JPS6120638A - Transporter for molding machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a transfer device (transrer) of a molding machine, more specifically, a transfer device (transrer) of a molding machine, and more specifically, a transfer device (transrer) of a molding machine, which opens wide to clear a work piece having a large protrusion, for example. is possible,
and a workpiece gripper (Oril) that moves laterally to clear the workpiece and the forming tool that processes the workpiece.
l)er) A new and improved molding machine transfer device.

[Problems to be solved by conventional technology and invention] Progressive former
Typically, a workpiece is gripped at one processing station.
p) L/, having a transfer device automatically actuated to transfer the workpiece to another processing station for subsequent processing operations; Examples of such transfer devices are U.S. Pat. 4,084.278
No. 4,317.354 and No. 4,351,180
No. 2,434,540 C2, issued August 9, 1983.

Most such transfer devices include a pair of opposed grippers that close to grip the workpiece and open to release the workpiece at the next processing station. For complete control, the gripper of the transfer device grips the workpiece in the removal position before control of the workpiece is lost by the forming tool in the removal position, and the forming tool is in control at the next machining station. The gripper is configured to continue gripping the workpiece until the gripper engages the workpiece in this manner.

In some cases, particularly when the workpiece has relatively large protrusions adjacent to the portion of the workpiece that is to be gripped, conventional grippers may have a relatively large protrusion that forms such protrusions or the workpiece. It has the disadvantage that it cannot be opened far enough or quickly enough to clear the tool.

One of the reasons why it is not possible to open it wide is because of the pair of gripper fingers that are placed opposite each other.
per finger) are integrally pivoted approximately at the center along the longitudinal direction. In such a configuration, the distance between the pivot and the part that actually grips the workpiece is short, and the opening at a certain angle is as large as the opening that would be obtained if the distance between the pivot and the gripping part was larger. There isn't.

Furthermore, especially in the case of high-speed forming machines, the return of the transfer device as soon as possible is necessary, so that the gripper of the transfer device can perform a return movement as quickly as possible to the removal processing station and grip the next workpiece as soon as possible. It is desirable to start moving. In typical transfer devices where the grippers move back and forth along the same path, it is usually necessary to delay the start of the return movement until the forming tool has retracted clear of the transfer grits 5; The time required for movement is limited.

The above-mentioned German patent discloses a transfer device in which the gripper opens relatively wide and is adapted to rise to clear the forming tool. However, this device requires gearing. Unless shielded, such gearing systems encounter contamination problems, especially when used in hot forming machines that generate scale and the like.

Furthermore, in such linkage and gear mechanisms, the pivots are supported by gears, so that the teeth of the gears can be positioned particularly precisely relative to the pivots of the fingers so that when the teeth engage the pivots, they are aligned with each other. must be precisely positioned with respect to each other. Such devices therefore pose increased manufacturing costs and maintenance problems, especially when the transfer device is applied to hot forming machines where scale is present in the working area.

[Means for Solving the Problems] The present invention has been made in order to eliminate the above-mentioned drawbacks of the prior art.

The present invention provides a new and improved transfer device that is particularly adapted to progressive molding machines and the like. In this device, a pair of grippers is operated to close to grip a workpiece and to open wide to release the workpiece. Such a gripper can therefore be used to transport workpieces that have large protrusions that the gripper must clear.

Furthermore, during the opening and closing movements, the gripper moves laterally substantially perpendicular to the transport direction, so that it is possible to clear the workpiece and the forming tool even before it is retracted. The transfer device is thereby timed (ttmed) to begin the return movement before the forming tool retracts.

These gripper movements are relatively inexpensive to manufacture, operate reliably, and require no undue maintenance even in environments where chips and scale are present. This can be done using a link mechanism.

In embodiments, one or more pairs of gripper fingers may be used to control the pick up (PICK up) and delivery (PICK up) positions.
ry) position and is mounted on a transfer slide that reciprocates in a second direction to move the gripper.

Each finger is pivotally connected at one end to a support supported on the transfer slide and reciprocating relative to the slide in a direction perpendicular to the direction of movement of the transfer slide. Each finger is also pivotally connected midway between the ends to a short angled link member whose one end is pivotally connected to one end of the transfer slide. The other end of each finger is a portion that performs a gripping function.

