JPH0825078B2 - Press equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a press device that sequentially press-forms one material by a plurality of press machines, and particularly relates to a plurality of types of press devices having different capabilities. The present invention relates to a pressing device in which a pressing line is formed by a pressing machine.

[Prior art and its problems]

Generally, when a plurality of press machines are installed in a press line and each press machine sequentially presses materials using different dies, and gradually molds products, the material between each press machine is Delivery is performed by an industrial robot. By the way, when the capacity of a plurality of press machines installed in one press line is the same, the material between the press machines is adjusted by a line pacer in which a plurality of suction heads are attached to a rod passing through each press machine. However, the line pacer should be used when there are presses with different die capacities, die height dimensions smaller than other ones, and upper die rear space smaller than others. However, if the number of strokes per minute is different in each press, it is difficult to use the line pacer.

On the other hand, when loading and unloading materials with a press machine, it is superior in terms of transport efficiency to transport the material loaded from the front side to the front side after pressing, but this front loading / unloading can be performed by an industrial robot. Even if it is tried, a single-axis industrial robot has a very poor transfer efficiency, and it is difficult to manufacture a general-purpose industrial robot which can correspond to each model in a small press machine.

[Object of the Invention]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a press device that overcomes the above-mentioned problems of the conventional ones and can efficiently press-form a material with a press line formed by a plurality of types of press machines.

[Outline of Invention]

The present invention includes a plurality of press machines including those having different capacities, a conveyer which is arranged in front of these press machines so as to be intermittently driven, and conveys materials, and each of them has three axial directions. A pair of movable and movable suction heads whose height can be adjusted to match the height of the corresponding press machine are adjacent to each other so as to project in the direction of the press machine, and are arranged so as to face each press machine via the conveyor. It has a plurality of industrial robots, and both suction heads of each press are moved diagonally for loading and unloading materials into and out of the press. It is characterized by efficiently carrying in and out the material to and from the front.

Example of Invention

 The present invention will be described below with reference to embodiments shown in the drawings.

3 and 4 show the details of the industrial robot 1 used in the pressing apparatus according to the present invention. The front part on the substrate 2 is movable by a plurality of casters 3, 3. A pair of columns 4A, 4B, 5A, 5B are erected on the rear part and spaced apart from each other on the left and right sides. A pair of angle-shaped grits 6 and 7 are bridged between the upper ends of the front columns 4A and 4B, with a space in the front-rear direction. Further, a trough 8 having a rectangular cross section is bridged between the pillars 4A and 4B at an intermediate position in the vertical direction, and an angled trough 8 is bridged to the pillars 5A and 5B at an intermediate position in the vertical direction. Further, braces 10 and 11 are attached so as to connect the front and rear columns 4A and 5A and the columns 4B and 5B, respectively.

A pair of guide blocks 12A, 12B are supported on the raft 7 at right and left intervals, and each guide block 12A, 1B is supported by the guide block 12A, 1B.
Inside the 2B, there are guide recesses 13A, 13B extending vertically.
Is formed, and a stand 14 that can move up and down is provided along the guide recesses 13A and 13B. On the other hand, a reversible motor 15 is installed on the substrate 2, and is driven up and down by driving the motor 15. Rack (not shown)
A rod 16 provided with is hung on the stand 14.
Therefore, the stand 14 is driven by the motor 15.
Can move up and down along the guide blocks 12A and 12B. A limit switch 17 is provided on the side of the motor 15.
Further, a contact member 18 that comes into contact with the limit switch 17 and turns on the limit switch 17 as the rod 16 rises is provided at the lower end of the rod 16 so as to project. The limit switch 17 is for setting the upper limit of the moving range of the rod 16, and when the limit switch 17 is turned on, the motor 15 is stopped. Further, another limit switch 19 is provided on the trap 7 so that a contact member (not shown) provided on the stand 14 is brought into contact with the limit switch 19 as the rod 16 descends. The motor 15 is stopped and the lower limit of the moving range of the rod 16 is set.

