JPS6230055B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic workpiece feeding device that enables three-dimensional movement of a workpiece gripping member used in multi-step machining in a large press.

Conventionally, pressed products that require multiple processes were processed sequentially using multiple small single-function press machines placed along the processing line, but in order to shorten the work time, large gantry or wide-bed press machines were used. In recent years, a method has been adopted in which multiple molds are set and multiple processes are performed simultaneously in one press operation. This type of large press machine, especially a gate type press machine, has dead space on both sides of the frame, so when transferring the processed workpiece to the mold for the next process, the front side of the press machine is separated from the press machine. Safe and efficient work is possible by using a differently installed automatic feeder, but conventional automatic feeders of this type, apart from a feeder with a feed bar installed above the mold, 3 unless multiple different driving means such as motor power and air pressure are used.
Since it is not possible to perform dimensional feeding operations, it is difficult to deal with press work that requires different numbers of press machine steps and pitches between dies, and is therefore not suitable for high-mix, low-volume production. In addition, the use of multiple drive means for three-dimensional feeding operations inevitably increases the size of the device, and in particular automatic feeding devices for three-dimensional feeding operations in which the driving means is driven by a press machine are Therefore, when installing or installing the press, special consideration had to be given to the shape of the press and the mounting part. Furthermore, if we try to make the movements of each drive unit continue as a series of movements, we will need multiple displacement limit position detection means such as limit switches, and furthermore, it will take a lot of work to adjust the detection means to synchronize the relationship between the three-dimensional movements. Because it took a long time, there were problems such as inefficiency.

This invention was made in view of the above-mentioned circumstances.
It is an object of the present invention to provide a versatile automatic feed device for a workpiece, which performs vertical movement and lateral movement as a series of continuous movements, is accurate, does not malfunction, and is independent from a press machine.

Hereinafter, one embodiment of the present invention will be described based on the drawings.

In FIGS. 1 to 3, 1 is a processing machine that processes the workpiece W, and in the case of this embodiment, 6
A so-called gantry press machine is used that simultaneously performs the press operations in the process. This processing machine 1 is intended for simultaneous press work in two or more processes, and movement of the workpiece W between each process is performed by an automatic feeder 2. The automatic feed device 2 is independent of the processing machine, and the main body 2 is mounted on a cart 4 that can move on rails 3.
When in use, the main body 2a is fixed by a joint fitting 5 to a bolster 7 that supports a mold 6 of the processing machine 1. For example, bench lily type vacuum suction pads 8 are used as fingers for gripping the workpiece W, and each tip of six finger arms 9a held at equal intervals in the finger holder 9 has four suction pads. A pad 8 is provided. In addition,
Instead of the suction pad 8, a magnetic adsorption type or chuck type finger may be used. Here, the number of finger arms 9a corresponds to the number of processes of the processing machine 1, that is, the number of molds 6 used,
Further, the distance between the finger arms 9a is made to match the distance between the molds 6. Furthermore, the finger holder 9 can be moved forward and backward by a cam drive, which will be described later.
Two rods 10 that perform three movements: lifting, lowering, and lateral movement.
On the other hand, it can be attached and detached using a one-touch handle (not shown), and when the molds 6 are replaced, finger arms 9 corresponding to the number of molds 6 are installed.
It is sufficient to replace it with another finger holder 9 having a.

The workpiece W is set on the mold 6 for the first process by a carry-in device 11 such as a roll feeder, a busher feeder, or a loader, and then transferred to the processing machine 1.
The predetermined processing is sequentially performed while repeating the operation of 1 and the feeding by the automatic feeding device 2. The workpiece W that has been processed in the sixth step using the final mold 6 is
The automatic feed device 2 sends the workpiece to a carry-out position on the bolster 7, and the workpiece is taken out of the processing machine 1 by a carry-out device 12 such as a conveyor, a chute, or an unloader.

The automatic feeding device 2 feeds the workpiece W between the molds 6 by displacing the finger arm 9a along the path indicated by the arrow in FIG. The three types of movements, retreat, elevation, and lateral movement, are performed by the device main body 2a.
It is controlled by a dedicated cam machine installed inside. Below, the operation of the automatic feeder 2 will be explained together with the configuration of the cam mechanism.

