JPH06226370A - Window opening press system - Google Patents

Abstract

PURPOSE:To position with rotating a ring like metal part with an electric index and to open a window in a high velocity. CONSTITUTION:The device is provided with a robot 2 moving a ring like part 1 to a prescribed position, a press body 7 pressing windows more than one on a machining surface of the ring like metal part, an index 3 receiving the ring like metal part 1 and positioning on the press body 7, and a controller controlling the index 3 and the robot 2. Further, the index 3 is provided with a turning mechanism 31 turning the ring like metal part 1 to the press body 7, a regulating mechanism 34 regulating the machining surface of the ring like metal part 1 in a horizontal position, and a rotating mechanism 30 rotating the ring like metal part 1 by one rotation corresponding to the press stroke number. Therefore, the window opening process is made in a high velocity and the precision of the window opening is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press for opening a ring-shaped metal object such as a retainer of a bearing, and more particularly to a window opening press system suitable for highly accurate positioning and high-speed pressing. .

[0002]

2. Description of the Related Art In a conventional window opening press system, a robot that holds a ring-shaped metal piece such as a retainer of a bearing and moves to a predetermined position, and at least one window is pressed on a processing surface of the ring-shaped metal piece. It has a press body, a positioning mechanism (index) that receives the ring-shaped hardware from the robot and positions it on the press body, and a controller that controls the positioning mechanism and the robot. The position of the ring-shaped metal piece was adjusted, the angle of the ring-shaped metal piece was adjusted, and the ring-shaped metal piece was set in the press body. In the mechanical index device, as shown in FIG. 26, when the guide rod 91 that moves up and down according to the press stroke is lifted after finishing the opening of one window of the ring-shaped metal object, the tapping rod 92 is moved.
One end of the tapping bar abuts, the tapping bar 92 rotates about the shaft 97 as shown, and the claw 93 provided on the other end of the tapping bar 92 is also rotated at the same time to mesh with one end of the claw 93. The gear 94 is rotated by one tooth tip in the arrow direction.
When the guide rod 91 is lowered by opening the window, the tapping rod 92 is restored by the spring force of the spring 95 and the claw 93 is restored.
Is also restored by the spring force of the spring 96. The number of teeth of the gear 94 is set to be the same as the number of windows of the ring-shaped metal object.
This is a structure for performing a predetermined window opening process by rotating the metal ring once with the number of press strokes through a mechanism (not shown) in synchronization with the rotation of 7. Therefore, the precision of window opening depends on the precision of meshing between the gear 94 and the claw 93, the durability of the springs 95 and 96, and the precision of assembling each mechanism. Also, the number of strokes of the mechanical type indexing device is 18
It is limited to about 0 SPM (stroke per minutes), and the positioning of the ring-shaped metal object and the press stroke speed are limited by the number of revolutions thereof.

[0003]

In the conventional window opening press system, there is a problem that the window opening press process cannot be speeded up because the mechanism for moving or positioning the ring-shaped metal object is a mechanical indexing device. In addition, there is a problem that the window processing accuracy is limited.

An object of the present invention is to provide a window opening press system capable of rotationally positioning a ring-shaped metal piece by an electric index and performing window opening processing at high speed.

[0005]

In order to achieve the above object, a window opening press device according to the present invention comprises a robot for moving a ring-shaped metal piece to a predetermined position, and at least one window on a processing surface of the ring-shaped metal piece. A press body for pressing
In a window opening press system including a positioning mechanism for receiving a ring-shaped metal piece from a robot and positioning it on the press body, and a controller for controlling the positioning mechanism and the robot, the robot holds the ring-shaped metal piece and moves it at least horizontally at a predetermined position. A work chuck is provided, the positioning mechanism is provided with a rotating mechanism that rotates the ring-shaped metal according to the press stroke of the press body, and the controller is provided with a control mechanism that rotates the rotating mechanism once according to the number of press strokes of the press body. It will be configured.

