JPH08117893A - Die fixing device of press machine - Google Patents

Abstract

PURPOSE: To automatically attach and detach a die clamper against a die fixing part of a press machine without using an expensive self-travelling die clamper. CONSTITUTION: On an arm 32 of a transferring robot 30 to transfer a work 100 formed with a die 10 fixed on a press machine 2 to the next process, a handling means 50 to attach and detach the die clamper 16 against a die fixing part 5 with the movement of the transferring robot 30 at the time of exchanging the die is attached.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a die fixing device for automatically fixing a die to a press machine by using a robot for conveying a work.

[0002]

2. Description of the Related Art In a press line in which a plurality of press machines are arranged in series, a transfer robot for transferring a work to the next process is arranged between the press machines. A die for forming a work is attached to the press machine. In the press line, various types of works are formed, and the mold attached to each press machine is replaced every time the type of work changes. The die is fixed to the press machine via a die clamper using hydraulic pressure. The die clamper is movable with respect to the press machine. The die clamper is attached to and removed from the press machine by, for example, an operator.

Since the work of attaching and detaching the die clamp by the worker has problems such as poor workability and a long time for exchanging the die, an apparatus for automatically attaching and detaching the die clamp to the press machine is proposed. Has been done. As an example of the prior art related to this, for example, Japanese Utility Model Laid-Open No. 57-65726, Japanese Patent Laid-Open No. 2-112832.
A gazette is known. In this device, the die clamper is provided so as to be movable back and forth with respect to the press machine. The die clamper automatically enters the holding groove formed in the die fixing portion of the press machine when fixing the die, and fixes the die at a predetermined position using hydraulic pressure or the like to the die fixing portion.

[0004]

However, in the apparatus of the above publication, the die clamper is automatically inserted into the groove of the die fixing portion of the press machine, so that the structure becomes complicated and the equipment becomes large-scale. Since a plurality of press machines are arranged in series in the press line, if each of the press machines is provided with the device disclosed in the above publication, there is a problem that the equipment cost is significantly increased. In the press line, a transfer robot that transfers the work to the next process is placed between each press machine, and the transfer robot is stopped at the time of mold replacement, so the transfer robot is effective for mold replacement work. It is desirable to use.

An object of the present invention is to provide a die fixing device capable of automatically attaching and detaching the die clamper to the die fixing portion of the press machine without using an expensive self-propelled die clamper.

[0006]

MEANS FOR SOLVING THE PROBLEMS A mold fixing device for a press machine according to the present invention for achieving this object is as follows. A die clamper that is movably provided with respect to the press machine and that fixes the mold to the mold fixing portion of the press machine, and a transfer robot that transfers the work formed by the mold that is fixed to the press machine to the next step. A die fixing device for a press machine, comprising: a handling means that is mounted on an arm and removes and attaches the die clamper to the die fixing portion by the movement of the transfer robot when the die is replaced.

[0007]

In the die fixing device of the press machine according to the present invention, the work formed by the die fixed to the press machine is conveyed to the next step by the conveying robot. When the production of a specific type of work is finished, the mold is replaced. When exchanging the mold, the handling means mounted on the arm of the transfer robot performs a predetermined operation by the movement of the transfer robot, and the die clamper is detached and attached to the mold fixing portion. When the replacement of the mold is completed, the handling means is detached from the arm of the transfer robot, for example, and the work can be transferred by the transfer robot.

[0008]

1 to 6 show a mold fixing device for a press machine according to a first embodiment of the present invention. In FIG. 1, 2 has shown the some press machine arrange | positioned at a press line. Each press machine 2 has a bed 3 arranged on the floor side and a ram (slide) capable of moving up and down with respect to the bed 3.
It is equipped with 4. A mold 10 can be inserted laterally between the bed 3 and the ram 4 of the press machine 2.
The mold 10 is composed of a lower mold 11 and an upper mold 12.
The mold 10 is mounted on a self-propelled carriage 13. Mold 10
When the work (thin sheet steel) 100 is formed by
1 is placed on the self-propelled carriage 13 and positioned on the bed 3 side, and the upper die 12 is attached to the ram 4 via the die clamper 16.
It is fixed to the mold fixing portion 5 located at the lower end of the.

3 and 4 show the die clamper 16. The die clamper 16 uses hydraulic pressure to move the upper die 1
2 is fixed to the mold fixing portion 5, and has a hydraulic cylinder 18 and a square bar-shaped handle portion 20. The rod 18a of the hydraulic cylinder 18 can move in and out of the cylinder body by hydraulic pressure. The tip of the rod 18a has a T-shape that can enter into the T-groove 5a formed in the mold fixing part 5.
It is formed in a letter shape. The hydraulic cylinder 18 has a solenoid valve 2
2 is connected to a hydraulic pressure generation source (hydraulic pump) 23 via a hydraulic hose 21. The handle portion 20 is attached to the outer peripheral surface of the cylinder body 18a.