In FIGS. 5 to 9, two rods 10 supporting the finger holder 9 are slidably inserted in the rod guide 13 in the front and back direction, and the rod guide 13 is supported by two upper and lower slide shafts 14. It can be slid freely in the feeding direction (lateral direction). The distal end of the rod 10 is slidably connected to a shaft 16 that is parallel to the slide shaft 14 by a joint 15 that allows vertical movement, and both ends of the shaft 16 are connected to a shaft 16 that allows vertical movement.
It is supported by the end of the forward/backward arm 17a driven by the backward cam 17.

On the other hand, both ends of the lower slide shaft 14 are
The end of the arm 18a driven by the elevating cam 18 shown in FIG. is forming. Further, the end of an arm 19a driven by a lateral movement cam 19 shown in FIG. 7 is connected to the lower front end of the rod guide 13 so as to be movable up and down, and when the arm 19a swings, The rod guide 13 can move along the slide shaft 14 in the left-right direction.

Here, the forward/reverse cam 17, the elevating cam 1
8 and the lateral movement cam 19 are fixed to a common camshaft 20, and this camshaft 20 is adapted to be rotationally driven by the power of an electric motor 21 via an air clutch brake (not shown). Also, as is clear from the cam diagram shown in FIG. 10, these cams 17, 18, 19 move the corresponding arms 17a, 18a, 19a, respectively, at predetermined timings during one rotation of the camshaft 20. to drive.

That is, one rotation of the camshaft 20 moves the forward/backward cam 17, the elevating cam 18, the lateral moving cam 19,
Substantial displacement of the cam surface is transmitted in the order of the elevating cam 18, the forward/backward cam 17, and the lateral moving cam 19, and the suction pad 8 as a gripping member advances, descends, grips the workpiece W, and Ascending, lateral movement in the feed direction, descending, releasing grip on the workpiece W, ascending, retreating,
One cycle of feeding operation consisting of lateral movement in the opposite feeding direction is performed. When the rod 10 is in the illustrated retracted position, the rotation angle θ of the camshaft 20 is 0 degrees, and when the camshaft 20 rotates from this state, the cam 17 is first activated. The rotation of the cam 17 is transmitted via the roller 22 to the cam lever and the auxiliary lever 123 integrated therewith.
When the arm 17a is rotated clockwise, the arm 17a connected to the auxiliary lever 123 via the link 24 moves to the eighth position.
Rotates clockwise in the figure. As a result, shaft 1
6 through the joint 15 that fits into the rod 10
is pushed out horizontally, and at the same time, the finger arm 9a advances to just above the mold 6.

Here, an auxiliary cam 117 is integrally fixed to the same shaft of the cam 17, and a roller 122 of an auxiliary lever 123 fixed to the cam lever 23 is configured to roll along the circumferential surface of the auxiliary cam 117. be. This auxiliary cam 117 assists in transmitting the displacement of the cam 17 to the cam lever 23 via the auxiliary lever 123, and can eliminate the need for a biasing means such as a spring that biases the roller 22 against the cam 17. This is particularly effective in increasing the followability of the cam lever 23 with respect to the cam 17 when the camshaft 20 rotates at high speed.

In this way, when the finger arm 9a enters directly above the mold 6, the camshaft 20 has rotated approximately 90 degrees, and as the camshaft 20 continues to rotate, the cam 18 also rotates. The rotation of the cam 18 is caused by the rotation of the roller 2.
5 to the cam lever 26, and the cam lever 26 rotates clockwise in FIG. 9 against the tension spring 27. As a result, the arm 18a connected to the cam lever 26 via the link 28 also rotates clockwise in the figure, so that the rod guide 13 and the rod 10 descend together with the upper and lower slide shafts 14. When the rod 10 descends to the lowest point,
The vacuum suction pad 8 suctions the workpiece W on the mold 6, and rises together with the rod 10 almost simultaneously with the suction. This lifting of the rod 10 is done by the cam lever 26.
When the rod 10 has finished rising to the top, the roller 2 rotates counterclockwise.
5 rides on the arcuate surface of the cam 18. thus,
The workpiece W that has been subjected to a predetermined process is lifted to a conveyance line above the mold 6.