A robot that moves at least one ring-shaped metal piece to a predetermined position, a press body that presses at least one window on a processing surface of each ring-shaped metal piece, and a press that receives each ring-shaped metal piece from the robot. In a window opening press system provided with a positioning mechanism for positioning on the main body and a controller for controlling the positioning mechanism and the robot, the robot is provided with a transfer mechanism for transferring each ring-shaped metal object, and at least two transferred A two-pronged loader arm that grips the ring-shaped metal piece and at least horizontally rotates to a predetermined position is provided, and the positioning mechanism includes a rotation mechanism that rotates each ring-shaped metal piece received from the robot according to the press stroke of the press body, Attach the rotation mechanism to the controller by pressing the Control mechanism for one rotation in accordance with the scan number of strokes may be configured provided with the.

The positioning mechanism includes a turning mechanism for turning at least one ring-shaped metal piece received from the robot on the press body, an adjusting mechanism for adjusting the machined surface of each ring-shaped metal piece to a horizontal position, and It may be configured to include a rotating mechanism that rotates the ring-shaped hardware according to the press stroke of the press body, and respective motors that drive the rotating mechanism and the adjusting mechanism.

Further, the controller counts the number of press strokes of the press body, rotates the rotating mechanism once in synchronization with the crank shaft of the press body at a preset number of press strokes, and at the same time, a control mechanism for detecting an abnormality of the rotating mechanism. May be connected between a rotating mechanism and the press body.

[0009]

According to the present invention, the robot grips the ring-shaped metal object with the work chuck provided at the tip of the shaft, moves it to the press main body side, and rotates the work chuck around the X-axis so that the ring-shaped metal object is indexed. Face the chuck rotation holder (rotation mechanism). The index (positioning mechanism) holds a ring-shaped metal object by a chuck claw provided at the tip of a chuck rotation holder, and rotates it from 0 ° to 90 ° by a rotary actuator (turning mechanism). When the machined surface of the ring-shaped metal object is a conical surface, the conical surface is adjusted to be horizontal by the work / die adjusting mechanism (adjusting mechanism) of the monocarrier unit. Pressing by the press body is started, the number of press strokes is counted, and an output signal is transmitted from the control mechanism at the set number of press strokes. The output signal is input to the index angle indexing motor, and the angle indexing motor causes the ring-shaped metal object gripped at its tip through the chuck rotation holder to rotate once at the set number of press strokes. The crankshaft is rotated in synchronism with the angle indexing motor, and when there is an abnormality, the crankshaft is stopped and the opening of the ring-shaped metal object is completed. The ring-shaped metal piece that has been subjected to window opening is returned to the origin position, is circulated to a predetermined position on the upper side, is gripped by the work chuck of the robot, and is discharged to a predetermined place.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIG. As shown in FIG. 1, a robot 2 that holds a ring-shaped metal piece 1 and can be driven in the X-axis and Z-axis directions, a press body 7 that presses one or more windows on the processing surface of the ring-shaped metal piece 1, Received ring-shaped hardware 1 from robot 2
An index (positioning mechanism) 3 that rotates 0 ° to position on the press main body 7, an index mount main body 5 that vertically mounts the index 3 while sliding it horizontally, and a main body mount that supports the index mount main body 5 6 and a plurality of controllers for controlling the robot 2, the index 3 and the like. The index 3 has a rotating mechanism 31 for rotating the ring-shaped metal 1 received from the robot 2 to the press body 7, and the ring-shaped metal 1. Adjusting mechanism 34 for adjusting the machining surface to a horizontal position, rotating mechanism 30 for rotating ring-shaped metal piece 1 according to the press stroke of press body 7, and angle indexing motor (not shown) for driving rotating mechanism 30. Servo motor 3 for driving mechanism 34
2, a controller (not shown) counts the number of press strokes between the angle indexing motor that drives the rotating mechanism and the press body 7, and rotates the rotating mechanism once at a preset number of press strokes (not shown). The control mechanism is provided. The index pedestal 5 has a pair of linear guides 36 fixed to the upper surface thereof, supports a slide motor 38 and a ball screw 37 on the upper portion, and is supported on the main body pedestal 6 by two pairs of gantry slide units 52. The structure is such that two pairs of gantry slide units 52 move up and down via a timing belt 51 provided between a pair of gantry slide units 52. A scrap discharge conveyor 80 for the ring-shaped hardware 1 is provided below the press body 7.

