JPS6139134B2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The invention of this application does not control the cycle operation of a transfer device for intermittently transferring pressed products etc. from a press processing device onto a conveyance device, rather than by time control. This invention relates to a processed product transfer control method that mainly performs position control and enables accurate positioning transfer, and a control device directly used therefor, and in particular,
The amount of change in the rotation angle of the transfer device's processed product transfer arm is detected, and the transfer device can be infinitely freely and precisely determined to perform cycle transfer operations by matching the rotation angle to a preset setting angle. The present invention relates to a control method and device that performs the following steps.

<Prior Art> Conventionally, a processed product that has undergone a predetermined process from a processing device, for example a press processing device, is transferred from the processing device to a conveying device such as a belt conveyor by a transfer device in order to be transferred to the next processing process. It is now being transferred intermittently to the top.

Since the working process of a press or the like is a cycle operation for each item, the transfer operation of the transfer device is also restricted to perform a cycle operation.

After processing, the processed products are transferred to the next processing device as mentioned above, and in order to take over the automatic processing of drilling and assembly, they are individually transferred to the set posture and correct position on the transfer device. It needs to be placed.

By the way, the general mechanism of a transfer device such as a press line is that a swing-type arm mounted on a rotating shaft is swung by an air cylinder, and a jyo attached to the tip of the arm is also rotated by an air cylinder. The action grips and releases the processed product.

The cycle operation is based on time-shearing control using four set timers, and one cycle is controlled by the cam operation command of the processing device.
One timer operates with a delay of a predetermined dimension to clamp the jaw, then another timer starts the forward stroke of the arm with a delay of a predetermined dimension, and the jaw release operation is performed by a timer command signal for each predetermined set. Then, a further reset of the arm is performed by another timer.

<Problems to be Solved by the Invention> However, since the mechanical operations based on each signal during that time are performed using two air cylinders as described above, it is natural that the influence of fluctuations in air pressure and drainage over time will be affected. However, it has the disadvantage that the response characteristics and operation speed change, and therefore it is difficult to determine the transfer position according to the timer set.
In addition, there are problems such as not only being unable to release the processed product at a certain position in the conveyance device, but also not being able to reliably turn it over, which may result in malfunctions in the next stage processing operation and the inconvenience of disrupting processing accuracy. It was hot.

The purpose of the invention of this application is to solve the problems of the transfer process when transferring the processed product from the processing device to the conveyance device based on the above-mentioned prior art, and to ensure that the processed product is transferred onto the conveyance device. An excellent processed product transfer control method that not only allows the position and orientation to be determined and transferred as set, but also reliably reverses the process, and is useful in the field of transport of processed products in various industries, and a device directly used therefor. We aim to provide the following.

<Means and operations for solving the problems> In order to solve the above-mentioned problems, the structure of the present invention, which is based on the above-mentioned claims, is to transfer the processed product from the processing device to the transfer device. When the arm transfers the product to the transfer device, the transfer device is activated at a time set in advance by a timer after the processing device is activated, the processed product is clamped by the jaw, and then the swing type arm swings and rotates. When the amount of displacement matches the rotation angle preset by the variable resistor, the machined product is unclamped by the jaw, and the rotation angle of the rotating arm matches the rotation angle preset by the variable resistor. A technical measure was taken to stop the arm and move it backwards when the arm was moved.

<Embodiments - Configuration> Next, embodiments of the invention of this application will be described below based on the drawings.

Reference numeral 1 denotes a press line plant as a processing device, which is interposed between a well-known press processing device 2 and a similarly well-known belt conveyor 3 as a conveying device connected to this and facing the next stage processing device. Mechanically, it consists of a transfer device 4 attached to the rear frame 2' of the press working device 2.

The transfer device 4 accurately transfers and places the dash panel 5 as a processed product pressed by the press device 2 from the press device 2 onto the belt conveyor 3 at a predetermined position and posture using the transfer control device 6. It's like that.

