JPH01224122A - Feeding device for work to be pressed - Google Patents

Abstract

PURPOSE:To improve a feed speed by providing a vertical slide on a frame body, arranging a swing lever to the slide and providing parallel links between an arm holder at the tip of the lever and the slide. CONSTITUTION:Guide rails 3, 3' are provided on the frame body 1 and the vertical slide 4 is arranged along them. A right and a left drive part are provided on the slide 4, the swing lever 7 is set to an output shaft 6a and the arm holder 8 is arranged turnably on the tip of the lever 7. Further, the parallel links 14, 14' are provided between the arm holder 8 and the side of the slide 4. When the output shaft 6a of the right and the left drive part is rotated to swing the swing lever 7 after a pressing machine is operated, a carrier arm 9 is moved right or left, further, the slide 4 is lowered, and the work is held and allowed to move with an adsorbing cup 11. Since the swing lever 7 is used, the driving load is reduced and the feed speed is improved.

Description

[Detailed Description of the Invention] (Industrial Application Field) What is the present invention? The present invention relates to a workpiece feeding device for press working that is suitable for sequentially feeding workpieces in a series of processing steps in which several press machines are lined up.

(Prior art) As a conventional press processing workpiece feeding device of this type, the
For example, there is one described in Japanese Utility Model Application Publication No. 59-49436. As shown in FIG. 5, this press work transfer device has a WA-type fixed frame 1a.
A guide member 2 is fixed inside a. Two guide rods 3 are provided vertically through the guide member 2, and the upper and lower ends of these guide rods 3 are fixed between a pair of brackets 5 protruding from the lift frame 4. ,
A lift frame 4 is supported by a guide rod 3 so as to be vertically movable. A rack 6 is provided in the vertical direction on the lift frame 4, and a rotating shaft 7a of a lift driving motor 97 attached to the back of the fixed frame 1a is attached to the rack 6.
A pinion 8 fixedly engaged with the lift frame 4 is engaged with the lift frame 4, and the lift frame 4 is moved up and down by the lift drive motor 7. Furthermore, a lift auxiliary cylinder 9 is provided below a bracket 5 that projects from the lower part of the lift frame 4 and is fixed to the fixed frame 1a.

The tip of a piston rod 9a protruding from the lift auxiliary cylinder 9 is fixed to the bracket 5, and the thrust of the lift auxiliary cylinder 9 urges the lift frame 4 upward, and the lift auxiliary cylinder 9 The upward stroke end is set to coincide with the upper slide end of the lift frame 4. On the other hand, an arm guide 10 having a channel shape is provided at the upper part of the lift frame 4 in a direction perpendicular thereto.
The slide arm 11 has a rectangular cylindrical shape and has an arm 11a protruding from the front of both ends thereof, which has a vacuum cup 12 for transporting a workpiece at the lower part of the tip side, and a central part. 1 rack horizontally on the back
3 is fixed.

A binion 15 fixed to a rotating shaft 14a of a feed drive motor 14 attached to the back surface of the arm guide 10 is meshed with this rack 13, and the feed drive motor 14 moves the slide arm 11 to the arm guide 1
0 and is guided to reciprocate.

This workpiece conveyance device δ raises the lift frame 4 by the lift drive motor 7 at the same time.

The feed drive motor 14 also starts moving the slide arm 11. It is said that this allows the workpiece 16 to be transported at high speed.

(Problem to be solved by the invention) As described above, in order to improve the production efficiency of pressed products, it is necessary to improve the performance of the feed rate of the processed products.
As a result, the workpiece conveyance speed of the device has been increased, and as the speed of the slide arm 11 that slides back and forth in the arm guide 10 increases, wear of the sliding contact portion with the arm guide 10 becomes a problem. ing. Slide arm 1
Wear of the sliding contact part of the arm guide 10 due to No. 1 progresses over time, and the latent resistance of the sliding contact surface increases, putting a load on the feed drive motor, resulting in burnout of the motor, or causing damage to the machining position of the workpiece. This causes variations in the feeding accuracy of the workpieces, which causes various problems for high-speed workpiece conveyance.

(Purpose of the invention) The purpose of this invention is to solve the above-mentioned problems.

While maintaining the accuracy of feeding the workpiece to the processing position.

It is an object of the present invention to provide a high-quality workpiece feeding device for press working that can improve the performance of the feed rate of workpieces, maintain such performance, and be sustainable.

(Features of the Invention) To achieve the above objects, the press processing workpiece feeding device of the present invention has a vertical guide rail on the main body frame installed on the floor surface, and can slide up and down on the guide rail. Fit the vertical slide to the vertical slide, install the left and right drive parts on the vertical slide, fix the vertical drive part to the main body frame, connect the swing lever to the output shaft of the left and right drive part, and connect the swing lever to the upper end of the swing lever. ,
An arm retainer that horizontally supports the transfer arm, which is equipped with a suction device that holds and releases the workpiece by suction at both left and right ends, is rotatably mounted, and vertical slides near both sides of the output shaft of the tL left and right drive unit are mounted. It is characterized by rotatably providing parallel links extending along both sides of the swing lever and having the same length as the swing lever between the side surface and the side surface of the arm restraint.

