JP5631805B2 - Work transfer device - Google Patents

Description

  The present invention relates to a work transfer device for transferring a work. More specifically, the present invention relates to a workpiece transfer device that transfers a workpiece by swinging an arm between adjacent press devices.

  The workpiece transfer device of Patent Document 1 (see FIG. 2 of Patent Document 1) includes a pair of support columns that are suspended from the lower surface of the crown toward the left and right in the workpiece transfer direction. A bracket is attached to each of the pair of support columns, and both ends of the rotation support shaft are supported by the brackets. Oscillators are pivotally supported on the left and right of the rotation support shaft, and a servo motor and a feed lever are provided on each oscillator. The left and right feed levers support carriers that move linearly relative to the feed lever by driving the servo motor. A cross bar is tiltably provided at the tip of the carrier by a tilt device. This conveying device swings the left and right feed levers so as to enter between the slide and the column of the press device, avoids interference with the slide, and makes the crossbar reach the vicinity of the center below the slide.

  In addition, Patent Document 1 describes that the feed lever is linearly moved with respect to the swing base instead of linearly moving the carrier described above (see FIG. 12 of Patent Document 1). The oscillating base of this device is arranged so as to be movable in the horizontal direction between the press devices, and further provided with an arm rotatably connected to the tip of the feed lever. In this device, the tip of the arm is inserted from the direction of workpiece transfer without causing the side surface of the slide to wrap around.

  Patent Document 2 describes a structure in which a plurality of arms connected in series and pivotably are swung to the lower surface side of the slide to reach the vacuum cup near the lower center of the slide. . For example, the workpiece conveyance device of FIG. 5 of Patent Document 2 includes a rail extending in the workpiece conveyance direction between adjacent presses. A first arm is supported on the rail. The base end of the first arm moves horizontally on the rail and is supported so as to be swingable with respect to the rail. A second arm is supported on the first arm. The base end of the second arm is supported so as to be swingable relative to the first arm and to be able to move linearly relative to the first arm. A frame body with a vacuum cup attached to the tip of the second arm is provided.

  The transfer device disclosed in Patent Document 3 includes left and right carriages that are moved up and down by a stroke driving device along a vertical guide. Each carriage is provided with a swing drive device. The base end of the leg portion is rotatably connected to the swing driving device, and swings with respect to the carriage. A connecting member is connected to the tip of the leg through a joint. When the joint is rotated by the servo motor, the connecting member is rotated with respect to the leg portion. The left and right ends of one horizontal bar (cross bar) are fixed to the tip of the connecting member, and an adsorption spider that adsorbs a workpiece to the cross bar is provided.

JP 2004-216451 A JP-A-7-227776 German patent invention DE 10328447B4 specification

  Since the conveying device of Patent Document 1 causes the feed lever to enter the space between the slide and the column and swings, it is necessary to arrange a feed lever, a mechanism for driving the feed lever, and the like in the space. Therefore, the width in the left-right direction becomes wider with respect to the workpiece conveying direction of the press device, and the rigidity of the press device decreases.

  On the other hand, even when the feed lever is not inserted between the slide and the column, and the slide lever enters the lower surface of the slide from the conveying direction, the swing base can be moved horizontally between the press devices, and the tip of the feed bar can be moved. Since the arms are pivotably connected, the distance between the press devices must be increased. Further, in order to raise the workpiece upward near the bottom dead center of the swing, the feed lever and the arm must be rotated in opposite directions, and the relative angle between them increases. Furthermore, when lifting the workpiece, the distance between the press devices must be increased so that the tip of the feed lever does not interfere with the slide. Therefore, it takes time to carry and the production efficiency is lowered.

  Since the workpiece transfer device of Patent Document 2 performs horizontal movement and swinging motion separately, the transfer speed is low. In addition, the press line becomes long because the arm needs to move horizontally. Further, the first arm and the second arm are V-shaped near the middle of the workpiece conveyance (see FIG. 2 of Patent Document 2), and the relative angle between the second arm and the first arm is increased. For this reason, when the high-speed conveyance is performed, the rotation speed of the second arm is increased, which causes a malfunction of the apparatus that swings and drives the second arm.