The robot 2 comprises a Z-axis robot module 201, a Y-axis robot module 202 and an angle indexing motor 20 shown in FIG. 2, which is controlled by a robot module controller 200 and horizontally moves a work chuck 21 in the X-axis direction. At the same time, the ring-shaped metal 1 held in the work chuck 21 by being moved up and down in the Z-axis direction is opposed to the index 3, and the two work chucks 21 provided in the up-and-down direction are rotated about the X-axis by the shaft 22.
Rotate the ring-shaped metal piece 1 held by either one of the work chucks 21 by rotating the index piece 3 by rotating it. An air system device such as a solenoid valve and a regulator is housed in the robot mount 26, and the terminal box 25 is adjacent to it.

The index 3 is controlled by the index positioning controller 300 shown in FIG. 2, and as shown in FIGS. 3 and 4, the chuck rotating holder (rotating mechanism) for receiving and holding the ring-shaped metal 1 from the work chuck of the robot. 30 and a work chuck air cylinder 4 for inserting the ring-shaped metal 1 into the tip of the chuck rotation holder 30.
0, a rotary actuator (turning mechanism) 31 for turning the chuck rotation holder 30 90 ° in the B direction, a fixed lock cylinder 33 for fixing the chuck rotation holder 30 at an angle (horizontal position) of 90 °, and a ring shape. A ball screw type angle adjusting unit (adjusting mechanism) 34 for adjusting the angle of the chuck rotation holder 30 so that the conical surface is horizontal when the machined surface of the metal 1 has a conical angle, and a ball screw type angle adjusting unit 34. The angle setting servomotor 32 for driving and the angle indexing motor 41 for rotating the chuck rotation holder 30 once by the number of press strokes of the press body.
And a slide servo motor 38 for moving the slide plate 35 on which each mechanism is mounted to a set position in the C direction via the ball screw 37 while being guided by a pair of linear guides 36.

A ball screw type angle adjusting unit 34
Is the motor bracket 34, as shown in FIGS.
ball screw 34a driven by an angle setting servomotor 32 fixed to e, guides 34b provided on both sides of the ball screw 34a, and a work-die clearance adjustment mechanism 34c supported by the guide 34b via a pedestal.
When the ball screw 34a rotates, the work-die clearance adjustment mechanism 34c moves along the guide 34b. For example, when the ball screw 34a moves upward, the chuck rotation holder 30 rotates downward about the rotation axis E. ,
It has a structure in which the machined surface of the ring-shaped metal product 1 is adjusted in the horizontal direction with respect to the lower part of the mold, and the degree of freedom of rotation is the rotation axes F and G.
Given by. The work-die adjustment mechanism uses a spring and a stopper to prevent the ring-shaped metal object from contacting the die under the die of the press body and hindering the rotation of the ring-shaped metal object. It is a mechanism that gives a minute gap to.

Next, the structure for holding the ring-shaped metal object by the chuck rotation holder of the index will be described with reference to FIGS. The chuck claw 39 is used for the chuck rotation holder 3
The chuck back plate 42 is incorporated in the axial direction of 0 and is engaged with the tip of the chuck back plate 42. The chuck claw 39 is hollow and has a thin portion 39a, and is connected to the claw portion 39b formed into two halves via the thin portion 39a. Usually, the respective taper 39c of the claw portion 39b is inserted into the taper 42a of the chuck back plate 42 so that the respective claw portions 39b are in contact with each other at the axial center, and the projection 39d at the tip thereof is projected from the chuck back plate 42. There is. As shown in FIG. 8, when the ring-shaped metal piece 1 is held, the ring-shaped metal piece 1 is attached to the projection 39 of the claw portion 39b.
The taper 42a of the chuck back plate 42 and the taper 39c of the claw portion 39b are disengaged from each other by inserting the work piece into d and retracting the chuck claw 39 through the chuck cam shaft 43 by the work chuck air cylinder 40. Claw 3
Each of 9b is expanded from the center of the shaft by the spring force of the thin portion 39a, and the projection 39d of the claw 39b engages with and holds the ring-shaped metal 1. Therefore, it is necessary to make a hole in one end surface of the ring-shaped hardware 1 so that the projection 39d can be inserted therethrough.

