JPS6061128A - Method for preventing interference of transfer - Google Patents

Abstract

PURPOSE:To prevent the mutual interference between arms and to improve the efficiency of a transfer by detecting the positions and advancing directions of the arms of mutually interfering transfers and decelerating or releasing the deceleration of the motions of arms by comparing the distance between both arms with a set value. CONSTITUTION:In a transfer for holding a work by chucks 3 attached to arms 10, 11 which are traversed through a rack and pinion, and transferring the work to a conveyor 8 through a part feeder 4, working tables 5, 7, and an intermediate table 6 in sequence, with the aid of a driving motor 9; the position of the traversing arm 11 is detected when the arm 10 comes to put the work on the table 6, and the arm 10 is decelerated by a control device 12 when the arm 1 comes nearer to the position within a certain set range, and said deceleration signal is released when the arm 11 comes out of the set range. In this way, the arms 10, 11 are prevented from colliding with each other above the table 6, and also an unnecessary decelerating operation is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a transport sI (hereinafter referred to as a transer) for supplying and unloading workpieces to a press, and particularly relates to an interference prevention method for preventing interference between transers.

[Technical background and problems of the invention]

As shown in FIG. 1, the structure of a conventional transer includes a lateral movement arm 2 that moves left and right by the rotation of a driving cam 1, and a chuck 3 attached to the lateral movement arm 2. As shown in FIG. 4, the basic operation of the transer is to move the lateral moving arm 2 from a position where the chuck 3 does not interfere with work (hereinafter referred to as the origin position) to the compression end, and lower the chuck at the left end. When the chuck descends to the lowering end, it grabs the workpiece and raises the chuck. When the chuck rises to the rising end, the lateral movement arm 2 is moved to the right end, and the chuck 3 is lowered at the right end. When the chuck 3 descends to the lowering end, the workpiece is released and the chuck is raised. When the chuck rises to the rising end, the lateral movement arm 2 moves to the origin position M. By repeating the above operations, the workpiece is fed sequentially.

The operation of the transer shown in FIG. 1 will be explained based on the above basic operation. First, when the transer issues a start command, the lateral moving arm 2 moves from the origin position to the left end and takes out the workpiece from the parts feeder 4.

Next, the lateral movement arm 2 moves to the right end and places the work just taken out on the processing table 5. Thereafter, the lateral moving arm 2 returns to its original position. When machining of the workpiece is completed on the machining table 5, the transer issues a start command again.

This causes the movement sequence to be repeated. At this time, the workpiece processed on the processing table 5 is transported to the intermediate table 6. Furthermore, upon completion of machining the workpiece on the machining table 5, the transer issues a start command and repeats the movement sequence again. At this time, the workpiece on the intermediate table 6 is carried to the processing table 7, the workpiece on the processing table 5 is carried to the intermediate table 6, and the workpiece on the parts feeder 4 is carried to the processing table 5. When a start command is issued to the transer after processing of the workpieces on the processing tables 5 and 7 is completed, the workpiece on the processing table 7 is transferred to the conveyor 8, the workpiece on the intermediate table 6 is transferred to the processing table 7, and so on.
The work on the processing table 5 is carried to the intermediate table 6, and the work on the parts feeder is carried to the processing table 5. As described above, the workpiece is carried from the parts feeder 4 to the processing table 5, and after being processed, the workpiece is transferred to the intermediate table 6 and further to the processing table 7, and after processing, the product is sent out on the conveyor 8.

However, with this type of cam drive system, the lateral movement is only 1
There was a problem with the book arm as shown below.

1. Since the weight is relatively large, the lateral movement speed cannot be increased and the cycle time is long.

2. The intervals between the parts feeder - processing table 5 - intermediate table 6 - processing table 7 must be the same, which requires time and effort for installation adjustment.

3. Space efficiency is poor due to serial arrangement.

4. If you want to change the amount of lateral movement, you have to change the cam, which is not easy to do.

5. Difficult to change once installed For these reasons, an electric transer for lateral movement was developed.

Figure 2 shows the structure of the electric transer, in which the electric transer control device 12 analyzes and calculates the amount of movement, direction, speed, etc., rotates the drive motor 9, and connects the drive motor 9 with a rack and pinion gear. Move the lateral movement arm 10 that is currently being moved. In order to solve the above-mentioned drawbacks, this lateral moving arm 10 is designed to have a length equivalent to two chucks, and can be installed in a free layout as shown in FIG. Additionally, the layout can be changed easily.

When the start command is now issued to the motorized transer control device 12, the motorized transer control device 12 calculates the amount of movement, direction, and speed, and turns the drive motor 9 to take out the workpiece from the parts feeder 4 and transfer it to the processing table 5 for processing. The work on the table 5 is sequentially transferred to the intermediate table 6, the work on the intermediate table 6 is transferred to the processing table 7 by an adjacent motorized transer, and the work on the processing table 7 is sequentially transferred to the conveyor 8.

