KR20030060058A - Work transfer method and work transfer equipment - Google Patents

Abstract

[Problem] Work conveyance of tandem press line that can easily teach work conveyance trajectory, speed up the work conveying speed, and convey work directly from the previous process press to the next process press. Provided are a method and a workpiece conveying apparatus.

[Solution] The first step of moving the at least one pair or one lift beam 13 arranged in parallel in the workpiece conveyance direction in the vertical direction, and at least one carrier along the longitudinal direction of each lift beam 13 ( 15. A crossbar 17 having work holding means 18 capable of temporarily placing and holding the work between the left and right pairs of carriers 15 and 15 which are opposed to each other while moving 15, with respect to the carrier 15. A second step of offsetting in the carrier movement direction and causing the crossbar 17 to move up and down in the first and second steps simultaneously or singly, and to perform a reciprocating operation in the workpiece conveyance direction, thereby moving the workpiece to the next step. Carries sequentially.

Description

WORK TRANSFER METHOD AND WORK TRANSFER EQUIPMENT}

The present invention relates to a workpiece conveyance method and a workpiece conveyance apparatus of a tan dumpless line in which a plurality of presses are arranged in a line in a workpiece conveyance direction.

Conventionally, the work conveying method and the work conveying device between each press of a tandem press line include a robot method or a loader / unloader method.

The robot system conveys the workpiece of a previous process press and carries it into the next process press by the articulated transfer robot provided between each press. Since the multi-joint structure is used, the carrying position of the workpiece into the next step can be easily changed.

In addition, the trajectory of carrying out and carrying out the workpiece can be set in accordance with the mold.

In addition, the loader / unloader system is provided with the loader provided in the upstream side surface of the workpiece conveyance direction of each press main body, and the unloader provided in the downstream side surface, respectively. The loader and unloader have a plurality of arms of link structure, for example, but because the structural workpiece cannot be directly transferred to the next process press, an intermediate bogie such as a shuttle feeder is installed between the loader and the unloader. have.

However, the above-mentioned conventional conveying apparatus has the following problems.

In the robot method, since the robot has a multi-joint structure, the robot wrist or each arm does not suddenly accelerate the joint movement when teaching the workpiece transport trajectory, that is, the rapid acceleration of the servomotor driving each joint axis. Considering the posture, there is a necessity to instruct, and this takes a long time. Therefore, since the instruction is required for the skilled worker, the instruction is very difficult and the workability is deteriorated. In addition, in order to avoid interference with other devices such as molds and presses during workpiece conveyance, linear interpolation driving is performed by simultaneously controlling a plurality of drive shafts, but the conveying speed is the slowest speed in each axis of the robot. There is a problem that can not increase the speed of the workpiece conveyance of the entire robot and can not increase the production speed.

In the case of the loader and unloader system, the loader and the unloader are installed on the upper and downstream sides of the press, respectively, and the intermediate bogie such as the shuttle feeder is installed between the presses, so that the apparatus becomes large and a large installation space is required. There is a problem of high cost.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is possible to indicate the workpiece conveyance trajectory in a short time, to speed up the workpiece conveyance speed, and to transfer the workpiece directly from the previous process press to the next process press. An object of the present invention is to provide a workpiece conveyance method and a workpiece conveyance apparatus.

[Means and Effects for Solving the Problem]

In order to achieve the above object, the first invention provides at least one member disposed in parallel with the workpiece conveying direction and left and right with respect to the workpiece conveying direction in a method for conveying a workpiece of a tandemless line provided with a plurality of presses along the workpiece conveying direction. The first step of moving the pair of lift beams in the vertical direction, and at least one carrier in the longitudinal direction of the respective lift beams and in the horizontal direction between the left and right pair of carriers facing each other and the workpiece holding A second step of offsetting a crossbar having a possible workpiece holding means in the carrier movement direction with respect to the carrier, and carrying out the first step and the second step simultaneously or alone to move up and down the crossbar; It is a method of conveying a workpiece sequentially to the next process by making reciprocating operation of.

According to the first invention, a process of vertically operating a lift beam disposed left and right with respect to a workpiece conveyance direction, and moving a carrier along the longitudinal direction of each lift beam and offsetting a crossbar having a workpiece holding means in a carrier movement direction with respect to the carrier The workpiece carrying means is moved in two directions orthogonal to the raising and lowering directions by carrying out the step of simultaneously or singly, so that the workpiece conveyance trajectory is intuitive to the worker. For this reason, the operation | movement which instruct | indicates or sets data of each stroke of a lifting and returning direction is easy, and can be completed in a short time. In addition, even the beginner's worker can be easily ordered, so workability is very good. In addition, the speed of the two orthogonal axes is set independently of each other, so that the workpiece conveyance speed can be increased to the maximum speed of each drive shaft motor, and workability and press line production speed in manual operation are improved. In addition, by placing the two ends of the lift beam in the vicinity of the mold of the adjacent press or by offsetting the crossbar with the workpiece holding means in the carrier movement direction with respect to the carrier, the workpiece can be conveyed directly from the previous process press to the next process press. No balance is required between presses, etc., and the line size can be reduced and the cost can be reduced.

The second invention relates to a workpiece conveyance method of a tandem press line in which a plurality of presses are provided along a workpiece conveyance direction, wherein at least about the center of the workpiece conveyance direction, at least about the center of the workpiece conveyance direction, parallel to the workpiece conveyance direction and at the left and right sides of the workpiece conveyance direction. A first step of moving one lift beam in the vertical direction, and a sub-carrier having a workpiece holding means capable of simultaneously holding the workpiece to move at least one carrier in the longitudinal direction of the lift beam along the guide provided on the carrier. A second step of moving in the direction of carrier movement to offset the carrier, and carrying out the first step and the second step simultaneously or singly to reciprocate the workpiece holding means in a lifting and lowering direction of the workpiece conveyance. It is a method of conveying sequentially to a process.

According to the second invention, one of the lift beams may be provided at about a central position in the left and right directions with respect to the workpiece conveyance direction, and in this case, it has the same effect as the first invention. That is, in the present invention, the number of lift beams is not limited for each workpiece transport apparatus.

