 can be rotated or stopped in any desired state. The carriage 4 can be run with the rotating support 20 rotating at any rotational speed and in any rotational direction.

Next, FIGS. 3 and 4 show the attitude control device 31.
The posture control device 32 is designed to be versatile and can be used in an actual press line, and it reciprocates two opposing rails 34 on a main body frame 33 in opposing directions via guide rods 35. In addition, the connecting shaft 38 that connects each pulley 36 and 37 and the connecting shaft 41 that connects each pulley 39 and 40 are each spline-coupled, so that the two By moving the rails 34 in opposite directions, the interval between the two rails 34 can be arbitrarily changed according to the width of the workpiece, and each rail 34
Two workpiece grippers 46 are attached to each rotary support 45 on a rotary support 45 rotatably attached to the upper carriage 44, and the positions of these two workpiece grippers 46 are adjusted according to the shape of the workpiece. A universal joint 47 with a lock is interposed between the rotary support body 45 and the work gripping tool 46 so that the position can be changed, and when the position control device 32 is installed between both press machines, for example, when the position control device 32 is installed between both press machines, In order to change the height of both ends of the rail 34 when the height at which the workpiece is carried out and the height at which the workpiece is carried into the other press machine is different, the main body frame 33 is supported so as to be vertically movable via a guide rod 70 and a ball bearing (not shown). At the same time, piston rods 50 and 51 of hydraulic cylinders 48 and 49 that can individually actuate both ends of the main body frame 33 in the longitudinal direction are provided.
The configuration, operation, and effects are almost the same as those of the previous embodiment, except that the arms 53 and 54 support the roller 52, which rotates by the back and forth movement of the arm.

In addition to the above-mentioned embodiments, this attitude control device also has the following features:
Depending on the shape of the workpiece, transportation mode, etc., it is possible to control the posture of the workpiece with a single workpiece gripper attached to a carriage on one rail via a rotating support. , a turntable 58 is rotated by a servo motor 55 via a worm gear 56 and a worm wheel 57, and a rotation support 59 is attached to the turntable 58.
The workpiece gripping tool 60 attached via the servo motor 61 is rotated by the rotation of the gears 64 and 65 via the worm gear 62 and the worm wheel 63 to rotate the workpiece gripped by the workpiece gripping tool 60 as appropriate. The attitude can be appropriately controlled on the circular orbit of the turntable 58.

[Brief explanation of drawings]

FIG. 1 is a perspective view of one embodiment of the present invention, FIG. 2 is a plan view of the work gripping tool 13, FIG. 3 is a plan view of another first embodiment of the present invention, and FIG. The side view, FIG. 5, is a perspective view of another second embodiment of the invention. 1...Plate, 2...Frame, 3...Rail,
4...carriage, 5, 9, 10, 22, 23,
28, 29... Pulley, 6, 11, 25, 30...
... Belt, 7, 26 ... Connection shaft, 8, 27 ... Servo motor, 13 ... Work gripping tool, 20 ... Rotating support body, 24 ... Idle pulley, 31 ... Posture control device.

Claims (1)

[Claims] 1. A main body frame, a carriage movable along a specific trajectory on the main body frame, an external power device for the carriage for driving the carriage along the trajectory, an external power device for the carriage, and a carriage movable along the trajectory. a carriage power transmission device for moving the carriage along the track by driving the external power device for the carriage; and a workpiece gripping device rotatably supported by the carriage. a rotary support external power device for driving the rotary support; an external power device for the carriage of the rotary support external power device located between the rotary support external power device and the rotary support; 1. A workpiece posture control device comprising: a power transmission device for a rotary support body for relatively rotating the rotary support body on the carriage by non-synchronous operation with the workpiece posture control device.