When the support moves in one direction, the gripper fingers are spread apart by the angled link members, and when the support moves in the opposite direction, the fingers close to grip the workpiece. This movement of the support also causes the fingers to move during the opening movement.
It is moved laterally away from the workpiece and forming tool. The transfer slide can therefore begin its return movement to the removal position before the forming tool has cleared the machining area.

In an embodiment, the support is biased by a pneumatic spring toward a closed finger position to provide a gripping force when the workpiece is gripped by the transfer device.

The configuration for opening and closing the gripper does not require any gearing and is a pivot point that does not precipitate maintenance problems even in hot forming machine environments where the lubricating oil can be contaminated with highly abrasive scale. Uses slides.

Furthermore, by properly selecting the balance in shape, the basic linkage can perform opening movements of substantially the desired magnitude and/or speed. Accordingly, the present invention can provide a highly flexible gripping device that can meet numerous transfer requirements.

The present invention provides a forming machine transfer device comprising a pair of elongated gripper fingers having a second end operable to close to grip a workpiece and open to release the workpiece, the transfer device comprising: Said finger 34.36 is attached to said degree support 33 at a location spaced from said degree end 47.48.
a pair of link members 41.42; a second pivot 44.46 connecting said link members to said fingers; a third pivot 43 to be coupled; a power actuating force for moving the supports relative to each other and moving the third pivot toward and away from the third pivots 1 to 1 between a grasping position and a release position; Means 56.66
．． 76, wherein the link members in the gripping position are disposed at a significant angle with respect to each other and move toward an aligned position as the support moves from the gripping position to the release position. The present invention relates to a transfer device for a molding machine having a configuration characterized by the following.

[Example] Fig. 1 shows a typical progressive molding machine incorporating a transfer device according to the present invention. This molding machine includes a frame 10 on which a crankshaft 11 is supported.

The crankshaft is connected to the pitman, and the die rest (die) is connected to the pitman.
drive a reciprocating slide that is movable relative to the breast).

A transfer device housing 12 is attached to the frame 10 near the die breast. There is a camshaft 13 on which a cam is mounted to open and open the gripper of the transfer device, to which power is transmitted from the main drive of the forming machine, and to which the bevel gears 14 and 16 and the driveshaft 17 are mounted. It is designed to move. Both the slide and the transfer device are driven by the main drive of the molding machine, so the camshaft 13
The rotation of the rotor is synchronized with the entire operation of the molding machine.

U.S. Pat. No. 3,171,144 discloses in detail the general construction of such a molding machine.

Referring to Figures 2.3a and 3b, the machine shown is equipped with a plurality of processing stations that sequentially form the workpiece into the desired final shape. Two such processing stations 21 and 22 are schematically illustrated in FIG. 3a. In the processing station 21, the second degree die 2 is
3 is attached to the die rest 19, and in the processing station 22, a second die 24 is attached to the die rest 19
Being beaten. A gripper assembly 26 of the transfer device is attached to the transfer slide 18 and is attached to the third processing station 21.
and the second processing station 22 by a slide 18.

The gripper assembly grips the workpiece 27 at the first processing station 21 and transports it into alignment with the die 24 at the second processing station.

A tool (not shown) mounted on a slide engages the workpiece 27 at the second machining station 22 and moves the workpiece into the die 24 where it is continuously machined. As the tool advances and takes control of the workpiece 27, the clipper assembly opens to clear the protrusions, etc. of the workpiece and to clear the forming tool of the machining station.

In FIG. 3b, the gripper assembly 26 is in the raised open position completely clearing the workpiece 27 and the transfer slide 18
A return movement returns the transfer device to the next workpiece station, where it can grip the next workpiece. Because the fingers of the gripper move laterally in this way, the transfer device can perform a return movement before retracting the forming tool to clear it from the area of the die.

The gripper assembly 26 is movable vertically with a pneumatic spring 31 having a cylinder 32 attached to the transfer slide from a downward or extended position as shown in Figure 3a to a compressed or retracted position as shown in Figure 3b. A piston 33 is provided. Compressed air is supplied to the cylinder to provide a spring force that biases the piston downwardly toward the extended position.