The third invention is a workpiece conveyance apparatus of a tandem press line in which a plurality of presses are provided along a workpiece conveyance direction, the at least one pair being arranged in parallel in the workpiece conveyance direction and left and right with respect to the workpiece conveyance direction and capable of vertical movement. Between at least one carrier movable in the longitudinal direction of the lift beam and the respective lift beams, a subcarrier movable in the carrier moving direction along a guide provided in the carrier, and a pair of left and right subcarriers facing each other; The workpiece holding means which can be installed in the lateral direction and capable of holding the workpiece is provided with a crossbar.

According to the third aspect of the invention, a carrier which is driven in a vertical direction by driving a pair of left and right lift beams installed in parallel with a workpiece conveyance direction and movable along the lift beam, and movable in a workpiece conveyance direction (carrier movement direction) to this carrier By driving the installed subcarrier in the workpiece conveyance direction, the subcarrier can move in two directions (lifting and conveying directions) orthogonal to the workpiece holding means provided on the crossbar that is provided laterally in the subcarrier. For this reason, the operation | movement which instruct | indicates each stroke of a lifting conveyance direction, or sets data can be completed easily in a short time. In addition, even the beginner's operator can easily instruct, so the workability is very good. In addition, since the speeds of two orthogonal control shafts can be set independently of each other, the workpiece conveyance speed can be increased to the maximum speed of each drive shaft motor, thereby improving workability and press line production speed during manual operation. . In addition, by placing both ends of the lift beam in the vicinity of the mold of the adjacent press or by offsetting the crossbar with the work holding means in the moving direction of the carrier with respect to the carrier, the workpiece is conveyed directly from the front press to the next work press, so that the shuttle feeder, etc. There is no need for bogies between presses, and the line size and cost can be reduced.

In a fourth aspect of the present invention, the position of the pair of lift beams and the pair of lift beams in the third invention is located in the proximity of another pair of lift beams adjacent upstream or downstream. It consists of the structure installed in the center of a process process and the approximate center of an idle process.

According to the fourth invention, in addition to the effect of the third invention, the proximity position of another pair of lifts adjacent on the upstream side or the downstream side is determined by the approximate center of the machining process in the workpiece conveyance direction, or the approximate center of the machining process and the idle ( idle) process (installed when necessary according to the workpiece type), so that the subcarrier can be offset in the moving direction of the carrier moving along the lift beam, and the mold center position of the machining station and the next process The workpiece transfer between the center position of the die in the machining station and the center position of the idling process (intermediate panel receiving, etc.) between the presses is assured. Therefore, it constructs a tandumpless line that can optimally transport the workpiece to the mold or the workpiece.

The fifth invention is a workpiece transporting apparatus of a tandumpless line in which a plurality of presses are installed according to a workpiece conveying direction, which is arranged parallel to the workpiece conveying direction outside the press processing zone and left and right with respect to the workpiece conveying direction, and is capable of vertical movement. At least one pair of lift beams, at least one carrier movable in a longitudinal direction of each lift beam, a subcarrier movable in a carrier movement direction along a guide installed in the carrier, and facing each other A crossbar is provided between the left and right pair of subcarriers in a transverse direction and having a work holding means capable of holding the work.

According to the fifth aspect of the invention, at least one pair of lift beams may be provided to be liftable outside the press working zone, i.e., within the press-to-press area without interference with sliders or molds, and in this case, the carrier and the sub-carrier move in the workpiece conveyance direction. This ensures that the workpiece is conveyed to the mold center position of the machining station by the movement in two directions (raising and lowering directions) orthogonal to offset the crossbar with respect to the carrier, that is, the lift beam. This achieves the same effect as the third invention.

In the sixth invention, in the fifth invention, an idle process is laid between at least one set of adjacent presses and a workpiece is transported between one of the adjacent presses and the idle process and between the idle process and the other press. And a pair of lift beams arranged in parallel to each other and left and right with respect to the workpiece conveyance direction and capable of vertically acting independently of each other, and the carrier, subcarrier and crossbars are respectively installed in the pair of lift beams. It is.

According to the sixth invention, the fifth invention is applicable even when an idle process (intermediate panel receiving, etc.) is installed between adjacent presses when necessary according to the workpiece, and the lift beam and the lift beam which can be vertically operated between the press and the idle process. By providing a carrier, a subcarrier and a crossbar which are movable in the longitudinal direction of, there is the same effect as the fifth invention. This makes it possible to cope with various line configurations.

The seventh invention is a workpiece conveying apparatus of a tandem press line in which a plurality of presses are provided along a workpiece conveying direction, which is arranged parallel to the workpiece conveying direction outside the press processing zone and at about the center in the horizontal direction in the horizontal direction of the workpiece conveying direction. At least one lift beam enabled and at least one carrier movable along the longitudinal direction of the lift beam and a subcarrier and the subcarrier movable in a moving direction of the carrier along a guide installed in the carrier; It is provided with a work holding means capable of holding the installed work.

That is, the seventh invention is a configuration in which at least one lift beam is disposed at about the center in the left and right directions instead of the at least one pair of lift beams provided left and right with respect to the workpiece conveyance direction in the fifth invention. The same effect can be obtained, and the configuration of the workpiece conveying device can be simplified and compact.

In the eighth invention, in the seventh invention, an idle process is provided between at least one set of adjacent presses, and between one of the adjacent presses and the idle process, and between the idle process and the other press. Each of the carrier beams and the subcarriers are disposed in each of the lift beams in parallel with the workpiece conveyance direction and provided at one center of the left and right direction with respect to the workpiece conveyance direction, and each of the one lift beams capable of being operated up and down independently of each other. And a work holding means.

According to the eighth invention, the seventh invention can be applied even when an idle process (intermediate panel receiving, etc.) is installed between adjacent presses, and in the longitudinal direction of the lift beam and the lift beam which can be vertically operated between the press and the idle process. The provision of the seventh invention is achieved by providing a movable carrier, a subcarrier and a crossbar. This makes it possible to cope with various line configurations.

In the ninth invention, the carrier driving means for moving the carrier along the longitudinal direction of the lift is a linear motor in any of the third to eighth inventions.