On the other hand, the cam mechanism 4 is attached to the cam housing 35.
When the angle indexing motor 41 is rotated once in accordance with the opening pitch for processing the ring-shaped metal 1 held by the chuck claw 39, that is, the number of press strokes,
The rotation of the chuck cam shaft 43 is locked by the rotation lock air cylinder 46.

Next, the operation of the index will be described with reference to FIG. (A) The posture of the ring-shaped metal piece 1 at the time of supply is such that the ring-shaped metal piece 1 is rotated by 90 ° via the rotary actuator 31, and in this state, the ring-shaped metal piece 1 is supplied to the press body. (B) When the supply of the ring-shaped hardware 1 is completed, the angle setting servomotor 32 causes the ring-shaped metal 1 to be parallel to the machined surface of the ring-shaped metal 1 via a ball screw type angle adjusting unit so as to be parallel to the surface. Operates to the set position. (C) Next, the slide servomotor 38 operates in the C direction to the set position via the ball screw 37. (D) During the press working, the angle indexing motor 41 makes one rotation with the set number of press strokes to rotate the ring-shaped metal piece 1. (E) When the press working is completed, the slide servo motor 38 operates to the set origin position via the ball screw 37. (F) The angle setting servomotor 32 operates up to the origin position set via the ball screw type angle adjustment unit. (G) The fixed lock cylinder 33 is released, and the fixed lock cylinder 33 is turned to a predetermined position of 0 ° through the rotary actuator 31 to eject the ring-shaped metal 1 to the robot.

Next, the flow of signals between the index angle indexing motor and the press body will be described with reference to FIGS. In the press main body 7, the flywheel 72 is rotated by the press drive motor 71, and the press crankshaft 73 causes the toothed pulley 75 and the toothed pulley 76 with the resolver 80 to move through the timing belt 74 at a ratio of 1: 1. Be transmitted by. A control mechanism consisting of a resolver sequencer 77 and an angle indexing motor driver 78 is housed in the press electrical equipment box 400 shown in FIG. 2, and a preset press stroke number is programmed into the angle indexing motor driver 78. , Press crankshaft 73
During the rotation angle of 240 to 280 °, the resolver sequencer 77 is turned on and the angle indexing motor start signal is output. This signal is input to the angle indexing motor driver 78 and processed by the program of each channel to rotate the angle indexing motor 41 once with a preset number of press strokes. That is, the number of press strokes is set by a two-digit count number by the counter 79, and the angle indexing motor 41 is rotated once by the set number of press strokes so that the ring-shaped metal object gripped by the chuck rotation holder is rotated once. It has become.

Another embodiment of the present invention will be described with reference to FIGS. 11 and 12. This embodiment is different from the embodiment shown in FIG. 1 in that a transport mechanism is added and the structures of a robot and an index (positioning mechanism) are different. Figure 1
As shown in FIG. 1 and FIG. 12, a transfer mechanism 120 for continuously transferring a plurality of ring-shaped metal objects (workpieces) 1 is attached, and at least two ring-shaped metal objects 1 that have been conveyed are grasped and horizontally moved to a predetermined position. A robot 8 having bifurcated loader arms 81a, 81b formed to rotate or move up and down at about 90 °, and a press body 7 capable of pressing one or more windows on the processing surface of each ring-shaped metal piece 1, A twin index 10 that receives each ring-shaped metal 1 from the robot 8 and swivels it by approximately 90 ° to position it on the press body 7, an index cradle body 5 that mounts the twin index 10 and slides horizontally and moves up and down, and an index. A main body stand 6 that supports the stand body 5, a transport mechanism 120,
It is configured by a plurality of controllers (not shown) that control the robot 8, the twin index 10, and the like. The press body 7, the index mount body 5, and the body mount 6 have basically the same structure as the embodiment shown in FIG.

