JPH06114473A - Work supporting device - Google Patents

Abstract

PURPOSE:To improve the working rate by eliminating an initial try for setting yokes when a set up change is required in a work supporting device by which various press formed works are supported by plural yokes in compliance with their shapes. CONSTITUTION:The plural yokes 7 and 8 provided side by side between a front and rear guide plates 4 in a vertically movable state are pushed up to the lifting position. A yoke positioning device 30 is intermittently moved and stopped at the position opposing each of the yokes 7 and 8. After a positioning pin 9 is pushed down to each work supporting device for each yoke by a finger 31 of a vertically moving shaft 32 and held at the position, all the yokes 7 and 8 are fixed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work supporting device which supports a lower surface in conformity with the shape of a work formed by a press, and at least allows various kinds of press-formed works having different sizes and shapes to be placed. The present invention relates to a work supporting device that uses two sets of work supporting devices juxtaposed at predetermined intervals.

[0002]

2. Description of the Related Art Conventionally, in order to automate press working, a plurality of presses are usually installed vertically at intervals of about 5 to 8 m, and a die for the press is installed by a robot, a loader, or an unloader (hereinafter referred to as a robot). The work is supplied to the top and the work that has been pressed is taken out, and the press is formed in multiple processing steps.

In order for a robot or the like to automatically supply and take out a work, it is necessary to accurately support the work according to the size and shape of the work. Therefore, conventionally, a dedicated work support jig is used for each work. Or, a work support device is used in which a plurality of dedicated work support rods having different heights for each work are mounted on a support base such as a surface plate having a large number of hard holes, the work support rods being fitted into the hard holes that match the work. There is.

The work of exchanging the work supporting rods every time the work is changed is a manual work, which is troublesome. Since the support rods of different lengths are replaced, the support rods with slightly different dimensions may be attached, the holes may be mistakenly attached, and the shape of the workpiece may provide stable and accurate support. It can be difficult. Therefore, a dedicated work support jig is usually used, but it takes time and effort to replace a heavy work support jig, and the press stops for a long time. It was a factor that hindered efficiency.

[0005]

In order to solve such a problem, the applicant firstly arranged a plurality of yokes between the front and rear guide plates side by side so that the yokes could move up and down, and the yokes were raised. After urging the work, the work formed by pressing was placed on the tip of the upward yoke, and a work supporting device that supports the lower surface according to the shape of the work was devised (Practical application No. 2-3.
0465).

According to the present invention, the work is placed on the urged yoke to support the work, so that the work can be accurately supported according to the lower surface of the work and can be universally used for all kinds of work, and the work support device can be used for each setup change. It is not necessary to replace each yoke, but each time the setup is changed, each yoke must be positioned and fixed by the work first formed by pressing (hereinafter referred to as the first trial work). Therefore, the pressing process must be stopped for the time required to position and set each yoke by the first trial work. As is well known, the production time per piece by the press is extremely short, and the time required to set the work supporting device by the first trial is a factor of reducing the operating rate of the press.

[0007]

In view of such an actual situation, the work supporting device of the present invention eliminates the work of positioning and setting each yoke by the work of the first trial which is performed every time the setup is changed. (1) A plurality of yokes that are vertically arranged side by side between the front and rear guide plates, and in which positioning pins are implanted, (2) A yoke that biases all the yokes upward. Push-up device, (3) Yoke positioning device that stores the vertical position of the positioning pin of each yoke supporting the work and sets each yoke to that position, (4) Yoke that holds each positioned yoke Temporary holding device,
(5) A moving device of the yoke positioning device that intermittently moves the yoke positioning device to a position facing each yoke, and (6) A yoke fixing device that fixes all the positioned yokes. It is what

[0008]

[Function] A yoke positioning device that pushes up all the yokes to a raised position and stands by at a position facing one end of the yoke pushes the one end of the yoke to a set position that matches the shape of the workpiece and temporarily holds it. To do. The yoke positioning device is intermittently moved to a position facing the next yoke to set the next yoke. This operation is repeated from one end to the other end, and after setting all the yokes arranged in parallel, the temporarily held yokes are fixed. Then, the tip of the yoke has a height that matches the shape of the work, and the work taken out by the robot or the like is accurately supported in a predetermined posture.