Pivotally connected to piston 33 are a pair of opposing gripper fingers 34 and 36. The upper end of the gripper finger 34 is pivotally connected to the piston 33 via a pivot pin 37, and the gripper finger 36
is similarly pivotally connected to the piston 33 by a pivot pin 38. A pair of angled link members 41 and 42 are pivotally connected to the slide 18 by a common pivot for pivoting about a pivot axis 43. The other end of the link member 4 degrees is connected to the finger 34 by a pivot pin 44, and the ring member 4
The other end of 2 is connected to finger 36 by a pivot pin 46. The two pivot pins 44 and 46 are adjusted to accurately position the fingers and then
Eccentric member (eCCentriC) fixed in place
) is provided. Two gripper fungas 34 and 36
The lower end is a grip part 47 that actually grips the work piece 27.
and 48.

The gripper assembly has a symmetrical geometry, with the two link members 41 and 42 slanting downward in opposite directions from a common pivot axis 43 in the gripping position. However, when the gripper fingers 34 and 36 are raised by the upward movement of the piston 33 to the position of FIG. 3b, the two link members 41 and 42 open the gripper fingers and release the workpiece as shown in FIG. 3b. It releases and moves upward to clear the workpiece and forming tool.

The grip portions 47 and 48 move along opening and closing paths indicated by dash-dotted lines 51 and 52, respectively, as shown in FIG. The initial movement in the embodiments shown in Figures 3a, 3b and 4 is an outward movement away from each other, with substantial opening occurring during the initial portion of the grip opening movement. As the grip continues to move, the grip moves along a vertical line to a position sufficiently above the workpiece to clear the workpiece.

Because the link members or levers 41 and 42 are at approximately a 45 degree angle, the pneumatic spring 31 biasing the piston downward creates a significant gripping force that actually grips the workpiece 27.

A structure for opening and closing the grip portion is shown in FIG. The mechanism includes a similar linkage coupled to each gripper assembly.

The drive mechanism for opening and closing the grip portion includes a cam 56 engaged by a cam follower 57 attached to the camshaft 13 and bearing on a rocker arm 58. Rocker arm 58 is supported on a pivot shaft 59 attached to housing 12 . The rocker arm 58 is provided with a forward end 61 connected to one end of a connecting link member 63 by a pivot pin 62 . The other end of the connecting link member 63 is connected to an arm 66 that is pivotally connected to the frame 12 at a pivot portion 67 by pivots 1 to 64. The cam 56 positions the rocker arm as shown in FIG. 2 when a workpiece is to be gripped by the gripper assembly 26;
In addition, the grip section is opened by rotating the rocker arm 58 in the counterclockwise direction, and the work piece can be released.

A compression spring arrangement 68 is provided to bias the rocker arm 58 counterclockwise to engage the cam follower roller with the cam.

The front end of the arm or lever 66 is equipped with a laterally extending bar 71 which extends parallel to the direction of movement of the transfer slide and engages a roller 72 mounted on the arm 73. The arm 73 is journaled to the transfer slide 18 by a pivot pin 74 so that it can move back and forth with the transfer slide 18 in a transfer operation.

The bar 71 extends in the transport direction so that the rollers 72 roll along the bar 71 when moved back and forth with the transport slide. Therefore, movement of the transfer slide and gripper assembly 21 does not affect the operation of the linkage.

A roller 76 is provided at the front end of the arm or lever 73, which engages with the lower end of the screws 1 to 33, overcomes the force of the compressed air in the cylinder 32, and urges the piston downward. There is. The two pivot bins 37 and 38 are spaced apart so that the roller 76 is positioned on the centerline of the piston 33.

When the rocker arm 58 is rotated counterclockwise by the cam 56, the linkage operates to raise the roller 76, which in turn raises the piston 33, causing the gripper assembly to rise and open as described above. Do the following.

In the illustrated embodiment, the housing 12 is pivotally connected at its rear end to a pivot bin 81 such that the entire transfer mechanism, except for the camshaft 13, pivots upwardly away from the surface of the die for maintenance and inspection of the die. We are making it possible to do things like this.

As shown in Figure 3a, the transfer slide is provided with coupling means 1' having a tongue 82 that fits into a @83 formed on the end of the transfer slide drive member 84. The slide drive automatically disengages when pivoted upwardly to clear the area of the die. However, when the housing 12 is returned to the illustrated operating position, the tongue 82 fits into the groove 83 and
Reconnect the transfer slide drive mechanism.