(Embodiments of the Invention) Details of the present invention will be described below based on illustrated embodiments.

FIG. 1 is a front view showing the entire device of the present invention.

The main body frame 1 forms a box-shaped body vertically erected from a base 1a installed on the floor. This body frame 1
is installed so that its level can be adjusted freely by adjusting bolts 2 provided at the four corners of the base 1a. In addition, guide rails 3.3- parallel to each other are vertically fixed to the main body frame 1 at appropriate intervals on both sides of the vertical surface 1b on the front thereof, and the guide rails 3.3- are vertically fixed along the guide rails 3.3-. A slide 4 is fitted so as to be vertically movable via guides 5a, 5a-, 5b, 5b-. For vertical slide 4.

Left and right drive consisting of servo motor! ! 36 is installed, and the output shaft 6a of the left and right drive section 6 protrudes from the vertical slide 4. A swing lever 7 is pivotally attached to the output shaft 6a. An arm retainer 8 is rotatably fixed to the upper end of the swing lever 7 via a support shaft 8a, and a transport arm 9 is attached to the arm retainer 8 with a plurality of fastening ports 10, It is attached and fixed by... At both ends of this transfer arm 9, a suction hand 12 with a suction cup 11, 11- attached to each tip, and a cup mounting base 13 which can be freely attached and adjusted above and below the suction hand 12 are fixedly attached. . Moreover, I! is the same length as the swing lever 7 and is located between the side surface of the vertical slide 4 and the side surface of the arm retainer 8 near both sides of the output shaft 6a. Parallel links 14 and 14' spanned along both sides of the moving gear 7 connect to the respective axes 14a and 14.
It is rotatably attached to a-114b and 14b-.

Behind the roughly swinging lever 7, a left-right drive balance cylinder 15 has one mounting shaft 15a located a little more than 172 degrees above the swinging lever 7 in the longitudinal direction, and the other mounting shaft 15b that slides up and down. 4 and is rotatably attached. Furthermore, inside the main body frame 1, a vertical drive section 16 consisting of a servo motor, a ball screw 17 connected to the vertical drive section 16, and a balance cylinder 19 for vertical drive are provided. The vertical drive unit 16 is mounted on a drive unit mounting seat 20 fixed in the main body frame 1,
The output shaft 21 has a coupling 22. Thrust bearing 23
The ball screw 17 is connected in a hanging state through. The ball screw 17 has an upper bearing 17a fixed to the inner wall of the back side of the front side of the main body frame 1.

It is supported by the lower bearing 17b and is screwed into a nut 18 fixed to the upper and lower slides 4. The vertical drive balance cylinder 19 has the piston 24 side facing the front of the main body frame 1! ! The end side 19a is slidably fitted into a guide rail 25 disposed perpendicularly to the inner wall of the side surface via a guide 26.
is fixed to a mounting seat 27 fixed to the inner wall of the main body frame 1.

A bracket 28 is fixed to the tip of the piston 24 side, and guides 26. A sprocket 29 is attached. A chino 30 is engaged with the sprocket 29, and the chino 30
One end is fixed to a chain stop 31 fixed to the main body frame 1, and the other end is fixed to a chain stop 32 fixed to the vertical slide 4.

The device of the present invention configured in this way is in the rest position when the transport arm 9 is in the position shown in Figure 2, that is, in the vertical position.
When transporting this.

The swing lever 7 is tilted left and right, and the transfer arm 9 is moved up and down. First, when the transfer arm 9 is in the central rest position, a press machine (not shown) is activated, and a workpiece (not shown) is processed by the press machine. Note that the left and right drive units 6 and the vertical drive unit 16 are controlled in synchronization with the operation of the press machine. When the press machine has finished operating once and its ram (not shown) rises, the servo motors of the left and right drive units 6 start, rotate the output shaft 6a, swing the vibration lever 7, and... Since the working bar 7 is further tilted, the transfer arm 9 is moved to the right or left. In the left operating position, the left suction cup 11 is positioned above the lower die of a press machine (not shown), for example, and the right suction cup 11' is positioned, for example, on a workpiece (not shown)! Place it above the tN level. In this state, move up and down! The servo motor of 1Ilil 116 starts, reversely rotates the ball screw 17, and lowers the vertical slide 4, so the transfer arm 9 descends, and the suction cup 11 picks up the workpiece on the lower mold, and the suction cup 11'' picks up the workpiece. The workpieces on the mounting table are held respectively.Then, the servo motor of the vertical drive unit 16 is started and the ball screw 17 is rotated in the forward direction to raise the vertical slide 4, so that the transfer arm 9 is raised.