An elongated base plate 20 extending in the horizontal direction is attached to the upper portion of the stand 14, and shock absorbers 21A and 21B are projectingly provided at both ends of the base plate 20. A guide rail 22 is mounted on the base plate 20, and a guide rod 23 extending horizontally from one side of the base plate 2 to the other side is supported by the guide rail 22. Further, a pair of brackets 24A and 24B are vertically provided on both sides of the board 2 on the lower surface of the board 20. The brackets 24A and 24B are provided on one side of the board 2 to the other side. An X-axis cylinder 25 extending horizontally in the direction is supported. This X-axis cylinder 25 is a cylinder driven by air pressure, and the piston rod 26 of this X-axis cylinder 25 is
A mounting plate 27 protruding upward is attached to the tip of the. Further, three sensors 28, 28 ... Which detect the position of a piston (not shown) of the X-axis cylinder 25 by magnetic force are attached to both ends and an intermediate part of the peripheral surface of the X-axis cylinder 25.

A support plate 29 is attached to the mounting plate 27 as a row of support members that are movable along the guide rails 22 while being guided by the guide rods 23. On this support plate 29, four guide rods 30A, 30A, 3 arranged in a rectangular shape are arranged at right and left intervals.
0B, 30B, etc. are erected, and the four guide rods 30A support an elevating plate 31A as one row of elevating members so as to be vertically movable, and the four guide rods 30B have an elevating plate 31A. An elevating plate 31B is supported so as to be vertically movable at intervals.
Further, the support plate 2 at the center of the four guide rods 30A
A Z-axis cylinder 32A extending vertically is vertically provided on the shaft 9. The elevating plate 31A is attached to the tip of a piston rod 33A of the Z-axis cylinder 32A. Further, a Z-axis cylinder 32B extending in the vertical direction is vertically provided on a support plate 29 at the center of the four guide rods 30B. The Z-axis cylinder 32B has a piston rod 33B having a tip end portion having the above-mentioned structure. Elevating plate 31B is attached. Both Z-axis cylinder 32
The A and 32B are designed to be driven by air pressure like the X-axis cylinder 25 described above, and the Z-axis cylinders 32A and 32B are provided at both ends and an intermediate portion of the peripheral surface of each Z-axis cylinder 32A and 32B.
Three sensors 34, 34 ... Which detect the position of the B piston (not shown) by magnetic force are attached.

A pair of brackets 35, 35 are provided upright on the lift plates 31A, 31B at intervals in the front machine direction of the board 2, and these brackets 35, 35 are provided with the board 2 respectively.
Y-axis cylinders 36A and 36B extending in the front-rear direction are supported. These Y-axis cylinders 36A and 36B are driven by air pressure, like the X-axis cylinder 25 and Z-axis cylinders 32A and 32B.
A manifold 37 for supplying air from an air pump (not shown) to A, 32B, 36A, 36B is attached to the brace 11. Further, three sensors 38, 38 ... Which detect the position of the piston (not shown) of each Y-axis cylinder 36A, 36B by magnetic force are provided at both ends and an intermediate portion of the peripheral surface of each Y-axis cylinder 36A, 36B. Installed.

As shown in FIG. 5, a suction head 40 for suctioning the material W is usually directly attached to the tip of the piston rod 39 of each Y-axis cylinder 36A, 36B via arms 41, 41. The suction head 40 includes a plurality of suction cups 42, 42, ...
It is connected to the suction valve 43 arranged on A and 31B, and the air in each suction cup 42 is sucked into the suction valve 43 as needed.
To suck the material W on the suction head 40. On the other hand, when the adsorbed material W is rotated by a predetermined angle and supplied to the press machine, the reversing device 44 shown in FIGS. 3 and 4 is attached to the piston rod 39. The reversing device 44 has a stopper 45 attached to the tip of the piston rod 39.
Is the piston rod 3 as shown in detail in FIGS.
A flange 48 orthogonal to the shaft portion 46 is provided around the tip of a shaft portion 46 provided with a screw hole 47 for screwing to the plate 9, and a circular hole 50 is formed at the tip of the flange 48. The pivot 49
Are projected and configured. Pivot of this stopper 45
A proximal end portion of a lever-shaped suction head 51, which is shown in detail in FIG.
Has a pair of contact surfaces 52, 52 that can contact the flange 48 of the stopper 45, and both contact surfaces 52, 52 make an intersection angle of 90 degrees, so that the suction head 51 has 90 degrees. It is designed so that it can rotate only within the range. The rotation angle of the suction head 51 can be variously selected by changing the intersection angle between the contact surfaces 52, 52 and the inclination angle of the flange 48.
The suction head 51 is provided with suction cups 42, 42 ... For sucking the material W.

