JPH0265952A - Converting device for work attitude - Google Patents

Abstract

PURPOSE:To surely perform a work attitude convertion in a shart time with good timing by forming a structure of rocking a rocking arm by interlocking with the reciprocating movement of a transfer bar and performing the turning movement of a drum via a link means by turning the drum via the link means. CONSTITUTION:An engaging shaft 14 is integrally protruded to the transfer bar 7 which advances and retreats along a transfer path, the drum 10 for holding a work is provided freely rotatably vertically on the fixed frame 9 provided on the transfer path and a rocking arm 15 having the engaging groove detachable from this engaging shaft 14 is freely rotatably provided on this fixed frame 19. This rocking arm 15 is engaged with the engaging shaft 14 only at the section for attitude convertion of the moving sections of the engaging shaft 14 by the advancing and retreating movements of the transfer bar 7, the space between the rocking arm 15 and drum 10 is linked via link means (16, 17, 26), the rocking arm 15 is rocked by interlocking with the advancing and retreating movement of the transfer bar 7, the drum 10 is subjected to turn moving and the attitude of a work W is converted.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a workpiece posture changing device, and more specifically, the present invention relates to a workpiece posture changing device, and more specifically, a workpiece posture changing device that rotates a drum for holding a workpiece using the forward and backward movement of a transfer bar to change the posture of the workpiece. It relates to a device for converting.

[Prior Art] Generally, a transfer machine is known as an automatic machining system in which a workpiece is fed from one end, dedicated units necessary for machining the workpiece are arranged in the order of the machining process, and each unit is connected by various conveying devices. There is.

By the way, in the above-described transfer machine, various operations such as transporting, positioning, and changing the posture of a workpiece are continuously performed.

However, in such conventional transfer machines, the various operations mentioned above are performed by individual drive mechanisms, which makes the device complex and the synchronization with the workpiece transfer operation is not reliable. There are also problems in that the system for controlling individual operations becomes complicated, requires a dedicated area of the equipment, and becomes more expensive.

Focusing on this point, the applicant has already
No. 40 proposes a workpiece posture changing device that utilizes the reciprocating motion of a transfer bar. A cam plate of a size corresponding to the conveyance stroke of the bar is fixed to the transfer bar, and the cam plate moves up and down in conjunction with the reciprocating movement of the lifting rod to rotate the holding drum for loading and unloading the work piece back and forth at a predetermined angle. It is designed to be linked to the movement.

[Problems to be Solved by the Invention] However, the above-mentioned cam plate has two reciprocating cam grooves in the horizontal direction with a length equal to the conveyance stroke of the transfer bar, and a reciprocating groove that absorbs the vertical movement of the transfer bar. 2
Because it is necessary to form a large, endless cam groove that is continuous with the longitudinal groove of the book, the cam plate itself becomes very large. It was difficult to provide a suitable cam plate.

The rotating operation of the drum needs to be performed when the work is being transported, before the first work is completely removed from the guide bar on the drum side and before the work behind it is carried into the guide bar on the drum side. Normally, in order to reduce the area occupied by the entire processing line, the distance between adjacent processing devices (station intervals) is made as close as possible, so the rotation stroke section of the drum required for attitude change within one transfer stroke by the transfer bar. is set to a small percentage of the overall stroke.

The long section that remains after this short rotation section is the transfer section for loading and unloading the workpiece. This area is a non-active area where the movement of the cam does not cause any rotational movement of the drum, and there is no need to form the cam groove very long in this area.

Therefore, in the conventional device, the length of the cam groove in the non-active area is wasted, and the cam plate as a whole becomes unnecessarily large, which causes problems in terms of manufacturing and occupying space.

Therefore, the present invention provides a swing arm that rotates the drum.
As mentioned above, by engaging the engagement shaft of the transfer bar and swinging it only in the short drum rotation section for attitude change, the transfer bar or swing arm side is There is no need to form a cam groove over the entire movement stroke of the transfer bar, as in
This is an attempt to solve the above problems by making the mechanism of the interlocking part with the transfer bar compact.

