JPS59224232A - Work carrier - Google Patents

Abstract

PURPOSE:To reduce the size by fixing an attachment for holding the work onto a travel base to be supported by a parallel link mechanism and achieving the carry stroke through a reciprocal rotation of a rotary lever coupled to the intermediate section of said link mechanism. CONSTITUTION:Carrier 8 provided between two pressure 1, 2 will carry out a work (A) on the press 1 to the upstream end of a carrier 4 while the other carrier 9 will carry in the work (A) from the downstream end of the carrier 4 to the press 2. Here in said carriers 8, 9, slidable plate is engaged with a slidable base 13 provided liftably against a frame 12 and a travel base 30 is provided at one end of links 28, 29 having the other end pivoted to said plate. Then a rotary lever 32 coupled to the intermediate section of the link 28 is reciprocated to lift/ lower the travel base 30 thus to carry in/out the work (A) held by the attachment 10.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a workpiece drawer device for carrying a workpiece into and out of a processing machine such as a press machine.

Prior Art A conventional drawer device for this type of workpiece is shown in U.S. Pat. No. 4,279,561.
In this conventional example, since the carriage was configured to move across the transport stroke 1117 with respect to the frame, there was a problem in that a large space was taken up in the transport stroke direction.

OBJECTS OF THE INVENTION The present invention has been made in consideration of the above-mentioned problems, and can be mounted in a small space in the direction of the conveyance stroke regardless of the conveyance stroke, and can carry in and out panel-shaped workpieces extremely smoothly. It is an object of the present invention to provide a workpiece conveyance device in which the height during conveyance can be arbitrarily adjusted according to the conveyance level of the workpiece.

A slide plate is vertically movably engaged with a slide base provided to be vertically movable with respect to the constituent frame of the invention, and one end of each of two links is connected to the slide plate while being spaced apart in the horizontal direction, In addition, connect the traveling base horizontally to the other end of both links with both links parallel, and place one end of a rotating lever of any length at the midpoint of one of the links. In addition to this rotating lever, the end is fixed to a rotating shaft pivoted on the slide base,
A servo motor for raising and lowering the slide base is connected to the slide base, and a servo motor for transporting the rotary shaft is connected to the rotary shaft, and an attachment for gripping the workpiece is fixed to the traveling base. and the frame is slidably engaged in the vertical direction with respect to the guide frame,
A height adjustment motor that moves the frame up and down is connected to this frame, and by rotating the rotation shaft while raising and lowering the slide base, the attachment fixed to the travel base can move vertically and horizontally, and the device It is designed so that the overall height can be adjusted.

Example The configuration of the present invention will be explained below based on the drawings.

In the figure, reference numerals 1 and 2 are first and second press machines installed in parallel and spaced apart, and a transformer 7 unit 3 is installed between the press machines 1 and 2.
is provided with a conveyance device jt 4 that is approximately at the same level as both of the press machines 1 and 2, and transports the workpiece A from one press machine, for example, the first press machine 1 side to the second press machine side. It is now possible to transport.

5 is a belt constituting the conveying device 4, and 6 is a workpiece stand fixed to this belt 5.

Reference numeral 8.9 denotes a workpiece loading/unloading device according to the present invention installed between the press machines 1 and 2, and this loading/unloading device 8.
, 9 is mounted on the first press machine 1 side, and the other on the second press machine 2 side. Then, the workpiece A on the first press machine 1 is transported to the upstream end of the conveyance device M4 by one of the loading/unloading devices 8, and processed at the downstream end of the conveying device 4 by the other loading/unloading device 9. The object A is carried into the second press machine 2. The loading/unloading devices 8 and 9 have the same structure except that they are installed in opposite directions.

The specific configuration of the above-mentioned Hajima entrance/exit device 8.9 is shown in Figures 4 to 7.
One of the loading/unloading devices 9 shown in the figure will be explained.

In the figure, 12 is a frame, and a slide base 13 is engaged with this frame 12 so as to be slidable in the vertical direction along guide rails 14 and 14.

This slide base 13 has racks 1 in the vertical direction.
5 is provided, and a pinion 15α supported on the frame 12 side meshes with this rack 15. This pinion 15α is connected to a lifting servo motor 18 via a speed reducer 16 and a timing belt 17. This servo motor 18 is fixed to the frame 12. 19
is a cam follower that guides the slide base 13.

Reference numeral 20 denotes an elevating balance cylinder for balancing the elevating direction of the slide base 13, one end of which is connected to the frame +2 and the other end connected to the slide base i3.

21 and 22 are vertical stoppers. A rotating shaft 23 is supported horizontally and perpendicularly to the conveyance direction at the lower end of the slide base 13, and a segment gear 24 is fixed to this rotating shaft 23. A pinion 25 meshes with this segment gear 24.

