JPH03185B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a transfer device, and more particularly to a transfer machine that is capable of automatically changing the setup according to the type of workpiece while transporting the workpiece.

Conventionally, with this type of transfer device, when the shape of the workpiece changes, setup changes must be made each time, such as adjusting the clamps of each station, adjusting the arm, and adjusting the position of the workpiece transfer guide. It didn't happen.

For this reason, workability was extremely poor and work efficiency was also poor.

Recently, automated transfer devices have been proposed, but the detection means, control mechanism, etc. complicate the entire device, and the size is also large, which poses problems in terms of installation space and the like.

This invention was devised by paying attention to the conventional problems, and its purpose is to be able to perform positioning and clamping operations at the same time as transporting the workpiece without using detection means or control means. , to provide a transfer machine that can automatically change the setup of each station.

In order to achieve the above object, this invention connects a clamp cylinder via a link mechanism to a connecting rod that is linked to the vertical movement of a transfer, and connects the casing of the clamp cylinder to a jig body via a connecting mechanism. A guide body having a side guide for the workpiece is integrally provided on this shift shaft, and one end is connected to the jig body through a connection mechanism for setup change. An eccentric shaft connected to a connecting bar of a drive cylinder for the workpiece is rotatably installed, and a side guide and a clamp arm are vertically movably mounted on the eccentric shaft facing the side guide of the workpiece. On the connection bar for changeover,
A lever is provided that swings in response to the sliding of the connecting bar.
The gist is that the upper end of the clamp arm is brought into contact with the cam of this lever, and the position of the clamp arm is automatically adjusted according to the shape of the workpiece.

Embodiments of the present invention will be described below based on the accompanying drawings.

1 and 2 show a schematic side view and a front view of one of a plurality of work clamp devices of a transfer machine embodying the present invention, and 1 shows a jig body having a U-shaped cross section; A connecting rod 2 is installed horizontally below the jig main body 1 and is linked to the vertical movement of the transfer. One end of a lift arm 3 is rotatably connected to the connecting rod 2, and the other end of the lift arm 3 is connected to a transfer bar 4 for transporting the work W.

One end of an actuating rod 7 is connected to one end of a shaft 5 fitted into the approximate center of the lift arm 3 via a lever 6, and a multistage clamp cylinder 8 is connected to the other end of the actuating rod 7. is connected. One end of an arm 11, referred to as a coupling mechanism 10, is rotatably supported on the casing 9 of the clamp cylinder 8, and a cam having an L-shaped cross section is connected to the other end of the arm 11 via a spline shaft 12. An arm 13 is rotatably supported. One end of the cam arm 13 fits into a recess 15 of a shift shaft 14 slidably installed on the jig main body 1, and the other end fits into a cam shaft 16 provided on the jig main body 1 so as to be movable up and down.
It is arranged so that it can be freely fitted into the through hole 17 of. The tip of the camshaft 16 is formed into a tapered shape, and this tip is disposed in a tapered through hole 18 of the shift shaft 14 so as to be freely engageable and detachable.

A guide body 21 including a side guide 19 for the workpiece W and a cage 20 is integrally fixed to the shift shaft 14, and a bearing 2 is attached to the guide body 21.
2, an eccentric shaft 23 is rotatably installed. The center portions of two clamp arms 24 each having a claw are pivotably supported on this eccentric shaft 23.
It serves as a clamp fulcrum for the clamp arm 24.

Further, the upper end of a cage 27 provided with a side guide 26b is vertically provided on the guide body 21 via two guide shafts 25a and 25b. By moving the guide body 21 in the left and right direction, the cage 2 of the side guide 19 provided on the guide body 21 is moved.
0 and the basket 27 equipped with the side guide 26b move the workpiece W to the right in FIG. This is to unclamp W.

Note that 28 is a locate pin provided on the side wall of the jig main body 1, and 29 is a receiving bar for the workpiece W.

Next, the workpiece position adjustment device 30 is composed of a connecting bar 31 installed horizontally above the jig main body 1, and a drive cylinder 32 that moves this connecting bar 31 in the left-right direction in FIG. 31
In the middle, two piece members 3 are placed at a predetermined interval.
3 and 34 are provided.

This piece member 33 has a pin 3 attached to the jig main body 1.
One end of a lever 36 which is swingably supported via the clamp arm 5 is engaged, and the other end of this lever 36 is formed into bifurcated stepped cams 37a and 37b, and the lever 36 is connected between the two clamp arms 24. It is in sliding contact with a large diameter portion 38a located in the middle of the bar 38 to be connected.

On the other hand, the bridge member 34 is engaged with one end of a bell crank-shaped lever 40 that is swingably supported on the jig main body 1 via a support shaft 39.
The other end of the arm 44 is rotatably connected to one end of the eccentric shaft 23 via a tie rod 41 via a shaft 42 for changing workpieces and a pin 43.

