JPS5942145A - Material carrying device for press working - Google Patents

Abstract

PURPOSE:To carry material for press working at a speed pattern corresponding to the kind of material and shorten working time, by driving a pair of holding arms movable independently by an electric motor for which positioning control is possible. CONSTITUTION:A carrying device 5 travels by itself and stops at a position where a holding arm 8 faces a supply station 22. A holding head 21 is pressure contacted to a press working material and the material is attracted. Then the carrying device 5 runs by itself in reverse direction, and the material is shifted to the first working position. A slide 3 goes down and press working of the first stage is performed. By movement of the device 5, the holding head 21 of the holding arm 8 attracts unworked material and at the same time, the head 23a of a holding arm 9 attracts the material for which the first stage work is completed. Then, the material of heads 21, 23a is left at positions of the first stage and second stage, and press working is performed by descent of the slide 3. The head 21 supplies the material from the station 22, and the holding arm 9 transfers material being worked from the head 23a to the head 23c and discharges from 23d.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an apparatus for supplying pressed material to a predetermined press position and transporting it to a fixed position 19r after pressing is completed, and in particular, the present invention relates to an apparatus for supplying pressed material to a predetermined press position and transporting it to a fixed position 19r after pressing. The present invention relates to a pressed material conveying device that can be operated with a speed pattern according to the speed pattern.

[Technical background of the invention]

BACKGROUND ART Conventionally, it has been widely practiced to mass-produce various mechanical elements by press working methods such as punching, bending, and deep drawing using coiled materials, fixed-length materials, sketch materials, and the like.

By the way, in recent years, there has been a need to automate production and save labor in press processing as well, so automation has been introduced to supply press processing materials into the press and to transport all processed products out of the press after pressing. In particular, the self!fi has become intelligent by incorporating computers.
The use of 1+4fi, so-called S-groove robots, is rapidly expanding.

In general, press working robots have innovative functions such as suction and function for press working and operation functions for two-dimensional or three-dimensional movement.
Rie, supplying workpiece material to the press machine and taking it out? 4. Conventionally, the conveyor system using this divine robot has been the Press Life'z-1, which consists of a Noah'less machine, or a system in which several robots are linked together. Alternatively, a method has been proposed in which a plurality of molds are installed on the bolster bed of a single press machine and transferred by a single robot.

[Problems with background technology]

However, since press work is originally a single, repetitive process, conventional robots often have a single function, that is, have simple operating functions.

For this reason, there is a drawback in that it is not possible to flexibly respond to the material size and shape of the material to be processed and to maintain and transport the processing rate.

In addition, in order to improve the productivity of press working, it is necessary to speed up the operation of press working robots and shorten the total transfer time of processing inserts as much as possible. However, if only the suction feeding method employed in most robots is used, situations such as the material to be processed slipping against the suction cup may occur, which is undesirable.

For this reason, in conventional press working robots that use rotary cam drive + tI)Jt mechanical movement, the robot is rotated in a ** degree pattern with intentionally low acceleration and speed, but this method So, it's not a matter of trying to improve productivity.

[Zora Akira's purpose]

The present invention has been made in view of the current situation, and provides a press processing material (pushing device) that can significantly reduce the manufacturing cost by shortening the 1iiJ when pressing is contrary to the present invention. purpose.

[Summary of the invention]

In general, press-formed parts are drawn in a wide range of shapes, T, -7; It is desirable to convey the material at high speed.

The present invention has been made based on this knowledge, and includes a main body that moves along the processing path of the press-formed material, and at least one of the main bodies provided on the main body is movable in the direction of movement of the main body independently of the main body. The holder is equipped with a pair of holding arms, and a holding part that is detachably attached to each holding arm and can hold at least one sheet of pressed material, and is movable independently with respect to the main body. +t and the main body are driven by an electric motor whose positioning can be controlled, so that they can be operated at a speed pattern depending on the type of material to be pressed.

Examples of the invention] Embodiments of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1, 1 is a press on which a bolster 2 is formed, and a slide 3 that moves up and down to approach and separate from the bolster 2 is disposed above the bolster 2 of the press 1. On the upper surface of the bolster 2 and the lower surface of the slide 3, press molds of four condyles (not shown) are formed in steps 11b'jj from left to right in FIG. 1, respectively (17 pieces).

As shown in FIG. 1, a pair of parallel rails 4 are laid on the floor in front of the press machine 1 along the processing direction, that is, the longitudinal direction of the bolster 2.
On top of 4, there is a press I 1'J' P) conveyance (device 5
The self-propelled town was built on its own.

As shown in FIG.
It has a box-shaped main body 6 with four wheels that rotate all the way around. ) rotates when approaching Ren), 'l is captured. It is made like this.

In addition, on the upper surface of the main body 6, as shown in Fig. 41, a pair of holding legs 8.9 are protruded with an interval of 75i in the same direction as in the 8th direction. 1i'ii 9 is
The top surface of 7 Dototo 6 has a long and short movement! Using the elongated hole 10 as a guide, the elongated arm 8 on the +12 side can be moved in the far and near directions.

