JPS61216828A - Handling machine - Google Patents

Abstract

PURPOSE:To automatize a transfer work and to save the labor by providing horizontally the second movable frame via the rocking device mainly composed of cubic parallel links, as well as clamping units, on the first movable frame provided via a lifting device on a base frame. CONSTITUTION:The first movable frame 13 assembled on a nearly rectangular frame is provided movably vertically via a lifting device 14 on a base frame 11. The second movable frame 15 assembled in an oblong and square frame shape is provided rockably nearly horizontally via the rocking device 16 mainly composed of cubic parallel links on the first movable frame 13 and the front and behind two units of finger unit 17 which can clamp the work W are pro vided on the second movable frame 15. With such device the transfer operation for the work can be automatized and the labor is saved and especially in a hot forging press work this effect can be utilized greatly.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a handling machine for transporting (carrying in and out of) a workpiece to a press machine, mainly in a hot forging press.

BACKGROUND OF THE INVENTION Conventionally, conveyance of this type of workpiece has relied on manual work by an operator.

(The point of the WR problem that the invention seeks to solve, however, is that
Manually transporting workpieces naturally has the problem of poor productivity. In addition, workers especially in hot forging press processing are forced to perform hard labor in an adverse environment due to heat, scale, dust, etc., which poses problems in terms of occupational safety and health.

Therefore, it is conceivable to automate the transport work of this type of work and to save manpower. The predicted means include:
It is predicted that one will be based on the transfer method and the other will be based on the robot method. However, automation using the trans-fluid system is less economical as it becomes a large and complicated device, and it is also completely linked to the press, so there are problems in that it lacks versatility compared to other presses. will occur. In addition, automation using robots creates a complex structure with many sliding surfaces such as drive parts and connecting parts between parts, and many of these sliding surfaces must be exposed. The surface is easily affected by heat, scale, dust, etc., resulting in the problem of lack of durability.Also, since the transport operation is complicated, there is a limit to speeding up the transport work, resulting in poor work efficiency. This will result in a point.

(Means for Solving the Problems) In order to solve the problems in the conventional techniques described above, the present invention provides a first movable frame on the base frame so as to be movable up and down via an elevating device. A second movable frame is provided on the movable frame of
The gist of the structure is that the movable frame is provided with a finger unit that can clamp a workpiece.

(Function) According to the means described in b, the finger unit is raised and lowered relative to the base frame via the lifting device and the swinging device, and is moved in a complex manner in the front, back, left and right directions, thereby automatically transporting the workpiece clamped to the finger unit. fulfilled.

(Embodiment) Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In FIG. 1 schematically showing the front of the handling machine, FIG. 2 schematically showing the same plane, and FIG. In this example, on the right side), a base frame 11 assembled into a substantially rectangular frame shape is installed horizontally.

The front and rear ends of the left side (the side facing the press 1110) of the base frame 11 are connected to the press a10 in a positioned manner via a connecting plate 12.12.

First, the outline of the configuration on the base frame 11 will be described. A first movable frame 13 assembled into a substantially rectangular frame shape is provided on the base frame 11 so as to be movable up and down via a lifting device 14. A second movable frame 15 assembled in the shape of an oblong rectangular frame is provided on the first movable frame 13 so as to be able to swing approximately horizontally via a swing device 16 mainly composed of three-dimensional parallel links. The movable frame 15 of No. 2 is provided with two finger units 17 and 17, front and rear, capable of clamping the workpiece W.

First, the first movable frame 1 is attached to the base frame 11.
The elevating device 14 for elevating and lowering 3 will be described in detail.

A guide column 18 is vertically fixed approximately at the center of the right end of the base frame 11. The guide column 18 includes
A vertically long first guide plate 19 that projects forward, and a vertically long second guide plate 20 that projects leftward.
is fixed.

Further, a third guide plate 21 is fixed to the left end of the base frame 11 at approximately the center thereof in a vertical manner and substantially parallel to the second guide plate 20. On the lower side of the first movable frame 13, brackets 22 are attached corresponding to the respective guide plates 19 to 21.
24 respectively protrude downward. Each mounting bracket 22 to 24 has a pair of guide rollers 25.
゜25 are respectively rotatable and the guide plate 1
It is supported so that it can sandwich 9-21.