As shown in FIGS. 12 to 16, the transport mechanism is as follows.
Parts feeder 1 for storing and supplying a plurality of works 1
From 21, the work 1 is conveyed to the vertical elevator conveyor 123 via the supply chute 122 and aligned, and is raised by the vertical elevator conveyor 123, and is rolled and supplied from its exit to the work chute 124 by its own weight. When the work 1 reaches a certain amount in the work chute 124, it is detected by the photoelectric switch 125, and the parts feeder 121 and the vertical elevator conveyor 123 are stopped. The work set mechanism 130 is connected to one end of the work chute 124 in the conveyance direction of the work 1, and when the work 1 that has moved on the inclined surface of the work chute 124 comes into contact with the stopper 131 of the work set mechanism 130 and stops, it stops. The third work piece 1C is pressed by the work work piece 132 in front of the work piece 1, and the slide plate 134 is pushed by the air cylinder 133.
Is pulled in the direction of arrow H, and at the same time, the two workpieces 1a, 1b
Moves down together with the work guide plate 135 and sits in the recess 136a of the partition guide plate 136.

As shown in FIGS. 16 to 18, a work adapter 137 at the tip of a rotary actuator 138 provided on the work setting mechanism 130 so as to be rotatable and horizontally movable is advanced by an air cylinder 142 in the direction of arrow G at the same time. , The slide plate 1 by the motor 140
41 is rotated for a certain time, and the large pin 139a is first inserted into the slide hole 1A of the work 1. Then, the small pin 139b is inserted into the slide hole 1B by a compression spring (not shown). When the small pin 139b is inserted into the slide hole 1B, the positioning is completed, the rotary actuator 138 pivots upward by 90 °, the work 1 reaches the J position shown in the drawing, and waits for the next conveyance.

As shown in FIGS. 11 and 12, the robot 8 comprises bifurcated loader arms 81a and 81b and a moving mechanism 82 for vertically moving and horizontally rotating the loader arms 81a and 81b. Driven by. Two chuck claws 83 are provided on the lower surface of the loader arm 81.
Is provided, and the work 1 held above by the rotary actuator 138 is gripped and horizontally swung by 90 ° or moved up and down, and the work 1 is passed to the twin index 10. When the opening of the work 1 is completed by the press body 7, the work 1 is gripped by one of the loader arms 81b and discharged to a predetermined place, and the other loader arm 81a grips the new work 1.

The twin index 10 is shown in FIGS.
, The chuck back plate 11 on which the work 1 is seated
With the air cylinder 1
When 01 is pulled, the index chuck claw 14 is moved by the force of the compression spring 13 to grip the work 1. Then, compressed air is sent through the air joint 12 to check whether or not the work 1 is properly seated on the chuck back plate 11 using the back pressure of the compressed air. Then, the positioning motor 102 passes the timing belt 17 and the timing pulley 16
a and 16b are rotating in synchronization.

FIG. 22 shows the entire structure of the twin index 10. The members denoted by reference numerals 31 to 38 have substantially the same mechanism as the members shown in FIG.
This is shown in the block diagram of FIG.

According to this embodiment, since the robot, the index and the like are driven by the servo motor, the speed of processing of the ring-shaped metal piece is almost tripled and the number of press strokes of the press body is counted and set. Since it is configured to rotate the ring-shaped metal product once with the specified number of press strokes, it is possible to easily produce a wide variety of products in small lots by changing the computer program, and the conditions for each type of ring-shaped metal product. It is possible to shorten the setting time of the and improve the precision of the window opening process.
Further, two or more ring-shaped hardware, for example, an outer cage and an inner cage of a sprag cage of an automobile one-way clutch can be simultaneously processed. By using the window opening press system according to the present invention for window opening press working of tapered roller bearing retainers, cylindrical roller bearing retainers, sprag retainers for automobile one-way clutches, and other ring-shaped metal parts, the same as above. The effects can be obtained, and complete automation can be achieved by integrating a high-speed press, a high-accuracy positioning index, and a ring-shaped metal supply / discharge robot.

[0025]

According to the present invention, the positioning mechanism is driven by the motor, and the ring-shaped metal piece is rotated once by the preset number of press strokes by the control mechanism. This has the effect of improving the precision of the dawn process.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention.

FIG. 2 is a system diagram showing the control system of FIG.

3 is a perspective view showing the index of FIG. 1. FIG.

4 is a side view of the index of FIG. 1. FIG.

5 is an enlarged perspective view of a part of FIG. 4. FIG.

FIG. 6 is a plan sectional view of an index.