Between the one press machine 2 and the other press machine 2'arranged on the press line, the work 100 formed by the mold 10 attached to the one press machine 2 is the next step. A transfer robot 30 for transferring to the machine 2'is arranged. The transfer robot 30 is composed of, for example, an articulated robot, and has a pedestal 3
1 is fixed to the ceiling wall side. The computer of the control panel 38 of the transfer robot 30 stores in advance an operation program for transferring the work 100 and an operation program for exchanging the mold 10. Transfer robot 30
The arm 32 is provided with a transport jaw 40 for transporting the work 100 and a handling means 50 for exchanging the mold 10, which are selectively detachable.

The transport jaw 40 has a plurality of vacuum pads 42 for attracting the work 100. The transfer jaw 40 is provided with an automatic tool changer (ATC) 46 for connecting to the arm 32 of the transfer robot 30. The auto tool changer 46 has a function of automatically connecting not only mechanical connection with the transfer robot 30 but also piping and wiring. A passage 47 is provided in the connecting portion 33 to which the auto tool changer 46 of the transfer robot 30 is connected. The passage 47 on the transfer robot 30 side is connected to a vacuum pump 49 via an electromagnetic valve 48.

The connecting portion 3 of the arm 32 of the transfer robot 30
3 includes an auto tool changer 4 as shown in FIG.
A pair of claws 33 a that can be engaged with 6 is provided. The claw 33a as the engaging means can be opened and closed by compressed air. The claw 33a is connected to a compressed air supply source (compressor) 37 via a passage 36 in which an electromagnetic valve 35 is provided. The transfer jaw 40 can be attached to and detached from the arm 32 of the transfer robot 30 by opening and closing the claw 33a by switching the electromagnetic valve 35. Solenoid valve 35
Is switched based on an electric signal from the control panel 38 of the transfer robot 30. When the transfer jaw 40 is used, the vacuum pad 42 is connected via the auto tool changer 46 to the above vacuum pump 49 provided on the transfer robot 30 side. The solenoid-operated valve 22 for the hydraulic pump and the solenoid-operated valve 48 for the vacuum pump are switched based on an electric signal from the control panel 38. Instead of the vacuum pump, a venturi (not shown) that generates negative pressure by supplying compressed air may be used.

FIG. 2 shows the handling means 50. The handling means 50 has a holder 52, a guide rod 54, a spring 56, an air cylinder 58, a hand portion 60, and an auto tool changer 62. A guide rod 54 is slidably held in the holder 52 in the axial direction. The guide rod 54 is not rotatable about the axis due to the bearing portion 53 of the holder 52. In the holder 52, a spring (compression coil spring) 56 that presses one end of the guide rod 54 in the axial direction.
Is provided. An air cylinder 58 is attached to the other end of the guide rod 54. The main body of the hand unit 60 is attached to the cylinder body of the air cylinder 58. A pair of fingers 60 a are swingably attached to the main body of the hand unit 60. One of the fingers 60a is swingably connected to the rod 58a of the air cylinder 58. The hand portion 60 is provided with a finger 60a when the rod 58a of the air cylinder 58 extends.
Opens as indicated by the chain double-dashed line. When the rod 58a contracts, the hand portion 60 is closed as the finger 60a is shown by a solid line, and the handle portion 20 of the die clamper 16 can be gripped.

An auto tool changer 62 for connecting the handling means 50 to the arm 32 of the transfer robot 30 is attached to the base 52a of the holder 52. The auto tool changer 62 is the transfer robot 30.
It has the function of automatically connecting not only mechanical connection with but also piping and wiring. The air cylinder 56 is connected to the auto tool changer 62 via two air hoses 63. When the handling means 50 is used, the air cylinder 58 is connected to the compressed air supply source 37 via the automatic tool changer 62 and the electromagnetic valve 65 provided in the passage 66 on the transfer robot 30 side.