[Means for Solving the Problems] The present invention provides a swing arm that engages with the engagement shaft of the transfer bar and swings only in the section for attitude change during the movement stroke of the transfer bar, This swinging arm and the drum are connected via a coupling means, and the forward and backward movement of the transfer bar is transmitted to the drum via the swinging arm, so that the workpiece can be moved in synchronization with the transfer movement of the transfer bar. In addition to being able to reliably perform posture change movements,
Without using a large cam plate that covers the entire movement stroke of the transfer bar as in the past, the reciprocating rotation control of the drum can be shared by a single engagement groove on the swing arm, and this groove can also be short. The swing arm can be made small, the mechanism of the interlocking part with the transfer bar can be made very compact, the installation space is small, and the posture of the workpiece can be easily changed with a simple configuration. be.

That is, in the present invention, an engagement shaft is integrally provided on a transfer bar that moves forward and backward along a conveyance path, a drum for holding a workpiece is vertically rotatably provided on a fixed frame provided on the conveyance path, and the above-mentioned fixed A swinging arm having an engagement groove that can be engaged with and disengaged from the engagement shaft is rotatably provided in the frame, and the swinging arm is configured to change the posture of the movement section of the engagement shaft due to the forward and backward movement of the transfer bar. The swinging arm is engaged with the engagement shaft only in the section where the drum is moved, and the swinging arm and the drum are connected via a connecting means, and the swinging arm swings in conjunction with the forward and backward movement of the transfer bar. It is configured to allow a rotational movement.

[Example] Hereinafter, the specific configuration of the present invention will be explained based on the drawings.

FIG. 1 is a side view showing an attitude changing station as one station of a transfer machine, and FIG. 2 is a front view thereof.

A lift arm 3 is attached to the shaft 3 on the machine base 1 via a support member 2.
The lower end of the lift arm 3 is connected to a rod 5 that is moved forward and backward by a lift driving means 4 such as a cylinder. Further, a roller 6 is provided at the upper end of the lift arm 3, and a transfer bar 7 is supported on the roller 6 so as to be able to reciprocate. That is, a similar lift arm 3 is used for each station.
are supported respectively, and the plurality of lift arms 3
The transfer bar 7 is supported horizontally over its entire length.

By moving the rod 5 forward and backward by the driving means 4, each lift arm 3 is swung, and the transfer bar 7 thereon is moved up and down in a horizontal state.

Further, one end of the transfer bar 7 is connected to a feed drive means 8 such as a cylinder so as to be movable up and down, and is reciprocated along the workpiece conveyance path.

Therefore, during one cycle of rectangular movement of the transfer bar 7 of rising, advancing, descending, and retreating, the workpiece is transferred during the forward movement.

Furthermore, a pair of gate-shaped fixed frames 9.9 are supported on the machine base 1, through which the transfer bar 7 can pass, and a drum 10 for rotating the workpiece is configured on the fixed frames 9.9. A pair of rotary plates 10a, 10a are attached so as to be vertically rotatable. A plurality of guide bars 11 and a lower guide 12 are integrally provided within the rotary plates 10a, 10a to hold the workpiece W so that it can be carried in and taken out.

The drum 10 is rotatably supported by a plurality of guide rollers 13 attached to the fixed frame 9 about a point 0 on the conveyance path.

Then, by reciprocating this drum 10 by a predetermined angle (rollover amount) α°, the guide bar 11
The workpiece W held by the lower guide 12 can be changed into two positions: an unloading position (FIG. 2) and a loading position (FIG. 4).

As shown in FIGS. 2 and 3, the mechanism for changing the posture includes an engagement shaft 14 provided below the transfer bar 7 that projects downward integrally with the bar 7, and an engagement shaft 14 provided below the drum 10 that projects downward. A swinging arm 15 is located at and swings by engaging with the engagement shaft 14 by the reciprocating movement of the transfer bar 7, and a coupling means for coupling between the swinging arm 15 and the drum 7. It is composed of a connecting rod 16, a connecting lever 17, and the like.

