JPS6127130A - Gripper feed equipment of material to be worked - Google Patents

Abstract

PURPOSE:To improve the accuracy of an intermittent movement by providing a fixed gripper for inserting and holding one side edge of a material to be worked, also providing a moving gripper for inserting and holding the other side edge, and inserting and holding alternately the material to be worked, by both the grippers. CONSTITUTION:A fixed gripper 3A consists of a fixed jaw 3A1 and a movable jaw 3A2, and by oscillating the movable jaw 3A2 through a hydraulic cylinder 3A4. Moving grippers 19A, 19B are provided on slide tables 18A, 18B, moved intermittently in the forward and backward directions along a prescribed distance by driving servo-motors 12A, 12B, and inerted and held, and released in the same way as the fixed gripper 3A. The material M can be moved exactly in the prescribed direction by a prescribed distance each by operating the fixed grippers 3A, 3B and the moving grippers 19A, 19B, and inserting and holding, and releasing the material alternately and repeatedly.

Description

[Detailed Description of the Invention] <Industrial Application Field> This invention relates to a gripper feed device that intermittently transfers a workpiece at a predetermined time cycle. A roller feed method and a gripper feed method are well known as means for transferring intermittently at a predetermined time cycle. In the roller feed method, the workpiece held between a pair of feed rollers consisting of a drive roller and a driven roller is intermittently moved a predetermined distance using a one-way rotation clutch, or the drive roller is intermittently driven by a cam. In addition, the gripper feed method, as shown in FIG. A movable gripper 23 that can move intermittently toward the fixed gripper 22 by a predetermined distance is provided, and while the movable gripper 23 is moving forward by a predetermined distance toward the fixed gripper while holding the workpiece M, the fixed gripper 22 Release the pinch. Next, while the fixed gripper 22 is gripping the workpiece M, the movable gripper 23 releases the grip and moves backward to the original position. When using such an intermittent transfer means to form a short material cut to a fixed length, a distance of about the same distance from the processing position to the material fixing part is required. For this reason, it is not possible to process particularly short materials, and there is also a problem that deflection occurs between the processing position and the material fixing part, reducing feeding accuracy.

<Object of the Invention> This invention has been made in view of the above, and its purpose is to shorten the distance between the processing position and the material fixing part as much as possible so that short materials, especially short and small ones, can be processed. To provide a gripper filling device for a workpiece, which can transport the workpiece with high accuracy without bending the workpiece.

<Summary of the Invention> A fixed gripper capable of gripping one side edge of a workpiece being moved in a fixed direction, a movable gripper capable of gripping the other side edge of the workpiece, and a fixed gripper capable of gripping the other side edge of the workpiece, the movable gripper being held at a predetermined distance. While the movable gripper is moving forward a predetermined distance toward the fixed gripper while holding the workpiece, the fixed gripper releases the workpiece and the fixed gripper moves the workpiece. While gripping the workpiece, the movable gripper attempts to intermittently transfer the workpiece at a predetermined time cycle by releasing the grip on the workpiece and moving it backward to the original position.

<Example> Hereinafter, the configuration and operation mode will be explained based on FIGS. 1 to 5 showing an example of the present invention.

B) Structure 1 shown in FIG. 1 is a machine frame of a molding machine, for example a press machine, and a press mold 2 is fixed to the single chain machine frame 1. 3A
, 3B are the first ones arranged on the left and right sides of the press mold 2
a fixed gripper, and a second fixed gripper. 3Al
is a fixed jaw, 3A2 is a movable jaw, and the movable jaw 3
A2 is pivotally supported by a pin 3A3 to a fixed jaw 3Al. 3A4 is a first fixed cylinder that is fixed to the fixed jaw 3AI, and its piston rod is connected to the rear end of the movable jaw 3A2 through a pin, and when fluid is supplied to the first fixed cylinder 3A4, the movable jaw 3A2 swings. The workpiece M can be held between them. Also, the first
When the fluid is released from the fixed cylinder 3A4, the movable jaw 3A2 returns to its original position and releases the workpiece M (see FIG. 4). Note that the configuration of the second fixed gripper 3B is similar to that of the first fixed gripper 3A.

