JPS58188523A - Working material feeding device of press - Google Patents

Abstract

PURPOSE:To make the whole material feeding device compact and increase efficiency and save labor of press work in a device that feeds a working material to a press by housing a working section, a driving section and a controlling section in the same housing. CONSTITUTION:A rotary actuator 6 is attached to a housing 2 provided with an oil tank 1 through a vertically moving cylinder 8. An arm 18 is attached to the upper end of the cylinder 8 through above-mentioned actuator 6. A gripper is attached at the tip and an expandable and contractible cylinder is installed inside. A pressure oil generating device that generates pressure oil supplied to the actuator 6 and above-mentioned two cylinders and a pressure oil controlling valve 40 are arranged at the opposing position in the housing with the vertically moving cylinder 8 placed in between. The pressure oil generating device and controller for the valve 40 are housed in a control box 49. Thus, the material feeding device is made compact, independency is improved, and efficiency of maintenance and inspection is increased.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a workpiece feeder for feeding and discharging a next or secondary workpiece into a press.

BACKGROUND OF THE INVENTION Various feeding devices have been used to supply workpieces to presses or to send workpieces from adjacent presses to one another.

For example, when supplying length lumber, grits (feet,
Feeding devices called air feed, hitch feed, slide feed, etc. are used.

Transfer feed, button feed, magazine feed, dial feed, shuttle feed, iron/end, etc. are used to feed blanks or manufactured products that are secondary processing materials, and in recent years, industrial robots have been used to In some cases, they may be asked to send the goods.

However, all of these conventional machines are controlled by a central control system along with the press, so if you try to add a feeding device to a press that is not system-controlled, you will have to significantly modify the entire device. It was difficult to construct a single feeding device.

In view of these circumstances, the present invention provides a feeding device that can be easily applied to any press, thereby increasing the efficiency and labor saving of press work while minimizing capital investment. The purpose of the present invention is to provide a compact press workpiece feeding device that can

That is, 1 the present invention is such that a rotary actuator is attached to a housing provided with an oil tank at the bottom via an elevating cylinder, an arm is attached to the upper end of the elevating cylinder so as to be horizontally rotatable via the rotary actuator, and a A gripper is attached and a telescoping cylinder is installed inside the arm, and a generator for pressure oil supplied to the actuator and both cylinders, and a valve for controlling the pressure oil are arranged at opposing positions in the housing sandwiching the lifting cylinder. By housing the controller that controls the pressure oil generator, valves, etc. in a control box that surrounds the pressure oil generator, the feeder can be made both compact and independent. At the same time, it also improves the ease of maintenance and inspection of the device.

The present invention will be described in detail below based on an illustrated embodiment.

FIG. 1 is a side view of a feeding device equipped with the present invention.

FIG. 2 is a plan view, FIG. 3 is a front view, and FIG. 4 is a rear view. FIG. 5 is a sectional view of the housing. A guide 3 is attached to a bolt 4 on the top wall of the housing 2, which has an oil tank 1 at the bottom.
A rotary actuator 6 is fixed to the upper end of a slider 5 which is fitted into the guide 3 so as to be movable up and down.

From the upper end of this rotary actuator 6.

An output shaft 7 is provided to protrude along the vertical direction, and the upper end of a piston rod 9 of an elevating cylinder 8 fixed to the bottom wall of the housing 2 is connected to the housing of the rotary actuator 6 via a floating joint 10. Therefore, when the elevating cylinder 8 is expanded or contracted, the rotary actuator 6 is moved up and down by the guiding action of the guide 3 and the slider 5. Note that the lifting cylinder 8 is located at the center of the slider 5.

A rotation prevention guide 11 is fixed to the outside of the slider 5, and this guide 11 is fitted into the guide sleeve I2 of the guide 3 so as to be able to move up and down, thereby locking the slider 5 in a rotation prevention manner. Reference numeral 13 designates a rack formed on the guide 11 which serves as a detent, 14 a pinion that engages with the rack 13, 15 a rotary encoder driven by the pinion 14, and 16 a limit switch for setting the origin of elevation.

A rotary base 17 is fixed to an output shaft 7 protruding from the upper end of the rotary actuator 6.

An arm 18 is completely fixed to the upper surface of this rotary base 17.

As shown in FIGS. 6 to 9, this arm 18 consists of a main arm 19 whose front end lower surface is fixed to the rotary base 17 with bolts, etc., and a sub arm whose base part is inserted into the main arm 19 so as to be freely retractable. A gripper 22 is attached to the front end of the sub arm 20 via a joint mechanism 21. and.

The front end of the piston rod of the telescopic cylinder Z3 fixed to the rear end of the main arm 19 is connected to the flange B fixed to the tip of the sub arm joint via the pin 26, so that the telescopic cylinder 23 can be extended and contracted. At the same time, the sub-arm holder moves in and out, and the arm 18 is configured to extend and contract. The main and sub arms 19 and 20 are formed in a hollow shape, and the guide rack 2 is slidably fitted into the guide hole of the main arm 19.
7 is fixed to a sub-arm 20, and a rotary encoder 29 is connected to this rack 27 via a pinion path. Further, inside the sub arm 20, a plurality of hollow pipes 3 are provided.
0.30... is fixed, and this pipe I.