The relationship between the setup change shaft 42 and the arm 44 is such that a long hole 45 formed at one end of the arm 44 engages a pin 43 implanted at an eccentric position on one end of the setup change shaft 42. and the tie rod 4
1 rotates as the arm 44 moves up and down, and the eccentric shaft 23 connected to the setup change shaft 42 connected to the arm 44 via a pin 43 is driven to rotate.

Further, one end of an arm 46 is fixed to the support shaft 39 of the jig main body 11, and a tie rod 4 is attached to the other end of the arm 46, as shown in FIGS.
One end of 7 is rotatably connected. The other end of this tie rod 47 is connected to one end of a link 50 which is rotatably supported via an arm 49 to a guide member 48 fixed to the side guide 26a. It is rotatably connected to one end of the shaft 51.

Note that 52 and 54 are shafts rotatably supported by the jig main body 1, and are connected to the link 50 and the arm 49, respectively.
And by link 53, arm 49 and pin 55,
fixed to each axis.

Further, the other end of the connecting shaft 51 is connected to the guide attachment member 48 and the arm 4 to the side guide 26a as described above.
One end of a link 53 that is rotatably supported is connected via a link 9 .

When the arm 46 swings in the left-right direction in FIG. 2, the tie rod 47 → link 50
→ Shaft 52 → Arm 49 → Guide attachment member 48 and link 50 → Connection shaft 51 → Link 53 → Shaft 54
The side guides 26a move forward or backward in the directions indicated by arrows in FIGS. 3 and 4 via the →arm 49→guide attachment member 48.

Next, the clamp cylinder 8 is
As shown in ~c, a stopper 61 is provided at the tip of the hollow cylindrical casing 9 of the clamp cylinder 8.
The actuating rod 7 with a piston attached thereto is inserted through the actuating rod 7, and between the actuating rod 7 and the casing 9 are hollow cylindrical first pistons each having a piston at the lower end.
P ₁ and the second piston P ₂ are placed in a pressure chamber 6 with a predetermined interval.
3, it is slidably installed inside. The side wall of the casing 9 constituting this pressure chamber 63 is provided with supply/discharge ports 64a and 64b connected to a supply source C of hydraulic oil, and the stopper 61 of the actuating rod 7 and the upper end of the second piston P2 are connected to _{each other} . As shown in FIG. 7, a predetermined margin stroke _L1 is provided in between. Also, the lower end of the first piston _P1 and the casing 9
A predetermined margin stroke _L2 is also provided between the bottom wall and the bottom wall.

Note that 65 is a pressure regulating valve interposed in an oil passage 66 connecting the supply source C and the pressure chamber 63.

Next, the operation of the present invention constructed as described above will be explained.

(A) Typical work W clamp operation.

First, connect rod 2 for moving the transfer bar up and down.
When the lever 6 moves to the left in FIG. 2, the lever 6 simultaneously rotates clockwise via the lift arm 3, and the actuating rod 7 supporting the clamp cylinder 8 is simultaneously pushed up.

The pressure chamber 63 of the clamp cylinder 8 is raised to the set pressure of the pressure regulating valve 65, and at the same time the pressure chamber 63 is increased to the set pressure of the pressure regulating valve 65.
The arm 11 connecting the cylinder joint 67 of the casing 9 via the cam arm 13 and the shift shaft 14 is rotated counterclockwise to connect the guide body 2 to the cam arm 13 and the shift shaft 14.
1 is guided by the pilot bar 56 and moves to the right in FIG. Then, when the shift shaft 14 moves to the right, the workpiece W also slides on the two receiving bars 29, approaches the workpiece reference piece 29a from the transfer position, and is inserted into the locate pin 28. As a result, the workpiece W is the reference piece 29a
It will move to a very small position.

This operation is performed by arm 1 from clamp cylinder 8.
1. This is the path in which the cam shaft 16 moves downward via the cam arm 13, and the shift shaft 14 moves rightward by the cam arm 13.

Furthermore, since the connecting rod 2 moves to the left as shown in FIG. The guide body 21 moves to the right due to the wedge and the wedge of the shift shaft 14. Further, the large diameter part 38a of the bar 38 at the upper part of the clamp arm 24 supported by the eccentric shaft 23 attached to the shaft 22 of the guide body 21 comes into contact with the clamp receiver (cam 37a), and the eccentric shaft 23
3 in the counterclockwise direction (in FIG. 1), and clamping of the workpiece W is completed.