The transfer device 4 has a substantially U-shaped swing arm 8 interposed through a pair of left and right angles 7, 7 fixed to the bracket 2'' of the rear frame 2' of the press processing device 2. be.

The front end of the arm 8 supports a link 10 and a link 11 through a pin 9 with a loose fit,
The other end of the former link 10 is loosely fitted to the lower end of a rod (not shown) of an air cylinder 12 vertically installed on the angle 7 via a pin 13, and the other end of the other link 11 is supported with respect to the angle 7. It is rotatably pivoted by a rotation shaft 16 fixed to the link 11 via bearings 14 and 15.

The tip of the rotating shaft 16 is connected to a joint 17.
It is integrally connected to a rotating shaft 20 of a rotating variable resistor 19 fixed to the angle 7 by a bracket 18.

Further, a cam follower pin 21 is implanted in a portion of the arm 8 inside the angle 7, and engages with a cam groove 22 perpendicular to the angle 7, so that the arm 8 is cyclically oscillated by the operation of the air cylinder 12. It is made possible to do so.

The rear lower end of the arm 8 is provided with a jaw 23.
An air cylinder 24 is suspended and fixed, and the dash panel 5 can be clamped and unclamped by a clip 25 at its tip, as is well known.

In addition, 26 and 27 are for the bracket 2'', the arm 8 attached to the angle 7, and the jaw 2, respectively.
3 solenoid valves, each of which is linked by a cable 28.

Further, in FIG. 7, the link 10 and pin 13 of FIG. 6 are omitted for illustration convenience.

By the way, the transfer control device 6 includes the variable resistor 19 and a cable 28 connected to the variable resistor 19.
The control panel 27 is attached to the frame 2' via a control panel 27.

As shown in FIGS. 1, 2, and 3, the control panel 27 includes a panel 3 with operation buttons at the bottom and command operation display lamps PL ₁ , PL ₂ , and PL ₃ 29 on the left side.
0 and an operation panel 31 as a timer operation mechanism on the right side, which constitutes the gist of the invention of this application, and the panels 30 and 31 are connected by a cable 32.

As shown in FIGS. 1, 2 and 3, the timer operation panel 31 includes timers T ₁ and T ₂ each having four digital display counters C ₁ , C ₂ , C ₃ and C ₄ and a variable resistor T _{3 .} , T ₄ are attached, each with an operation knob.
H ₁ , H ₂ , H ₃ , and H ₄ are installed.

Therefore, the upper timers T ₁ and T ₂ are normal ones, and the timer T ₁ is the press line ramp 1.
Timer 1T that sets the time from when the start signal is sent to when the JIYO 23 starts operating.
(VR ₁ ), and the timer T ₂ is a timer 2T (VR ₂ ) that sets the time from the start of clamping operation by the jaw 23 to the start of rotation of the arm 8.

On the other hand, the lower variable resistors T ₃ and T ₄ as manually operated variable resistors are variable resistors 19 that rotate along with the rotation axis 16 of the link 11 by setting their resistance values in advance. It can be set to a resistance value corresponding to the rotation accompanying resistance values θ ₁ and θ ₂ of the variable resistor T _{3 and} the variable resistor θ ₁ that acts to open the clamp of the jaw 23.
(VR ₃ ), and the variable resistor T ₄ is a variable resistor θ ₂ (VR ₄ ) that stops the swinging of the arm 8 and issues a backward motion command.

To explain the operation of the variable resistors T ₃ , T ₄ and the variable resistor 19, if the position of the variable resistor 19 is rotationally displaced by the rotation shaft 16, the variable resistors T ₃ ,
By setting the built-in variable resistor Rθ to a predetermined value using the respective operating knobs _H3 and _H4 of _T4 , the voltage difference between the variable resistor Rθ and the voltage of the rotational resistor 19 can be set to a constant voltage difference. A time release command is output respectively, and the timer 1T (VR ₁ ) or timer 2T (VT ₂ ) is released from holding and the clamp of the jaw 23 is released or a swing stop return command of the arm 8 is issued. It's summery.