When the camshaft 20 further rotates from this state, the rotation of the cam 19 is transmitted to the cam lever 30 via the roller 29, and the cam lever 30 moves to the seventh position.
When the arm 32 rotates clockwise in the figure, an L-shaped arm 32 whose one end is connected to the cam lever 30 via a link 31 rotates counterclockwise. The other end of this L-shaped arm 32 is connected to the rotation center axis of the lateral movement arm 19a via a rod 33 and an arm 34, and when the rod 33 is pulled upward, the arm 19a is moved from its tip. slides within the rod guide 13 and rotates as a whole in the feeding direction of the workpiece W. As a result, Rod Guide 13
moves along two slide shafts 14,
The workpiece W attracted by the vacuum suction pad 8 is conveyed to a position directly above the mold 6 for the next process.

Here, an auxiliary cam 119 is integrally fixed to the same shaft of the cam 19, and the roller 129 of the auxiliary cover 130 fixed to the cam lever 30 is configured to roll along the circumferential surface of the auxiliary cam 119. be. This auxiliary cam 119 assists in transmitting the displacement of the cam 19 to the cam lever 30 via the auxiliary lever 130, and it is possible to eliminate the need for a biasing means such as a spring that biases the roller 29 against the cam 19. This is particularly effective in increasing the followability of the cam lever 30 with respect to the cam 19 when the camshaft 20 rotates at high speed.

As described above, the forward, downward, upward, and lateral movement operations of the finger arm 9a are performed while the camshaft 20 rotates approximately 150 degrees, and then as the camshaft 20 rotates approximately 210 degrees. The finger arm 9a is lowered, raised, retreated, and moved laterally by the same or reverse operations, and one cycle of operation is completed. During this time, between the lowering and raising of the finger arm 9a, the vacuum suction pad 8 releases the suction of the workpiece W, and the finger arm 9a
The pressing operation of the processing machine 1 is performed while a is moving laterally.