  In the transfer device of Patent Document 3, since the leg portion and the connecting member are arranged in an I shape (in a straight line) in the middle of the conveyance, the stroke for raising and lowering the leg portion becomes long. In addition, the longer the stroke, the longer the frame, and the larger the device. Furthermore, the energy for raising and lowering is increased when carrying at high speed. In particular, when the interval (pitch) between the press devices is shortened, the connecting member must be lifted upward, so that the energy for lifting is increased. If the left and right transfer devices are out of synchronization, the crossbar will be damaged. Furthermore, since an actuator for tilting the workpiece is attached to the side of the leg portion, the connecting portion, and the crossbar (see FIG. 9), a space for arranging the actuator or the like is required between the slide and the column. This can tilt the workpiece in the pitch direction but cannot tilt it in the roll or yaw direction.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a work transfer device that can dispose the press devices at short intervals, and can move the arm under the slide and transfer it at high speed.

  A workpiece conveyance device according to the present invention (Claim 1) is a workpiece conveyance device that conveys a workpiece between dies of adjacent press devices, and is disposed above the die and extends in a vertical direction. A first arm whose end is connected to the frame so as to be movable up and down and swingable, a lift drive mechanism that drives the base end of the first arm to lift and lower, and a first arm that swings and drives the first arm A swing drive mechanism and a base end are provided so as to be movable in the longitudinal direction with respect to the first arm, and are connected so as to be swingable around an axis parallel to the swing central axis of the first arm. A second arm, a movement drive mechanism for moving and driving the base end of the second arm, a second swing drive mechanism for swinging and driving the second arm, and a second arm near the distal end of the second arm. A swivel connected to an axis parallel to the axis of oscillation of the Characterized in that a click of the holding means.

In such a workpiece transfer device, the workpiece transport device includes a control device that controls driving of the lift drive mechanism, the first swing drive mechanism, the movement drive mechanism, and the second swing drive mechanism, and the control device includes the frame, A standby posture in which the longitudinal directions of the first arm and the second arm are aligned and overlapped with each other, and curved downward in a substantially arc shape, the second arm extends sideways, and the tip reaches the vicinity of the mold It is preferable to control these drive mechanisms so as to operate between the approach postures to be performed (claim 2).
Further, it is preferable that the frame is fixed to a press device.
Further, the elevating drive mechanism includes an elevating base guided by a frame so as to be movable up and down, and the first swing drive mechanism swings the base end of the first arm with respect to the lift base, and the moving drive It is preferable that the mechanism includes a moving base guided movably by the first arm, and the second swing driving mechanism swings the base end of the second arm with respect to the moving base.
Preferably, the elevating base and the moving base are each fixed to an endless toothed belt, and a reciprocating linear motion is transmitted by these toothed belts.
Further, a tilt joint that is rotatable around an axis perpendicular to the axial direction of the second arm between the base end and the distal end of the second arm and / or a torsion joint that is rotatable around the axis of the second arm. (6) is preferable.
Further, it is preferable that a plurality of the above-described workpiece transfer devices are provided and these workpiece transfer devices are arranged on both the left and right sides in the workpiece transfer direction.

  The work conveying apparatus (Claim 1) of the present invention can be shortened as a whole by arranging the frame, the first arm, and the second arm in the longitudinal direction. And they can be extended in the longitudinal direction. For this reason, the range in which the holding means can be arranged can be widened while saving space. Then, the second arm can be linearly moved in a substantially horizontal direction starting from the lower end of the first arm while the first arm is moved to the vicinity of the lower end of the frame and is swung to the slide side. Therefore, the holding means can be moved substantially horizontally in the vicinity of the same height as the slide of the press device, and the holding means can be submerged under the slide.

  Such a workpiece transfer device includes a control device that controls driving of the lifting drive mechanism, the first swing drive mechanism, the movement drive mechanism, and the second swing drive mechanism, and the control device includes the frame, the first swing drive mechanism, and the second swing drive mechanism. The stand-by posture in which the longitudinal directions of the first arm and the second arm are aligned and overlapped with each other, and curved downward in a substantially arc shape, the second arm extends sideways, and the tip reaches the vicinity of the mold. When these drive mechanisms are controlled so as to operate between the approach postures (Claim 2), the space between the press devices can be shortened because space is saved in the width direction when the standby posture is set, The length of the press line can be shortened. Further, when the first swing drive mechanism and the second swing drive mechanism are swung in the same direction and then the first arm and the second arm are extended, the approach posture can be obtained. Since it swings in the same direction, the operation load is not biased. Therefore, durability can be improved. The same applies when returning from the approach posture to the standby posture.