Reference numeral 4 denotes a first guide member disposed parallel to the traveling direction of the workpiece M, and a 9 is provided at the front end (on the side of the first fixed gripper 3A).
A gate drive motor 5 that can rotate 0° forward and 90° reversely is fixed, and a gate member 6 is fixed to the rotation shaft of the gate drive motor 5. Reference numeral 7 denotes a second guide member disposed parallel to the traveling direction of the workpiece M, and a carry-in chute 8 is connected to the rear end thereof. The first gate member 4 and the second gate member 7 are arranged parallel to each other with the workpiece M interposed therebetween. Reference numeral 9 denotes a carry-out chute arranged to the right of the second fixed gripper 3B.

11 is a machine frame arranged behind the press machine, 12A, 1
2B is a first drive motor (
servo motor), second drive motor (servo motor),
Pulleys 13A and 13B are fixed to the rotating shafts, respectively. 14A.

14B is a feed stand fixed to the machine frame 11 in parallel with the direction of movement of the workpiece M, and feed screw shafts 15A and 15B are installed in the center of the feed stand, respectively.
, 15B, pulleys 16A, 16B are fixed to one ends of the pulleys 16A, 15B, respectively. 17A is a timing belt wound around pulleys 13A and 16A, and 17B is a timing belt wound around pulleys 13B and 16B. 18A is feed base 14
The first slide table 18A is slidably mounted on the first slide table 18A, and a nut 18Bl screwed onto the feed screw shaft 15A is fixed to the first slide table 18A. Therefore, the first slide table 18A is adjusted so that when the first drive motor 12A is rotated in the forward direction, the first slide table 18A moves forward toward the press die 2 side, and when the first drive motor 12A is rotated in the reverse direction, it moves backward toward the pulley 16A side. Further, 18B is a second slide table swingably mounted on the feed base 14B, and the second slide table 1
8B has a nut 18Bl screwed onto the feed screw shaft 15B.
is fixed. When the second drive motor 12B is rotated forward, the second slide table 18B is rotated by the pulley 16B.
It is adjusted so that it moves backward toward the side and moves forward toward the pre-A mold 2 side when reversely rotated.

19A and 19B are respectively No. 1. These are a first movable gripper and a second movable gripper disposed at the tips of arms 19A5 and 19B5 fixed to the second slide tables 18A and 18B. 19A1 is a fixed jaw, and 19A2 is a movable jaw, and the movable jaw 19A2 is pivotally supported to the fixed jaw 19A1 by a pin 19A3.

19A4 is a first moving cylinder fixed to the fixed jaw 19A1, the piston rod of which is connected with a pin to the rear end of the movable jaw 19A2, and the first moving cylinder 19A is fixed to the fixed jaw 19A1.
When fluid is supplied to the movable jaw 19A2, the movable jaw 19A2 swings and can grip the workpiece M. Furthermore, when the fluid is released from the first movable cylinder 19A4, the movable jaw 19
A2 returns to its original position and releases the clamping of the workpiece M (
(See Figure 4). Note that the configuration of the second moving gripper 19B is similar to that of the first moving gripper 19.

In the gripper feed device having such a configuration, while the first movable gripper 19A is moving forward from (c) to (b) while holding the workpiece M, the first fixed gripper 3A releases the workpiece M from being held. Then, while the first fixed gripper 3A is holding the workpiece M, the first moving gripper 19A is holding the workpiece M.
Release the grip and move backwards from (b) to (c). While repeating such an operation, the second fixed gripper 3
B, the second moving gripper 19B is on standby.

After that, the workpiece M reaches the second movable gripper 19B at position (d), and while the second movable gripper 19B is moving forward from (d) to (e) while holding the workpiece M, the second moving gripper 19B The gripper 3B releases the workpiece M, and then, while the second fixed gripper 3B is gripping the workpiece M, the second moving gripper 1
9B releases the clamping of the workpiece M and moves backward from (E) to (D). While repeating such operations, the first fixed gripper 3A and the first movable gripper 19A are on standby (see FIG. 5).

(a) Operation mode In the gripper feeding device of the present invention having the above-described configuration, the front end surface of the workpiece M is brought into contact with the gate member 6 in advance, and then the first moving gripper 19A is moved as shown in FIG. (a) To position, second moving gripper 19
Move B to position (d).