However, the thickness of the work W varies due to processing errors, and the connecting rod 2 that connects the work clamp devices of each processing station and drives the respective actuating rods 7 expands and contracts due to temperature changes. Therefore, in order to absorb variations in the clamp completion positions between these stations, the clamp cylinder 8 is provided with an extra stroke _L1 .

In addition, the clamping and unclamping of the workpiece is mechanically linked to the lowering (transfer completion) and raising (transfer start) of the transfer bar through the clamp cylinder 8, respectively, and the operation can be performed reliably without using a special control device. It will be done.

Further, the clamping force to the workpiece is obtained by compressing the pressure chamber 63 by the first piston _P1 driven by the upward movement of the actuating rod 7. These clamping forces are always kept constant by pressure regulating valves 65 that are set to be suitable for clamping each workpiece at each processing station, and stable clamping forces can be applied to the workpieces.

The unclamping movement is the opposite to that described above, but in order to transport the workpiece W at the unclamping end, that is, the rising end of the transfer bar, the side guides 26b and 19 of each station are moved to the transporting position. Requires accurate positioning.

For this reason, the purpose is achieved by abutting the stopper 21b attached to the guide body 21 against the stopper receiver 21a attached to the jig body 1, but even at this operating end, temperature changes between the respective stations of the connecting rod 2 Due to differences in elongation and assembly errors, the stopper receiver 21 of all stations
a and the stopper 21b sometimes do not collide.

In order to absorb this, the actuating rod 7, after the stopper receiver 21a and the stopper 21b come into close contact with each other (the casing 9 of the cylinder 8 stops at this point), further descends to the extra stroke L ₂ and moves between these stations. This absorbs the variation in

The clamping operation of the clamp cylinder 8 will now be described with reference to FIGS. 7a to 7c.

First _, the actuating rod 7 moves upward from the position shown _{in FIG} . 1st piston P ₁
is also moved upward together with the actuating rod 7. At the same time, the second piston P ₂ is moved upward by the pressure in the pressure chamber 63. When the shoulder 68 of the second piston P ₂ comes into contact with the cylinder joint 67, the cylinder joint 67 and the casing 9 are also connected to the piston.
It moves upward together with P ₂ (Fig. 7b).
As the cylinder joint 67 moves upward, the shift shaft 14 starts moving rightward in FIG. 1 at the same time.

This operation continues until the work is clamped, and when the work is at the work clamp start point (when the arm 11 stops), the volume of the pressure chamber 63 gradually decreases, and the pressure oil above the aforementioned set pressure is released from the pressure regulating valve 65. run away. At this time, the pressure oil from the supply source C is not supplied to the suction/discharge port 64a by switching the solenoid valve 62. As a result, the upward movement of _the second piston P ₂ is stopped _, and as shown in FIG. 61
A gap L ₁ is created between the stations, and the dimension of this gap L ₁ becomes the margin stroke amount for absorbing variations between the stations.

Also, unclamping operation is the opposite operation,
In other words, Fig. 7 a → b → c becomes stroke L ₁
The guide body 21 does not operate until the stroke reaches L1, but when the stroke reaches _L1 or more, the guide body 21 starts operating, the stopper 21b attached to the guide body 21 comes into contact with the stopper receiver 21a, and the actuating rod 7 further descends. Therefore, a gap L ₂ will be created.

Therefore, by providing two first pistons P ₁ and two first pistons P ₂ in one clamp cylinder 8, the movement amount of each cylinder joint 67 connected thereto can absorb variations between each station. Therefore, it can be changed arbitrarily.

Note that it is necessary to constantly supply pressurized oil higher than a set pressure to the clamp cylinder 8.

(B) Movement of the side guide and clamping operation due to change in workpiece type.

When the thickness H of the workpiece W conveyed by the transfer bar 4 is different, the side guide 26
a, 26b and the clamp point are automatically adjusted.

This operation utilizes the basic operation in (A) above, and includes the side guides 19, 26b, clamp arm 24, and several jig bodies 1 of each station.
This is made possible by providing one drive cylinder 32 for the intermediate side guide 26a that connects the two.

First, the bridge member 33 attached to the connecting bar 31
moves to the left in FIG. 2, the lever 36 pivots counterclockwise. Further, the other piece members 34 similarly move to the left, and the lever 40 turns counterclockwise. At the same time, the tie rod 41 also rises and is transmitted to the arm 44 via the joint.

One end of the arm 44 is provided with the elongated hole 4 as described above.
5 is formed, and a pin 43 provided on the setup change shaft 42 is engaged with this elongated hole 45.

When the tie rod 41 moves upward, the arm 44 turns 90 degrees counterclockwise, and at the same time turns the pin 43 180 degrees. As a result, the eccentric shaft 23 engages with the setup change shaft 42.
It also rotates 180 degrees at the same time. The eccentric shaft 23 moves the side guide 26b inside the jig body 1, and its eccentricity is half the amount of movement of the guide body 21, and since it rotates 180 degrees, it can be easily moved during work shifting and clamping. It is self-supporting in the direction of the propulsion force.