In this case, by freely operating the operating knobs H ₃ and H ₄ , the variable resistor Rθ can be put into patrol operation.

In this embodiment, in contrast to the variable resistor 19, two patrol variable resistors Rθ are provided for the jaw 28 and the arm 8.

Therefore, in the embodiment, as shown in FIGS. 9 and 10, the variable resistance Rθ ₁ (VR
-3), variable resistance Rθ ₂ for arm 8 (VR-4)
and the variable resistor 19 are connected as shown in FIGS. 9 and 10, and the timers T ₁ and T ₂ are
Connected to 1T (VR-1) and 2T (VR-2) as a self-hold release command.

In addition, the conventional JIYO 23 start operation timer
A timer 1T (VR ₁ ) of T ₁ and a timer 2T (VR ₂ ) of arm 8 operation start timer T ₂ are connected in parallel with the variable resistors T ₃ and T ₄ and set to a time delay of, for example, 3 seconds.

<Embodiment - Effect> In the above configuration, the operation panel 3 of the control panel 27
Set by turning each of the operation knobs H ₁ , H ₂ , H ₃ , and H ₄ on the top 1 at the set timing.

That is, the timers T ₁ and T ₂ are normally set to 3 seconds, and the variable resistors T ₃ and T ₄ are set to the release angle θ ₁ of the jaw 23 corresponding to the set transfer position on the belt conveyor 3 in the former case, and For the latter, the reset position angle θ ₂ from the beginning to the end of the swing of the arm 8 is determined and set, and these set amounts are displayed on digital display counters C ₁ , C ₂ ,
Displayed in C ₃ and C ₄ .

When the press line plant 1 is operated in this state, a trajectory signal is transmitted by the cam operation (not shown) of the press processing device 2, and as shown in Fig. 8, timer _T1 is started and a time delay of 3 seconds is generated.
At 1TR (A), the jaw 23 is moved forward from the standby state shown in FIG. 6 via the solenoid valve 27, and the clip 25 clamps a predetermined front end of the dash panel 5.

At the same time, while holding timer T ₁ , timer T ₂ is started via the 3 sec delay activation solenoid valve 26, and arm 8 is activated with 2TR (A).
works to raise the

When the arm 8 moves to the rising process, the jaw 23 starts a transition operation on the belt conveyor 3 from the state shown in FIG. 6 to the state shown in FIG. Due to the movement of the cylinder 12, the pivot shaft 16 of the link 11 rotates accordingly.

Therefore, the variable resistor 19 is also changed proportionally to the displacement of the dash panel 5, and therefore its resistance value is equal to the variable resistor R of the variable resistor _T3 .
_θ1 , the voltage changes, and finally, when the variable resistor 19 matches the constant voltage difference with respect to the set variable resistor Rθ, the timer _T1 is canceled by the release signal as described above, and The clip 25 of the jaw 23 is released, and the darts panel 5 is accurately released at _θ1 in FIG. 8 and transferred onto the belt conveyor 3 in the set position and attitude.

Therefore, for example, when reversing the dash panel 5, the variable resistor _T3 is adjusted and the arm 8
All you have to do is set the rotation angle to the optimum value.

As a result, the darts panel 5 is transferred while maintaining an accurate steady posture with respect to the next-stage device, etc.

At the same time, the solenoid valve 27 is switched due to the release of the timer T ₁ , and the air cylinder 24 of the jaw 23 is turned back.

After that, the arm 8 continues to rise due to the operation of the timer _T2 , which is maintained, and therefore the rotation shaft 16 of the link 11 continues to rotate.
The resistance value of the variable resistor 19 approaches the preset variable resistance value _Rθ2 of the variable resistor _T4 , the current also changes, and finally both resistors become a constant voltage difference with the resistance value _θ2 , and the timer _T2 is given a signal to release its holding, the solenoid valve 26 is switched, and the arm 8 completes the raising process C in FIG. 7B, and then stops and moves back.