[0009]

1 and 2, left and right frames 2 and 3
A pair of guide plates 4 are fixed above and a beam 5 having a concave cross section is fixed below.
The base plate 6 is fixed to the lower surfaces of the leg portions 2A and 3A of the left and right frames 2 and 3 to form a rectangular main body 1 elongated in the left and right direction.

Between the pair of guide plates 4, a plurality of front yokes 7 and a plurality of back yokes 8 which are formed in a triangular shape with a tip angle of 90 degrees and in which a positioning pin 9 is planted on the lower front surface are arranged back to back. The yokes 7 and 8 are arranged in rows and supported so as to be vertically movable. As shown in FIG. 3, a receiving plate 10 having a width half that of the yokes 7 and 8 is attached to the inner surface of the right frame 3 in the rear row, and the front yoke 7 and the back yoke 8 are halved in the width direction. They are arranged in a staggered manner.

A lid plate 11 is bolted to the upper surface of the beam 5 to form an airtight air chamber 12 inside the beam 5.
A plurality of float pistons 14 are vertically movably inserted into piston insertion holes 13 formed in the cover plate 11. The lower end surface of the float piston 14 is finished into a spherical surface, and when compressed air is supplied to the air chamber 12 from an air source (not shown), the lower end surface of the float piston 14 receives pressure and floats up, and all the yokes 7 and 8 are moved upward. When pushed up, the positioning pins 9 of the yokes 7 and 8 come into contact with the lower surface of the guide plate 4, and all the yokes 7 and 8 are stopped at the raised position.

A cylinder chamber 15 is formed in the guide plate 4 at a position facing the respective yokes 7 and 8, and a pipe connection port 17 of an air supply member 16 mounted on the outside of the guide plate 4 is provided in the cylinder chamber 15. Is in communication with. When compressed air is supplied to the cylinder chamber 15 from an air source (not shown), the yokes 7, 8 pushed up by the float piston 14 are moved between the lowered position where the yokes 7, 8 are in contact with the lid plate 11 and the raised position. It is designed to be temporarily held at any position. An elastic pad 18 made of rubber or the like may be enclosed in the cylinder chamber 15, and the friction force of the elastic pad 18 may be added to the thrust of the cylinder chamber 15 to hold the yokes 7 and 8.

A yoke fixing device 20 for fixing the front yoke 7 and the rear yoke 8 with an air cylinder 21 is attached to the side surface of the left frame 2 (FIG. 3). Pistons 22 arranged vertically so as to face the rows of the front yoke 7 and the rows of the rear yoke 8 are slidably fitted to the main body of the air cylinder 21, and the springs 25 are used to move the pistons 22 away from the yokes 7 and 8. Being energized. Piston rod 23A on the front yoke 7 side
Is 1/2 the width of the yoke longer than the piston rod 23 on the rear yoke 8 side. When compressed air is supplied to the air cylinder 21, the back yoke 8 between the piston rod 23 and the receiving block 10, the front yoke 7 between the piston rod 23A and the right frame 3 are pressed and fixed to each other. When the compressed air in the air cylinder 21 is discharged, the spring 25 causes the piston rods 23, 23
Since A is returned, each yoke 7, 8 can move up and down.

Guide rails 2 are provided outside the front and back of the beam 5.
7 is fixed, and the body 28 of the yoke positioning device 30 is slidably fitted on the guide rail 27. A vertical movement shaft 32 having a finger 31 attached to the upper end is vertically movably mounted in a vertical hole penetrating in the vertical direction of the main body 28, and a rack 33 engraved on the vertical movement shaft 32 is attached to the main body 28 for a vertical pulse. It meshes with a pinion wedged to the output shaft of the motor 34,
The finger 31 of the vertical movement shaft 33 is vertically moved by the forward and reverse rotations of the pulse motor 34.