  When the frame is fixed to the press device (Claim 3), the frame is extended downward, and the frame is provided with a structure such as a first arm, so that a space is secured below the frame. . The space facilitates access to the press device. Furthermore, it is possible to effectively utilize such as arranging a cart for exchanging the holding means in the space.

  Further, the elevating drive mechanism includes an elevating base guided by a frame so as to be movable up and down, and the first swing drive mechanism swings the base end of the first arm with respect to the lift base, and the moving drive The mechanism includes a moving base guided movably by the first arm, and when the second swing drive mechanism swings the base end of the second arm with respect to the moving base (Claim 4), the lift base Since the linear motion of the moving base is guided, the swinging motion is stabilized.

  Further, when the elevating base and the moving base are fixed to endless toothed belts, and the reciprocating linear motion is transmitted by these toothed belts (Claim 5), the elevating base and / or the moving base are used. The positional accuracy can be improved.

  Further, a tilt joint that is rotatable around an axis perpendicular to the axial direction of the second arm between the base end and the distal end of the second arm and / or a torsion joint that is rotatable around the axis of the second arm. (Claim 6), the workpiece can be tilted in three axes (pitch, roll, yaw). Therefore, the work can be tilted in any direction. The position of the holding means can be finely adjusted.

  Furthermore, when a plurality of the above-mentioned workpiece transfer devices are provided and the workpiece transfer devices are arranged on both sides in the workpiece transfer direction (Claim 7), the workpieces are synchronized with the workpiece transfer devices so that the large workpiece or the left and right are long. The workpiece can be conveyed. Moreover, a separate workpiece | work can be conveyed by each workpiece conveyance apparatus. In particular, when the workpiece transfer device can adjust the position of the holding means, the holding means are not connected to each other by the crossbar, so that the problem that the crossbar is damaged due to the synchronization shift can be solved.

FIG. 1 is a schematic front view showing an embodiment of a workpiece transfer apparatus of the present invention. FIG. 2 is a schematic side view of the press line. FIG. 3 shows an A arrow view of FIG. FIG. 4 is a side view of the workpiece transfer apparatus of FIG. FIG. 5 is a schematic process diagram showing a state in which the work transfer device of FIG. 1 operates. FIG. 6 is a schematic side view showing another embodiment of the work transfer device.

  First, the outline of the press line using the workpiece conveyance apparatus of this invention is demonstrated using FIG. The press line 40 shown in FIG. 2 includes a plurality of press devices 41, 41, 41, 41 arranged in series (four in the figure). Between the adjacent press apparatuses 41, the one workpiece conveyance apparatus 1 of this invention is arrange | positioned 1 each (in the figure 3 units). In the press line 40, the workpiece W is transported from the upstream (left side in the drawing) press device 41 to the downstream (right side in the drawing) press device 41 by the workpiece transport device 1, and the press machine 41 presses the workpiece W. Is given. The intervals between the adjacent pressing devices 41 and 41 may be equal intervals or different intervals. In addition, it is preferable to arrange | position the said adjacent press apparatuses 41 and 41 on a substantially straight line by planar view. In addition, you may incline in the height direction (up-down direction of a figure). Further, the press line 40 in the figure does not represent a state at a specific time point during actual operation, and for simplicity, all the slides 46 of the four press devices 41 are lifted, and the work conveying device 1 It shows a state with different postures.

  The press device 41 includes a frame-like frame including a bed 42, four columns 43 that rise from four front, rear, left, and right portions of the bed 42, and a crown 44 provided at the upper end of the columns 43. ing. A bolster 45 is provided above the bed 42. Further, an end portion of a crankshaft (not shown) is rotatably supported by the crown 44. A connecting rod is provided on the crankshaft, and the slide 46 moves up and down through the connecting rod. An upper die 47 is attached to the lower surface of the slide 46, and a lower die 48 is attached to the upper surface of the bolster 45.

As shown in FIG. 3, an upper beam 49a is passed to the pressing device 41 between columns 43 and 43 facing each other across the conveying direction. A short beam 49b fixed to the column 43 on one side extends below the upper beam. The frame 2 (described later) of the work transfer device 1 is fixed to the upper beam 49a near the upper end and fixed to the short beam 49b near the middle. Note that the upper beam 49a may be passed between the columns 43 and 43 of the front and rear press devices 41 and 41, and the workpiece transfer device 1 may be attached to the beam 49a. Furthermore, you may attach to the ceiling between the press apparatuses 41 and 41. FIG.