In addition, the workpiece clamping point must be changed at the same time as the side guide 26b due to the difference in workpiece thickness. That is, the clamp arm 24 has its center of rotation in the bearing 22 of the guide body 21, shifts together with the workpiece W, and comes into contact with the large diameter part 38a of the bar 38 and either of the cams 37a, 37b near the time of clamping the workpiece, so that it becomes a fulcrum form.

For setup changes due to changes in the thickness of the workpiece W, a cam 37 serves as a fulcrum support for clamp arms of different thicknesses on a lever 36 that is swingably supported on the jig body 2.
This is done by switching between 37a and 37b, which is shorter than this.

(C) Operation for changing the setup of the intermediate side guide due to a change in the type of workpiece.

The intermediate side guide between the two jig bodies 1 is intended to correspond to the thickness of the workpiece W, but the guide inside the jig body 1 is designed to accommodate the thickness of the workpiece W for clamping the workpiece. and as a workpiece side guide when transporting the workpiece, so it is difficult to tie them together. For this reason, the intermediate side guide is intended only for changing the thickness of the workpiece W, and is used at the entrance side of the station to the jig main body 1, the exit side of the jig main body 1, and the entrance to the jig main body 1 of the rear station. Depending on the connection method used on the side,
This satisfies this requirement.

When the bridge member 34 moves to the left in FIG. 2, a counterclockwise rotational driving force is applied to the arm 46 via the lever 40. Then tie rod 4
7 is pulled to the right, and the shaft 52 and arm 49 are rotated clockwise via the link 50, forming a parallel link with the arm 49 (the other one is not shown).
This means that the side guide 26a is moved upward by the S dimension. If this is the jig inlet side (left direction in Fig. 4), the outlet side (right direction in Fig. 4) is similarly driven using the shaft 52 as a fulcrum via link 50, connecting shaft 51, and link 53. and the side guide 2 attached to the guide attachment member 48
6a can similarly be moved upward by the S dimension.

In this invention, a clamp cylinder is connected via a link mechanism to the connecting rod that is linked to the vertical movement of the transfer as described above, and a jig body is installed on the casing of the clamp cylinder via the connecting mechanism. Connect one end of the slidable shift shaft,
A guide body with a side guide for the workpiece is integrally provided on this shift shaft, and an eccentric shaft whose one end is connected to a connecting bar of a drive cylinder for setup change via a connecting mechanism is connected to the jig body. A side guide and a clamp arm are swingably hung on this eccentric shaft facing the side guide of the workpiece, and the connecting bar is connected to the connecting bar for setup change. A lever is provided that swings in response to It is possible to carry out the positioning and clamping operations at the same time as transporting the work without using any means, and there is an effect that the setup of each station can be changed automatically.

[Brief explanation of the drawing]

Fig. 1 is a side view of a transfer machine embodying the present invention, Fig. 2 is a front view of Fig. 1, Figs. 3 and 4 are explanatory diagrams of the workpiece position adjustment device, and Fig.
6 is a cross-sectional view of the clamp cylinder, FIG. 6 is a plan view taken along the - line in FIG. 5, and FIGS. 7a to 7c are explanatory diagrams of the operation of the clamp cylinder. 1... Jig body, 2... Connecting rod, 3... Lift arm, 6... Lever, 7... Operating rod, 8...
...Clamp cylinder, 9...Casing, 10...
...Connection mechanism, 14...Shift shaft, 19, 26a,
26b...Side guide, 21...Guide main body, 2
3... Eccentric shaft, 24... Clamp arm, 30...
...Work position adjustment device, 31...Connection bar, 32
... Drive cylinder, 36 ... Lever, 37a, 3
7b...Cam, 40...Lever.

Claims (1)

[Claims] 1. A clamp cylinder is connected via a link mechanism to a connecting rod that is linked to the vertical movement of the transfer, and a slidable shift shaft installed on the jig body is connected to the casing of this clamp cylinder via a connecting mechanism. A guide body with a side guide for the workpiece is integrally provided on this shift shaft, and one end is connected to the connection bar of the drive cylinder for setup change via a connection mechanism to the jig body. A side guide and a clamp arm are swingably mounted on the eccentric shaft facing the side guide of the workpiece, and the connecting bar for setup change is provided with an eccentric shaft rotatably installed. A lever is provided that swings in accordance with the sliding of the connecting bar, and the upper end of the clamp arm is brought into contact with the cam of this lever, so that the position of the clamp arm is automatically adjusted according to the shape of the workpiece. A transfer machine characterized by: