JPS63278739A - Loader device - Google Patents

Abstract

PURPOSE:To feed a work efficiently by providing a drive link pivoted to be capable of reciprocal swing movement with a hand arm pivoted to be capable of tilting movement and at the same time by guiding part of the hand arm in the direction of feed of the work and controlling the tilting movement attitude in a synchronous motion with an arc movement of the tilting movement pivot. CONSTITUTION:When taking out a work W and loading it on a roll forming machine T, a tilting movement pivot (a) of a hand arm 24 attached to be capable of tilting movement relative to a reciprocally swinging drive link 22 is moved on an arc. At the same time, part of the hand arm 24 is guided in the feed direction of a work W so that the tilting movement attitude of the hand arm 24 is changed synchronously with the swing motion of the drive link 22. As a result, the work W can be fed to the vicinity of a die D by a skip movement action of a hand 27 while skipping an obstacle S in spite of the projecting presence of the obstacle S in the way, at the same time enabling efficient feed with a shortest distance movement of the hand 27.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a loader device that is applied when automatically taking out a workpiece and feeding it to the next process.

(Prior art) Conventionally, when a hand grips a workpiece carried in from a previous process and transfers it to the next process, the workpiece is fed by, for example, a straight motion or a near-straight arc motion of the hand. Ta.

(Problem to be Solved by the Invention) Therefore, if an obstacle protrudes onto the workpiece feeding path, the movement of the hand is obstructed by this obstacle, so a mechanism for automatically feeding the workpiece is not required. Problems include the need to modify the processing machine when installing, the feeding mechanism becoming larger and more complex to feed the workpiece over obstacles into the processing machine, and the feeding speed being delayed. was there.

The purpose of the present invention is to solve the above-mentioned problems and efficiently feed and hang workpieces in a processing line with obstacles.
It is an object of the present invention to provide a loader device with a compact mechanism.

(Means for Solving the Problems) The present invention includes a hand arm having a hand for gripping a workpiece attached to a drive link that is pivotally supported so as to be capable of reciprocating swinging motion, and pivotably pivoted so as to be capable of tilting motion. and a loader device provided with a guide means for guiding a part of the hand arm in the workpiece feeding direction and controlling the tilting posture of the hand arm in synchronization with the circular arc movement of the tilting fulcrum of the hand arm. The main points are as follows.

(Function) When the device of the present invention takes out and feeds a workpiece, it moves the tilting fulcrum of the hand arm, which is attached so as to be tiltable with respect to the drive link that swings back and forth, in a circular arc, and also moves a part of the hand arm in a circular arc. is configured to guide the hand arm in the workpiece feeding direction, change the tilting posture of the hand arm in synchronization with the swinging motion of the drive link, and move the hand attached to the hand arm to jump over obstacles. That's what happened.

(Embodiment) Next, an embodiment in which the present invention is applied to a rolling line for feeding workpieces from a parts feeder to a rolling machine will be described with reference to the drawings.

The loader fiL is installed to receive the workpieces W sequentially delivered from the parts feeder P, jump over the obstacles S on the rolling machine T, and transfer them onto the rolling machine T. The workpiece W transferred onto the board T is rolled by a pair of dies D of the rolling machine (2), and then transported out of the rolling line by a delivery conveyor C.

A take-out mechanism installed on the parts feeder P includes a base plate 1 horizontally placed so as to be movable up and down, a support bracket 2 installed above the base plate 1 so as to be movable up and down, and this support bracket. 2, a pair of gripping members 3 are pivotally supported so as to be able to swing in opposite directions, and when the base plate 1 moves downward and the support bracket 2 falls sideways, the gripping member 3 re-grips the parts feeder P. The first workpiece W in a group of works arranged upright on the machine is gripped, and then the support plate and racket 2 stand up, the base plate 1 moves upward, and the gripping member 3 is moved upward in a horizontal position. A series of operations for releasing the displaced workpiece W are repeated.

Next, to explain the loader equipment flL, the rolling machine T
Long and short front and rear mounting plates 5.5 are placed side by side and spaced apart in the front and back direction on the base 4 placed horizontally above, and a servo motor 6 that is controlled to rotate in forward and reverse directions is mounted on the base 4. A joint box 7 is installed, and a pulley 8 is fitted onto an output shaft 7a that is rotatably supported by the joint box 7 and connected to the motor shaft of the nervo motor 6.

A cylindrical fixed cam 9 is sandwiched between a pair of front and rear supporting members 10 that are attached oppositely to each other with respect to the number plate 5, and is fixed horizontally and non-rotatably. A fixed cam in which a horizontal groove part 11a extending through a range of 180° along the circumferential direction and a vertical groove part 11b extending through an axial direction of the fixing force 9 are connected orthogonally to the front part. A groove 11 is formed.

A stepped cylindrical rotatable cam 12 is fitted into the fixed cam 9 and horizontally rotatably supported via both support members 10, and has a pulley 13 fitted to its rear end and the pulley 8. ni l
i) The rotation of the output shaft 78 is transmitted to the rotatable cam 12 via the installed belt 14, and the rotatable cam 12 is driven to rotate in forward and reverse directions over a range of about 225 degrees, and near its front end there is a Long hole-shaped rotatable cam groove 15 inclined at approximately 45 degrees with respect to the
is provided so as to intersect with the fixed cam groove 11.

The lower link @ 16 has its rear part inserted into the rotatable cam 12 and is rotatably supported within the fixed cam 9 via the rotatable cam 12 so as to be movable horizontally in the axial direction. A drive gear 17 is fitted to the front end portion that protrudes forward.

The guide pin 18 is inserted into the lower link shaft 16 with its outer end inserted into the fixed cam groove 11, its center inserted into the rotatable cam groove 15, and its inner end inserted into the lower link shaft 16. is tightened, and the rotatable cam 12 is moved 18 degrees from the rotation end on the start side.
While rotating by 0°, the guide bin 18 is pushed by the cam surface of the rotatable cam W415 and guided by the lateral groove portion 11a of the fixed cam groove 11, and rotates 180° in the rotation direction together with the lower link shaft 16.
While the guide bin 18 moves in a circular arc and then rotates about 45 inches further, the guide bin 18 slides on the cam surface of the rotatable cam groove 15 and is guided by the vertical groove portion 11b of the fixed cam groove 11 to rotate the lower link. The guide dobbin 18 moves in the axial direction of the lower link shaft 16 while the rotatable cam 12, which has moved in the axial direction of the shaft 16 and rotated about 225 degrees, reverses about 45 degrees from the rotation end, and then While the rotatable cam 12 is further reversed by 180 degrees, the guide bin 18 moves in an arc of 180 degrees in the direction of rotation, and the lower link shaft 16 rotates back and forth in a range of 180 degrees together with the guide bin 18, and moves back and forth in the axial direction. This movement is repeated every time the rotatable cam 12 rotates back and forth.

An upper link shaft 19 disposed directly above the lower link shaft 16 is rotatably supported on the upper part of the front mounting plate 5 in parallel with the lower link shaft 16, and a driven gear 20 is fitted near the front end of the upper link shaft 19. The drive gear 17 of the lower link fdl 16 is meshed with the intermediate gear 21, and the rotation of the lower link shaft 16 is caused by the rotation of the upper link shaft 1.
9, and both link shafts 16 and 19 are rotationally driven in the same direction.

A drive link 22 fitted to the front end of the lower link shaft 16 and extending in the radial direction of the lower link shaft 16 is capable of reciprocating swing within a range of 180° via the lower link shaft 16 and can horizontally move in the axial direction. Possibly supported.

The guide link 23 is fitted onto the front end of the upper link shaft 19 and extends parallel to the drive link 22, and its length is shorter than the length of the drive link 22, so that the drive link 22 and the guide link 23 move in the same direction. are arranged in parallel so that they can swing back and forth in parallel, and when the lower link shaft 16 is stopped at the rotation end on the start side, the drive link 22 and the guide link 23 are each extended horizontally toward the parts feeder P side. It is held in a horizontal position.

The rectangular rod-shaped hand arm 24 is pivotally connected to the tip of the drive link 22 via a connecting pin 25 so as to be tiltable, and is connected to the drive link 22 so as to be movable together. An elongated guide hole 24a is provided in the upper part of the guide hole 24a along the yam direction, and the tip of the guide link 22 is fixed to the guide hole 4a so that the drive link 22 can move in an arc of the tilting fulcrum a°. Restraint bin 2 arranged to move in an arc with an arc movement radius shorter than the radius
6 is slidably penetrated. hand arm 24
The vicinity of the upper end allows movement of the hand arm 24 in the longitudinal direction, guides the vicinity of the upper end of the hand arm 24 in the horizontal direction, and controls the tilting posture of the hand arm 24 in synchronization with the swinging motion of the drive arm 22. Therefore, the hand arm 24 is connected to the guide link 23 via the restraining pin 26 so that the hand arm 24 cannot move together in the longitudinal direction but can move together in the width direction of the hand arm 24. At the lower end of the hand arm 24, a pair of hands 27 whose operation is controlled by an air cylinder for gripping and releasing the workpiece W are pivotally mounted so as to be able to swing in opposite directions. The drive link 22 is the parts feeder P
At the swing end extending horizontally to the side, the hand arm 24 is held in an inclined position tilted downward toward the parts feeder P side, and the hand 27 is opposed to the take-out III#lK1, and the workpiece W
is delivered to the hand 27 from the gripping member 3 of 1 to the take-out mechanism.

During the swinging stroke of the drive link 22 in the range of 00 to 180 degrees,
A section in which the drive link 22 swings by a predetermined angle after the start of the swing and a section in which the drive link 22 swings by a predetermined angle before the end of the swing, that is,
While the amount of horizontal component movement when the tilting fulcrum a of the drive link 22 moves in an arc is significantly shorter than the amount of vertical component movement, the amount of vertical movement of the hand arm 24 is shorter than the amount of movement in the horizontal direction. As the hand arm 2 increases,
The restraining bin 26 that restrains the upper end of the hand arm 2
4, the hand arm 24 maintains a substantially constant tilted posture and moves in parallel in a substantially vertical direction, and the lower end of the hand arm 24 and the hand 27 move substantially directly above or below. do.

Additionally, there is a swing section of the drive link 22 that moves the hand arm 24 upward, and a swing section of the drive link 22 that moves the hand arm 24 downward.
In the swinging section of the drive link between the swinging section 2 and the swinging section 2, the horizontal component movement amount of the circular arc movement of the tilting fulcrum a increases, and the hand arm 24 moves horizontally and vertically. As the amount decreases, the arc movement of the restraint bin 26 (
6) increases, and the vicinity of the upper end of the hand arm 24 becomes the swinging fulcrum b1 of the drive link 22 and the guide link 23. The hand arm 24 is guided to the vicinity of the center line C connecting the parts feeder P, and the posture of the hand arm 24 gradually changes from a tilted posture in which it is tilted downward toward the parts feeder P side, to an upright posture, and then to a tilted posture in which it is tilted downward toward the die D side. 24 lower end and hand 27
moves rapidly almost horizontally with limited vertical movement.

Therefore, the hand 27 that has received the workpiece W from 1 into the take-out mechanism of the parts feeder P moves almost directly above on its outward path, then moves almost horizontally on the die D side, jumps over the obstacle S, and then , is displaced by drawing an approximately mouth-shaped movement locus e that moves directly downward, and further moves toward the die D side together with the drive link 22 and hand arm 24 by the movement of the lower link shaft 16 in the axial direction. Perform a series of operations to release the workpiece W in a levered state, and release the workpiece W.
is transferred from parts feeder P to rolling machine T. In addition, on the return trip of the hand 27, the hand 27 moves to the side opposite to the die D on the rolling machine T, then moves directly above the hole, and then,
After moving in a substantially horizontal direction on the side of the rose feeder P and jumping over the obstacle S, a series of return operations is performed in which the rose feeder moves directly below the rose feeder.

At 2, the centering support mechanism installed on the rolling machine T is
A front support member 28 disposed in front of the die D is connected to the two piston shafts of the front center cylinder and placed on the ball slide track 30 so as to be movable forward and backward in the die axis direction. Attached to 28 is a center %2aa having a pointed end for projecting into one end of the shaft hole of the workpiece W. A rear support member 31 provided opposite to the front support member 28 is connected to a piston shaft of a rear center cylinder 32 and placed on a ball slide track 33 so as to be movable forward and backward in the die axis direction. A center 31a having a pointed end for thrusting into the other end of the shaft hole of the work W is attached to the center 31a.

Then, the work W held by the hand 27 and moved downward together with the hand 27 moves horizontally toward the die D side together with the hand 27, and after being in the retreated state, the workpiece W moves downward with the hand 27, and after being in the retreated state, the workpiece W moves downward with the hand 27.
The workpiece continues to advance until a is thrust into one end of the shaft hole of the workpiece W. In this state, the front support member 28 moves toward the die side, the center 28a of the front support member 28 is thrust into the other end of the shaft hole of the workpiece W, and the workpiece W is centered by both centers 288.31a and both ends of the workpiece W are centered. The hand 27 is supported and in this state.
The workpiece W released from the dies is rolled by both dies D. The rolled workpiece W is sent out from between both dies D by the movement of both supporting members 28 and 31 toward the side opposite to the dies, is released from both supporting members 28 and 31, falls onto the carrying out conveyor C, and is carried out.゛ It is carried out of the rolling line by the output conveyor C.