According to the ninth invention, since the linear motor is used as the carrier driving means, the carrier can be made compact and the work conveying device can be reduced in size and reduced in weight. This speeds up the lift beam and the carrier.

BRIEF DESCRIPTION OF THE DRAWINGS The front view of the workpiece conveyance apparatus which concerns on 1st Embodiment of this invention.

Figure 2 is a plan view of Figure 1;

3 is a side view of FIG. 1;

4 is a front view of a carrier and a subcarrier of the workpiece conveyance apparatus.

5 is a cross-sectional view taken along line A-A of FIG.

6 is an operation explanatory diagram of a carrier and a subcarrier.

7 is a plan view of a workpiece transport apparatus according to another embodiment of the first embodiment.

8 is a front view of the workpiece transport apparatus of the second embodiment;

9 is a plan view of FIG. 8;

10 is a side view of FIG. 8;

11 is a plan view of a workpiece transport apparatus according to another embodiment of the second embodiment.

12 is a plan view of a workpiece transport apparatus according to another embodiment of the second embodiment.

Fig. 13 is a plan view of a workpiece transport apparatus according to another embodiment of the second embodiment.

[Code Description of Important Parts of Drawing]

1-Tandem Press Line, 2-Press (2A, 2B, 2C, 2D)

3-controller, 4-slide, 5-bolster,

6-bed, 7-upright 9-material feeder,

10 (101 to 105, 102A, 102B to 104A 104B, 201 to 205, 202A, 202B to 204A, 204B, 301 to 305, 302A, 302B to 304A 304B)

11-workpiece, 13-lift beam, 14-lift shaft servomotor,

15-Carrier, 16-Linear Motor, 17-Crossbar

18-Vacuum Cup Device, 19-Product Carrier, 30-Subcarrier

31-Baseplate, 32-Motor, 33-Encoder

35-shaft, 35-block, 40-lift drive means,

41,141-Support member, 42-Servomotor, 43-Worm gear box

44-lift bar, 45-pinion, 46-intermediate shaft,

W1, W2, W3, W4-Machining Station, T1, T2, T3, T4-Return Area,

P1, P2, P3-Middle Panel Tray

An embodiment of the present invention will be described in detail with reference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS It is a front view of the workpiece conveyance apparatus of the tandem press line which concerns on 1st Embodiment of this invention. 2 and 3 are plan and side views, respectively, of the tandem press line shown in FIG. 4 is a front view of a carrier and a subcarrier of the workpiece conveyance apparatus, and FIG. 5 is a sectional view of A-A of FIG. 6 is an operation explanatory diagram of a carrier and a subcarrier unit.

First, the tandem press line 1 is demonstrated.

1 to 3, a plurality (four in this embodiment) presses 2A, 2B, 2C, and 2D are provided at intervals, and each press 2A, 2B, 2C, and 2D is provided with a machining station W1. , W2, W3, W4). The work 11 is conveyed sequentially from the press 2A on the left side to the press 2D on the right side, after which the left side is called upstream and the right side is called downstream. A plurality of presses 2A to 2D, a material supply device 9 disposed upstream of the most upstream press 2A, and a product discharging device disposed downstream of the press 2D on the most downstream side. Tandem press line 1 is comprised by the below-mentioned workpiece conveyance apparatus arrange | positioned between 19 and each press.

Each press 2A to 2D has an upright 7 as a main frame, a mechanical drive force transmission mechanism (not shown) such as a crank mechanism, an eccentric mechanism, a link mechanism, or a hydraulic cylinder or electric servomotor. It is supported by the frame 8 and the upright 7 in which a linear driving force transmission mechanism (not shown) and the like are vertically operated and connected to the driving force transmission mechanism in the upper frame 8. , A bed 6 provided with a slider 4 with an upper die (not shown) and a bolster 5 with a lower die (not shown). Equipped with.

The controller 3 is composed mainly of a high speed computing processing device using a computer device or a high speed computing processor. The controller 3 controls the driving force transmission mechanism provided in the upper frame 8 of each press 2A to 2D to control the driving force transmission mechanism. The workpiece conveyance apparatus 10 is controlled by synchronizing the slider 4 or driving alone and synchronizing with the slider 4.

The workpiece conveyance apparatus which concerns on 1st Embodiment is demonstrated in detail as follows.

The workpiece conveyance apparatus is comprised from five workpiece conveyance apparatuses 101-105 arrange | positioned in each conveyance area T1-T5, as shown to FIG. In order to convey the workpiece | work on the material supply apparatus 9 to the processing station W1, the workpiece conveyance apparatus 101 is arrange | positioned upstream of the press 2A. Work conveyance devices 102, 103, and 104 are disposed between adjacent presses 2A to 2D in order to sequentially transport them from processing station W1 to W4. And the workpiece conveyance apparatus 105 is arrange | positioned downstream of the press 2D, in order to convey the workpiece processed by the processing station W4 to the product carrying apparatus 19 above.

As shown in Fig. 3, each of the workpiece transport apparatuses 101 to 105 has a pair of lift beams 13 and 13 at intervals left and right with respect to the conveying direction so as not to interfere with the sliding motion along the workpiece conveying direction. ) Is arranged. Moreover, each lift beam 13 is supported by the upright 7 of the presses 2A-2D so that lifting / lowering is possible. That is, the lift shaft servomotor 14 is attached to the upright 7 above each lift beam 13 as the lift drive means 40 via the support member 141. The output shaft of the servomotor 14 is equipped with a pinion or the like, not shown, and a rod 142 having a rack engaged with the pinion in a vertical direction is mounted on the upright 7 so as to be operated up and down. The lift beam 13 is attached to the lower end of the 142.

The lift shaft servomotor 14 is connected to the controller 3 and controlled by a predetermined feeder motion by a control signal from the controller 3.

In this embodiment, one lift beam 13 is lifted by two servomotors 14 and 14, but one servomotor 14 is lifted if the lift beam 13 is lifted up in a stable state without difficulty. Three or more may be provided, and the number of servomotors 14, the connection structure with the lift 13, etc. may be arbitrarily determined at the time of implementation.