  Since the frame 2 is suspended from the beams 49a and 49b, a space is secured below the frame 2. The space facilitates access to the press line 40. For example, the space can be effectively utilized by arranging an automatic exchange carriage (not shown) of the holding means 9 in the space, or adjusting the holding means 9 or using it for maintenance.

  FIG. 1 shows an embodiment of a work transfer device. The workpiece transfer device 1 includes a frame 2 that extends vertically downward from the beams 49a and 49b. A first arm 3 is supported on the frame 2. The base end of the first arm 3 is guided by the frame 2 so as to be movable up and down, and the base end of the first arm 3 is connected to the frame 2 so as to be swingable in an axial direction extending in the left and right directions in the workpiece conveying direction. The first arm 3 moves up and down by the driving force of the lifting drive mechanism 4 provided on the frame 2. A first swing drive mechanism 5 is disposed between the first arm 3 and the frame 2.

  The elevating drive mechanism 4 includes an elevating base 10 that is guided by the frame 2 so as to freely move up and down. The lift base 10 is provided with a first swing drive mechanism 5. The base end of the first arm 3 is connected to the first swing drive mechanism 5.

  The frame 2 is a member having a substantially U-shaped cross section, and the elevating drive device 4 is disposed inside the U-shape. On the surface of the frame 2 opposite to the lifting drive mechanism 4, two lifting guides 11, 11 projecting vertically extend in the vertical direction. The lifting guides 11 and 11 receive torque in the rotational direction of the lifting base 10. The guide 11 may be provided with a linear motion rail, and the lift base 10 may be provided with a linear motion bearing. Moreover, it may be difficult to make an arm (the 1st arm 3 and the 2nd arm 6 mentioned later) approach into the press apparatus of one side among the adjacent press apparatuses 41 and 41. FIG. For example, the space for entering the mold of one press device 41 is narrow or the mold is far away. In this case, the frame 2 may be extended obliquely toward the pressing device 41 side where the arm is difficult to move, or may be curved in that direction. Thereby, the movement (including movement (lifting / lowering) and swinging) of the arm toward the press device 41 side where entry of the arm is difficult can be facilitated, and the conveyance speed can be improved.

  The elevating drive mechanism 4 includes a motor 12 provided near the upper end of the frame 2 and a speed reducer 13 connected to the output shaft of the motor 12 by a coupling (not shown). Pulleys 14 and 14 are provided. The upper and lower pulleys 14 and 14 are provided on the frame 2 so as to be rotatable about an axis parallel to the plate surface and perpendicular to the ascending / descending direction. The output shaft of the speed reducer 13 is connected to the upper pulley 14. Upper and lower openings 2a and 2b are formed on the plate surface of the frame 2 where the pulleys 14 and 14 are provided. The upper and lower pulleys 14 and 14 have a plurality of teeth (not shown) protruding from the outer peripheral surface thereof. Two toothed belts (timing belts) 15 and 15 meshing with the teeth are hooked on the pulleys 14 and 14 in parallel. The toothed belts 15 and 15 are respectively passed from the upper opening 2a of the frame 2 to the same side as the elevating guide 11, and are rotated from the lower opening 2b to the back surface to make a round of the frame 2 in the elevating direction. Two toothed belts 15 are hung in parallel so that the first arm 3 does not fall even if one of them is cut. In addition to the toothed belt, a conventionally known linear drive mechanism such as a screw-nut mechanism, a chain mechanism, or a cable mechanism can be used.

  The elevating base 10 is fixed to the toothed belts 15 and 15 and guided by elevating guides 11 and 11 of the frame 2. The first swing drive mechanism 5 includes a motor 16 and a speed reducer 17 (see FIG. 4) to which an output shaft of the motor 16 is coupled. The motor 16 is fixed to the base end of the first arm 3. Then, the output shaft (not shown) of the speed reducer 17 is attached to the lifting base 10. The output shaft of the speed reducer 17 is perpendicular to the ascending / descending direction of the ascending / descending base 10 and substantially perpendicular to the conveying direction of the workpiece W. When the motor 16 is driven to rotate, the force to rotate the lifting base 10 is received by the lifting guides 11 and 11, and the first arm 3 swings by the reaction force. The first swing drive mechanism 5 may be attached to the lifting base 10 side and the output shaft of the speed reducer 17 may be fixed to the first arm 3 side.