A moving pulse motor 37 of the yoke positioning device 30 is attached to one leg 3A of the right frame 3 (FIG. 4), and a drive pulley 39 is wedged to the output shaft of the pulse motor 37. Shaft 40 fixed to the other leg 3A of the right frame
A driven pulley 41 is rotatably fitted in the shaft. The driven pulleys 42, 42 are keyed to both ends of a driven shaft 43 rotatably supported by the legs 2A, 2A of the left frame 3. One end of the upper side of the steel belt 44 suspended by the drive pulley 39 and the driven pulley 42 is connected to the lower left end of the main body 28 of the yoke positioning device, and the other end is connected to the lower right end of the main body 28 to form the driven pulleys 41 and 42. The suspended steel belt 44 is also attached to the body 28 of the yoke positioning device.

Moving device 35 of yoke positioning device 30
With such a configuration, the two front and back yoke positioning devices 30 facing the yokes 7 and 8 move in the horizontal direction at the same time by the forward and reverse rotations of the pulse motor 37. As shown in FIG. 1, the yoke positioning device 30 operates when the positioning pin 9 of the rightmost front yoke 7 is in the raised position.
The lower end surface of the finger 31 of the vertical movement shaft 32 stands by at a position facing the positioning pin 9 with a slight gap.

A pair of work supporting devices 50 having such a structure are installed at predetermined intervals in the take-out direction (transfer direction) of the works W so that all of the various works formed by the press can be supported (see FIG. 7). ), Or a pair is installed (FIGS. 8 and 9) in a direction intersecting with the work W take-out direction.

For example, as shown in FIG. 9, a chain conveyor 52 provided between a plurality of presses 51 arranged vertically in parallel.
Alternatively, a pair of work supporting devices 50 are installed on a carriage that reciprocates in a rodless cylinder or the like, and a work W formed by a press 51 is taken out onto the work supporting device 50 by a robot (not shown) and reciprocated. The work W sent by the conveyor 52 or the like is attached to the die of the next press by a robot or the like. A plurality of presses 51 can be attached to and detached from the plurality of presses 51 by a robot or the like, and reciprocally moved by a chain conveyor 52 or the like.
The work W is automatically formed by.

The operation of the work supporting device 50 will be described with reference to FIGS.

First, compressed air is supplied to the air chamber 12 to push all the front and rear yokes 7 and 8 up to a raised position where the yoke positioning pins 9 abut the lower surface of the guide plate 4 (FIG. 5). The work W formed by the press 51 and taken out by a robot or the like is placed on the yokes 7 and 8, and the yokes 7 and 8 are pushed down to the supporting position of the work W by the robot or the like against the thrust of the float piston 14. After that, compressed air is supplied to the air cylinder 21 to fix all the yokes (FIG. 6).

The vertical pulse motor 34 of the yoke positioning device 30 in the standby position is operated to move the finger 31 of the vertical shaft 32.
Is lowered to detect the position of the positioning pin 9 of the right end yokes 7 and 8 and store it in a computer (not shown), and then the vertical movement shaft 32 is returned to the raised position. After the moving pulse motor 37 is operated to intermittently move the yoke positioning device 30 and stop at a position facing the next yoke 7, 8 (second yoke from the right), the next yoke 7, The vertical position of the positioning pin 9 of 8 is stored. After repeating this process to detect and store the work supporting positions of the positioning pins 9 of all the yokes 7 and 8, the yoke positioning device 30 returns to the standby position.

Since the positions of the positioning pins 9 of the yokes 7 and 8 with respect to various works are stored in the computer in this way, the work positioning device 50 can be operated by simply inputting a desired work W at the time of setup change. The yokes 7 and 8 are automatically positioned by operating as described below.