In addition, a carrier 15 is attached to the lower part of each lift beam 13 so as to be movable along the longitudinal direction of the lift beam 13, and the carrier 15 is moved between the carrier 15 and the lift beam 13. The linear motor 16 (refer FIG. 5) is arrange | positioned as a carrier drive means to make. In addition, a subcarrier 30 is attached to the lower part of the carrier 15 so as to be movable along the longitudinal direction of the litt beam 13, and a vacuum is provided between the opposing left and right pairs of subcarriers 30 and 30 as work holding means. A crossbar 17 on which the cup device 18 is mounted is constructed in the transverse direction. This vacuum cup apparatus 18 makes the workpiece | work 11 adsorbable at predetermined several places.

As shown in Figs. 1 and 2, the lift beam 13 of the workpiece conveyance apparatus 101 is arranged to protrude upstream to a predetermined position of the workpiece set on the material supply apparatus 9.

The longitudinal ends of the lifts 13 of the workpiece transporters 102, 103, and 104 corresponding to the transport areas T2 to T4, respectively, protrude to an approximately center position at the stations W1 to W4 at the upstream and downstream sides, respectively. The length of the workpiece conveyance direction of the lift beam 13 is slightly shorter than the distance between the centers of the adjacent machining stations W1 to W4. In addition, the length of the workpiece conveyance direction of the lift beam 13 may be set to be substantially equal to the distance between the centers of the adjacent processing stations W1 to W4.

As shown in FIG. 5, the lower part of the lift beam 13 is provided with a protruding jaw-shaped guide part 131 extending in the longitudinal direction, and the upper part of the carrier 15 is coupled to the guide part 131 to have a length. It is movable in the direction. Between the lift beam 13 and the carrier 15, a linear motor 16 is arranged as a carrier driving means, and the component 16B on the lift beam side of the linear motor 16 is located on the lower surface of the lift beam 13. The carrier side component 16A is mounted on the portion of the carrier 15 that faces the component beam 16B on the lift beam side. The carrier side component 16A and the lift beam side component 16B are controlled by a control signal from the controller 3 and move the carrier 15 by relative movement between them.

In the linear motor 16, a secondary conductor or a secondary permanent magnet is provided in the carrier-side component 16A so that the primary coil faces the primary coil in the component 16B on the lift beam side. The primary coil may be provided in the component 16B on the lift beam side, and the secondary conductor or the secondary permanent magnet may be provided in the component 16A on the carrier side.

4 and 5, the subcarrier 30 is provided in the lower part of the carrier 15 in the present embodiment so as to be movable in the longitudinal direction.

The subcarrier 30 is attached to the lower part of the carrier 15 and has a base plate 31 having a predetermined length having a guide groove 31A along the workpiece conveyance direction and one end surface of the base plate 31 in the longitudinal direction. The encoder 33 and one end of which are installed on the lower surface of the other end side of the servo motor 32 and the base plate 31 installed in the first end are connected to the output shaft of the servo motor 32 via a first coupling 34a, and the other end thereof is It is connected to the encoder 33 via a second coupling 34b, and is mounted on the outer surface of the shaft 34 and the shaft 34 rotatably supported by the base plate 31. The movable block 35 is screw-locked to the male screw portion 34A and slidably interlocked with the guide groove 31A of the base plate 31. An end of the crossbar 17 is connected to the movable block 35 of the opposing pair of subcarriers 30.

Next, the operation of the subcarrier 30 will be described with reference to FIG.

When the shaft 34 is rotated by controlling the servo motor 32, the movable block 35 coupled thereto slides along the guide groove 31A. In each lift beam 13, when the carrier 15 is located on the upstream side of the workpiece conveyance direction from the center portion of the lift beam 13, the movable block 35 is moved upstream than the center portion of the carrier 15 (e.g., (See carrier 15A and crossbar 17A indicated by solid lines in FIG. 6) The vacuum cup device 18 attached to the crossbar 17A is placed at the center position of the processing stations W1 to W4 or the workpiece set on the product ejection device 19. Move to position

On the contrary, when the carrier 15 is located on the downstream side of the workpiece conveyance direction from the center portion of the lift beam 13, the movable block 35 is moved downstream from the center portion of the carrier 15, as indicated by the two-dot line in FIG. One carrier 15B, crossbar 17B), and the vacuum cup apparatus 18 are moved to the center position of the processing stations W2 to W4 or to a predetermined position of the work set on the product discharging device 19.

Thus, the crossbar 17 and the vacuum cup apparatus 18 are offset in the workpiece conveyance direction with respect to the carrier 15, so that the molds of the processing stations W1 to W4 or the material supply apparatus 9 and the product discharging apparatus 19 are The workpiece 11 can be reliably transported by holding and releasing the workpiece 11 at a predetermined position on the center of the mold, on the material supply device 9 or on the product discharging device 19 according to the specification.

In addition, the control of the offset amount at this time is performed by the controller 3 controlling the rotation angle of the servomotor 32 by the position signal of the subcarrier 30 detected by the encoder 33. As shown in FIG.

With reference to FIG. 1, FIG. 2, the conveyance method of the workpiece | work 11 by the workpiece conveyance apparatus 101-105 of the above structure is demonstrated.

Each workpiece conveyance apparatus 101-106 works similarly. Each workpiece conveying apparatus 101 to 105 drives the respective lift beams 13 in a vertical direction, through a carrier 15, a subcarrier 30 and a crossbar 17 (hereinafter referred to as workpiece holding means). Lift (18). The subcarrier 15 is driven along the longitudinal direction of the lift beam 13 and the subcarrier 30 is offset in this carrier movement direction to move the crossbar 17 and the workpiece holding means 18 in the workpiece conveyance direction. By controlling the lifting and the two orthogonal driving shafts in the workpiece conveyance direction simultaneously or singly, the movement trajectory of the workpiece holding means 18, that is, the workpiece conveyance trajectory is controlled. The stroke and timing of the feed motions (lifting and conveying directions) of the workpiece transport apparatuses 101 to 105 are set in advance so as not to interfere with the slide 4 of each press 2A to 2D and the mold of the machining station. Reference numeral (3) controls the driving in the lifting and lowering directions by the transfer motion.