  The first arm 3 supports the second arm 6. The base end of the second arm 6 is provided so as to be movable in the longitudinal direction with respect to the first arm 3, and rotates about an axis parallel to the swing axis of the first arm 3 with respect to the first arm 3. Connected as possible. The second arm 6 moves by the driving force of the movement drive mechanism 7 provided on the first arm 3. A second swing driving mechanism 8 is provided between the first arm 3 and the second arm 6, and the second arm 6 is driven by the driving force of the second swing driving mechanism 8. Are pivotably connected about an axis parallel to the central axis of the swing. Near the tip of the second arm 6, a holding means 9 for the workpiece W is connected so as to be swingable about an axis parallel to the swing axis of the second arm 6.

  The first arm 3 has substantially the same shape as the frame 2. The cross section of the first arm 3 is substantially U-shaped, and the movement drive mechanism 7 is disposed therein. Two movement guides 18 and 18 for guiding the second arm 6 protrude on the surface opposite to the movement drive mechanism 7. In addition, in this embodiment, since the said raising / lowering drive mechanism 4 and the movement drive mechanism 7 are substantially the same mechanisms, the same name is used for the same part and the detailed description is abbreviate | omitted. The movement drive mechanism 7 includes a motor 19 and a speed reducer 20 to which an output shaft is connected. Upper and lower pulleys 21, 21 are provided above and below the first arm 3, and the output shaft of the speed reducer 20 is connected to the upper pulley 21. Then, two toothed belts 22 and 22 are hung on the upper and lower pulleys 21 and 21 in parallel. A moving base 23 is fixed to the toothed belts 22 and 22. The movement base 23 is movably guided by movement guides 18, 18 of the first arm 3. The second swing drive mechanism 8 includes a motor 30 and a speed reducer 31 (see FIG. 4) to which the output shaft of the motor 30 is coupled, and is fixed to the base end of the second arm 6. An output shaft (not shown) of the speed reducer 31 is attached to the moving base 23.

  The motors 12, 16, 19, and 30 of the elevating drive mechanism 4, the first swing drive mechanism 5, the movement drive mechanism 7, and the second swing drive mechanism 8 are servo motors, and are rotated by the control device 29. Is controlled. These servo motors are provided with an encoder for detecting a rotation angle, and the positions of the first arm 3 and the second arm 6 are controlled by counting the pulses. In addition to the servo motor, a conventionally known motor capable of controlling the rotation angle and the rotation speed can be used.

  When the second arm 6 is the same length as the first arm 3, the second arm 6 is placed on the first arm 3 to save space, and when they are extended in series. The difference is big. For this reason, the holding means 9 can be arranged in a wide range while saving space.

The holding means 9 includes a long cross bar 24 and a vacuum cup 25 attached to the cross bar 24 (see FIG. 4). The cross bar 24 is tiltably provided at the tip of the second arm 6 and extends from the tip of the second arm 6 to the left and right in the workpiece transfer direction. The cross bar 24 is driven to tilt around an axis parallel to the axis of oscillation of the second arm 6 by a tilt driving device 26 provided at the tip of the second arm 6. The vacuum cup 2
In addition to 5, a conventionally known one using magnetic force or the like may be used. Further, the holding means 9 is controlled by the control device 29 by the tilt driving device 26 so that the direction of the vacuum cup 25 is always in a constant direction according to the swing of the first arm 3 and the second arm 6. The direction in which the crossbar 24 extends may be another direction such as a direction along the transport direction.

  As shown in FIG. 4, in the present embodiment, a torsional joint 27 that twists and turns the middle of the second arm 6 around the longitudinal axis in the vicinity of the lower part of the second swing driving mechanism 8 of the second arm 6. Is provided. As a result, the second arm 6 can rotate the portion below the torsional joint 27 around the axis where the second arm 6 extends relative to the upper portion (see arrow B in FIG. 4). A tilt joint 28 is provided below the torsion joint 27 to tilt the second arm 6 about an axis extending in the transport direction (see arrow C in FIG. 4). In the present embodiment, the swing axis of the tilt joint 28 is perpendicular to the swing axis of the second arm 6 and perpendicular to the longitudinal axis of the second arm 6. Thereby, the second arm 6 can tilt the portion below the tilt joint 28 to the left and right with respect to the upper portion. With the twist joint 27 and the tilt joint 28, the direction of the workpiece W and the right / left inclination can be adjusted between the adjacent press devices 41, 41. These torsion joints 27 and tilt joints 28 are preferably provided as necessary. Further, either one of the joints may be provided. The twist joint 27 and the tilt joint 28 are driven by a twist servo motor 27a and a tilt servo motor 28a (see FIG. 1), respectively. If the amount of rotation or tilting is determined in advance, a conventionally known motor or air cylinder that does not include an encoder or the like may be used.