The operating state during this time can be confirmed using the display lamp 29.

Moreover, the dotted lines in FIG. 8 (1TRB) and (2TRB) also show the timer operation of the above-mentioned prior art.

Further, since the timers T ₁ and T ₂ only control the start delay of the jaw 23 and the arm 8, there is no need to provide a position control mechanism.

Not only can the timing of the timers T ₁ and T ₂ be arbitrarily selected, but also the transition position and swing span of the variable resistors T ₃ and T ₄ can be freely selected, and the knobs H ₁ , H ₂ , H ₃ , Stepless setting is possible with _H4 .

Although the above-mentioned embodiment is a mode of transfer of a press-formed product in a press line, it goes without saying that the invention of this application is not limited to this embodiment.

<Effects of the Invention> As described above, according to the invention of this application, when a processed product is transferred from a processing device to a conveying device, transfer can be basically controlled using an absolute measure of setting the length of the transfer process of the processed product. The transfer position does not change even if there is a change in the speed of air cylinder operation, etc. Therefore, the release operation, stop, and return operation of the transfer position can be performed accurately every time. Not only the upper position,
The posture will be as set, the processed product can be freely reversed if necessary, and the next stage of processing and assembly will be carried over accurately, which has the excellent effect of greatly improving the accuracy of the final product.

By directly controlling the transfer position of the processed product in the transfer process by detecting the amount of displacement in the rotational angle of the rotating shaft that forms the center of the transfer device, even if the position control is the same, positioning is performed by lengthwise distance. Not only is the control operation easy to perform because it can be performed at different angles, but it can also be performed accurately and produces excellent effects.

In addition, in the transfer control device, the amount of position change can be reliably detected by equipping the central rotation axis of the transfer device with a variable resistor and changing the resistance in proportion to the amount of transfer operation of the transfer device. It is now possible to issue a stop signal by matching the resistance value of a variable resistor installed in the operating mechanism of a control panel, etc. to a preset amount of transition position, and release the holding state of the attached timer to stop the processed product. The excellent effect of reliably discharging the gas, stopping the transfer device, and reciprocating movement is achieved.

[Brief explanation of the drawing]

The drawings show one embodiment of the invention of this application, and FIG. 1 is an overall schematic perspective view, FIG. 2 is a partially enlarged perspective view of the control panel, and FIG. 3 is a front view of the operation panel. Fig. 4 is a perspective view of the variable resistor installation, Fig. 5 is a vertical sectional front view of the part shown in Fig. 4, Fig. 6 is an illustration of transfer device standby, Fig. 7 is an illustration of transfer device operation, and Fig. 8 is transfer operation. FIGS. 9 and 10 are explanatory diagrams for explaining a conventional technology corresponding to a timer sequence, and FIGS. 9 and 10 are diagrams for explaining a timer electric circuit. 5...Processed product, 1...Processing device, 3...Transfer device, 23...Jyo, 8...Arm, 4...Transfer device, θ, θ ₂ ...Rotation angle, 19...Variable resistor , T ₃ , T ₄ ... Manually operated variable resistor, T ₁ , T ₂ ...
…timer.

Claims (1)

[Claims] 1. In a method for controlling a transfer device having an arm and a jyo for transferring a processed product from a processing device to a conveyance device, the transfer device is operated at a preset time after the processing device is activated to process the product by the jyo. The product is clamped, then the arm rotates and carries it out, the displacement of the arm rotation angle is detected, and when the rotation angle matches the preset rotation angle, the processed product is unclamped by the Jyo, and the rotating arm is further unclamped. A processed product transfer control method characterized by stopping and reciprocating an arm when the amount of displacement matches a preset rotation angle. 2. In a transfer control device attached to a transfer device interposed between a processing device and a transfer device installed opposite to the processing device, a shaft is attached to the rotation axis of the processed product transfer arm of the transfer device. a manually operated variable resistor electrically connected to the variable resistor; and a transfer device operation cycle timer electrically connected to the variable resistor. Processed product transfer control device.