Reference numeral 26 denotes a slide plate that is engaged with the slide base 13 so as to be slidable in the vertical direction along the guide rail 27.
One ends of the links 28 and 29 are connected to each other so as to be rotatable in the conveying direction of the workpiece and spaced apart horizontally in the conveying direction. 2
6tz is a cam follower that guides the slide base 26. A running base 30' at the tip of both links 28, 29 is horizontally connected, and the above-mentioned links 28, 29 form a parallel link with this running base 30. An attachment holder 31 for holding an attachment 10.10 is fixed to the traveling base 3°. The attachment 10 is provided with a vacuum cup 11 for sucking the workpiece A. Reference numeral 32 denotes a rotating lever, the base end of which is fixed to the rotating shaft 23, and the other end connected to the first link 28 at position 8 in the length direction. This rotating lever 32 is connected to the link 2B (D%
The length is . 33 is a balance cylinder that supports the rotating lever 32, and its upper end is connected to the slide base 1.
3, the lower end is connected to a rotating lever 32.

The binion 25 that drives the rotating shaft 23 is a reducer 34,
For conveyance via the timing belt 35 (D + -y
It is connected to the motor 36. Both pulleys around which the timing belt 35 is wound have the same diameter. This servo motor 36 is supported by a guide 37 provided on the frame 12 so as to be movable in a direction perpendicular to the conveyance direction, and this servo motor 36 and the reduction gear 3-4 are connected by a turnbuckle 38.

The servo motors 18°36 for lifting and transporting are each independent CNC type. nU control, and each movement can perform a variable stroke movement without being influenced by each other.

Each of the above-mentioned unloading person as, 9 is each press machine 1,
It is supported by a guide frame 40° 40 provided on the side of 2. Both guide frames 40.degree. 40 are provided in a direction perpendicular to the conveyance direction, and the carry-in/out device 8.9 is supported so as to be movable in the direction perpendicular to the conveyance direction.

The related structure of the loading/unloading devices 8, 9 and the guide frame 4o will be explained below with reference to FIGS. 8 to 11.

The guide frame 40 has a guide tray #42 on its upper and lower surfaces.
43, and a check 244 is provided on each side in the longitudinal direction. 45 is a running frame, and this running frame 4
5 is a wheel 4 that engages with both guide rails 42 and 43.
6 and a cam 7o4a 47 are provided, and are engaged with the guide frame 4o by wheels 46 and cam followers 47 so as to be freely movable. This running frame 45 is provided with a sprocket 48 that meshes with the chain 244. A traveling motor 5° is connected to this sprocket 48 via a speed reducer 49, and by rotationally driving the sprocket 48, the traveling frame 45 travels.

On the other hand, a guide rail 51 is provided in the vertical direction on the back of the main body 12 of the carry-out person @8, 9, and this guide rail 5
1 is guided by a cam follower 52 that throws sand onto the traveling frame 45, and the loading/unloading device 8.9 is engaged with the traveling frame 45 so as to be slidable in the vertical direction. A bracket 53 is fixed to the main body 12 of the carry-in/out device 8.9, and this bracket 53 is screwed into a screw rod 54 provided vertically on the traveling frame 45.

The threaded rod 54 is connected to a height adjustment motor 56 via a reduction gear 55, and its tip is connected to a height adjustment position detection device 5g via a reduction gear 57. 59
．． 60 is a limit switch that detects the limit of vertical movement of the loading/unloading devices 8, 9.

Reference numeral 61.61 denotes a locking device provided within the running frame 45, and this locking device 61.61 includes a ram 62 that protrudes using air pressure, a cylinder 63 in which this is fitted, and a ram 6.
The lining 64 fixed to the end face of 2 and the ram 6
2 is opposite to the guide rail 43 on the lower side of the guide frame 40.

In the topside configuration, by reciprocatingly driving the conveyance servo motor 36, the rotary lever 32 is reciprocated via the binion 25, the segment gear 24, and the rotary shaft 23. When the first and second links 28 and 29 rotate back and forth by <-32, the first and second links 28 and 29 rotate back and forth. At this time, it is necessary to ensure that the first and 21st non-links 28 and 29 are the same length and parallel, that the rotation link 32 is connected to the midpoint of the first link 28, and that the upper ends of both links 28 and 29 are pivoted. As the slide plate 26 moves up and down, both links 28.
A traveling base 30 connected to the tip of the base 29 is reciprocated in the horizontal direction.

On the other hand, by reciprocally driving the lift servo motor 18, the slide base 13 is moved up and down via the pinion 15α and the rack 15.