In general, the feed motion waits at a waiting position about the center of the conveying direction of each conveying area T1 to T5 when the slider 4 is lowered near the bottom dead center, and the slide 4 moves upward after the bottom dead center. When entering, the lift beam 13 is moved up and down, and the carrier 15 and the subcarrier 30 are driven to move in the conveying direction, and the upstream processing station, the material supply device 9 or the idle process (details will be described later). ) To hold the workpiece, and then to lift and lower the lift beam 13 and to drive the carrier 15 and the subcarrier 30 in the conveying direction, and the downstream processing station and product discharging device 19 B Move to the idle process and place the workpiece. At this point, the slad 4 enters the descent stroke and returns to the standby position to wait. The above cycle is repeated in synchronization with the lifting motion of the slide 4.

Next, the effect by 1st Embodiment is demonstrated.

The workpiece conveyance apparatus 101-105 which concerns on this embodiment is equipped with the lift beam 13 which can be elevated, and the carrier 15 and the subcarrier 30 which are movable in the longitudinal direction (workpiece conveyance direction) of the lift beam 13. Since the workpiece conveyance can be controlled by the Cartesian coordinate system, the movement trajectory and posture of the workpiece conveyance can be intuitively understood, and the interference check with other devices such as a mold or a press machine can be facilitated. Therefore, the instruction experience of each stroke of the lift beam 13, the carrier 15, and the subcarrier 30 is easily instructed even by a shallow worker, and the workability is good.

Since each control shaft (lifting and conveying direction) is linearly driven, the servomotor 14 for each control, the carrier drive means (linear motor 16 in this embodiment), and the servomotor 32 are the speeds at the time of simultaneous control. It is controlled at maximum speed without being controlled. This allows the workpiece conveyance speed to be set to the maximum speed of each motor's capability and speeds up the production of tandem press lines.

In addition, each work conveying device can be individually adjusted with the lifting stroke of the lift beam 13 and the feeding stroke of the subcarrier 30 of the carrier 15, so that the conveying stroke and the lifting stroke are formed for each work conveying device. Since the drive timing of motion can be changed, the mold interference curve appropriate to the mold to be mounted can be set. In addition, each machining station can be changed to a position suitable for a mold for mounting the original position (feed level). Thereby, the workpiece conveyance apparatus of the tandem press line in which the interference curve suitable for a metal mold | die is set for every process is obtained.

In addition, since a large feed stroke can be obtained in a short time by offsetting the movement of the moving carrier 15 of the subcarrier 3, the production speed of the tan dumpless line can be increased.

Since the linear motor 16 is used as the driving means of the carrier 15, the carrier 15 can be reduced in size and weight, and the moving speed of the carrier 15 and the subcarrier 30 can be increased.

In addition, the carrier driving means is not limited to the linear motor 16 as a means for solving the problem of the present invention, and may be other servomotors.

The drive device for the subcarrier 30 is not limited to the transfer screw mechanism but may be another mechanism such as a rack or pinion mechanism. In addition, even if it does not have the drive source of the subcarrier itself like a servomotor, you may move a subcarrier by moving with a carrier, for example using a pulley and a belt.

FIG. 7 shows another embodiment according to the first embodiment, and FIG. 7 illustrates a workpiece transport apparatus of another embodiment.

In the tandemless line according to this embodiment, idle steps such as intermediate panel receivers P1 to P3 are provided in the middle between adjacent processing stations W1 to W4. The workpiece conveyance apparatus of this embodiment is comprised from eight workpiece conveyance apparatuses 101,102A and 102B, and 104A and 104B and 105 arrange | positioned in each conveyance area T1-T5.

In order to convey the workpiece | work of the material supply apparatus 9 to the processing station W1, the workpiece conveyance apparatus 101 is arrange | positioned upstream of the press 2A. Moreover, in order to convey to the processing stations W1-W4 one by one, the conveyance area T2 is upstream of the workpiece conveyance apparatus 102A and the press 2B arrange | positioned downstream of the intermediate panel receiving P1 and the press 2A. The workpiece conveyance apparatus 103B arrange | positioned at the side is provided, and the conveyance area T4 is similarly sandwiched between the press 2C and the press 2D by sandwiching the intermediate panel support P3 and the intermediate panel support P3. The arranged workpiece conveyance apparatuses 104A and 104B are provided, respectively. And the workpiece conveyance apparatus 105 is arrange | positioned downstream of the press 2D in order to convey to the workpiece | work product carrying apparatus 19 processed by the processing station W4.

In addition, below, the structure of these workpiece conveyance apparatuses 101-105 and the structure different from the workpiece conveyance apparatus 101-105 demonstrated by 1st Embodiment is demonstrated.

As shown in Fig. 7, one end portion in the longitudinal direction of each of the lift beams 13 in the workpiece transport apparatuses 102A and 102B, and 104A and 104B corresponding to the transport areas T2 to T4 is provided in the processing stations W1 to W4. The other end is configured to protrude up to an approximately central position, and the other end protrudes to an approximately central position of each intermediate panel support P1 to P3. In addition, the length of the workpiece conveyance direction of each lift beam 13 is slightly shorter than the length from the center of the processing stations W1 to W4 to the center position of each intermediate panel receiving P1 to P4.

According to the said embodiment, since the mutually independent orthogonal 2 axis | shafts of a lift and a conveyance direction are controlled, it produces the same effect as the said 1st embodiment. In addition, description of the effect is abbreviate | omitted here.

Moreover, in addition to being able to change the timing of the transfer motion for each process, the intermediate panel support provided between the adjacent presses is provided with a work reversing mechanism or a turning mechanism to invert or reverse the work 11 between processes ( 자세) It is easy to change posture.

8-10, the workpiece conveyance apparatus which concerns on 2nd Embodiment is demonstrated. In addition, in the following embodiment, the same code | symbol is attached | subjected to the same element as the component demonstrated in 1st Embodiment, and the description is abbreviate | omitted. Fig. 8 is a front view of the workpiece transport apparatus of the tan dumpless line according to the second embodiment, and Figs. 9 and 10 are plan and side views of Fig. 8, respectively.