The engagement shaft 14 corresponds to a posture changing station provided on the transfer bar 7, and the transfer claw 7 for carrying out the workpiece.
It is provided at a substantially intermediate position between the transport claw 7b for transporting the workpiece in the previous stage and the transport claw 7b. The upper end of this engagement shaft 14 is integrally formed with a horizontal mounting seat 18 that is joined to the lower surface of the transfer bar 7, and is connected to the transfer bar 7 at this portion.

Further, the engagement shaft 14 has a length at least equal to the vertical stroke of the transfer bar 7, and has a roller 19 at its lower end.
is installed so that it can be transferred freely.

Further, one side of the engagement shaft 14 on the swing arm 15 side is cut out in a shape that allows smooth engagement and disengagement with the swing arm 15.

The swing arm 15 has its rotational support shaft 20' on one side of the longitudinal center of the transfer bar 7. : Support plate 2 positioned and fixed to the base 1 between the pair of fixed frames 9 and 9.
1 via a bearing 22 so as to be horizontally rotatable.

Further, an engagement groove 28 is formed in the swinging arm 15 of the engagement shaft 14 and is detachable from the engagement shaft 14.
4 is formed in such a length that it can be slidably engaged in the groove 23 while it is moving through the attitude changing section.

The support plate 21 has a linear guide support surface 21a parallel to the transfer bar 7, and the roller 19 of the engagement shaft 14 is rolled and guided while being in contact with this guide support surface 21a. This is caused by the engagement with the engagement shaft 14.
When the transfer fiber 5 is rotated, the support plate 21 receives the lateral component force acting on the transfer fiber 7 via the roller 19, thereby preventing the transfer fiber 7 from being distorted in the lateral direction.

On the other hand, on one side of the drum 10, an abbreviated connecting lever 17 is swingably provided on the fixed frame 9 via a shaft 24, and one end of the connecting lever 17 is connected to the eccentric position of the swinging arm 15. Both ends of a connecting rod 16 are rotatably connected therebetween. Further, the other end of the connecting lever 17 is
One end of the arm 26 is rotatably connected to the other end of the arm 26 via an eccentric shaft 25 of the drum 10 .

The swinging movement of the connecting lever 17 causes the drum 10 to rotate reciprocally through the arm 26, and the two rotational index positions are adjusted by adjusting the positions provided on the fixed frame 9 facing the connecting lever 17, respectively. Two flexible stoppers 2
7.28, respectively. Furthermore, a compression spring 29 is compressed at one end of the connection lever 17 and forms a toggle for switching and holding the rotational index position.

In addition, there are multiple guide rails 3 on the front station side.
0 are provided in parallel, and a plurality of guide rails 31 are also provided in parallel on the next station side. These guide rails 30 and 31 are arranged so as to be connected to the front and rear end sides of the guide bar 11 provided on the drum 10 at the attitude changing station with a small gap, and support the sides of the workpiece W. Fixed side guides that maintain different transport positions. The guide rail 30 at the front stage maintains the workpiece W in the carrying-in attitude, and the guide rail 31 at the next stage maintains the workpiece W in the carrying-out attitude.

Further, the swing arm 15 is attached to the transfer bar 7.
Two holding pieces 32 and 33 extending downward from the transfer bar 7 are attached so as to correspond to the side surfaces of the transfer bar 7. The holding pieces 32 and 33 are provided at positions spaced apart from each other in the forward and backward positions along the conveying direction with the engagement shaft 14 in the center.

The holding pieces 32, 33 are in a position where one of the holding pieces 32, 33 faces the side surface of the swing arm 15 when the transfer bar 7 is in the forward position or the backward position, and the drum 10 is moved back by the action of some external force. It is intended to regulate the

[Effect of Example] Next, the effect will be explained.

First, it is assumed that a workpiece W is held at each station position. At the processing station (not shown), processing of the workpiece W is completed, and at the posture changing station shown in FIG. 1, the workpiece W is held in the drum 10 in a substantially upright unloading position as shown by the solid line in FIG. From this state,
The transfer bar 7 starts from the original position, which is a retreat position and a descending position, and repeats one cycle of rectangular motion by rising, moving forward, descending, and retreating, and in the forward process, the workpiece W
transport between stations.