  Next, how the workpiece W is transferred by the workpiece transfer device 1 will be described in detail. In FIG. 5, the upstream press device is a press device 41a, and the downstream press device is a press device 41b. In the reference step S1 shown in FIG. 5, the frame 2, the first arm 3 and the second arm 6 are arranged so as to overlap each other in the longitudinal direction. This posture is a standby posture before the workpiece W is conveyed. Further, this standby posture is the same as the intermediate posture in the middle of conveying the workpiece W from the upstream press device 41a to the downstream press device 41b (see intermediate step S5 described later). In this standby (intermediate) posture, the frame 2, the first arm 3, and the second arm 6 are aligned in the longitudinal direction, and there is at least a portion where they overlap. Therefore, it is not necessary to overlap each member to the maximum.

  Next, in the take-out step S2, by driving the elevating drive mechanism 4 and the first swing drive mechanism 5, the first arm 3 is moved downward with respect to the frame 2, and the upstream press device 41a side (the left side in the figure). ). Simultaneously, the movement drive mechanism 7 and the second swing drive mechanism 8 are driven to move the second arm 6 downward along the first arm 3 and to the upstream press device 41a side (left side in the figure). Rock. By these operations, the holding means 9 is arranged in the vicinity of the space before the space between the upper die 47 and the lower die 48 to be pressed. Note that the posture of the arm insertion step S2 (S4) is in the middle of the operation, and usually does not stop in this state. This posture is a posture that makes a transition from the standby posture to an approach posture (described in detail below) in the workpiece lifting step S3 described in detail below, and is an aspect of the approach posture.

In the workpiece lifting step S3, the first arm 3 and the second arm 6 are moved downward so that the second arm 6 and the holding means 9 do not interfere with the upper die 47 and the lower die 48, and the first arm 3 and the second arm 6 are moved downward. The third and second arms 6 are further swung to the slide 46 side of the upstream press device 41a, and the holding means 9 is guided above the workpiece W. In this embodiment, the operation of the conveying device 1 is started before the slide 46 of the pressing device 41 reaches the top dead center. At this time, the posture represented by the frame 2, the first arm 3 that is largely inclined, and the second arm 6 that is substantially horizontal is an approach posture. In this approach posture, the swing direction and swing angle of the first arm 3 relative to the frame 2 and the swing direction and swing angle of the second arm 6 relative to the first frame 3 can be made substantially the same. In this case, since the rotation speed and rotation time of the servo motor can be made substantially the same, the conveyance speed can be increased, the operation of the servo motor is not biased, and the durability can be improved. In addition, the conveyance speed can be improved by operating the lifting drive mechanism 4, the movement drive mechanism 7, the first swing drive mechanism 5 and the second swing drive mechanism 8 simultaneously.

  The approach posture is a state in which the first arm 3 and the second arm 6 are somewhat extended from the standby posture and are swung in the same direction. The approach posture is preferably the same shape symmetrical in the front-rear direction in the upstream and downstream press devices 41a, 41b. This is because the conveyance speed of the workpiece W to the upstream and downstream press devices 41a and 41b can be made substantially the same, and durability can be improved. In addition, when the place which arrange | positions the workpiece | work W in the upstream and downstream press apparatuses 41a and 41b differs, it does not become a symmetrical shape back and forth. In that case, as described above, the frame 2 may be extended diagonally, and the rotation amount of the servo motor may be adjusted to be the same in the upstream and downstream conveyance.

  In addition, following the work lifting step S3, the position of the vacuum cup 25 is controlled (adjusted) by the operation of the torsion joint 27 and the tilt joint 28. At substantially the same time as the control, the holding means 9 is lowered by operating one or more of the elevating drive mechanism 4, the moving drive mechanism 7, the first swing drive mechanism 5 and the second swing drive mechanism 8. Then, the workpiece W is sucked and held by the vacuum cup 25 (see FIG. 4), and the workpiece W is lifted.