This holding net 619 is adapted to be driven at an arbitrary speed jA1 by the other lkf and movable gear installed in the main body 6.

Both the holding arms 8 and 9 are made up of four parts, as shown in FIG. A lifting cylinder 15 is provided in each of the above-mentioned sections 11 and 12.
, 16 are provided respectively, and each horizontal =+
sJ:3.14 is provided with front and rear cylinders 17p and t8, respectively.

And each holding arm 8,9 has each cylinder 15, 16,
17.

The front and rear i are raised and lowered independently by the operation of the
Each of the cylinders 15 t 16 t J7 and 18 is constructed in such a way that the cylinders 15 t 16 t J7 and 18 are 1- It's designed to make you feel better.

At the tips of the horizontal parts 13 and 14 of each of the holding arms 8 and 9, as shown in FIG.
20 is designed to be removed from the shoulder at a holding section exchange station 24, which will be described later.

As shown in FIG. 1, one holding section 19 is provided with a single holding head 21, and this holding section 19 is located on the left side of the press 1 in FIG. Pressed material on the pressed material supply station 22,
i knee) on the first machining position 1 on the bolster 2 of the presto section 1
．． 1. up to Y. It is designed to be piped.

Still 11! ! Holder 4'': The J section zO is machined as shown in FIG.

23 b t 23 c and 23 d are provided, respectively, and this holding part 20 holds the press working part 1'-+ supplied to the first working part d by the holding part 19.
are sequentially transferred to the next processing position, and the lifting force of the press machining ray rε is exposed to a predetermined outer position if'j of the press rectangle 1.

Each of the holding heads 21 , 23 a , 23 b ,
The pins 3c and 23d are designed to absorb and release the pressed material using a vacuum adsorption method or an magnetic magnet method. In order to be able to adopt the most suitable method of holding the holder according to the requirements, the holder is automatically replaced and replaced at a holder replacement station 24 located on the right side of the press 1 in FIG. This O°↑ removal and replacement work and the transfer device 5! ! IK j3: j7 system etc. are all Yama II i・1 by the computer which is not illustrated.
11-, p can be read.

Therefore, regardless of whether the pressed material is a magnetic material or a non-magnetic 1Y material, its adsorption and release are performed in a stable manner. Further, the holding section 20 is automatically selected to be equipped with a holding head corresponding to the number of processing steps of the press machining.

Next, the effect will be explained.

First, the general feeding device 5 is self-propelled on the rail 4 by a 1:1^i+ pull of an internal ``tod'' motor (not shown), and stops at the holding part exchange station 24. At the horizontal portions 13 and 14 of each holding arm 8.9, a press-formed material (not shown) is attached! The holding parts 19 and 20, which have holding heads suitable for the shape and pressing process, are automatically attached to the apparatus 4.

Next, the transport device 1T5 moves in the opposite direction and stops at a position where the holding arm 8 faces the supply station 22. After that, by the operation of cylinders 15 and 17, the holding arm 8? +
The holding head 21 of M is pressed against the press workpiece, and the holding head 21 of J
Press processing + (material is adsorbed by the air suction 7i'1 method or the magnetic magnet method.

Next, the transport device 1ffl 5 moves in the opposite direction again,
The pressing material held at the tip of the holding arm 8 is transferred to the press machine 1.
εr, move to 1 machining position. and here 1
゛White, the holding of the press work material by the r head 21 is released, and the press work material is placed at the εt1 processing position.

Next, both the holding arms 8 and 9 are retracted from above the bolster 2 of the shiveless machine 1 by the operation of the cylinders 17 and 18, and then the slide 3 is lowered and the first stage of press working is performed.

After raising the slide 3, the conveying device 5 moves to the supply station 2.
At the same time, the cylinders 17 and 18 start moving to the 2nd side.
As a result of this operation, both holding arms 8 and 9 begin to advance toward the brace rock 1 side. When the holding head 23a at the left end of the holding arm 90 in FIG. Supply station 2
Continue to move until you take a position facing 2, but the holding arm 9
begins to move along the elongated hole 10 of the main body 6 in the opposite direction to the conveying device 5 at the same speed. For this reason, the holding arm 9 continues to take the position where its holding head 23a faces the pressed material.

When the holding arm 8 moves to a position facing the supply station 22 and stops, the holding head 21 of the holding arm 8 attracts the unprocessed pressed material on the supply station 22, and the holding head 23a of the holding arm 9 7PJ1
The press material that has been processed in each step is held by suction.

Thereafter, the conveying device M5 moves until the holding head 21 of the holding arm 8 comes to the first stage processing position, but the holding arm 9 moves independently of the main body 6, and the holding head 21 at the left end in FIG. 23 Position i where a faces the second stage machining position
It only moves with R4. After that, each holding head 21, 23a is placed at the processing position of the first stage and the second stage.
A processing gain of 1 is left, and both holding arms 8 and 9 are retracted from the press 1, and the slide 3 is lowered to perform the press processing again.