The workpiece conveyance apparatus is comprised from five workpiece conveyance apparatuses 201-205 arrange | positioned at each conveyance area T1-T5. The material feeding device 9, the presses 2A to 2D and the product discharging device 19 are arranged in a line in the workpiece conveying direction in series with each other, and the workpiece conveying apparatus 201.202.203.204. 205 is disposed.

These workpiece transport apparatuses 201 to 205 will be described below with a configuration different from the workpiece transport apparatuses 101 to 105 described in the first embodiment.

Each work conveying device 201 to 205 has a lift drive for driving one lift beam 13 and the lift beam 13 arranged in the horizontal direction so as not to interfere with the sliding motion along the transport direction of the tandem press line. Means 40 are provided.

The lift beam 13 of the workpiece conveying apparatus 201 is positioned at the upstream end near the front of the material supply device 9 and the downstream end of the slider 4 of the cross section of the bolster 5 of the press 2A. It is located in the vicinity of the front of the processing zone formed in the cross section. In addition, the lift beams 13 of the workpiece transport apparatuses 202, 203, and 204 corresponding to the conveyance areas T2 to T4 have their upstream and downstream end portions in front of the machining zones of the machining stations W1 to W4, respectively. It is located in the vicinity. The lift beam 13 of the workpiece conveying apparatus 205 positions the upstream end portion near the front of the machining zone of the processing stain W4, and the downstream end thereof is positioned at a predetermined position above the product discharging apparatus 19. It is located at.

As shown in Figs. 8 and 10, the driving means 40 of the lift is provided with four main members 143 which are formed upstream and downstream of each transport area T1 to T5, respectively. First support members 144 and 144 are hypothesized between the main members 143 and 143. A second support member 41 is provided between the upstream and downstream first support members 144 and 144 along the conveying direction, and the first support members 144 and 144 are guide members 47 in the vertical direction, respectively. 47 is provided, and the servomotor 42 is mounted in the center of the conveyance direction of the second support member 41 with the output shaft facing in the vertical direction. The output shaft of the servomotor 42 is equipped with a worm gear (not shown) installed in the worm gear box 43, and converts the output shaft direction of the servo motor 42 into the worm gear in the worm gear box 43 in the workpiece conveyance direction. have. In addition, pinions 45 and 45 are attached to ends of the intermediate shafts 46 and 46.

On the other hand, the lift guides (47, 47), respectively, the lift bar (44, 44) is provided to be slidable in the vertical direction. On the outer surface of the lift bars 44 and 44, a rack is formed in the longitudinal direction, and the rack and the pinion 45 and 45 are engaged. The lift beam 13 is mounted in parallel in the conveying direction between the lower ends of the lift bars 44.44.

In this way, the rotational power of the servomotor 42 is transmitted to the two lift bars 44 and 44 through the pinion 45 and the rack to move up and down to drive the lift beam 13 in the vertical direction. The servomotor 42 is controlled by the controller 3 by a predetermined feeder motion.

In the present embodiment, one servo motor and a worm gear box are combined as the lift driving means. However, as shown in the first embodiment, two lift shaft servo motors 14 and 14 may be used.

In the first embodiment, the carrier 15 provided to be movable in the longitudinal direction in each lift beam 13 and the carrier 30 provided in the lower part of the carrier 15 to be movable in the longitudinal direction of the lift beam 13 are the first embodiment. Same configuration as, and description is omitted here.

As shown in Figs. 8 and 10, the lift driving means 40 is equipped with four main members 143 which are placed upstream and downstream in each of the conveyance areas T1 to T5, and a pair of left and right mains (Iii) The first support members 144 and 144 are hypothesized between the members 143 and 143. A second support member 41 is provided between the upstream and downstream first support members 144 and 144 along the conveying direction, and between the first support members 144 and 144 in the vertical direction, respectively. ) Is installed. The servo motor 42 is attached to the center of the second supporting member 41 in the conveying direction toward the vertical direction. The output shaft of the servo motor 42 is provided with a worm gear (not shown) installed in the worm gear box 43. The output shaft direction of the servo motor 42 is converted into a worm gear in the worm gear box 43, and the workpiece conveying direction is changed. have. Intermediate shafts 46 and 46 are connected to both sides of the converted worm output shaft. In addition, pinions 45 and 45 are attached to ends of the intermediate shafts 46 and 46.

Meanwhile, the lift bars 44 and 44 are provided on the guide members 47 and 47 to be slidable in the vertical direction. On the outer surface of the lift bars 44 and 44, a rack is formed in the longitudinal direction and the rack and the pinion 45 and 45 are engaged. A lift beam 13 is attached in parallel to the conveyance direction between the lower ends of the lift bars 44 and 44.

In this way, the rotational power of the servomotor 42 is transmitted to the two lift bars 44 and 44 through the pinion 45 and the rack to lift and lift the lift beam 13 in the vertical direction. The servomotor 42 is controlled by the controller 3 by a predetermined feeder motion.

In the present embodiment, one servomotor and a worm gear box are configured in combination as the lift drive means. However, as shown in the first embodiment, two lift shaft servomotors 14 and 14 may be used.

The first embodiment is provided with a carrier 15 provided to be movable in the longitudinal direction in each of the lift beams 13 and a servomotor 30 provided to be movable in the longitudinal direction of the lift beam 13 in the same manner below the carrier 15. The configuration is the same as that of the form, and description is omitted here.

The carrier 30 is provided with a crossbar 17 protruding to the left and right direction with respect to the longitudinal direction of the lift beam 13, and a work holding means 18 (vacuum cup device, etc.) is provided on the crossbar 17. .

According to the second embodiment, since two drive shafts orthogonal to the lifting and lowering directions are controlled, the effects are the same as those of the first embodiment, and detailed description thereof is omitted here.

Each work conveying device 201 to 205 is provided with one lift beam 13 substantially in the center on the left and right with respect to the conveying direction, so that the configuration can be simplified and compact, which is advantageous in terms of cost and installation space.

Each lift beam 13 is disposed outside the processing zone so as not to interfere with the slide 4 or the mold of each press, but the crossbar 17 and the workpiece are offset by subcarrier 30 offset in the carrier moving direction with respect to the carrier 15. The holding means 18 can be overwritten from the end of the lift beam 13 to the outside. For this reason, a workpiece can be conveyed reliably to a metal mold | die.