The gripping mechanism of the device of the present invention has great flexibility in that the extent to which the grip portion opens can be varied by varying the length or angle of the two link members 41 and 42. ing. For example, if it is desired to open widely, the link member 4
The lengths of 1 and 42 can be increased or the shape can be changed so as to change the link member to a more downwardly inclined position when the grip part is in the grip position. , the gripping mechanism of the device according to the invention is capable of performing opening movements of various magnitudes as required for a particular application.

5 and 6, FIG. 5 schematically shows the shape shown in FIGS. 2 to 4, but in FIG. 6 the link members 41 and 42 are of the same length; A modification example is shown in which the inclination angle of the link member in the gripping position ( ) is steeper. By changing the shape in this way, the grip portion can be opened more widely, as can be seen by comparing FIGS. 5 and 6.

In operation of the device of the invention, link members 41 and 42
is a motion multiplier
). The degree of multiplication depends on the relative angles of the link members in the grasping or gripping position.

Furthermore, because the fingers are pivotally connected at one end and grip the workpiece at the other end, they can be made louder without requiring excessive rotation of the fingers about the pivot. link member.

If the angle between 41 and 42 is steep enough, the gripping force provided by the pneumatic spring will be small, so that in some cases it is possible to connect another gripper spring directly between the two gripper fingers 34 and 36. Thus, the work piece can be sufficiently gripped.

Generally, for simplicity, the angle at the gripping position of the link members 41 and 42 is such that the pneumatic spring 31 has sufficient gripping force, and the shape is such that an auxiliary gripper spring is not required. It is preferable to do so. In the embodiment of Figures 3a-4, the link members are inclined at approximately 45 degrees in the gripping position, so that the angle between them is approximately 9.
It has become zero. By having such a shape,
The pneumatic splash provides sufficient gripping force. Furthermore, the upward component of the movement of the grips 47 and 48 is small at the beginning of the opening movement, so that the grips do not lift the workpiece when starting the opening movement.

[Effects] As described above, in the transfer device according to the present invention, the gripper assembly can be opened to clear even workpieces having large protrusions, and moreover, the gripper assembly can be opened to clear even workpieces having large protrusions. It can be moved to the side so that the forming tool can be cleared without any problems. The gripper assembly is also capable of exerting sufficient force to grip the workpiece, as described above. Furthermore, because the gripper fingers are supported entirely by pivots and simple pistons, they offer reliability that virtually eliminates maintenance problems, even in the harsh environment of hot forming machines where scale and dust are present in the transfer area. Can perform certain actions. Furthermore, since the device of the present invention is supported by a simple pivot structure, manufacturing costs can be reduced compared to devices that use gears or the like. Therefore,
The transfer device according to the invention can meet a large number of transfer conditions and exhibit great flexibility.

Although the invention has been described in terms of preferred embodiments thereof, various changes and modifications can be made without departing from the scope of the invention as set forth in the claims.

[Brief explanation of the drawing]

FIG. 1 is a side view of a typical progressive molding machine to which the transfer device according to the invention is particularly adapted, and FIG. 2 is a drive 11 of the transfer device.
FIG. 3a is an enlarged partial front view showing one finger assembly in the closed or gripping position; FIG. 3b is an enlarged partial front view showing the linkage for opening and closing the grip fingers; FIG. 3b shows the fingers in the open and raised position. FIG. 4 is an enlarged partial front view of one gripper assembly showing movement of the gripper fingers as they open and close; FIG. FIG. 5 is a schematic diagram of the gripper assembly of FIG. 4 showing the transition in position of the drive mechanism during opening and closing operations; FIG. 6 shows a linkage modified to increase opening speed at the beginning of the opening cycle; 5 is a schematic diagram similar to FIG. 5 shown in FIG. 10... Frame of the molding machine, 11... Crankshaft,
12... Housing, 13... Camshaft, 1116.
...Bevel gear device, 17... Drive shaft, 18... Slide, 19... Die rest, 21.22... Processing station, 23.24... Die, 26... Gripper assembly , 27... Work piece, 31... Pneumatic spring, 32... Cylinder, 33... Piston, 34.3
6... Gripper finger, 37.38... Pivot pin, 41.42... Link member, 43... Pivot shaft, 44.46... Pivot pin, 47.48...
・Grip part, 51.52... Opening/closing path, 56... Cam, 57... Cam driven joint roller, 58... Rocker arm, 59... Pivot shaft, 61... Front projection,
62... Pivot pin, 63... Connection link member,
64... Pivot pin, 66... Arm, 67...
- Pivot shaft, 68... Compression spring structure, 71...
Bar, 72...Roller, 73...Arm, 74...
- Pivot pin, 76... O-ra, 81... Pivot pin, 82... Tongue, 83... Groove, 84...
Slide drive member.