A rod 53 in a direction orthogonal to the longitudinal direction of the suction head 51 is screwed to the tip of the suction head 51 with a screw, and one end of a link 54 is rotated at the tip of the rod 53. It is freely pivoted. On the other hand, as shown in FIG. 8, each Y-axis cylinder 36A, 36B is fitted with a retaining ring 55, which is formed by detachably coupling a pair of half halves 56A, 56B with screws. Half of this retaining ring 55 56
A is a bearing body located immediately above each Y-axis cylinder 36A, 36B.
57 are supported. The bearing 57 is positioned in various directions with respect to the Y-axis cylinders 36A, 36B by changing the circumferential direction of the holding ring 55 on the Y-axis cylinders 36A, 36B. The inversion direction of can be changed to various directions.

The bearing body 57 supports an intermediate portion of a movable rod 58 extending in a direction parallel to the axes of the Y-axis cylinders 36A and 36B, and the movable rod 58 has a length of the Y-axis cylinders 36A and 36B. It has a length much longer than that of the rod 53, and the tip is normally located directly above the rod 53. Flange-shaped stoppers 59A and 59B are screwed to both ends of the movable rod 58, and a coil spring 60A is wound around the outer periphery of the movable rod 58 between the stopper 59A and the bearing body 57, and the stopper 59B. A coil spring 60B is provided on the outer periphery of the movable rod 58 between the bearing body 57 and the bearing body 57.
Is wound. Both of these coil springs 60A and 60B are
When the tip of the movable rod 58 is located directly above the rod 53, it is in a free state. The other end of the link 54 is rotatably attached to the tip of the movable rod 58.

The control of each of the cylinders 25, 32A, 32B, 36A, 36B is performed according to a preset procedure by a cylinder drive unit such as a sequencer (not shown) and simultaneously drives a plurality of cylinders as needed. There is.

A press device including a press line using the industrial robot described above is configured as shown in FIG.

Fig. 1 shows five press machines 61A, which have different capabilities.
61B, 61C, 61D, 61E shows a case where the material W is sequentially press-molded, and in front of the press machines 61A to 61E, there is a belt conveyor 62 for intermittently traveling the material W from left to right in the figure. A belt 63 is arranged. Further, industrial robots 1, 1 ... Are arranged in front of the respective press machines 61A to 61E via the belt conveyor 62 so as to face the respective press machines 61A to 61E. Both suction heads 51, 51 project in the direction of the press machines 61A to 61E. The height of the suction head 51 of each industrial robot 1 is adjusted by raising and lowering the stand 14 by driving the motor 15 so as to fit the corresponding press machines 61A to 61E.

Next, the operation of the above-described embodiment will be described. This operation will be described by taking as an example the case where two adjacent press machines 61A and 61B perform two-step press working as shown in FIG.

First, the belt 63 of the belt conveyor 62, which is intermittently provided in front of both press machines 61A and 61B, is installed along the adjoining direction of both press machines 61A and 61B, and the belt 63 is provided in front of each press machine 61A and 61B. The industrial robots 1, 1 are installed via the above. Then, the motor 15 of each industrial robot 1 is driven to move the stand 14 up and down, and the height of each suction head 51 indirectly supported by the stand 14 corresponds to the press machine 61.
Fits the height of A, 61B. In this way, the driving timing of each cylinder 25, 32A, 32B, 36A, 36B of each industrial robot 1 is considered in consideration of the press interval of each press 61A, 61B and the transfer speed of the material W by the belt conveyor 62. To the cylinder drive. Signals from the sensors 28, 34, 38 of the cylinders 25, 32A, 32B, 36A, 36B are input to the cylinder drive section for sequence control.