Therefore, with respect to one first guide plate, the first movable frame 1 is held by the idle rollers 25 and 25.
The movement of the first movable frame 13 in the left and right direction is regulated, and the movement of the first movable frame 13 in the front and rear direction is regulated by the clamping of the guide rollers 25 and 25 with respect to the second and third side plates 20 and 21, respectively. In addition, the first movable frame 13 is guided up and down while being held horizontally by moving the guide rollers 25.2 and 5 pairs on each of the guide plates 19 to 21.

Further, on the base frame 11, two sets of bearing brackets 26 and 26 are arranged on the left and right sides, which are a pair of front and rear bearing brackets. Each pair of bearing brackets 26 and 26 rotatably support both ends of parallel left and right rotation shafts 27 and 27 via bearings 28 (see FIG. 5). At the front end of the left rotation shaft 27 and the recessed end of the right rotation shaft 27, support arms 29 and 29 are respectively protruded toward the lower left. Further, on the lower side of the first movable frame 13, connecting pieces 30.30 are located substantially above the tips of the respective support arms 29.29 and project downward. Then, the tip of each support arm 29°29 and the connecting piece 30.
30, the upper and lower ends of connecting arms 31.31 are rotatably connected via connecting pins 32.32, respectively (see FIGS. 4 and 5).

Therefore, in front U of the left rotation shaft 27, there is a support arm 2.
A rotating arm 33 is adjacent to the rear side and protrudes toward the lower right. Further, a base end portion of an elevating cylinder 35 on the main body side is rotatably attached to a fixing bracket 34 fixed to the right side of the base frame 11 using a pin 37 . The distal end of the telescopic rod 36 of the lifting cylinder 35 is rotatably connected to the distal end (lower end) of the navigation rotation arm 33 by a connecting pin 38. Note that an air cylinder is employed as the lifting cylinder 35 in this example.

Therefore, when the lifting cylinder 35 is extended, the rotating wheel 27.27 is rotated clockwise in FIG. 1, and the first movable frame 13 is raised via the connecting arm 31.31. (See the two-dot chain line in FIG. 4), and when the lifting cylinder 35 is shortened in the opposite direction, the rotating wheels 27 and 27 are rotated counterclockwise in FIG. , the first movable frame 13 is lowered via the connecting arms 31.31.

Next, the swinging device 16 for swinging the second movable frame 15 substantially horizontally with respect to the first movable frame 13 will be described in detail.

A pair of left and right bearing brackets 39, 39 are fixed to the left end and center of the lower front side of the first movable frame 13. Both ends of a support shaft 40 are rotatably supported by the bearing brackets 39 and 39 via bearings 41 (see FIG. 6). At the left and right ends of the support shaft 40, there are bifurcated portions 4 at the lower ends of the left and right swing links 42 and 42.
Rotating bins 44, which are mounted on the shafts 3 and 3, are each rotatably mounted via tapered roller bearings 45, 45 (see FIGS. 6 and 7). Therefore, the swing links 42.42 are swingable in the front-back direction by the rotation of the support shaft 40, and swingable in the left-right direction by the rotation of the swing bin 44.

The upper ends of both swing links 42, 42 are connected to ball joints 46.
46, respectively. Further, behind the left swing link 42, a swing rod 47 has its lower end attached to the left rear piece 48 of the first movable frame 13 via a ball joint 49.
Its upper end is attached to the rear left end of the second movable frame 15 via a ball joint 50, so that it is arranged parallel to the left swing link 42.

Therefore, with respect to the first movable frame 13, the second movable frame 15 can swing back and forth and left and right through the three-dimensional parallel link constituted by the swing links 42 and 42 and the M motion rod 47. ing.

