JP4700676B2 - Press panel mobile robot and press device - Google Patents

Description

  The present invention relates to a press apparatus, and more particularly, to a press apparatus in which a press panel before press working can be easily attached and a press-molded product can be easily removed.

Conventionally, when press-molding a panel such as a bonnet panel, the press panel is placed on a press device, and a material handling robot is used to remove the press panel after the press processing is completed, and a suction pad is provided on the arm of the material handling robot. Then, the upper surface of the press panel was adsorbed from above and mounted and removed.
As shown in FIG. 9, the conventional press apparatus is a material installed on the side of the press apparatus on the upper part of the lower mold 101 that is raised and separated from the upper mold 100 when performing press molding with the upper mold 100 and the lower mold 101. A press panel W was placed by a handling robot (not shown; hereinafter referred to as a material handling robot) 103.
That is, the material handling robot 103 is the same as the material handling robot 103 that is generally used, and an arm portion 103b is provided on the base portion 103a so as to be rotatable and vertically movable and back and forth. The suction pad 104 is fixed downward. The suction pad 104 can be sucked by an air circuit (not shown) generally provided in a manufacturing factory or the like, and can be sucked by control of a control unit (not shown). It is.

In the conventional press device, the material handling robot 103 is placed on the side of the press device by the suction pad 104, or the press panel W moved from the previous process is sucked and the arm portion 103b is swung. The press panel W is placed on the upper part of the lower die 101 by performing a predetermined operation in the up / down and front / back directions.
Then, the placed press panel W is pressed and processed between the lower mold 101 and the upper mold 100 by the lowering of the upper mold 100 performed continuously. When the press working is finished, the upper die 100 is raised again.

  When the upper die 100 is raised, the press panel W placed on the lower die 101 can be taken out, and the material handling material handling work different from the material handling robot 103 placing the press panel W on the upper die 100 is possible. When the robot 103 placed the press panel W after the press work was finished, it was similarly sucked by the suction pad 104 and taken out from the lower mold 101.

In addition, in the prior art example 1, the inventor must support the weight of the press panel W itself acting downward by the suction force of the suction pad 104, such as a rapid turning of the arm portion 103b. In order to prevent the press panel W from coming off due to the suction pad 104, the suction pad 104 is provided upward, and the weight of the press panel W acts in the suction direction of the suction pad 104 to enhance the supporting force when moving such as turning. Invented a press device capable of performing the above (conventional example 2).
In this conventional example, the press panel W can be supported on the upper surface of the arm portion 103 b of the material handling robot 103 by placing the press panel W on the lower surface of the upper mold 100.

However, in both the conventional example 1 and the conventional example 2, the material handling robot 103 turns while being sucked by the suction pad 104, and the press panel W is placed between the upper mold 100 and the lower mold 101. When the process of moving from the top dead center to the bottom dead center and returning to the top dead center again is expressed as 360 °, between 200 ° and 270 °, the placement of the press panel W on the mold by this turning is performed by the material handling robot 103. Since the arm portion 103b is buffered with the upper mold 100, there is a problem that the arm portion 103b must be performed at other positions. Due to this limitation, during this period, the upper die 100 is simply waited for the upper die 100 to rise, and when the press panel W is attached thereafter, the time for which the upper die 100 is stopped after reaching the upper dead center is reached. As a result, there is a problem in that extra time is required for press working and processing time increases.
And when performing the same press work process continuously several times, there existed a problem that these extra waiting time would generate | occur | produce for a process.
Further, in the placement and unloading of the press panel W as in the conventional example 1 from the lower mold, since the loading to the lower mold is completed after the unloading from the lower mold, the above-mentioned 200 ° to 270 °. Since unloading is performed after waiting and loading is performed after unloading, it takes time for both unloading and mounting of the press panel W. Therefore, it is said that extra waiting time is required. Has a problem.

  In view of the above-described problems, the present invention provides a press apparatus that can smoothly place and carry out a press product as compared with the prior art and can shorten the press process time.

  Therefore, in order to solve the above-mentioned problems, the present invention has an advance / retreat arm on which a press panel is placed and which can advance and retreat to the press device, and the advance / retreat arm has a pair of rotation shafts with a pair of end widths of the press mold. The support claws for supporting the press panel are fixed to the respective pivot shafts so as to face each other, the press panel can be supported on the upper portion of the support claws, and the pivot shafts are pivoted. A press panel moving robot for use in a press apparatus is provided in which the support claws can be rotated in directions away from each other to release the support of the press panel.

  Therefore, the press panel moving robot rotates the rotating shaft to bring the supporting claws of the opposing shafts close to or away from each other, and when they are brought into proximity, the end of the press panel is placed on the plurality of supporting claws. The press panel is supported in the state, and the support of the press panel is released in the separated state. Further, when the advance / retreat arm advances / retreats, the press panel is moved to the upper surface of the lower mold or detached from the upper surface of the lower mold.