Then, the X-axis cylinder 25, the Z-axis cylinders 32A and 32B, and the Y-axis cylinders 36A and 36B of each industrial robot 1 perform overlapping movements as necessary by the sequence control by the above-mentioned cylinder drive unit to handle the material W. Carry in and out of the press machines 61A and 61B. That is, first, when a proximity switch (not shown) detects the material W on the belt conveyor 62, the X-axis cylinder 25 and one Y-axis cylinder 36A of the industrial robot 1 facing the press machine 61A on the primary processing side are simultaneously driven. Then, the X-axis cylinder 25 is shortened and the piston rod 39 of the Y-axis cylinder 36A is extended, and the suction head 51 attached to the tip of the piston rod 39 is moved substantially obliquely to make the belt conveyor in a short time.
Place it on the belt 63 of 62. Therefore, the X-axis cylinder 25 and the Y-axis cylinder 36A of the industrial robot 1 are stopped, and one Z-axis cylinder 32A is driven to shorten the piston rod 39 of the Z-axis cylinder 32A, and the suction valve 43. The suction head 51 is lowered while sucking the air in each suction cup 42, and the material W on the belt 63 is suctioned by each suction cup 42 of the suction head 51. Then, the piston rod 39 of the Z-axis cylinder 32A of the industrial robot 1 is extended to raise the suction head 51, and when the height of the suction head 51 reaches a predetermined position, the Z-axis cylinder 32A is stopped and the The X-axis cylinder 25 and the Y-axis cylinder 36A are driven in opposite directions to extend the piston rod 26 and shorten the piston rod 39, and the suction head 51 is moved obliquely to return to its original position. After that, the X-axis cylinder 25 and one Y-axis cylinder 36A of the industrial robot 1 are simultaneously driven again to simultaneously extend the piston rods 26 and 39, and the suction head 51 is moved obliquely to press on the primary processing side. The material W is loaded into the machine 61A. When there is an obstacle or the like diagonally ahead of the suction head 51 and there is a risk of collision, the Y-axis cylinder 36A is stopped and only the X-axis cylinder 25 is driven, and the drive of the X-axis cylinder 25 is stopped. After that, the Y-axis cylinder 36A is driven.

By the way, when the piston rod 39 of the Y-axis cylinder 36A is extended, the movable rod 58 connected to the piston rod 39 via the suction head 51, the rod 53 and the link 54 is pulled by the piston rod 39. Although it moves to the right in FIG. 2, the distance between the bearing 57 and the stopper 59A gradually decreases due to the right movement of the movable rod 58, and as a result, the bearing 57 and the stopper 59A.
Coil spring 60 wound around the outer periphery of the movable rod 58 between
A is gradually compressed and stores a spring force. Therefore, the rightward movement of the movable rod 58 against the rightward movement of the piston rod 39, which is performed by the drive of the Y-axis cylinder 36A, is gradually delayed because the rightward movement of the movable rod 58 is performed against the spring force of the coil spring 60A. As shown in FIG. 2B, the suction head 51 is rotated 90 degrees counterclockwise by the spring force of the coil spring 60A. As a result, the material W carried into the press machine 61A on the primary processing side is turned 90 degrees from the state on the belt 63 of the belt conveyor 62. When the suction head 51 reaches a predetermined position in the press machine 61A on the primary processing side, the X-axis cylinder 25 and the Y-axis cylinder 36A are stopped, and the Z-axis cylinder 32A is driven to shorten the piston rod 39. As a result, the suction head 51 is lowered to press the material W onto the press machine 61A.
Then, the suction valve 43 is stopped and the material W is separated from the suction cup 42 of the suction head 51. Thereafter, the Z-axis cylinder 32A is driven in the opposite direction to extend the piston rod 39 to raise the suction head 51, and then the X-axis cylinder 25 and the Y-axis cylinder 36A.
Is reversely driven to shorten the piston rods 26 and 39, and each suction head 51 is diagonally moved to return to its original position.
The suction heads 51 are rotated 90 degrees clockwise by the restoring force of the coil spring 60A that is compressed as the piston rod 39 of the Y-axis cylinder 36A is shortened.