In FIG. 1, the workpiece A processed by the first press machine 1 is moved to the transport upstream side by the movement base 30 with the slide base 13 being moved upward by the operation of the carry-in/out device 8. position the vacuum cup 11 above the workpiece A, then move the slide base 13 downward and upward to suck the workpiece A with the vacuum cup 11,
Thereafter, the traveling base 30 is moved in the transport direction and the workpiece A is dropped at a transport upstream position of the transformer 7 unit 3, thereby being transported onto the workpiece table 6 located at the transport upstream side of the transfer unit 3. . Then, this unloaded workpiece A is conveyed to the downstream side by the transformer 7 unit 3.

Processing vJ sent to the downstream side of transformer 7 unit 3
A is carried into the second press machine 2 by the other carrying-in/out device 9 which performs the same operation as the carrying-in/out device 8 described above.

In the operation of the loading and unloading devices 8 and 9, each of the slide base 13 and the rotating lever 32 is connected to the balance cylinder 2.
By being elastically supported upward at 0.33, the weight of each is reduced, the influence of the weight is reduced, and the burden on each servo motor 18, 36 is reduced.

When the slide puto 13 goes up and down, the turnbuckle 3
The conveyance servo motor 36 is reciprocated in a direction perpendicular to the conveyance direction via the conveyance direction 8, and the winding length of the timing belt 35 connecting the servo motor 36 and the deceleration (134) does not change.

The height of the loading/unloading device 8.9 is adjusted by a height adjusting motor 56. At this time, the loading/unloading devices 8 and 9 are moved up and down along the traveling frame 45.

Furthermore, by rotating the sprocket 4g, the loading/unloading devices 8 and 9 are connected to the guide rails 42 and 43 via the chino 44.
The paper travels on the guide frame 40 along the guide frame 40, and is taken in and out of the conveyance path.

At each position in this running direction, the locking device 61
．． It is fixed by actuating 61.

Effects of the Invention According to the present invention, the conveyance stroke is obtained by the reciprocating rotation of the rotary lever 32 and the three links 28 and 29 which are rotated thereby, so that the size of the conveyance device is independent of the conveyance stroke. It can be installed in a small space in the transport stroke direction. Further, according to the present invention, panel-shaped workpieces can be carried in and out extremely smoothly, and the height of the entire device can be adjusted, so the height during transport can be arbitrarily adjusted according to the conveyance level of the workpiece. can.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and Figures 1 to 3 show the entire case when the loading/unloading device according to the present invention is used in a press machine, and Figure 1 is a front view and Figure 2 is a front view. The figure is a plan view, Figure 3 is a side view, Figures 4 to 7 show the main parts of the loading/unloading device, Figure 4 is a partially cutaway front view, and Figure 5 is a partially cutaway side view. , Figure 6 is a sectional view taken along the line ■-■ in Figure 5, Figure 7 is a sectional view taken along line ■-■ in Figure 5, and Figures S to 11 show the support part of the loading/unloading device. The 8th
The figure is a partially cutaway side view, Figure 9 is a partially cutaway front view, and Figure 10 is a partially cutaway side view.
The figure is a sectional view taken along line XX in FIG. 9, and FIG. 11 is a sectional view taken along line XX in FIG. 9. 10 is an attachment, 12 is a frame, 13 is a slide base, 18.36 is a servo motor, 23 is a rotation axis,
26 is a slide plate, 28° 29 is a link, 30 is a traveling base, 32 is a rotation lever, 40 is a guide frame,
56 is a height harmonic motor. Applicant: Komatsu Ltd. Representative: Patent attorney: Masaaki Hara Patent attorney: Tadashi Hamamoto

Claims (1)

[Claims] A slide plate 26 is engaged with a slide base 13 that is movable up and down with respect to the frame 12 so as to be movable up and down.
One end of each of the links 28 and 29 is connected horizontally apart from each other, and a traveling base 30 is horizontally connected to the other end of both links 28 and 29 with both links 28 and 29 in parallel. One end of a rotating lever 32 having a length δ equal to the length of this link 28 is connected to the midpoint of one link 2g, and the other end of this rotating lever 32 is connected to the middle point of one link 2g.
A servo motor 18 for raising and lowering the slide base 13 is fixed to a rotation shaft 23 pivotally supported by the slide base 13.
Further, servo motors 36 for conveyance that reciprocate the rotation shaft 23 are connected to the rotation shaft 23, an attachment 10 for gripping the workpiece is fixed to the travel base 30, and the frame 12 is connected to the guide frame 40. A workpiece drawer device is characterized in that a height adjusting motor 56 is connected to the seven frames 12 to vertically move the seven frames 12 in a vertically slidable manner.