11, the workpiece conveyance apparatus which concerns on other embodiment of 2nd Embodiment is demonstrated.

In Fig. 11, intermediate panel supports P1 to P3 are provided between adjacent presses 2A to 2D. A material supply device 9 is provided upstream of the press 2A, and a product discharging device is provided downstream of the press 2D. (19) is provided. Eight workpiece conveying devices 201, 202A, 202B, -204A, between the material supply device 9, the presses 2A to 2D, the intermediate panel receiving parts P1 to P3, and the adjacent device of the product discharging device 19, respectively. 204B and 205 are disposed.

Each of the workpiece transport apparatuses 201 to 205 is arranged in the horizontal direction so as not to interfere with the sliding motion along the workpiece transport direction at approximately the center of right and left with respect to the workpiece transport direction of the tandemless line as in the second embodiment. The lift beam 13 and the lift drive means (not shown) which drive the lift beam 13 up and down are provided. The configuration of each lift means is the same as above.

About these workpiece conveyance apparatuses 201-205, the structure different from the workpiece conveyance apparatus 201-205 demonstrated in 2nd Embodiment is demonstrated.

As shown in Fig. 11, the lift beams 13 of the workpiece conveying apparatuses 202A, 202B, 204A, and 204B corresponding to the conveying areas T2 to T4 have their respective proximate end portions in the longitudinal direction at the respective machining stations W1 to S4. It is located in front of the processing zone of W4), and the other end is provided so as to protrude to the substantially center position of each intermediate panel support P1 to P3.

The carrier 15 and the subcarrier 30 provided in the longitudinal direction of the lift beam 13 in the lower part of the carrier 15 and the carrier 15 provided so that the movement to the longitudinal direction in each lift beam 13 are the same as 1st Embodiment. The same configuration. The subcarrier 30 is provided with a crossbar 17 protruding in the left and right direction with respect to the longitudinal direction of the lift beam 13.

According to the said embodiment, since two drive shafts orthogonal to a lifting and lowering direction are controlled, it produces the same effect as the said 1st Embodiment. Moreover, by providing the intermediate panel receiving provided between the adjacent presses, the same effect as the structure of embodiment shown in FIG. 7 mentioned above is acquired. Moreover, since one lift beam 13 is provided in the substantially center of the left-right direction with respect to a conveyance direction, it produces the same effect as 2nd Embodiment.

Next, with reference to FIG. 12, the workpiece conveyance apparatus which concerns on other embodiment is demonstrated.

The workpiece conveyance apparatus is provided with five workpiece conveyance apparatuses 301-305 arrange | positioned at each conveyance area T1-T5. These workpiece conveyance apparatuses 301 to 305 will be described in a structure different from the workpiece conveyance apparatuses 101 to 105 described in the first embodiment.

The workpiece conveyance apparatuses 301, 302, 303, 304, and 305 are arrange | positioned between the adjoining apparatuses of the material supply apparatus 9, the presses 2A-2D, and the product carrying apparatus 19, respectively. These workpiece transport apparatuses 301 to 305 have a pair of lift beams 13 arranged in the horizontal direction so as not to interfere with the sliding motion along the workpiece transport direction and lift driving means for driving the lift beams 13 in the upward direction ( Not shown). Each lift drive means is the same as the structure of 1st Embodiment.

The lift beam 13 of the work device 301 is formed with the upstream end near the front of the material supply device 9 and the downstream end formed with the cross section of the bolster 5 of the press 2A and the cross section of the slider. It is located near the front of the processing area. In addition, the lift beams 13 of the workpiece transport apparatuses 302, 303, and 304 corresponding to the transport areas T2 to T4 have their respective upstream and downstream end portions in front of the machining zones of the machining stations W1 to W4, respectively. It is located in the vicinity. The lift beam 13 of the workpiece conveyance apparatus 305 is positioned with the upstream end near the front of the machining zone of the machining station W4, with the downstream end positioned at a predetermined position above the product discharging device 19. It is.

According to this embodiment, since two drive shafts orthogonal to a conveyance direction and a lifting direction are controlled, it produces the same effect as the said 1st Embodiment.

Next, the workpiece conveyance apparatus which concerns on other embodiment is demonstrated by FIG.

In FIG. 13, intermediate panel supports P1 to P3 are provided between adjacent presses 2A to 2D. A material supply device 9 is provided upstream of the press 2A, and a product is taken out downstream of the press 2D. The apparatus 19 is arrange | positioned. The workpiece conveyance apparatus is provided with eight workpiece conveyance apparatuses 301, 302A, 302B, -304A, 304B, and 305 arrange | positioned in each conveyance area T1-T5. These workpiece conveyance apparatuses 301 to 305 will be described in a structure different from the workpiece conveyance apparatuses 101 to 105 described in the first embodiment.

Eight workpiece conveying apparatuses 301 to 305 are arranged between adjacent materials of the material supply apparatus 9, the presses 2A to 2D, the intermediate panel supporters P1 to P3, and the product discharging apparatus 19, respectively. . Each of the workpiece transport apparatuses 301 to 305 drives the pair of lift beams 13 and the lift beams 13 arranged in a horizontal direction so as not to interfere with the sliding motion along the workpiece transport direction of the tandem press line. Drive means (not shown). The configuration of each lift driving means is as described above.

The lift beam 13 of the workpiece transporter 301 is positioned at an upstream end at a predetermined position above the material supply device 9, and the downstream end of the lift beam 13 of the bolster 5 of the press 2A and the slide. It is located near the front of the processing zone formed in cross section. In addition, each lift beam 13 of the workpiece conveying apparatus 302A-304B corresponding to the conveyance area T2-T4 places one end of a press side in the vicinity of the front of the processing area of the processing station W1-W4, and is downstream. The end is located in a predetermined position above the product discharging device 19.

A pair of carriers 15 that are movable in the longitudinal direction in each lift beam 13 and a subcarrier 30 that is movable in the longitudinal direction of the lift beam 13 equally under the carrier 15. Since the crossbars 17 arranged in the transverse direction between the subcarriers 30 have the same configuration as in the first embodiment, the description is omitted here.