When compressed air is supplied to the air chamber 12 and all the yokes 7, 8 are pushed up to the raised position, compressed air is supplied to all the cylinder chambers 15 of the guide plate 4 and all the yokes 7, 8 are moved. Hold in position. Since the holding force of the compressed air in the cylinder chamber 15 is larger than the pushing-up thrust force of the float piston 14, the compressed air in the air chamber 12 may be discharged after the compressed air is supplied to the cylinder chamber 15 or may be kept supplied.

The vertical pulse motor 34 and the moving pulse motor 37 of the yoke positioning device 30 are alternately operated in the above-described procedure, and the positioning pins 9 of the front and rear yokes 7 and 8 are pushed by the finger 31 of the vertical moving shaft. Positioning pin 9 stored by lowering
The yokes 7 and 8 are set one by one from the right end at the position. The set yokes 7 and 8 are held in that position by the compressed air in the cylinder chamber 15. After setting all the yokes 7 and 8, compressed air is supplied to the air cylinder 21 to fix all the yokes 7 and 8.

When the yokes 7 and 8 are set and fixed in this manner, the tips of the yokes 7 and 8 have a shape conforming to the lower surface of the work W. In the above embodiment, the yokes 7 and 8 on the front and back sides are half-shifted in the width direction to form two rows, but one row of yokes may be used, or the motor for intermittent movement of the yoke positioning device 30 may be a positioning device. It may be incorporated in 30 to make a self-propelled robot. The present invention is not limited to the above-mentioned embodiment, and the design can be appropriately changed within the intended range.

[0026]

As described above, according to the present invention, by simply inputting the next work into the computer at the time of setup change, the positioning of the plurality of yokes that support the shape of the work is automatically performed in a short time. As described above, the work support device setup is completed while the press die is being replaced. Therefore, it is not necessary to set the yoke by performing the first trial each time the setup is changed, and the operation of the press machine is not stopped for the setup change of the yoke support device, and the operating rate can be greatly improved. .

Since this work supporting device can accurately support the work in a state where various works are taken out by the robot or the like, there is no need to use a dedicated work supporting jig, and the work is changed by a model change or the like. Even if the shape changes, it can be used for mass production on the same day.

[Brief description of drawings]

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

FIG. 2 is a cross-sectional view showing a lowered state of a yoke lifting device.

FIG. 3 is a plan view showing a yoke fixing device portion in a cross section and omitting a yoke positioning device.

FIG. 4 is a plan view of a moving device portion of the yoke positioning device.

FIG. 5 is an explanatory diagram showing a state where a yoke is in a raised position.

FIG. 6 is an explanatory diagram showing a state where a work is supported by a yoke.

FIG. 7 is an explanatory diagram showing a usage state of a pair of work supporting devices.

FIG. 8 is an explanatory view showing another embodiment of a usage state of a pair of work supporting devices.

FIG. 9 is an explanatory diagram showing an example of a use state in which a work supporting device is arranged on the presses arranged in parallel.

[Explanation of symbols]

 4 Guide plate 7 Front yoke 8 Back yoke 9 Positioning pin 12 Yoke pushing air chamber 15 Yoke holding cylinder chamber 21 Yoke fixing air cylinder 30 Yoke positioning device 34 Vertical pulse motor 37 Moving pulse motor 50 Work support device

Claims (1)

[Claims] 1. A work supporting device that takes out a work formed by a press with a robot or the like and supports the lower surface of the work taken out by the robot or the like according to the shape of the work. (1) Between front and rear guide plates They are installed side by side so that they can move up and down.
A plurality of yokes with positioning pins implanted (2) A yoke lifting device that biases all the yokes upward (3) The upper and lower positions of the positioning pins of each yoke supporting the workpiece are stored, and each yoke is stored. (4) Yoke temporary holding device that holds each positioned yoke (5) Move the yoke positioning device to move the yoke positioning device intermittently to the position facing each yoke Device (6) A work supporting device comprising a yoke fixing device for fixing all the positioned yokes.