FIG. 8 shows the engagement shaft 1 due to the rectangular movement of the transfer bar 7.
4 shows the movement trajectory of No. 4. At the original position of the transfer bar 7, the workpiece W in the attitude changing station is in a position as shown by the two-dot chain line W' in FIG. It is located on the transport path of the previous stage station before entering the conversion station.

The swinging arm 15 is held at its swinging limit in the clockwise direction, as shown by the solid line in FIG. In this state, the connecting rod 16 is held at the right end position as shown in FIG. As a result, the connecting lever 17 is held at its limit of counterclockwise swing, and therefore the drum 10 is held in the unloading position. At this time, the guide bar 11 is positioned in a straight line with the next stage guide rail 31, as shown in FIG.

From this state, when the transfer bar 7 is raised from the original position shown in FIG. 1 to the position indicated by the two-dot chain line in the same figure, the engagement shaft 14 is also moved integrally from the position A to the position B, as shown in FIG. rise to At the raised position of the transfer bar 7, the transport claws 7a, 7a provided on the transfer bar 7 move the work W
are engageably opposed to the lower front and lower rear surfaces of.

Then, the transfer bar 7 is moved forward by a predetermined stroke while remaining in this raised position. During the forward movement of the transfer bar 7, while the engagement shaft 14 moves from the position shown in FIG.
The swing arm 15 is not moved until it is inserted into the engagement groove 28 of the swing arm 15. Therefore, the drum 10 also remains in the state shown in FIG. ! : Completely pass the receiver to the next guide rail 31 while in the unloading position. That is, as shown by the solid line in FIG. 6, the work W is carried out to a position where there is no interference with the rotation of the drum 10.

Subsequently, while the engagement shaft 14 moves from the position shown in FIG. 8 to the position indicated by the two-dot chain line in FIG. and swing arm 15
is rotated counterclockwise from the state shown by the solid line in FIG. 3 to the state shown by the two-dot chain line in the same figure, that is, the state shown by the solid line in FIG.

As a result, the connecting rod 16 is moved to the left as shown in FIG. 5, and at the same time, the connecting lever 17 is rotated clockwise at the other end. When the connecting lever 17 comes into contact with the stopper 28 as shown in FIG. 4, the connecting lever 17 is positioned at the clockwise swing end. Therefore,
The connecting lever 17 connects the drum 10 to the second
Rotate clockwise by a predetermined angle α° from the state shown in the figure to the state shown in FIG. Convert it to a possible state.

That is, as shown in FIG. 7, the guide bar is positioned in line with the preceding guide rail 30.

In this drum rotation section, the carried out workpiece W has already been transferred to the next guide rail 31 as described above.
It has completely escaped from the guide bar 11 on the drum 10 side, and the drum 10 is in a state where it is allowed to rotate. When the rotation of the drum 10 is completed, the workpiece W is guided by the guide rail 30 at the front stage as shown in FIG. .

Subsequently, in the section in which the transfer bar 7 moves from this position to the forward position, that is, in the section in which the engagement shaft 14 moves from the 8th figure position to the 5th position, the engagement shaft 14 is reversed as shown in FIG. It comes out of the engagement groove 23 of the swinging arm 15 at the clockwise swing limit and is 1m from the swinging arm 15! Will be taken off. During this time, since the connecting lever 17 is held in position by the spring 29 as shown in FIG. 4, the swing arm 15 remains stationary. Therefore, the drum 10 also remains in the state shown in FIG. W is guided by the guide bar 11 in its carrying position and is completely carried into the drum 10 as shown by the two-dot chain line W' in FIG.

The workpiece W is placed on the holder and pulled down from the bottom surface of the workpiece W.

The engagement shaft 14 is also lowered from the rest position to the force position in FIG.

When the transfer bar 7 is moved back in this lowered position and the engagement shaft 14 moves from the force position in Figure 8 to the position K, the engagement shaft 14 moves counterclockwise as shown by the solid line in Figure 5. It is inserted into the engagement groove 23 of the swinging arm 15 at the swinging end of the direction.