Next, the operation and effects of the embodiment having the above configuration will be explained.

In this example, the drive link 22 and the guide link 23 are arranged side by side so that they can swing back and forth in parallel, and the hand arm 24 to which the hand 27 is attached is pivoted to the drive link 22 so that it can tilt. At the same time, the hand arm 24 is allowed to move in the longitudinal direction, and the vicinity of the upper end of the hand arm 24 is guided in the horizontal direction, and the tilting posture of the hand arm 24 is controlled in synchronization with the circular arc movement of the tilting fulcrum a of the hand arm 24. Guide link 23 near the upper end of hand arm 24
The hand arm 24 is linked via the restraint pin 26 so that it cannot move in the longitudinal direction but can move in the width direction. The length difference is given to the arc movement radius of .

Therefore, when the workpiece W is taken out and transferred onto the rolling 11AT, even if an obstacle S is protruded on the way, the workpiece W can be moved over the obstacle S by the jumping motion of the hand 27 and brought to the vicinity of the die D. This eliminates the need for mechanical modifications to install a mechanism for automatically feeding the workpiece W, and allows the workpiece W to be efficiently bypassed by the obstacle S by moving the hand 27 over the shortest distance. It has a positive effect.

In addition, since the moving stroke of the hand 27 and the space required for movement are reduced, it is possible for the operator to approach the vicinity of the machining area during setup change operations such as initial centering. Safety can be increased.

In particular, since the movement and tilting of the hand arm 24 is controlled by a single tilt motor 6 to drive and control the hand 27, the feeding mechanism for the workpiece W can be simplified and made more compact, thereby reducing II costs. .

Furthermore, when moving the hand 27 in the horizontal direction, the hand 27 is rapidly moved to increase the operating speed of the hand 27,
The feeding cycle each time the hand 27 feeds the workpiece W can be shortened.

In addition, in this example, since the hand 27 can be moved forward and backward on the rolling machine T after the jumping operation, the workpiece W can be fed and transferred to the inside of the processing machine, and the shape of the fixed cam groove 11 It is possible to arbitrarily set the feeding direction and the transfer distance of the workpiece W inside the processing machine by changing the , and to change the feeding manner of the workpiece in various ways.

In the above embodiment, the lower link shaft 16 and the upper link shaft 19 have different rotational speeds, and the drive link 22
The swing stroke of the guide link 23 may be made different from the swing stroke of the guide link 23 to control the movement and tilt of the hand arm 24.

Furthermore, the setting of the moving trajectory e@ of the hand 27 can be changed by changing the arc movement radius and relative speed of the tilting fulcrum a and the restraint bin 26, the axial center spacing of the upper and lower link shafts 19, 16, etc.

(Effects of the Invention) That is, in the present invention, a hand arm to which a hand for gripping a workpiece is attached is pivotally mounted to a drive link which is pivotally supported so as to be capable of reciprocating sliding motion, and the hand arm is pivotally movable in a tilting manner. By providing a guide means for guiding a part of the hand arm in the workpiece feeding direction and controlling the tilting posture of the handarm in synchronization with the circular arc movement of the tilting fulcrum of the handarm, the workpiece can be prevented from becoming obstructed. This has the effect of making it possible to efficiently feed objects by detouring them, and to reduce costs by simplifying and compacting the structure for feeding the workpieces.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is a front view, FIG. 2 is a side view, FIG. 3 is a plan view, FIG. 4 is an enlarged side view of the ejecting mechanism, and FIG. 1 is an enlarged sectional view taken along the line X-X of FIG. 1, FIG. 6 is a front view of the main parts for explaining the operation of the hand arm, and FIG. 7 is a developed view of the fixed cam groove and the rotatable cam groove. 22... Drive link 24... Hand arm 27... Hand L... Loader device W... Worker a... Tilt fulcrum Applicant Makita Electric Works Co., Ltd. Agent Patent attorney Hidehiko Okada (2 others) Figure 5

Claims (1)

[Claims] A hand arm equipped with a hand for gripping a workpiece is pivotally attached to a drive link that is pivotally supported for reciprocating swinging movement, and a part of the hand arm is used to feed the workpiece. 1. A loader device comprising a guide means for guiding the hand arm in a direction and controlling the tilting posture of the hand arm in synchronization with the circular arc movement of a tilting fulcrum of the hand arm.