Claims (16)

[Claims] (1) A forming machine transfer device comprising a pair of elongate gripper fingers having a first end operative to close and grip a workpiece and release the workpiece, the transfer device comprising: a first pivot bearing the finger on a first support at a location spaced from an end of the link member; a pair of link members; a second pivot connecting the link member to the finger; a third pivot coupled to a second support; and a third pivot for moving the support relative to each other to move the third pivot toward and away from the first pivot between a grasping position and a release position. said link members in said gripping position being arranged at a large angle with respect to each other and moving towards a position in alignment as said support moves from said gripping position towards said release position. A transfer device for a molding machine that is characterized by movement. (2) The transfer device according to claim 1, wherein the first pivot is disposed at the other end of the finger. (3) The forming machine includes a plurality of processing stations that sequentially form workpieces, and the second support has a take-out position where the fingers are arranged adjacent to the first processing station and a take-out position where the fingers are arranged adjacent to the first processing station. a transfer support in which the fingers are reciprocally movable to and from a delivery position located adjacent to a next work station, the first support being supported by the transfer support; A transfer device according to claim 1, characterized in that: (4) The transfer device according to claim 3, wherein a spring means biases the first support in a direction to move the fingers toward the gripping position. 5. A transfer device according to claim 4, wherein said power means is operative to overcome said spring means and move said finger to said released position. (6) The spring means includes a cylinder attached to the transfer support and a piston that moves relative to the transfer support in a direction substantially perpendicular to the direction of reciprocation of the transfer support, and 6. The transfer device according to claim 5, wherein the support body comprises the piston. 7. The transfer device of claim 6, wherein movement of said finger to said released position causes said finger to move laterally to clear said processing station. 8. The transfer device of claim 6, wherein the link members extend at an angle of at least about 90 degrees with respect to each other when in the gripping position. (9) The forming machine is a forging machine having a frame,
The second support includes a transfer support mounted to the frame for movement in a first direction between pick-up and delivery positions corresponding to the gripping and release positions, and a transfer support for moving the workpiece in a first direction. a gripper assembly having the elongate fingers attached to the transfer support for gripping in the ejection position and moving to the delivery position; 2. The transfer device according to claim 1, further comprising a gripper support supported for movement in a second direction substantially orthogonal to the direction of the transfer device. (10) The first support body is spring-biased by a spring biasing means toward the gripping position, and the power means overcomes the force of the spring biasing means, and the first support body 10. The transfer device according to claim 9, wherein the transfer device is arranged to move the device to the release position. (11) The transfer device according to claim 10, wherein the spring biasing means comprises a fluid spring. 12. The transfer device of claim 10, wherein said finger moves laterally to clear said pick-up and delivery positions when moved to said release position. (13) The transfer device according to claim 12, wherein the finger is pivotally connected to the first support at one end and grips the workpiece at the other end. (14) The link members extend at an angle of at least about 90 degrees with respect to each other when in the grasping position, and extend toward aligned positions when moving from the grasping position toward the release position. 14. The transfer device according to claim 13, characterized in that it moves. (15) The forging machine includes a plurality of dies attached to the frame and a transfer slide that moves in a transfer direction so as to constitute the transfer support, and the transfer direction corresponds to the first direction and The fingers are pivotally connected at least one end to a spring-loaded finger support attached to the slide, the link members tilting away from the spring-loaded finger support when the fingers are closed and toward each other when the fingers are open. 10. A transfer device according to claim 9, wherein the transfer device moves towards a registered position and wherein the power means is arranged to move the spring-loaded finger support to open and close the fingers. . 16. The transfer device of claim 15, wherein the fingers move laterally to clear the die when opened.