The base end of the moving cylinder 52 on the main body side is rotatably attached to the upper end of the vertical column 51 erected at the center of the right end of the first movable frame 13 with a mounting pin 54. There is. The distal end of the telescopic rod 53 of the moving cylinder 52 is rotatably connected to the left end of the second movable frame 15 by a connecting pin 55. Therefore, when the moving cylinder 52 is extended, the second movable frame 15 moves to the left (
press! 1110), and conversely, when the moving cylinder 52 is shortened, the second movable frame 15 moves to the right (backwards relative to the press 10).
will be done. In addition, an air cylinder is adopted as the moving cylinder 52 in this example, and the attachment is made to the cylinder 52.
4 and the connection pin 55 are set so that the moving cylinder 52 can also swing slightly in the vertical direction as the second movable frame 15 swings. .

Further, on the pedestal 56 at the rear of the first movable frame 13, a moving motor 57 and a reduction gear 58 are arranged in parallel. The driving force of the moving motor 57 is provided by a belt-type power transmission mechanism 6.
0 to the deceleration mode 58.

A crank lever 61 is attached to the rotary shaft 59 protruding to the left side of the reduction gear 1I158. A mounting rod 630 is attached to the tip of the crank lever 61 and the mounting piece 62 that hangs down from the front end of the second movable frame 15.
Both ends are connected via ball joints 64 and 64, respectively. Therefore, by driving the moving motor 57, the deceleration l! Crank lever 61 via 158
By rotating the second movable frame 15, the second movable frame 15 is moved in the front-back direction. That is, as shown in FIG. 3, when the crank lever 61 is directed forward (leftward in the figure), the second movable frame 15 is moved forward, and in contrast, the crank lever 6
1 is directed backward (to the right in the figure), the second movable frame 1 is moved as shown by the two-dot chain line in the figure.
5 will be moved backwards.

Next, the finger unit 17.17 arranged on the second movable frame 15 will be described in detail with reference to FIGS. 8 and 9. In addition, both finger units 17.1
7 have the same configuration, so the front finger unit 17
will be described, and a description of the rear finger unit 17 will be omitted.

On the second movable frame 15, a right half of a holding frame 65 assembled in the shape of a horizontally long rectangular frame is fixed. Finger units 17, 17 are arranged before and after this holding frame 65. A finger cylinder 66 is located on the right side of the holding frame 65.
is attached, and the telescopic rod 67 of the cylinder 66 is oriented to the left. An extension rod 68 is connected to the telescopic rod 67 so as to protrude to the left of the holding frame 65 .

Further, upper and lower holding plates 69, 69 are fixed to the left side of the holding frame 65 in parallel.

Between the two holding plates 69, 69, the bases of a pair of front and rear fingers 70.degree. 70 having an arcuate clamp portion 71 at their tips are rotatably attached by support pins 72, 72. Furthermore, one end of the connecting link 73°-73 is attached to the connecting pin 7 at the base end (right end) of both fingers 7o, 70, respectively.
4.74 rotatably connected and reconnecting link 7
The other ends of 3 and 73 are both connected to the tip of the extension rod 68 (
(left end) by a pivot pin 75. Therefore, when the finger cylinder 66 is extended, both fins are extended by 70.7 mm as shown in FIG.
0 clamp part 71.71 is closed, and the same lamp part 7
When the workpiece W is gripped between 1.71 and the finger cylinder 66 is shortened, the clamp portions 71.71 of both fingers 70.70 are opened, as shown by the two-dot chain line in the figure. As a result, the grip on the workpiece W is released.

In the above-mentioned handling machine, press m10
An example of the case where the workpiece W is transported will be described. First, the handling machine is in the state shown in FIGS. 1 to 3 before its operation. That is, the lifting cylinder 35 is shortened and the first movable frame 13
is in the lowered position, the moving cylinder 52 is shortened, the second movable frame 15 is in the right position, the crank lever 61 is directed forward, and the second movable frame 15 is in the forward position, and Finger cylinder 6
6 is shortened and the fingers 70.70 are in the open position.

From this state, first, the moving cylinder 52 is operated to extend, and the second movable frame 15 is moved forward toward the workpiece W moving to the left), and the clamping portions of both fingers 70 and 70 of the front finger unit 17 are moved. 71.71 are located on both front and rear sides of the workpiece W before machining, and both fingers 70.70 of the rear finger unit 17
The clamp portions 71°71 are located on both the front and rear sides of the workpiece W after processing.

Next, the cylinders 66.66 for both fingers of the double finger unit 17.17 are actuated to extend, and the cylinders 66.66 for both fingers 70.
After the workpieces W and W are gripped for 70 seconds, the lifting cylinder 35 is extended and moved to the first movable frame 13.
is raised, thereby lifting both the works W, W.

Then, the moving motor 57 is driven to decelerate I! 58
When the crank lever 61 is directed rearward, the second movable frame 15 is moved rearward, thereby positioning the front workpiece W above the processing position of the press 1110 and moving the rear workpiece W. is located above the take-out position.

Next, the lifting cylinder 35 is shortened, and both workpieces W are moved together with the first movable frame 13.

After W is lowered, the finger cylinders 66.66 are shortened, and the grips of the workpieces W and W by the fingers 70.70 of both finger units 17 and 17 are released, and the workpieces W and W are held in a predetermined position. placed in position.

Next, the moving cylinder 52 is shortened, the second movable frame 15 is moved to the right, the moving motor 57 is driven, and the crank lever 61 of the reducer 58 is directed forward. The second movable frame 1
5 is moved forward. Through the above steps, the original state is returned and one cycle of the conveyance process is completed. By repeating this operation, the work W is sequentially loaded and transported.

In the above embodiment, two finger units 17.17 were installed in parallel on the second movable frame 15, but the second movable frame 15 may have one or three! ! It is also possible to arrange more than one in parallel.

Furthermore, if wheels for setup changes are provided on the lower surface of the base frame 11, the handling machine can be easily moved during setup changes.

(Effects of the Invention) That is, the gist of the present invention is the configuration described in the above-mentioned "Means for Solving Problems" column, and the finger unit is raised and lowered relative to the base frame via a lifting device and a swinging device. Since the work gripped by the finger unit is automatically transported by the compound movement in the left and right directions after the hand is raised, the conventional manual work of transporting the work can be automated and labor-saving can be achieved. is possible,
This has the effect of improving productivity. This is particularly effective in avoiding heavy labor by workers in adverse environments during hot@forging press processing and improving occupational safety and health.

In addition, by configuring the swinging device mainly using three-dimensional parallel links, it is possible to obtain a device with a simple structure and a small size, compared to the conventionally predicted automation of the transfer method, which is economical and It is also possible to operate the press separately and in conjunction with other presses, providing versatility with other presses. In addition, compared to conventionally predicted robot-based automation, a simpler structure can be obtained, and the number of sliding surfaces such as the driving part and the connecting parts between parts can be reduced as much as possible. It is possible to avoid the effects of heat, scale, dust, etc. on the material, and the durability against use in adverse environments is improved.

In addition, by configuring the swinging device mainly using three-dimensional parallel links, it is possible to increase the speed of the intermediate portion from immediately after the start of the movement of the second movable frame to just before the end, and to reduce the speed immediately after the start and immediately before the end of the movement of the second movable frame. , the same moving operation can be performed accurately and at high speed, which is useful for speeding up conveyance work.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is a schematic front view of the handling machine, FIG. 2 is a plan view thereof, FIG. FIG. 5 is an enlarged front view of the section, FIG. 6 is an enlarged front view of the lower swinging part of the swinging device, FIG. 7 is a cross-sectional view thereof, and FIG. 8 is an enlarged view of the finger unit. The front view and FIG. 9 are partially cutaway views of the same. 11...Base frame 13...First movable frame 14-...Elevating device 15...Second movable frame 16...Swinging device 17...Finger unit W...Work application Representative of Toyota Motor Corporation Nagoya Kikou Co., Ltd. Patent attorney Hidehiko Okada (2 others) Figure 8 Figure 9Wi

Claims (1)

[Claims] A first movable frame is provided on the base frame so as to be movable up and down via a lifting device, and a second movable frame is provided on the first movable frame.
A second movable frame is provided so as to be able to swing approximately horizontally via a swinging device mainly consisting of three-dimensional parallel links, and a second movable frame is provided with a finger unit capable of clamping a workpiece. handling machine.