In this way, according to the automatic feeding device 2 having the above configuration, the displacement transmission mechanism consisting of the cam levers 23, 26, 30, the auxiliary levers 123, 130, and the links 24, 28, 31 arranged around the camshaft 20 , moving the finger arm forward, backward, up and down,
Each horizontal and vertical movement of the lateral movement can be made into an ideal trajectory and can be performed continuously as a series of movements, and all these movements can be performed on a single camshaft by a single motor independent of the processing machine. Since it utilizes 20 rotations, it can transition from one operation to the next extremely smoothly, compared to systems that use different drive means such as motor power or air pressure for each operation. In addition, the automatic feeding device 2 can adjust the amount of feed for forward/backward, upward/downward, and lateral movement by link 24, 28, 3.
By changing the length of each finger arm 9a, each can be adjusted separately, and the entire finger arm 9a can be replaced with a single touch according to the processing purpose, reducing setup time and reducing the number of processes or the pitch between molds. It is possible to efficiently perform high-mix, low-volume production. Further, the two rods 10, 10, each having a plurality of vacuum suction pads 8 lined up along the feeding direction of the workpiece W, each having an appropriate interval along the feeding direction of the workpiece W, each having a plurality of vacuum suction pads 8 removably attached to the tip thereof. Since the rod is slidably held by the rod guide 13, the rod, the finger holder 9, and the finger arm 9a do not rotate, and the workpiece can move three-dimensionally without rotating. As explained above,
According to the automatic feed device for a workpiece according to the present invention, all of these three-dimensional feed operations such as forward/backward, upward/downward, and lateral movement are performed using levers, links, and arms that three-dimensionally transmit the displacement of the cam around the camshaft. Since it utilizes rotation around the axis of a single camshaft, it is different from conventional devices that use different driving means such as motor power or air pressure for each operation, or cam mechanisms such as flat cams and grooved cams. Mechanical defects compared to
For example, there are no defects such as bumps in the displacement transmission medium, and the phases of the cams can be set accurately, and three-dimensional feed operations can be performed in precise synchronization without malfunctions, making it possible to transition from one operation to the next. Each operation can be performed smoothly, drawing a continuous ideal trajectory, and therefore automatic feeding at high speed can be performed more stably. In addition, the three-dimensional feeding operation can be performed with a single drive source, and the drive source is independent from the press machine, and the main body of the device is disposed separately from the press machine, so the shape of the press machine and In addition to being able to create any layout in the factory without being restricted by the installation location on the press machine, the work area can be expanded by allowing the loading/unloading section of workpieces to be installed appropriately without causing any obstruction to the loading/unloading area of workpieces compared to conventional equipment. Can be used effectively. Furthermore, the rod has a finger holder removably attached to its tip, in which a plurality of workpiece gripping members are arranged in parallel along the feed direction, and a finger holder is formed corresponding to this attachment part to form a rod guide. Since the rod is held so that it can move forward and backward in the direction perpendicular to the feed direction of the workpiece, the rod, finger holder, finger arm, etc. do not rotate, and the workpiece can be moved in three dimensions without rotating. In addition, the finger holder can be used to select from several types of gripping members depending on the processing application of the workpiece, and the feed rate in three-dimensional directions can be adjusted, so the number of steps in press work and the pitch between molds can vary. It has sufficient versatility to handle any situation, making it ideal for high-mix, low-volume production. moreover,
The camshaft is perpendicular to the rod and has cams for forward and backward movement, elevation and movement, and lateral movement that are arranged in parallel along the feed direction of the workpiece, fixed on the same axis, and used as an independent drive source. As it rotates around its axis, it moves forward and backward,
The device can be designed to be efficient in utilizing the minimum amount of space required for each movement, such as lifting, lowering, and lateral movement.

[Brief explanation of the drawing]

1 to 3 are a plan view, a side view, and a rear view showing one embodiment of the present invention, FIG. 4 is a perspective view for explaining the feeding operation of a workpiece, and FIGS. 5 to 7 are 8 and 9 are a cross-sectional view, a vertical side view, and a vertical front view of the main parts of the automatic feeding device, respectively, and FIGS.
Figure 0 is a cam diagram for explaining the shape of the cam. W... Workpiece, 1... Processing machine, 2... Automatic feeder, 8... Vacuum suction pad, 10... Rod, 13...
Rod guide, 14... Slide shaft, 17...
Forward/backward cam, 18... Lifting cam, 19... Lateral movement cam, 17a, 18a, 19a... Arm,
20...Common camshaft.

Claims (1)

[Claims] 1 (a) A finger holder 9 having a plurality of workpiece gripping members 8 arranged in parallel along the feeding direction of the workpiece W is removably attached to the tip thereof, and this attachment part (b) a rod guide 13 that holds the rod 10 so as to be able to move forward and backward in a direction perpendicular to the feeding direction of the workpiece W; (c) a rod guide 13 formed to correspond to the rod 10; and for forward/backward, up/down,
(d) a cam shaft 20 on which cams 17, 18, and 19 for lateral movement are coaxially fixed and rotated about its axis by a single drive source; (d) a rod guide whose both ends are held movably up and down; (e) a link that can freely adjust the amount of forward and backward feed that is linked to the cam lever 23 that is linked to the forward and backward cam 17; A first arm 17a is disposed at the rear end of the rod 10 through a shaft 16 which is parallel to the slide shaft 14 and perpendicular to the rod 10, and which moves the rod forward and backward in its axial direction; ) Cam lever 2 linked to the lifting cam 18
Link 2 that can freely adjust the vertical feed amount linked to 6
(g) second arms 18a, 18b connected to both ends of the slide shaft 14 via a cam 8, and for raising and lowering the slide shaft 14; Link 3 with adjustable amount
1 to the rod guide 13,
The rod guide 13 is attached to the slide shaft 1.
4 and a third arm 19a that moves laterally along the shaft 16.