FIG. 7 is a diagram illustrating the operation of the chuck jaws of the index.

FIG. 8 is a diagram for explaining the operation of the chuck jaws of the index.

FIG. 9 is a diagram showing a signal flow between a press body and an index.

FIG. 10 is a diagram illustrating the operation of the control mechanism.

FIG. 11 is a configuration diagram showing another embodiment of the present invention.

FIG. 12 is a plan view showing a transport mechanism and a robot.

FIG. 13 is a perspective view showing a work setting mechanism.

FIG. 14 is a perspective view showing a work setting mechanism.

FIG. 15 is a plan view showing a main part of a work setting mechanism.

FIG. 16 is a front view of the work set mechanism.

FIG. 17 is a side view of the work set mechanism.

FIG. 18 is a plan view of the work set mechanism.

FIG. 19 is a plan view of a twin index.

FIG. 20 is a side sectional view of a twin index.

FIG. 21 is a front view of a twin index.

FIG. 22 is a perspective view of a twin index.

FIG. 23 is a block diagram illustrating an operation of the embodiment shown in FIG.

FIG. 24 is a block diagram illustrating the operation of the embodiment shown in FIG.

25 is a block diagram illustrating an operation of the embodiment shown in FIG.

FIG. 26 is a view showing a conventional mechanical index device.

[Explanation of symbols]

 1 Ring-shaped hardware 2 Robot 3 Index (positioning mechanism) 5 Index mount body 6 Main body mount 7 Press body 8 Robot 10 Twin index (positioning mechanism) 30 Chuck rotation holder (rotation mechanism) 31 Rotary actuator (rotation mechanism) 32 Angle setting Servo motor 34 Mono-carrier unit (adjustment mechanism) 41 Angle indexing motor 77 Resolver sequencer (control mechanism) 78 Angle indexing motor driver (control mechanism) 81 Loader arm 120 Transfer mechanism 130 Work set mechanism

Claims (4)

[Claims] 1. A robot that moves a ring-shaped metal piece to a predetermined position, a press body that presses at least one window on a processing surface of the ring-shaped metal piece, and a ring body that receives the ring-shaped metal piece from the robot. In a window opening press system equipped with a positioning mechanism for positioning and a controller for controlling the positioning mechanism and the robot, the robot is provided with a work chuck that holds the ring-shaped metal object and moves at least horizontally to the predetermined position, The positioning mechanism includes a rotation mechanism that rotates the ring-shaped metal piece in accordance with the press stroke of the press body, and the controller has a control mechanism that rotates the rotation mechanism once according to the number of press strokes of the press body. A window opening press system characterized by being equipped. 2. A robot that moves at least one ring-shaped metal piece to a predetermined position, a press body that presses at least one window on a processing surface of each ring-shaped metal piece, and each ring-shaped metal piece by the robot. In a window opening press system including a positioning mechanism that receives and positions the press main body, and a controller that controls the positioning mechanism and the robot, the robot is provided with a transfer mechanism that transfers each ring-shaped metal object, A two-pronged loader arm that grips at least two transferred ring-shaped metal pieces and horizontally turns at a predetermined position is provided in the predetermined position, and each ring-shaped metal piece received from the robot is provided in the positioning mechanism by a press stroke of the press body. It is equipped with a rotation mechanism that rotates according to The window opening press system, wherein the la is equipped with a control mechanism for rotating the rotating mechanism once according to the number of press strokes of the press body. 3. The window opening press system according to claim 1 or 2, wherein the positioning mechanism is a turning mechanism for turning at least one ring-shaped metal object received from the robot on the press body, and each ring-shaped metal object. An adjusting mechanism that adjusts the processing surface to a horizontal position, a rotating mechanism that rotates each ring-shaped metal piece according to the press stroke of the press body, and a motor that drives the rotating mechanism and the adjusting mechanism are provided. A window opening press system characterized by this. 4. The window opening press system according to claim 1, 2 or 3, wherein the controller counts the number of press strokes of the press body and synchronizes with the crankshaft of the press body at a preset number of press strokes. A window opening press system characterized in that a rotating mechanism is rotated once and a control mechanism for detecting an abnormality of the rotating mechanism is connected between the rotating mechanism and the press body.