When the suction head 51 of the Y-axis cylinder 36A withdraws from the press machine 61A, the press machine 61A on the primary processing side, to which the material W is supplied, presses the material W. The X-axis cylinder 25 and both Y-axis cylinders 36A of the industrial robot 1 facing the press machine 61A on the processing side are simultaneously driven to shorten the piston rod 26 of the X-axis cylinder 25, and Y-axis cylinders 36A and 36B.
Each of the piston rods 39 is extended, and the suction head 51 attached to the tip of each piston rod 39 is moved substantially obliquely to bring the suction head 51 of the Y-axis cylinder 36A onto the belt 63 of the belt conveyor 62. Along with the Y-axis cylinder
The suction head 51 of 36B is exposed to the press machine 61A on the primary processing side where the suction head 51 of the Y-axis cylinder 36A has loaded the material W. In this state, the X-axis cylinder 25 and both Y-axis cylinders 36A, 36B are stopped and the Z-axis cylinders 32A, 32B are stopped.
By driving each of the piston rods 39 to lower the suction heads 51, and the suction heads 5 of the Y-axis cylinder 36A.
The material W on the belt 63 is adsorbed to the 1 and the material that has been pressed once is adsorbed to the adsorption head 51 of the Y-axis cylinder 36B. After that, both Z-axis cylinders 32A, 32B
In the opposite direction to elongate each piston rod 39 to raise each suction head 51, and then to drive the X-axis cylinder 25 and both Y-axis cylinders 36A and 36B in the opposite direction to drive the piston rod 26 and Shorten each piston rod 39,
Temporarily stop the Y-axis cylinder 36B to stop the Z-axis cylinder 3
Pressing down the suction head 51 by 2B and pressing machine on the primary processing side
The material W that has been pressed by 61A is placed on the belt 63, and then each suction head 51 is diagonally moved again to return to its original position. In this state, the belt conveyor 62 is intermittently driven and the unprocessed material W is provided in front of the press machine 61A on the primary processing side.
And the material W which has been subjected to the primary processing is transported to the front of the press machine 61B on the secondary processing side.

Next, the X-axis cylinder 25 and the Y-axis cylinder 36A of both industrial robots 1 and 1 are simultaneously driven again, and the piston rod 26 of each X-axis cylinder 25 and the piston rod 39 of each Y-axis cylinder 36A are simultaneously extended, When each suction head 51 is moved substantially diagonally to face the belt 63, each X-axis cylinder 25 and Y-axis cylinder 36A is stopped, and each Z-axis cylinder 32A is driven to shorten each piston rod 39. By doing so, each suction head 51 is moved down to suck the unprocessed material W on the belt 63 by the suction head 51 of the industrial robot 1 on the primary processing side, and the industrial robot 1 on the secondary processing side. The suction head 51 sucks the primary-processed material W on the belt 63. Then, each Z-axis cylinder 32A is driven to extend the piston rod 39, raise each suction head 51 to a predetermined height, and then again the piston rod 26 of each X-axis cylinder 25 of each industrial robot 1 and each At the same time, the piston rod 39 of the Y-axis cylinder 36A is extended, and the suction heads 51 that have suctioned the material W are moved diagonally to move the suction heads.
The 51 is exposed inside the corresponding press machine 61A, 61B. And
While stopping each X-axis cylinder 25 and Y-axis cylinder 36A, each Z-axis cylinder 32A is driven to shorten each piston rod 39, each suction head 51 is lowered, and each material W is pressed by a corresponding press machine 61A, Place on the 61B mold. afterwards,
The Z-axis cylinder 32A of each industrial robot 1 is driven in the opposite direction to extend each piston rod 39 to raise each suction head 51, and then the X-axis cylinder 25 and the Y-axis cylinder 36A are driven in the opposite directions. Then, the piston rod 26 and each piston rod 39 are shortened, and each suction head 51 is diagonally moved to the original position.