Next, the operation of the mold fixing device will be described. During operation of the press line, as shown in FIG. 6, the mold 1 attached to one press machine 2
The work 100 formed by 0 is the transfer robot 3
The die 1 of the other press machine 2'which is the next step by 0
It is automatically transported to 0 '. In this state, the transfer robot 3
A carrier jaw 40 is attached to the arm 32 of No. 0. Since the transfer jaw 40 has the vacuum pad 42 connected to the vacuum pump 49 via the electromagnetic valve 48, the workpiece 100 formed by one press machine 2 is sucked by the vacuum pad 42 and the other work piece 100 is sucked by the vacuum pad 42. Is conveyed to the press machine 2 '. The work 100 is the die 1 of the other press machine 2 '.
When set to 0 ', the switching operation of the solenoid valve 48 causes
The work 100 is released from the vacuum pad 42. When the conveyance of the work 100 is completed, the conveyance jaws 40 are returned to the one press machine 2 side which is the previous step by the movement of the conveyance robot 30.

When the production of a specific type of work 100 on the press line is completed, the die 10 is replaced. When replacing the mold 10, the ram 4 of the press machine 2
Is lowered, and the upper die 12 is placed on the lower die 11. Lower mold 11
When the upper die 12 is completely mounted on the upper die 12, the hydraulic oil in the hydraulic cylinder 18 of the die clamper 16 is returned to the hydraulic pump 23 side by the switching operation of the solenoid valve 22, and the fixation of the upper die 12 by the die clamper 16 is released.

Next, the transfer jaws 40 and the handling means 50 are exchanged by the transfer robot 30. First, from the arm 32 of the transfer robot 30 to the transfer jaw 40.
Is removed. In this case, the claw 33a provided on the connecting portion 33 of the arm 32 of the transfer robot 30 moves due to the switching operation of the electromagnetic valve 35 by the electric signal from the control panel 38.
Auto tool changer 4 for pawl 33a and transfer jaw 40
The engagement with 6 is released, and the transport jaw 40 is disengaged from the arm 32. When the detaching operation is completed, the transfer robot 30 moves to the position where the handling means 50 is placed, and the arm 32 of the transfer robot 30 and the handling means 50 are connected. Here, the solenoid valve 3 is inserted with the connecting portion 33 of the arm 32 inserted into the auto tool changer 62.
When the switching operation of 5 is performed, the claw 33a is engaged with the auto tool changer 62, and the handling means 50 is automatically attached to the arm 32.

The transfer robot 30 and the handling means 50
When the connection with is completed, the handling means 50 is moved by the transfer robot 30 to the vicinity of the die 10 of the one press machine 2. In this state, since the upper die 12 is released from being fixed by the die clamper 16, the die clamper 16 is removed by the movement of the transfer robot 30. That is, when the die clamper 16 is removed, the handle portion 20 of the die clamper 16 is gripped by the hand portion 60 of the handling means 50, and the die clamper 16 is temporarily placed at a predetermined position of the press machine 2. Die clamper 1
When the removal of 6 is completed, the ram 4 of the press machine 2 rises and stops at the rising end.

When the ram 4 is raised to the rising end, the upper die 12 is placed on the lower die 11, so that the lower die 11 and the upper die 12 are placed.
Are integrated. In this state, the self-propelled carriage 13 on which the mold 10 is placed escapes laterally from the press machine 2. The mold 10 on the self-propelled carriage 13 that bulges in the lateral direction is transported to a storage location by an overhead crane (not shown). Next,
A mold 10 for molding a work 100 of another type is conveyed by an overhead crane and placed on a self-propelled carriage 13.
After that, the self-propelled carriage 13 enters between the bed 3 and the ram 4 of the press machine 2. Self-propelled carriage 1 on which the mold 10 is placed
3 is positioned at a predetermined position by a positioning means such as a key provided on the bed 3 side. When the self-propelled carriage 13 is positioned, the lifting means on the bed 3 side that receives the wheels (not shown) of the self-propelled carriage 13 descends, and the self-propelled carriage 1
Only the main body of 3 is received by the bed 3.

When the positioning of the self-propelled carriage 13 is completed, the ram 4 of the press machine 2 descends and stops at a predetermined position.
Next, the die clamper 16 temporarily placed on the press machine 2 side is gripped by the handling means 50 mounted on the transfer robot 30, and the die clamper 16 is first moved to a predetermined position by the movement of the transfer robot 30. That is, as shown in FIG. 5, the die clamper 16 includes the rod 1
8b is inserted into the T groove 5a of the mold fixing portion 5 of the ram 4 and is pushed until it abuts the holding groove 12a of the upper die 12. Whether or not the die clamper 16 is positioned at a predetermined position is confirmed by a sensor (not shown). Here, since the handling means 50 is provided with the spring 56, even if the amount of pushing of the die clamper 16 by the transfer robot 30 becomes excessive, the stroke is absorbed by the elastic deformation of the spring 56. Therefore, if the transfer robot 30 teaches only the die 10 having the smallest length in the width direction W, the teaching for each type of the die 10 relating to the pushing amount becomes unnecessary, and control and maintenance are facilitated.