At this time, on the intermediate table 6, the work processed on the processing table 5 is carried in by the horizontal movement arm 10 immediately after the horizontal movement arm 11 takes out the work. This means that the lateral movement arms 10 and 11 are positioned on the same intermediate stand 6, and the movement speed of the lateral movement arm 11 is slower than the lateral movement arm 10, so when the lateral movement arm 11 is still near the intermediate stand 6, the lateral movement When the arm 10 comes to place the workpiece taken out from the processing table 5 on the intermediate table 6, a problem of collision occurs.

For this reason, by maximizing the movement speed of the lateral movement arm on the final unloading side and gradually decreasing the movement speed of the lateral movement arm on the supply side, it is possible to make it as if the workpiece has already been unloaded by the time the workpiece is to be fed to the intermediate table 6. have to adjust. However, even in this case, the lateral moving arm 11 on the intermediate stand 6
Collisions are unavoidable if the machine stops moving or is delayed for some reason, and if the moving speed is gradually reduced from the final unloading side, the cycle time will increase and the benefits of electrification will be lost. .

[Object of the Invention] The present invention detects the position of the lateral movement arm 11 when the lateral movement arm 10 moves to place a workpiece on the intermediate table 6, and when the position of the lateral movement arm 11 approaches a certain set range. , lateral movement arm 1
To provide a transer interference prevention method that decelerates the transverse arm 1011 and releases the deceleration signal when the transverse arm 11 moves out of the set range and prevents the collision of the transverse arm 10111 on the intermediate stand 6. The purpose is to

[Summary of the invention]

In order to achieve the above object, the present invention inputs arm position information of adjacent motorized transers that interfere with each other,
When moving to the right, the position of the right motorized transer is compared, and when moving to the left, the arm position of the left motorized transer is compared with the arm position of the arm, and when the arm position approaches a certain set range, a deceleration signal is generated. This prevents collisions between the arms of the right or left motorized transer.

Embodiment of the Invention] Structure of the Embodiment FIG. 5 shows an embodiment of the present invention, in which the number of electric transers is increased and the parts feeder 4 and conveyor 8 are The illustration is omitted. Also, motorized transers that interfere with each other (for example, motorized transer 18
The position information of each motorized transer is inputted or outputted between the control devices of the motorized transer 17 and 19).

FIG. 6 is a flowchart showing a processing algorithm for analyzing the positional information of the interfering motorized transer input into the control device and generating or canceling a deceleration signal.

Function of the Embodiment Now, when the lateral movement arm 18 is moving to the left, that is, when it is in the area shown in FIG. The distance between the arms 17 and 18 is calculated, and when the distance between the arms 17 and 18 approaches within a certain set range, a deceleration signal is generated to decelerate the movement of the lateral movement arm 18. As a result of deceleration, when the interval becomes outside the range, the speed signal is canceled and the speed is accelerated again to a predetermined speed.

Further, when the lateral movement arm 18 is moving to the right, that is, when it is in the area shown in FIG.
calculates the distance between the lateral movement arms 18 and 19 from the position information of the motorized transer control device 16 and its own position, generates a deceleration signal when the distance approaches the set range, and decelerates the lateral movement arm 18. When the interval exceeds the range as a result of deceleration, the deceleration signal is canceled and the speed is accelerated again to a predetermined speed.

〔Effect of the invention〕

As described above, according to the present invention, the following effects can be obtained.

1. By maximizing the movement speed of the lateral movement arm on the final delivery side, all lateral movement arms can be moved at the maximum speed without decreasing the movement speed of the lateral movement arms on the supply side.

The cycle time is shorter than in Section 2.1.

3. Even if the lateral movement arm stops at an intermediate point for some reason, there will be no collision and safe work can be continued.

[Brief explanation of the drawing]

Figure 1 is a structural diagram of a conventional cam-driven transer, Figure 2 is a structural diagram of an electric transer, Figure 3 is a layout diagram of an electric transer arranged in a U-shape, and Figure 4 is the basic operation of a transer. 5 is a structural diagram of the electric transer according to the present invention, and FIG. 6 is a flowchart showing a processing algorithm for canceling generation of a deceleration signal. 1... Drive cam 2.10, 11.17.18.19... Lateral movement arm 3... Chuck 4... Parts feeder 5.7...
・Processing table 6... Intermediate table 8... Conveyor 9... Drive motor 12.13.1
4.15.16...Electric transer control device a, f.
...Position information from the electric transer control device 14
g...Position information from the electrified transer control device 15 c, h...Position information from the electrified transer control device 16 e, d...Position information from adjacent interfering electrified transer control devices (7317) Agent Patent Attorney Noriyuki Chika (1
1 or 1 person) Figure 1 Figure 2 Figure 3 0 0 Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] In a transer that supplies workpieces to a press, carries out work, etc., the position and direction of movement of the arms of the interfering transers are detected, and when the distance between both arms in the interference direction falls below a set value, the arm of the interfering transer is activated. to slow down the
A transer interference prevention method characterized in that the deceleration operation is canceled when the distance between both arms exceeds a set value as a result of deceleration.