At the same time as the transfer bar 7 retreats, the engagement shaft 14
The swing arm 15 is moved from the position K to the position A, thereby rotating the swinging arm 15 clockwise about the shaft 20, and is reversed to the state shown by the two-dot chain line in FIG. 5, that is, the state shown by the solid line in FIG. 3. . At the same time, the connecting lever 17 is swung counterclockwise via the connecting rod 16, comes into contact with the stopper 27, and is positioned at the end of the swiveling movement in the counterclockwise direction as shown in FIG. As a result, the drum 10
is rotated clockwise by a predetermined angle α from the state shown in FIG. 4 to the state shown in FIG.
is converted to the unloading position as shown by the solid line in Figure 2. That is, the guide par 11 on the side of the drum 10 is aligned with the guide rail 31 of the next stage, that is, positioned in a straight line, and converts the workpiece W into a state where it can be carried out to the next stage station.

After changing the workpiece posture, the engagement shaft 14 is pulled out of the engagement groove 23 of the swing arm 15 until the transfer bar 2 returns to the rear end position.
will be separated from. During this time, since the connecting lever 17 is held in position by the spring 29 as shown in FIG. 2, the swing arm 15 remains stationary. Therefore, the drum 10 also remains in the state shown in FIG. Finally, the transfer bar 7 returns to its original position, that is, the engagement shaft 14 returns to the position A, and one cycle of transport movement is completed.

In this way, the transfer bar 7 repeats the rectangular movements of rising, advancing, descending, and retreating, and in synchronization with this movement, the workpiece W is carried out from the drum 10 in the carrying-out posture. After carrying out, the drum 10 is rotated and the work W is carried out. The drum 10 receives the workpiece W carried in in the attitude and holds the workpiece W, then the drum 10 is rotated in the opposite direction and the series of operations of converting the workpiece W into the carrying-out attitude is repeated.

Note that during this movement, while the swing arm 15 is engaged with the engagement shaft 14, that is, during the drum rotation operation, the drum 10 is mechanically connected to the transfer bar 7; If some kind of external force is applied to the drum 10 due to an operator touching the drum 10 when the bar 7 is in the forward or backward position, there is a risk that the drum 10 will return to a different position from its original position. .

In order to prevent this, two retaining pieces 32, 33 are provided on the transfer bar 7, as shown in FIGS. 9 and 10.

In FIG. 9, just before the transfer bar 7 moves to the forward position, the first holding piece 32 is slidably engaged with one side of the swing arm 15 from the position indicated by the two-dot chain line, and the engagement shaft 14 is The first holding piece 32 reliably prevents the swinging arm 15 from rotating clockwise until it reaches the forward position shown by the solid line in FIG.

Therefore, at the forward position of the transfer bar 7 and in the vicinity thereof, the movement of the swinging arm 15, the connecting rod 16, and the connecting lever 17 is completely restrained by the interference between the one stopper 28 and the holding piece 32, and the drum 1° is fixed in position.

In addition, in FIG. 10, just before the transfer bar 7 moves to the retracted position, the second holding piece 33 is slidably engaged with the other side surface of the swing arm 15 from the position indicated by the two-dot chain line.
The second holding piece 33 reliably prevents the swinging arm 15 from rotating counterclockwise until the engaging shaft 14 is moved to the retracted position shown by the solid line in FIG.

Therefore, at the retracted position of the transfer bar 7 and in the vicinity thereof, the swing arm 15, the connecting rod 16, and the connecting lever 17 are completely restrained from moving between the other stopper 28 and the holding piece 32, and the drum 1° is unloaded. fixed in position.

Further, even when the transfer bar 7 is raised and lowered, the holding pieces 32.33 are only displaced in the vertical direction relative to the swing arm 15, and the swing arm 15 is similarly moved by any of the holding pieces 82.33. Regression is definitely prevented.

Note that the engagement groove 23 of the swing arm 15 may be formed in a straight line as in the embodiment, but it may be formed into a grooved cam shape by deforming the engagement groove 13 into various shapes, such as by curving the engagement groove 13. By doing so, it is also possible to adjust the acceleration and deceleration of the drum rotation when changing the attitude so as to soften the impact when the drum 10 starts or stops rotating.

[Effects of the Invention] According to the present invention, the swing arm is rotatably supported on the fixed frame, and the engagement shaft provided on the transfer bar is engaged with the engagement groove of the swing arm by the movement of the transfer bar back and forth. Engage only in the section for posture change of the movement section of the joint shaft,
The swing arm is swung in conjunction with the reciprocating movement of the transfer bar, and the drum is rotated seven times via the coupling means, so that workpieces can be unloaded from the drum in synchronization with the transfer movement of the transfer bar. The workpiece posture can be reliably changed in a timely manner and in a short period of time through a series of operations including rotation of the empty drum after unloading, loading of the workpiece into the drum, and rotation of the drum.

In addition, since the swing arm is designed to engage with the engagement shaft of the l.transfer bar only in the short section of the movement stroke of the transfer bar for posture change, the engagement shaft The area is small, so there is no need for a long cam groove that corresponds to the transfer stroke of the transfer bar, and the reciprocating motion of the transfer bar can be transmitted to the drum by sharing one engagement groove.
There is no need to use a large swinging arm.

In addition, since the swing arm rotates horizontally, its interlocking mechanism does not extend to the machine base below the fixed frame.
The entire device can be made compact. Therefore, since there is no need to provide a large cam plate, the present invention can be easily installed even in a transfer line with a large transfer stroke in a transfer machine for large workpieces, for example, since there is no need to provide a large cam plate.

Furthermore, a holding piece is provided on the transfer bar and engages with the swing arm at the forward and backward positions of the transfer bar,
Since the swing arm is held at each swing end, there is no risk that the drum will rotate backwards due to some external force when the transfer bar is raised or lowered, and the drum is securely fixed at the indexed position. There is no need to worry about any adverse effects on subsequent conveyance operations due to malfunction.

[Brief explanation of the drawing]

Fig. 1 is a side view of the attitude changing station of a transfer machine implementing the present invention, Fig. 2 is a front view of the workpiece attitude changing device at the original position of the transfer bar (unloading attitude), and Fig. 3 is A of Fig. 2. 4 is a front view of the apparatus at the end of the drum rotation after carrying out the workpiece; FIG.
FIG. 5 is a sectional view taken along the line B-B in FIG. 4, and FIG. 6 is a plan view of the conveyance path showing the state at the start of rotation of the drum after unloading the workpiece.
Fig. 7 is a plan view of the conveyance path showing the state at the end of drum rotation after carrying out the work, Fig. 8 is a diagram showing the locus of movement of the engagement shaft accompanying the rectangular movement of the transfer bar, and Fig. 9 is a diagram showing the movement trajectory of the transfer bar. Diagram showing the position of the holding piece in the forward position, 1st
Figure 0 is a diagram showing the position of the holding piece when the transfer bar is in the retracted position. 7...Transfer bar 9...Fixed frame, 10...
・Drum, 14... Engagement shaft, 15... Swing arm,
16.17.26... Connection rod, connection lever and arm constituting connection means, 23... Engagement groove, 32.
...Holding piece, W...Work. Patent applicant: Nippei Toyama Co., Ltd. Figure 1 Figure 8 (Work posture change #) Bottle Figure 9 Figure 10

Claims (2)

[Claims] (1) An engagement shaft is integrally provided on a transfer bar that moves back and forth along the conveyance path, a drum for holding a workpiece is vertically rotatably provided on a fixed frame provided on the conveyance path, and A swinging arm having an engagement groove that can be engaged with and disengaged from the engagement shaft is rotatably provided, and the swinging arm is used in a section for changing the posture of the movement section of the engagement shaft due to the forward and backward movement of the transfer bar. The swinging arm and the drum are connected through a connecting means, and the swinging arm is swung in conjunction with the forward and backward movement of the transfer bar to rotate the drum. A workpiece posture converting device characterized by: (2) The transfer bar is provided with a holding piece that engages with the swing arm at the forward and backward positions of the transfer bar and holds the swing arm at each swing end device. The described workpiece posture conversion device.