While reinforcing the sub arm 20 on the side, this pipe is used as piping for control signal lines, power lines, working fluid pipes, etc. for the gripper and joint mechanism. 31 and 32 are pressure oil supply passages to the telescopic cylinder 23, and 33 is the main arm 1.
Reference numeral 9 denotes a housing, 3.1 is a step motor constituting a drive source for the joint mechanism 21; 35 is a hinge pin of the joint mechanism 21; 36 is a solenoid that is a drive source for the gripper 22;

In addition to the vacuum suction type shown in FIGS. 8 and 9, a mechanical clamping mechanism or a suction type using an electromagnet or the like is used, and if necessary, a joint mechanism 2 and a gripper 22 are also used. A swinging mechanism, a twisting mechanism, etc. may be added between the two.

On the other hand, behind the guide 3 in the housing 2, a pressure oil generating device 39 consisting of a motor 37, a hydraulic pump, etc. is disposed, and from this pressure oil device 39, grippers 8, 23 and a rotary actuator 6 are connected. A valve 40 for controlling the pressure oil supplied to the guide 3 is housed in front of the guide 3 as shown in FIG. 41 is an oil filter, 42
4 is a coupling that connects the motor 37 and the pump connection;
3゜44 is the housing 2 after inspecting the inside of the rotation stopper/guide 11.
47 is a valve inspection cover, 48 is a rotary encoder that detects the rotational phase of the rotary actuator 6, It is connected to an internal gear formed on the periphery of the rotary base 170 via a pinion (not shown).

A control box 49 is installed so as to cover the top and rear surfaces of the pressure oil generator 39, and inside the control box 49.

Pressure oil generator 39. It houses a controller (not shown) that controls the valve 40, the gripper 22, and the like. still,
At the rear of the control box 49.

A control panel is installed.

In the above configuration, when the motor 37 is operated in response to a command from the controller, the pressure oil pump is driven and desired pressure oil is generated. Pressure oil.

The flow rate is controlled by a valve 40 controlled by a controller, and the fluid is supplied to each cylinder and rotary actuator. That is, when pressure oil is supplied to the lifting/lowering cylinder 8,
As the cylinder 8 expands and contracts and the piston rod 9 moves up and down, the rotary actuator 6 that supports the arm 18 moves up and down.

This position, that is, the absolute height of the arm 18, is detected by the limit switch 16 for detecting the origin and the rotary encoder 5, and is fed back to the controller.

Moreover, when pressure oil is supplied to the rotary actuator 6,
Since the rotary base 17 horizontally rotates about the output shaft 7, the arm 18 rotates horizontally in the left and right directions. When pressurized oil is supplied to the telescopic cylinder N, the cylinder B expands and contracts and applies a sub-arm force to the main arm 19, causing the gripper 22 attached to the front end of the front arm 20 to move forward and backward. Moving. Therefore, the gripper n that holds the workpiece 51 is connected to the lifting cylinder 8. The lift 5 moves back and forth and turns in synchronization with the operation of the telescopic cylinder n and the rotary actuator 6, but the position and posture are further finely corrected and controlled in response to the movements of the joint mechanism 21 and the like. For this purpose, if the controller is programmed in advance according to the purpose of the feeding device, the gripper 22 will perform a predetermined movement at a predetermined time, so that the workpiece can be accurately fed.

Here, in the present invention, the pressure oil generator, the valve, and the first guide are arranged at opposing positions, and the controller is housed in a control box provided to cover the pressure oil generator. Since an oil tank is provided at the bottom of the nozzle housing the generator, valves, etc., it is possible to ensure compactness and independence of the entire device. Furthermore, since the pressure oil generating device, which is likely to be a source of noise, is covered with the control box, leakage of noise from the motor, pump, etc. can be reduced. Furthermore, since the pressure oil generator, valves, and controller are arranged in separate blocks, abnormalities can be easily found and repaired in the event of a failure.

As explained above, according to the present invention, the actuating section, driving section, and control section of the material feeding device are housed in the same housing in the block pole 1.

Not only can the entire apparatus be made compact, but also synchronized operation with the press can improve the efficiency and save labor of the press operation.

[Brief explanation of drawings]

FIG. 1 is a side view of the entire device according to an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, FIG. 3 is a front view of FIG. 1, and FIG. 4 is a rear view of FIG. 1. Figure 5 is a cross-sectional view of Uzing, Figure 6
The figure is a sectional view of the central part of the arm, and FIG. 7 is a sectional view of the base of the arm. 8 is a plan view of the tip of the arm, FIG. 9 is a sectional view of FIG. 8, and FIG. 10 is a sectional view taken along line AA of FIG. 5. FIG. 11 is a sectional view taken along the line BB in FIG. 6. 1...Oil tank 18...Arm 2...
Housing 22...Gripper 3...Guide
C...Telescopic cylinder 5...Slider
39...Pressure oil generator 6...Rotary actuator 40...Valve 7...Output shaft 49...
Control box 8... Lifting cylinder 50
...Control Panel Patent Applicant: AIDA Engineering Co., Ltd. Representative Patent Attorney: Nakayama
Kiyoshi (1 other person)

Claims (1)

[Claims] (1) A rotary actuator with an oil tank provided at the bottom, an output shaft along the vertical force direction, a guide with the rotary actuator attached to the housing so that it can be raised and lowered, and the output shaft of the rotary actuator described in riiJ. An 11-digit horizontal arm, a gripper attached to the front end of the arm, an elevating cylinder that moves the actuator up and down, an extender/cylinder that moves the arm to extend and contract, and pressure to be supplied to the actuator and both cylinders. A pressure oil generating device that generates oil, a valve that controls pressure oil supplied from the device to the actuator and both cylinders, and a controller that controls the valve, the pressure oil generating device, and the gripper. Processing of a press in which the pressure oil generator and the valve are arranged opposite to each other with a guide in between, and a controller is housed in a control box arranged to cover the pressure oil generator. Material feeding device.