Each die clamper 16 has a holding groove 1 for the upper die 12.
2a, the transfer robot 3 is first positioned.
The handling means 50 is detached from the zero arm 32. In this case, the switching operation of the solenoid valve 35 moves the claw 33a of the connecting portion 33 of the arm 32 of the transfer robot 30,
The arm 32 is disengaged from the automatic tool changer 62 of the handling means 50, and the handling means 50 is disengaged from the arm 32. When the detaching operation is completed, the transfer robot 30 moves to the position where the transfer jaw 40 is placed, and the arm 32 of the transfer robot 30 and the transfer jaw 40.
Is linked to. Here, the connecting portion 3 of the arm 32
By switching the solenoid valve 35 in a state where the tool 3 is inserted in the auto tool changer 46, the claw 33a engages with the auto tool changer 46, and the transport jaw 40 causes the arm 3 to move.
It is automatically attached to 2.

When the exchange of the handling means 50 and the conveying jaws 40 is completed, the hydraulic pump 23 supplies the pressure oil to the die clamper 16 by the switching operation of the solenoid valve 22, and the upper die 12 of the press machine 2 passes through the die clamper 16. It is fixed to the mold fixing part 5 of the ram 4. When the fixing of the upper die 12 to the ram 4 is completed, the ram 4 rises and the replacement work of the die 10 is completed. In this state, another workpiece 100 can be molded by the replaced mold 10. The replacement of the mold 10 'attached to the other press machine 2'is also possible.
The same operation is performed by the transfer robot 30 described above.

FIG. 7 shows a second embodiment of the present invention. The second embodiment is different from the first embodiment in the mounting structure of the transfer jaw 40 and the handling means 50 to the transfer robot 30, and the other parts are the same as those in the first embodiment. By assigning the same reference numerals to those of FIG.

In the first embodiment, the carrying jaw 40 and the handling means 50 are attached to the arm 32 of the carrying robot 30 by exchanging them. However, the carrying jaw 40 and the handling means 50 are attached to one auto tool changer 46.
Both may be provided. In the second embodiment, the transfer jaw 40 is used when the work 100 is transferred, and the mold 1 is used.
When replacing 00, the wrist of the transfer robot 30 is rotated to move the transfer jaw 40 to a position where it does not interfere with the replacement of the mold 10, and the handling means 5 is used.
Move 0 to the desired position. In this case, the solenoid valves 22, 35, 48, 6 are moved according to the transfer operation and the die change operation.
The switching operations of 5 are appropriately performed. As mentioned above,
In the second embodiment, the conveying jaw 40 and the handling means 5
The control is also simplified because the replacement operation of 0 is unnecessary.

[0025]

According to the present invention, the die of the die clamper is moved by the movement of the transfer robot to the arm of the transfer robot for transferring the work formed by the mold fixed to the press machine to the next process. Since the handling means for detaching and mounting the fixed part is attached, the transfer robot used for transferring the work can be effectively used for the die replacement work. Therefore, without using an expensive self-propelled die clamper like the conventional device,
The die clamper can be easily attached to and detached from the die fixing portion of the press machine easily, and the die fixing device can be simplified and the cost can be reduced.

[Brief description of drawings]

FIG. 1 is a front view showing a die replacing operation by a die fixing device of a press machine according to a first embodiment of the present invention.

2 is a front view of the handling means of FIG. 1. FIG.

FIG. 3 is a front view of the die clamper of FIG.

FIG. 4 is a side view of FIG. 3;

5 is a perspective plan view showing the positional relationship between the mold fixing portion and the mold of FIG. 1. FIG.

FIG. 6 is a front view showing a work transfer state by the transfer robot of FIG.

FIG. 7 is a front view showing a work transfer state by a mold fixing device of a press machine according to a second embodiment of the present invention.

[Explanation of symbols]

 2 Press machine 5 Mold fixing part 10 Mold 16 Die clamper 30 Transfer robot 32 Arm 40 Transfer jaw 46 Auto tool changer 50 Handling means 62 Auto tool changer 100 Work

Claims (1)

[Claims] 1. A die clamper that is movably provided with respect to a press machine and that fixes a die to a die fixing part of the press machine, and a work formed by the die that is fixed to the press machine in the next step. A metal of a press machine, which is mounted on an arm of a transfer robot for transferring, and which has a handling means for detaching and attaching the die clamper to a die fixing portion by the movement of the die when the die is exchanged. Mold fixing device.