When the suction heads 51 of the Y-axis cylinders 36A of the industrial robots 1 retract from the press machines 61A, 61B, press processing is performed in the press machines 61A, 61B, and when the press processing is completed, the industrial robots 1 While shortening the piston rod 26 of the X-axis cylinder 25, the suction head 51 of the piston rod 39 of the Y-axis cylinder 36B of each industrial robot 1 is slanted to move the suction head 5 of each Y-axis cylinder 36B.
The suction head 51 of the Y-axis cylinder 36A of the industrial robot 1 faces the press machine 61A, 61B into which the material W is loaded. Then, the suction heads 51 suck the materials W pressed by the pressing machines 61A and 61B, and discharge the materials W onto the belt conveyor 62. Then, by the same process as described above, the primary processed material W is carried into the press machine 61B on the secondary processing side, and the secondary processed material W is supplied to the next process by the belt conveyor 62.

In this way, the material W supplied to the belt conveyor 62 can be pressed a plurality of times to perform predetermined molding, and then the belt conveyor 62 can proceed to the next step. When there is a possibility that the material W to be sent to the next process accumulates on the belt conveyor and the material W overlaps with each other, the photoelectric switch detects the material W and the industrial robot 1 is temporarily stopped.

According to the above-described embodiment, the industrial robot 1 is provided with two horizontal Y-axis cylinders 36A, 36B in parallel, and each Y-axis cylinder 36A, 36B is independent by the Z-axis cylinders 32A, 32B. Therefore, the material W can be efficiently carried in and out of one press 61A or 61B by moving the suction head 51 linearly by the separate Y-axis cylinders 36A and 36B. In addition, each suction head 51 has an X-axis cylinder 2
5. The Z-axis cylinders 32A, 32B and the Y-axis cylinders 36A, 36B can be moved in three axes, and the motor 15 can adjust the overall height to match the height of the press machines 61A, 61B. Therefore, it can be used for various press machines.

In the above-mentioned embodiment, each Y-axis cylinder 36
Attach the reversing device 44 to the piston rod 39 of A, 36B so that when the piston rod 39 is in the extended state, the suction head 51
Although it has been described that the material W is rotated by 90 degrees, if the material W is not required to be inverted and then carried into the press machine, the above-described third method is used.
As described with reference to the drawings, the suction head 40 may be fixedly provided at the tip of each piston rod 39. Also,
The press machines 61A to 61E provided on the press lines shown in FIGS. 1 and 2 do not necessarily have to be of different types.

〔The invention's effect〕

As described above, according to the present invention, it is possible to achieve an excellent effect that efficient pressing can be performed by performing front loading and unloading of a material by a press line formed by a plurality of press machines.

[Brief description of drawings]

FIG. 1 and FIG. 2 are schematic plan views showing an embodiment of the pressing apparatus according to the present invention, and FIG. 3 is FIG. 1 and FIG.
Front view showing an embodiment of an industrial robot used in the figure,
FIG. 4A is a left side view of FIG. 1, FIG. 4B is a side view of an essential part showing a reversed state of the suction head of FIG. 4A, and FIG. 5 is a side view of a non-reversed suction head. 6 Figures A and B are side and front views of the stopper, and Figure 7 is a side view of the suction head.
FIG. 8 is a front view of the retaining ring. 1 ... Industrial robot, 2 ... Substrate, 3 ... Caster,
14 …… Stand, 15 …… Motor, 20 …… Substrate, 22 …… Guide rail, 25 …… X axis cylinder, 26 …… Piston rod, 31A, 31B …… elevating plate, 32A, 32B …… Z axis cylinder , 33
A, 33B …… Piston rod, 36A, 36B …… Y-axis cylinder,
39 …… Piston rod, 40 …… Suction head, 42 …… Sucker, 43 …… Suction valve, 44 …… Reversing device, 45 …… Stopper, 51 …… Suction head, 58 …… Movable rod, 60A, 60B
...... Coil springs, 61A to 61E ...... Press machines, 62 ...... Belt conveyors, 63 ...... Belts.

Claims (1)

[Claims] 1. A plurality of press machines including machines having different capacities, a conveyor arranged forward of these press machines so as to be intermittently driven to convey material, and three-axis directions respectively. A pair of suction heads that are movable and adjustable in height so as to match the height of the corresponding press machine are provided adjacent to each other so as to project in the direction of the press machine and face each press machine via the conveyor. A press device having a plurality of industrial robots arranged.