  In the workpiece removal step S4, the elevation drive mechanism 4 and the first swing drive mechanism 5 are driven to move the first arm 3 upward relative to the frame 2 and swing downstream (right side in the figure). . Simultaneously, the movement drive mechanism 7 and the second swing drive mechanism 8 are driven to move the second arm 6 upward along the first arm 3 and to the downstream press device 41b side (right in the figure). Rock. By these operations, the holding means 9 is extracted near the front of the space where the press working between the upper die 47 and the lower die 48 is performed. The posture of the workpiece transfer device 1 in the workpiece removal step S4 is a posture in which the posture of the arm insertion step S2 is made symmetrical in the front-rear direction. At this time, before the removal of the workpiece W is completed, the slide 47 of the press device 41 can enter the lowering process. The transport device 1 has a high degree of freedom of the arms 3 and 6, and in particular, the second arm 6 can be moved in the horizontal direction with the first arm 3 moved to the vicinity of the lower end of the frame 2. It is easy to avoid. For this reason, the ratio of the conveyance time which can be used during the press process (1 cycle) of the press apparatus 41 can be increased, and the conveyance corresponding to the press continuous operation which operates with the press apparatus 41 at high spm (cycle / min) can be performed. it can. Further, the transport device 1 can also be operated continuously, in which case it does not stop in a standby (intermediate) posture and passes as it is.

  Next, in the intermediate step S5, the first arm 3 and the second arm 6 are respectively moved upward and further swung to the downstream press device 41b side (right in the drawing), and the same intermediate (standby) posture as in the step S1. I have to. At this time, the work is conveyed from the downstream press device 41a to a further downstream press device (not shown).

  In the work insertion step S6, the first arm 3 is moved downward with respect to the frame 2 by the lift drive mechanism 4, and is swung to the downstream press device 41b side (right in the figure) by the first swing drive mechanism 5. Yes. At the same time, the second driving mechanism 7 moves the second arm 6 downward along the first arm 3, and the second swing driving mechanism 8 swings it toward the downstream press device 41b (right in the figure). As a result, the workpiece W is arranged near the front of the space in which the press working between the upper die 47 and the lower die 48 of the downstream press device 41b is performed. The posture of the workpiece transfer device 1 in the workpiece insertion step S6 is an approach posture.

In the work release step S7, the first arm 3 and the second arm 6 are respectively moved to the lower moving end, and are swung toward the downstream press device 41b, and the holding means 9 is moved to the lower die of the downstream press device 41b. 48 is arranged above 48. Then, the position of the workpiece W is adjusted by operating the torsional joint 27 (see FIG. 4) and the swinging joint 28, the holding means 9 is lowered, the suction by the vacuum cup 25 is released, and the workpiece W is lowered to the lower die 48. Placed at a predetermined position. The posture of the work transfer device 1 in the work release step S7 is an approach posture.

  In the arm return step S8, the first arm 3 is moved upward with respect to the frame 2 by the lifting drive mechanism 4, and is swung to the upstream press device 41a side (left in the figure) by the first swing drive mechanism 5. ing. At the same time, the second arm 6 is moved upward along the first arm 3 by the movement drive mechanism 7 and is swung to the upstream press device 41a side (left in the figure) by the second swing drive mechanism 8. As a result, the holding means 9 is disengaged to the vicinity of the front of the space in which the press working between the upper die 47 and the lower die 48 is performed. The posture of the workpiece transfer device 1 in the arm return step S8 is the same as that in the workpiece insertion step S6. Finally, the first arm 3 and the second arm 6 are again returned to the reference step S1 (standby posture).

  When the second arm 6 is returned to the standby position in the workpiece removal step S4 and the arm return step S8, the base end of the second arm 6 is swung while the base end thereof is on the base end side of the first arm 3. Move to. As a result, the total length of the arm is gradually shortened, so that the kinetic energy of the swing generated in the first arm 3 is reduced, and the kinetic energy related to the swing of the first swing drive mechanism 5 can be reduced.