Also in this embodiment, since two drive shafts orthogonal to a lifting and lowering direction are controlled, the same effect as the said 1st Embodiment is acquired. Moreover, the same effect as the structure of embodiment shown in FIG. 7 mentioned above is acquired by providing an idling process between adjacent presses.

As described above, according to the present invention, the following effects are obtained.

Since the workpiece conveying device has a structure for conveying a workpiece by two drive shafts orthogonal to the lifting workpiece conveying direction, the workpiece conveyance trajectory is easily understood by the operator. Even during control, the speed is not limited by the other speed, making it easy to instruct the stroke and timing of each drive shaft and to set data. Therefore, even beginners can easily work with instructions or data, which greatly improves workability. Since the two drive shafts are set at independent speeds, they can be set to the maximum speed of each driving motor's ability and the production speed can be increased by increasing the workpiece conveyance speed to the maximum.

In addition, by installing the lift beam between the molds of adjacent presses, one workpiece transfer device can directly transfer the workpiece from one mold to the mold of the next process, eliminating the need for an intermediate idle process and simplifying and compacting the dump dump line. Can be configured.

Claims (9)

In the workpiece conveyance method of the tandem press line provided with a plurality of presses along the workpiece direction, A first step of moving the pair of lift beams 13, 13 arranged in parallel in the workpiece conveyance direction and left and right with respect to the workpiece conveyance direction; Workpiece holding means 18 capable of holding the workpiece while moving one carrier 15 along the longitudinal direction of the lift beam 13 and simultaneously installing the left and right pairs of carriers 15 and 15 facing each other. And a second step of offsetting the crossbar 17 having a carrier movement direction with respect to the carrier 15. A method for conveying a workpiece in a tandem press line, characterized in that the first step and the second step are performed simultaneously or independently to cause the crossbar to move up and down and to reciprocate in the workpiece conveyance direction. In the workpiece conveyance method of the tandem press line provided with a plurality of presses along the workpiece conveyance direction, The first step of moving one lift beam 13 disposed in the center of the workpiece transport direction parallel to the workpiece conveyance direction outside the press working area and substantially in the left and right directions in the vertical conveyance direction; A guide having the carrier 15 provided with a sub-carrier 30 having a workpiece holding means 18 capable of moving the at least one carrier 15 along the longitudinal direction of the lift beam 13 and holding the workpiece. Has a second step of moving in the carrier movement direction to offset the carrier 15 The workpiece conveyance of the tandem press line is characterized in that the first and second steps are carried out simultaneously and independently so that the workpiece holding means 18 moves up and down and reciprocates in the workpiece conveying direction. Way. In the workpiece conveyance apparatus of the tandem press line which installed a plurality of presses along the workpiece conveyance direction, A pair of lift beams 13 and 13 arranged in parallel in the workpiece conveyance direction and left and right with respect to the workpiece conveyance direction and capable of vertical motion; One carrier 15 movable along the longitudinal direction of each lift beam 13; A sub-carrier 30 made movable in the carrier moving direction along a guide provided in the carrier 15, A workpiece transport apparatus of a tandem press line, comprising a crossbar 17 having a workpiece holding means 18 capable of temporarily holding a workpiece between the left and right pairs of subcarriers 30 and 30 facing each other. . The method of claim 3, wherein the pair of lift beams (13, 13) and the pair of lift beams (13, 13) are adjacent to another pair of lift beams (13, 13) adjacent upstream or downstream. The position of the workpiece conveyance apparatus of the tandem press line, characterized in that the position is installed in the approximately center of each machining process in the workpiece conveyance direction, or approximately the center of the machining process and approximately the center of the idle process. In the workpiece conveyance apparatus of the tandem press line which installed a plurality of presses along the workpiece conveyance direction, A pair of lift beams 13 and 13 which are arranged parallel to the workpiece conveyance direction outside the press working area and to the left and right with respect to the workpiece conveyance direction and which can be operated vertically; One carrier 15 movable along the longitudinal direction of each lift beam 13; A subcarrier 30 which is movable in a carrier movement direction along a guide provided in the carrier 15, A workpiece transport apparatus of a tandem press line, comprising a crossbar 17 having a workpiece holding means 18 capable of temporarily holding a workpiece between the left and right pairs of subcarriers 30 and 30 facing each other. . The idle process P1 is provided between at least one set of adjacent presses, In the workpiece conveyance direction between one of the adjacent presses 2A, 2B and the idle step P1, and between the idle step P1 and the other of the adjacent presses 2A, 2B. A pair of lift beams 13 and 13, which are arranged in parallel with each other in the left and right with respect to the workpiece conveyance direction and which can be vertically operated independently of each other, And a carrier (15), a subcarrier (30) and a crossbar (17) on each of the pair of lift beams (13, 13), respectively. In the workpiece conveyance apparatus of the tandem press line which installed several presses along the workpiece conveyance direction, One lift beam 13 disposed parallel to the workpiece conveyance direction outside the press working area and substantially centered in the left and right direction with respect to the workpiece conveyance direction, and capable of vertical motion. At least one carrier 15 movable along the longitudinal direction of the lift beam 13 and A subcarrier 30 which is movable in a carrier moving direction along a guide provided in the carrier 15 and a workpiece holding means 18 which can be held in the subcarriers 30 and 30. The workpiece conveying device of the tandem press line. The idle process P1 is provided between a set of adjacent presses 2A and 2B, and between one of the adjacent presses 2A and 2B and the idle process P1, and Between the idling step P1 and the other of the adjacent presses 2A, 2B, it is arranged in the center in parallel to the workpiece conveyance direction and in the left and right directions with respect to the workpiece conveyance direction, and enables vertical movement independently of each other. Install one lift beam 13 each And a carrier (15), a subcarrier (30) and a workpiece holding means (18) on each of the one lift beams (13). The tandem press line according to any one of claims 3 to 8, wherein the carrier driving means for moving the carrier 15 along the longitudinal direction of the lift beam 13 is a linear motor 16. Workpiece carriers.