JPH05177277A - Device for conveying work of transfer press - Google Patents

Abstract

PURPOSE:To freely change the motions of feeding and lifting by providing a first driving device for reciprocatively shifting a carriage in the line direction and a second driving device for lifting a work supporting device and a control device for controlling each driving device. CONSTITUTION:A work conveying device is provided with the first driving device 22 for reciprocatively shifting the carriage connecting shafts 9, 9 and the second driving devices 23, 23 for lifting the work supporting devices 11. Then the first driving device 22 is constituted of an AC servo motor 31 for feeding motion, a driving shaft 32 for transmitting the driving force of the AC servo motor 31, pinions 33 concentrically arranged to the driving shaft 32 and the control means for controlling the motion of each driving shafts 22, 23 corresponding to a press motion in the die. Therefore, the changes of the feeding motion and the lifting motion can freely be executed and the press can always be executed with the optimum motion.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device suitable for use in a large transfer press line.

[0002]

2. Description of the Related Art Conventionally, as a device of this type, generally,
A transfer press device as shown in FIG. 4 is known (for example, JP-A-2-52128). This transfer press device 1 includes a frame 2, which is erected upright.
, A plurality of molds 4 to 7 arranged in parallel in the line direction,
A pair of guides 8 and 8 arranged in both sides of the molds 4 to 7 and extending in the line direction, and carriage connecting shafts 9 and 9 provided so as to reciprocate in the line direction of the guides 8 and 8. A carriage 10 fixed to each carriage connecting shaft 9, a work supporting device 11 provided on the carriage 10 so as to be able to move up and down, and a work gripping tool (vacuum cup) 12 provided on each work supporting device 11. It is roughly configured. A work 13 is formed by the transfer press device 1.

In this transfer press device 1, for example, when the work 13 is pressed at the upstream mold 4 installation position A, the work gripping tool 12 is then raised to the intermediate position C.
The work supporting device 11 which has been retracted in the vicinity of the position A is moved to the position A by moving the carriage connecting shafts 9 and 9 in the line direction, and the work gripping tool 12 is lowered to move the work gripping tool 12 to the position A. On the work 13 in the position, and the work gripping tool 12 is operated to move the work gripping tool 1
The work 13 is adsorbed on the No. 2. When the work 13 is adsorbed, the work gripping tool 12 is raised to move the work supporting device 11 to the position B by moving the carriage connecting shafts 9 and 9 in the line direction, and the work 13 is conveyed to the position B. The gripping tool 12 is lowered to release the suction of the work gripping tool 12, and the work 13 is lowered to the position B. When the work 13 is lowered, the work gripping tool 12 is further raised to move to the intermediate position C, the work gripping tool 12 is lowered to retract the work supporting device 11, and then the work 13 is pressed at the position B. In this way, the carriage connecting shaft 9,
9, the work supporting device 11 and the work gripping tool 12 are cyclically operated to move the work gripping tool 12 up and down.
The press operation is sequentially performed a plurality of times while performing the feeding operation and the suction operation and automatically sending all the works 13 to the downstream side.

[0004]

By the way, in the above-mentioned transfer press apparatus 1, the cam for performing the raising / lowering operation, the feeding operation, and the suction operation of the work gripping tool 12 is performed by using the electric motor as the main drive source for the press as the drive source. Since it was done through a large-scale power transmission mechanism consisting of a combination of a rack, a link, a rack, a pinion, etc., it was difficult to change the feed motion and lifting motion, and it was difficult to simplify the space of the cam box. there were.

The present invention has been made in view of the above circumstances, and it is possible to freely change the feed motion and the elevating motion, and to simplify the space of the cam box. An object of the present invention is to provide a work transfer device for a transfer press having excellent characteristics.

[0006]

In order to solve the above problems, the present invention employs the following work transfer device for a transfer press. That is, the work transfer device of this transfer press has a pair of guides arranged on both sides of a plurality of molds arranged in the line direction and extending in the line direction, and a carriage reciprocally movable in the line direction of each of the guides. A first driving device including an electric motor for reciprocating the carriage in the line direction, a work supporting device provided on each of the carriages so as to be able to move up and down, and an electric motor for moving the work supporting device up and down. 2) a drive device, a work gripping tool provided on each work support device, and a control means for controlling the operation of each drive device in correspondence with the press operation of the mold. Is characterized by.

[0007]

In the work transfer device of the transfer press of the present invention, the first drive device for reciprocating the carriage in the line direction, the second drive device for moving the work support device up and down, By providing a control means for controlling the operation of the drive device in accordance with the press operation of the mold, the feed motion and the elevation motion can be freely changed, and the space of the cam box can be simplified. ..

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic configuration diagram showing a work transfer device of a transfer press according to an embodiment of the present invention. The work transfer device 21 is an improvement of the work transfer mechanism of the conventional transfer press device 1. The same components as those of the conventional transfer press device 1 are designated by the same reference numerals and the description thereof will be omitted.

The work transfer device 21 includes a pair of guides 8 extending in the line direction, which are arranged on both sides of a plurality of dies 4 to 7 which are arranged in parallel with each other in the standing frames 2, 3 ,. 8, carriage connecting shafts 9 and 9 provided so as to reciprocate in the line direction of the guides 8 and 8, a carriage 10 fixed to each carriage connecting shaft 9 and having an elevating mechanism such as a rack and a pinion, and the carriage. 10, a work supporting device 11 provided to be movable up and down, a first driving device 22 for reciprocating the carriage connecting shafts 9, 9 in a line direction, and a second driving device 22 for moving the work supporting device 11 up and down. , And the work grippers 12, 12, ... Provided on the work support device 11.

The first drive device 22 has an AC servomotor (electric motor) 31 for a feed motion, a drive shaft 32 for transmitting the drive force of the AC servomotor 31, and a coaxial shaft to the drive shaft 32. The pinion 33 is provided. The driving force of the AC servomotor 31 is transmitted by the pinion 33 engaging with a rack 34 provided on the carriage connecting shaft 9. The second drive device 23 is an AC servomotor 35 for lifting motion.
The driving force of the AC servo motor 35 is transmitted to the work supporting device 11 by an elevating mechanism built in the carriage 10. The AC servo motors 31, 35, ... Are controlled by the control means shown in FIG.

2 and 3 are block diagrams of the control means 40 of the AC servomotor 31 for feed motion which is applied to the work transfer device 21 of the present invention. In these figures, reference numeral 41 is a press, 42 is an operation panel, 43 is a controller, 44 is a converter, and 45 is an inverter. Further, the controller 43 is composed of a communication card 51, a control card 52, an I / O card 53, and a processor card 54. The control card 52 includes position tables and speed tables of feeders (either the carriage connecting shaft 9 or the work supporting device 11) corresponding to the AC servomotors 31, 34, ...

Next, a method of controlling each AC servo motor 31 will be described with reference to the above block diagram. (1) When the press 41 starts operation, the press 41
The press angle is read by an encoder (resolver) 41a attached to the press 41, and this angle information is given to the control card 52 of the controller 43. (2) In the controller 43, the control card 5
The reference speed corresponding to the press angle is read from the speed table of the feeder (carriage connecting shaft 9) preset to 2, and a speed command is sent to the AC servo motor 31 via the inverter 45. (3) The AC servo motor 31 adjusts the rotation speed based on the speed command from the controller 43. (4) The feeder is operated by the AC servo motor 31.

(5) The current value of the feeder is detected by the encoder (resolver) 31a of the AC servo motor 31,
The position data is sent to the control card 52 of the controller 43 as a feedback signal. (6) In the controller 43, the control card 5
The deviation between the position data and the target value is detected from the position table of the feeder (carriage connecting shaft 9) preset to 2, and the correction amount is used as the speed command to the AC servo motor 31 via the inverter 45. give. (7) The AC servo motor 31 receives the speed command from the controller 43 and adjusts the rotation speed.

Here, the synchronous deviation of the press angle is detected as an error when the deviation between the target value and the current value of the feeder position table, which is preset in the controller 43, exceeds the allowable range. However, the synchronization deviation between the feeders compares the current values of the feeder axes,
When the deviation exceeds the allowable range, it is detected as an error.

Further, the positional deviation of the target value (in this case, the starting and ending points of the stroke of the feeder) is an error if the position at the stroke end of the feeder is out of the set target value and the allowable range. Detect.

By repeating the above procedure for the AC servo motor 31, the feed speed can be controlled. Further, by repeating the same procedure for the AC servo motor 35, it is possible to control the ascending / descending speed. Further, by changing the position table and the speed table of the control card 52 to the optimum ones for each mold, the feed motion and the vertical motion can be freely changed, and the press is always performed with the optimum motion. You can

As described above, according to the work transfer device 21 of the above embodiment, the first drive device 22 for reciprocating the carriage connecting shafts 9, 9 in the line direction.
And second drive devices 23, 23 for raising and lowering the work supporting device 11, and the first drive device 22 is
AC servo motor 31 for feed motion and drive shaft 32 for transmitting driving force of the AC servo motor 31
And a pinion 33 provided coaxially with the drive shaft 32.
And the control means 40 for controlling the operation of each of the driving devices 22 and 23 in accordance with the press operation of the molds 4 to 7, so that the feed motion and the lifting motion can be freely changed. It can be performed, and the press can always be performed with the optimum motion.

Further, since each drive device 22, 23 is composed of the AC servo motors 31, 35, ..., A small space is sufficient, and the space of the cam box can be simplified.

In the work transfer device 21 of the above embodiment, the AC servomotor is used as the electric motor, but the electric motor is not limited to the AC servomotor. For example, the same effect can be obtained by using the DC servomotor. Can be played.

[0020]

As described above, according to the work transfer device of the transfer press of the present invention, a pair of guides arranged on both sides of a plurality of molds arranged in the line direction and extending in the line direction, A carriage that can reciprocate in the line direction of each guide, a first drive device that includes an electric motor that reciprocates the carriage in the line direction, and a work support device that is vertically movable in each carriage. A second drive device composed of an electric motor for raising and lowering the work support device, a work gripping tool provided in each work support device, and an operation of each drive device corresponding to a press operation of the mold. Since it is equipped with a control means for controlling, it is possible to freely change the feed motion and the elevation motion, and always use the optimal motion. Less can be carried out.

Further, since each drive unit is composed of an electric motor, a small space is sufficient and the space of the cam box can be simplified.

[Brief description of drawings]

FIG. 1 is a partial perspective view showing a work transfer device according to an embodiment of the present invention.

FIG. 2 is a block diagram of a control device for an AC servomotor for feed motion, which is applied to the work transfer device of the present invention.

FIG. 3 is a diagram showing a procedure of a control card of a block diagram of a control device of an AC servo motor for a feed motion applied to a work transfer device of the present invention.

FIG. 4 is a front view showing a conventional transfer press device.

[Explanation of symbols]

 21 Work Transfer Device 2, 3 Frames 4-7 Mold 8 Guide 9 Carriage Connecting Shaft 10 Carriage 11 Work Support Device 12 Work Holding Tool 13 Work 22 First Drive Device 23 Second Drive Device 31 AC Servo Motor (Electric Motor) 32 drive shaft 33 pinion 34 rack 35 AC servo motor (electric motor) 40 control means 41 press 42 operation panel 43 controller 44 converter 45 inverter 51 communication card 52 control card 53 I / O card 54 processor card

Claims (1)

[Claims] 1. A pair of guides arranged on both sides of a plurality of molds arranged in the line direction and extending in the line direction, a carriage capable of reciprocating in the line direction of each guide, and the carriage in the line direction. A first driving device including an electric motor for reciprocating the carriage, a work supporting device provided on each of the carriages so that the work supporting device can move up and down, and a second driving device including an electric motor for moving the work supporting device up and down. A transfer press, comprising: a work gripping tool provided on each of the work supporting devices; and control means for controlling the operation of each of the drive devices in correspondence with the pressing operation of the mold. Work transfer device.