  In the above-described embodiment, one workpiece transfer device 1 is arranged between adjacent press devices 41, 41. However, as shown in FIG. 6, two workpiece transfer devices 1, 1 can be arranged in parallel. By arranging two, two workpieces W and W can be conveyed simultaneously. In this case, if the right and left parts are processed at the same time, the number management and die management become easy. Note that separate parts such as a container and its lid may be processed in combination. Three or more workpiece transfer apparatuses 1, 1, 1 may be arranged. Further, the first arm 3, the second arm 6, the second arm 6, and the second arm 6 are driven in synchronism so that the driving amounts of the driving units of the two workpiece transfer apparatuses 1 and 1 are the same. 6 and the holding means 9 and 9 can be driven at the same height, the same angle and the same speed. As a result, one large work (long work W on the right and left) can be conveyed in cooperation by the two conveying devices 1 and 1. By controlling the respective conveying devices 1 and 1 independently, the position of the holding means 9 and 9 can be controlled to tilt one workpiece W. In particular, when the torsional joint 27 and the tilting joint 28 are provided on the second arm 6, an operation of tilting the workpiece can be easily performed.

DESCRIPTION OF SYMBOLS 1 Work conveyance apparatus 2 Frame 2a Upper opening 2b Lower opening 3 First arm 4 Lifting drive mechanism 5 First swing drive mechanism 6 Second arm 7 Movement drive mechanism 8 Second swing drive mechanism 9 Holding means 10 Lifting base 11 Lifting guide 12 Servo motor 13 Reduction gear 14 Pulley 15 Toothed belt 16 Servo motor 17 Reduction gear 18 Movement guide 19 Servo motor 20 Reduction gear 21 Pulley 22 Toothed belt 23 Movement base 24 Crossbar 25 Vacuum cup 26 Tilt drive Device 27 Torsion joint 27a Torsion servo motor 28 Tilt joint 28a Tilt servo motor 29 Control device 30 Servo motor 31 Reducer 40 Press line 41 Press device 41a Press device (upstream)
41b Press machine (downstream)
42 Bed 43 Column 44 Crown 45 Bolster 46 Slide 47 Upper Die 48 Lower Die 49a Upper Beam 49b Short Beam

Claims (7)

A workpiece transfer device for transferring a workpiece between molds of adjacent press devices,
A frame disposed above the mold and extending in the vertical direction;
A first arm whose base end is connected to the frame so as to be movable up and down and swingable;
An elevating drive mechanism for elevating and driving the base end of the first arm;
A first swing drive mechanism for swinging and driving the first arm;
A second arm provided with a base end movably in the longitudinal direction with respect to the first arm, and slidably connected about an axis parallel to the central axis of the first arm;
A movement drive mechanism for moving and driving the base end of the second arm;
A second swing drive mechanism for swinging the second arm;
A workpiece transfer device comprising: a workpiece holding means connected to the vicinity of the tip of the second arm so as to be swingable about an axis parallel to the axis of swing of the second arm. A controller for controlling driving of the elevating drive mechanism, the first swing drive mechanism, the movement drive mechanism, and the second swing drive mechanism;
The control device has a standby posture in which the longitudinal directions of the frame, the first arm, and the second arm are aligned and overlapped with each other, and is curved in a substantially arc shape that protrudes downward, and the second arm extends sideways. The workpiece transfer device according to claim 1, wherein the drive mechanism is controlled so as to operate between an approach posture in which the tip reaches the vicinity of the mold.   The work conveying apparatus according to claim 1, wherein the frame is fixed to a press apparatus. The elevating drive mechanism includes an elevating base guided by a frame so as to freely move up and down,
The first swing drive mechanism swings the base end of the first arm with respect to the lifting base;
The movement drive mechanism includes a movement base that is movably guided by the first arm,
The workpiece transfer apparatus according to claim 1, wherein the second swing drive mechanism swings a base end of the second arm with respect to the moving base. The elevating base and the moving base are each fixed to an endless toothed belt,
The workpiece conveying apparatus according to claim 4, wherein reciprocating linear motion is transmitted by the toothed belts.   Between the proximal end and the distal end of the second arm, there is a tilt joint rotatable around an axis perpendicular to the axial direction of the second arm and / or a twist joint rotatable around the axis of the second arm. The workpiece conveyance apparatus in any one of Claims 1-5. A plurality of work transfer devices according to any one of claims 1 to 6,
A workpiece transfer device in which these workpiece transfer devices are arranged on both the left and right sides in the workpiece transfer direction.

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