Therefore, the holding arm 9 moves independently relative to the main body 6, and although both holding arms 8 and 9 are provided on the main body 6, they move with their own strokes. Become. Thereby, while the holding head 21 of the holding arm 8 repeats the supply of pressing material from the supply station 22 to the first-stage processing position, the holding arm 9 is moved so that its x+<1
7) While the holding head 23a at the left end of the holding head 23c is being press-worked in order, the gain receiver can be transferred to the next pure black process. That's the lever! By repeating the V1 process, the pressing material is processed to the final stage, and after the final process, the holding head at the right end of the holding arm 9 in FIG. “Be carried out to the designated J-non-exit position.

In this way, the supply of the press 7111 material to the press machine 1, the transfer of the material to the processing process position in the press machine 1, and the delivery of the finished product after final processing are carried out by one conveyance device 5. To do 9 things becomes ``b'' ability.

By the way, the main body 6 of the conveying device 50 and the holding arm 9 are driven as separate transport units as described above. For this reason, many well-known servo control techniques for the 11 slave machines are required to move from outside the press 1 to the processing position outside the press 1, to move to the next process within the press 1, and to move the press fii, j It becomes possible to move from the press to the outside by applying arbitrary acceleration/deceleration.

Figures 2 and 3 show examples of 7) motion curves for various pressed materials of the main body 6 or the holding arm 9, and each figure (a) shows the acceleration and each figure (b). ) indicates the speed, respectively.

In general, for relatively large h1 pressing force 1 material, holding heads 21, 23a, 23b, 23c, 2
It is preferable to reduce the acceleration during transportation so as not to cause slip between the material 3d and the press-formed H material.

Therefore, in this case, as shown in FIG. 2, the acceleration is made as small as possible between the starting point and the ending point, so that the speed is maximized at the center point of the conveyance distance.

On the other hand, for press-formed materials of relatively small weight, there is no risk of the press-formed material slipping even if the acceleration is increased, and high-speed conveyance is possible by increasing the acceleration. Therefore, in this case, as shown in FIG. 283, in order to increase the constant speed region during conveyance, the acceleration near the starting point is made slightly larger than in the case of FIG. 2.

Here, the motion speed curves of the main body 6 and the holding arm 9 are as follows:
There is an optimal pattern for the claw i1 in the shape of each press material and Mj; Just leave it there.

However, 41i of press processing material! #: It is possible to convey the press-forming material according to the movement speed pattern shown in Figure 6, and thereby the time required for press-forming can be significantly shortened.

In the above embodiment, the transport device 5 is moved on the rails 4, but the rails 4 may be placed in the air and the transport device 5 may be suspended from the rails.

Further, in addition to the holding arm 9, the holding arm 8 may also move independently relative to the main body 6. If you do this,
A large degree of freedom can be obtained by maintaining the press processing gain.

In addition, four detectors are provided on at least one of the holding arms 8 and 9, and based on the detection signal from this detector, one of several predetermined movement speed patterns is selected. The optimum pattern may be selected, and the number of steps is not limited to four because of the processing process. Provide holding arms and position them f#iJ
Since it is driven by a controllable 17-roll movement, it is possible to generally feed the press-processed material at a movement speed pattern that corresponds to its frequency, thereby reducing the time required for press-processing. This can significantly reduce manufacturing costs.

[Brief explanation of the drawing]

2; Ω1 Figure is a trunk view showing one implementation of Hontunmei, 432
The figure is a graph showing an example of the movement speed pattern when conveying a comparatively large size pressed material, and Figure 3 is a graph showing an example of the l! I
! 71b is a graph showing an example of a speed pattern. DESCRIPTION OF SYMBOLS 1... Press rock, 2... Bolster, 5... Conveyance device, 6... Main body, 8, 9... Holding arm, 15, 16
... Lifting cylinder, 17, 18... Forward/backward movement cylinder, 19, 20... Holding part, 2L23a, 23b
, 23c, s: 3d--Holding head% 22'''
Supply station, 24...), 2,71-kun (Jikoro stage 3).

Claims (1)

[Claims] 1. A main body that moves along the processing path of the press-formed material; a pair of holding arms that are provided with the main body and at least one of which is movable in the direction of movement of the main body independently of the main body; Each holding arm (equipped with a holding part that is detachably attached and capable of holding at least one piece of pressed material, and capable of independently moving with respect to the main body) can be positioned in a positioning system. 14't, a press processing material conveying device characterized in that it is driven by a motive force and can be operated at a speed pattern depending on the rod type of the press processing material. 2. At least one holding arm is press-processed. 2. The pressed material conveying device according to claim 1, further comprising a detector for detecting the weight of the material, and a speed pattern is determined based on a detection signal from the detector.