Next, the servo motors of the left and right drive units 6 are started simultaneously,
Since the output shaft 6a rotates with a large rotation angle,! !
By swinging the shifter 7 greatly, the feed arm 9 moves from left to right or vice versa at once to either the left or right operating position. In this operating position, the suction cup 11 is located above the workpiece mounting table, and the suction cup 11' is located above the lower die of the press machine. In this state, the servo motor of the vertical drive section 16 is activated to reversely rotate the ball screw 17, lower the vertical slide 4, and lower the m-feed arm 9. After the suction cup 11.11- releases the holding of the workpiece, the vertical drive unit 16 is activated, the ball screw 17 is rotated in the forward direction, the vertical slide 4 is raised, and the transfer arm 9 is raised. By these means, the processed product is sent from the press machine onto the llf table, and the processed product is sent from the mounting table to the press machine.

The movement of the transport arm 9 caused by the tilting of the swing lever 7 and the vertical movement of the vertical slide 4 by the left and right drive unit 6 and the vertical drive unit 16 is always kept horizontal by the parallel link 14.14', and the suction cup 11.11 The vertical amounts of ' are equal, and the suction of the workpiece in the suction cup 11.11-
Perform the release accurately.

During the above operation, the transfer arm 9 is fixed to the arm holder 8,
Since the arm retainer 8 is rotatably supported by the swing lever 7, it can be smoothly moved left and right without resistance. In addition, along with the transport arm 9, the vertical slide 4 and the swing lever 7 are each elastically supported upward by each balance cylinder 15, 19, so that their respective weights are balanced and the influence of one weight is reduced. With the swing lever 7, the load acting on the left and right drive unit 6 can be reduced and the horizontal movement speed of the conveyor 7-me 9, that is, the feed speed of the workpiece, can be increased. The load acting on the drive 1IS16 is reduced and the vertical movement of the transport arm 9 is made smooth. Furthermore, by using a servo controller with a dedicated performance function that controls the servo motors of the left and right drive units 6 and the vertical drive unit 16, the amount of change in the swing lever 7 and the vertical slide 4 can be controlled. The moving layer of the arm 9 can be varied, and the heights of the supply position and the processing position can be made the same due to restrictions on the height of the lower die of the press machine and the height dimensions of i and II of the processed product grade d. Even in cases where this is not possible, processed products can be transported smoothly without any hindrance.

Note that the workpiece feeding device for press working according to the present invention can be used not only for feeding workpieces between press machines.

As mentioned above, it can be used for feeding from a conveyor such as a belt conveyor to a press machine, or from a press machine to a conveyor such as a belt conveyor or a storage box.
According to the workpiece feeding device for press working of the present invention, a vertical guide rail is provided on the main body frame installed on the floor surface, and the upper and lower slides are electrically connected to the guide rail so as to be able to slide up and down. The left and right drive parts are superimposed on the slide, and the vertical drive part is fixed on the main body frame, allowing left and right drive! A swing lever is connected to the output shaft of part 11, and an arm holder is mounted on the upper end of the swing lever to horizontally support the transfer arm, which has suction devices attached to both left and right ends that hold and release the workpiece by suction. Freely movable shaft attachment, left and right drive! Parallel links that are the same length as the swing lever and run along both sides of the swing lever are rotatably provided on the sides of the vertical slide and the side of the arm holder near both sides of the output shaft of the 1181I. Therefore, conventional I! Since there is no need for an arm guide to guide the slide arm as shown in Figure 1, there is no sliding resistance of the slide arm caused by the arm guide, and there is no need to worry about wear of the arm guide or burnout of the drive part, and the transfer arm can be easily moved. Smooth left and right movement is performed,
In addition, the vertical movement is performed at appropriate timing in conjunction with the horizontal movement, so that the workpiece can be transported to the supply position and the processing position at high speed. Furthermore, since the design can be made without considering the restriction of the feeding length of the conveyor arm by the arm guide of the conventional device, the feeding device can be designed with a degree of freedom in both the feeding amount and the vertical amount. Furthermore, the supply position of processed products.

It is possible to improve the high-speed conveyance performance of processed products while maintaining the accuracy of feeding to the processing position, and to create a high-quality device that can sustain this performance.

[Brief explanation of the drawing]

Drawings 1 to 4 show examples of the device of the present invention,
Figure 1 is a front view of the I81 device, Figure 2 is a side view of Figure 1, Figure 3 is a schematic illustration of the internal structure of the device seen from the front, and Figure 4 is a side view of the device. A schematic explanatory diagram of the internal structure, and FIG. 5 is a perspective view showing a conventional device.

Claims (1)

[Claims] A vertical guide rail is provided on the main body frame installed on the floor, a vertical slide is fitted to the guide rail so that it can slide up and down, a left and right drive section is mounted on the vertical slide, and a vertical drive section is mounted on the main body frame. A swing lever is connected to the output shaft of the left and right drive parts, and a transfer arm with a suction device attached to the upper end of the swing lever that holds and releases the workpiece by suction is attached to the upper end of the swing lever horizontally. The supporting arm holder is rotatably attached to the shaft, and the arm holder is attached along both sides of the oscillating lever with the same length as the oscillating lever between the side surfaces of the vertical slide and the side of the arm holder near both sides of the output shaft of the left and right drive unit. A workpiece feeding device for press working, characterized in that it is provided with rotatable parallel links that are spanned together.