Next, an explanation will be given based on the time cycle shown in Table 1. In the first stage, the gate member 6 is rotated 900 degrees in reverse (see FIG. 2). and the first moving Gritsuba l 9 p
, grip the workpiece M and move forward from (a) to (b), that is, to the position closest to the press die 2.

In the second stage, the first fixed gripper 3A clamps the workpiece M and presses the workpiece M. Meanwhile, the first moving gripper 19A releases the grip on the workpiece M (b)...→
Move backwards to (c).

In the third stage, the first fixed gripper 3A releases the workpiece M, and the first movable gripper 19A moves forward from (c) to (b) while gripping the workpiece M.

In the fourth stage, the first fixed gripper 3A clamps the workpiece M and presses the workpiece M. Meanwhile, the first moving gripper 19A releases the grip on the workpiece M (b)...→
Move backwards to (c).

Thereafter, the operations in the third and fourth stages are repeated. During this time, the second fixed gripper 3B and the second movable gripper 19B are on standby in the released state.In the fifth stage, the first fixed gripper 3A and the first movable gripper 19A as described above
As a result of the operation, the workpiece M arrives at the second moving gripper 19B.

As a result, the second movable gripper 19B moves forward from (d) to (e) while holding the workpiece M therebetween.

Then, the first fixed gripper 3A becomes in the released state, and the first movable gripper 19A remains in the released state and moves backward from (c) to (a), and is on standby.

In the sixth stage, the second fixed gripper 3B holds the workpiece M and presses it. Meanwhile, the second moving gripper 19B releases the grip on the workpiece M (e)...→
Move backwards to (d).

Thereafter, after the operations in the fifth and sixth stages are repeated, the workpiece M falls into the carry-out chute 9 and is transferred to the next process. During this time, the front end surface of the subsequent workpiece M is in contact with the gate member 6 (see FIG. 3) which has been rotated forward by 90° and is waiting for transfer.

Next, the operation in the first stage is started again based on the time cycle shown in Table 1 above. and the second
The fixed gripper 3B is in a released state and is on standby.

Note that the above-described press forming, clamping and releasing of the fixed gripper, forward clamping and releasing of the movable gripper, backward movement of clamping and releasing, etc. are operated via a program control means (not shown).

<Effects of the Invention> As explained above, in the gripper feed device according to the present invention, the fixed gripper grips one side edge of the press-formed special workpiece, and the movable gripper releases the gripping of the workpiece by the fixed gripper. When this is done, it is possible to clamp the other side edge of the workpiece and transport it intermittently in a fixed direction with high precision to the position closest to the press die or to the unloading chute. In particular, even short and small workpieces can be transferred, and there is no bending at all between the processing position and the material fixing part.

[Brief explanation of the drawing]

1 to 5 show embodiments of the present invention, in which FIG. 1 is a plan view, FIG. 2 is a view taken in the direction of arrow A shown in FIG. 1, and FIG. 3 shows the gate member shown in FIG. 4 is a sectional view taken along the line B-B shown in FIG. 1, FIG. 5 is a plan view illustrating the moving state of the moving gripper, and FIG. 6 is a plan view of a conventional gripper feed device. It is. ? ...Press mold, 3...Fixed gripper (3A...
・First fixed gripper, 3B... second fixed gripper),
12.13, 14, 15, 16, 17. 18... Moving means (12A, 12B... Drive motor, 13A, 13
B...Pulley, 14A, 14B...Feed stand, 15A
, 15B...Feed screw, 16A, 16B...Pulley. 17A, 17B...Timing belt, 18A, 18
B... slide table), 19... moving gripper (19A... first moving gripper, 19B... second moving gripper), M... workpiece. Figure 6 Figure 4

Claims (1)

[Claims] A fixed gripper capable of gripping one side edge parallel to the moving direction of the workpiece, a movable gripper capable of gripping the other side edge opposite to the one side edge, and movement for moving the movable gripper a predetermined distance. 1. A gripper feed device, further comprising a control means for alternately holding the workpiece by the stationary gripper and the movable gripper.