  Further, in the present invention, the lower mold side has a forward / backward arm on which a press panel for pressing is placed and which can be advanced and retracted to the upper surface of the lower mold, and the forward / backward arm is provided with a pair of rotating shafts facing each other. The support claws for supporting the press panel are fixed to the respective pivot shafts so as to be opposed to each other, and the press panel can be supported on the upper portion of the support claws. It is equipped with a press panel moving robot that is rotated in a direction away from the press panel to place the press panel on the upper surface of the lower mold, and the lower mold is supported by the press panel moving robot at a position where the press panel moving robot mounts the press panel. A support nail retracting hole that can be rotated by entering the nail is provided, and the press panel moving robot moves the advance / retreat arm to position the press panel on the upper surface of the lower mold, and then the support nail is rotated in the support nail retraction hole. Providing a press apparatus characterized by placing a press panel on the lower mold.

  In this press apparatus, the advancing / retreating arm of the lower die press panel moving robot advances to position the press panel on the upper surface of the lower die. After that, the rotating shaft is rotated to rotate the support claw in the support claw retracting hole, the press panel is placed on the upper surface of the lower mold, and the support claw is released, that is, the support claw is on the upper mold side. After that, the advance / retreat arm is retracted. In this state, press working is performed between the upper die and the lower die.

  Furthermore, in the present invention, as a press device for performing press working after attaching the press panel to the upper die, the press device is provided outside the peripheral end portion of the press panel placed on the lower surface of the upper die, and can advance and retreat to the peripheral end portion of the press panel. An upper die support claw is provided, and a press panel for pressing is placed on the upper die side portion, and has an advancing / retreating arm composed of a pair of advancing / retracting shafts that can advance / retreat to the lower surface of the upper die, and the advancing / retracting axis advances / retreats. It is equipped with a press panel moving robot that positions the press panel on the upper surface of the lower mold, the press panel moving robot positions the press panel on the lower surface of the upper mold, and the upper mold support claw advances to support the press panel and then move forward and backward. There is provided a press apparatus characterized in that an arm is retracted and an upper mold supporting claw supports a press panel until pressing is performed between the upper mold and the lower mold.

  In this press apparatus, when the advance / retreat arm of the press panel moving robot positions the press panel on the lower surface of the upper die, the upper die support claw provided on the upper die advances to support the lower surface side peripheral portion of the press panel. Then, when the press panel is supported by the upper mold support claw, the advance / retreat arm is retracted, and the press support is supported until the upper mold support claw presses between the upper mold and the lower mold. Then, the upper die and the lower die which are separated in a state where the press panel is supported by the upper die are joined, and the press panel is pressed.

  Furthermore, according to the present invention, an upper die provided on the outer side of the peripheral edge of the press panel placed on the lower surface of the upper die and provided with an upper die supporting claw capable of moving back and forth to the peripheral edge of the press panel, and provided on the side of the upper die. An upper press that has an advancing / retracting arm composed of a pair of advancing and retracting shafts on which a press panel to be pressed is placed and can be moved back and forth to the lower surface of the upper die, and the press panel is positioned on the upper surface of the lower die by the advancing and retracting axes It has a panel moving robot and an advancing / retreating arm that is located on the side of the lower mold and is mounted with a press panel to be pressed and can be moved back and forth to the upper surface of the lower mold. A support claw for supporting the press panel is fixed to each rotation shaft so as to be opposed to each other, and the press panel can be supported on the upper portion of the support claw. The press is rotated in the direction away from each other The lower mold press panel moving robot that places the panel on the upper surface of the lower mold, and the support claw provided in the lower mold press panel moving robot enters the position where the lower mold press panel moving robot mounts the press panel and can rotate. It consists of a lower mold that provides an upper mold support claw escape hole in which an upper mold support claw provided in the upper mold and an upper mold support claw escape hole can be entered, and the upper mold press panel mobile robot positions the press panel on the lower surface of the upper mold, After the upper mold support claw has advanced and supported the press panel, the advance / retreat arm has retracted, and the upper mold support claw supports the press panel until pressing is performed between the upper mold and the lower mold. Move the advancing / retracting arm of the lower press panel mobile robot to position the press panel on the upper surface of the lower mold, rotate the support claw in the support claw escape hole to support the press panel, and then retract the advance / retreat arm Either remove the support panel from the lower mold, or the lower press panel mobile robot moves the advance / retreat arm to position the press panel on the upper surface of the lower mold, and then rotate the support claw in the support claw escape hole. Placed on the lower mold and subjected to press work, after the press work, the upper mold support claws that are in contact with the lower mold advance and support the press panel, then the upper mold and the lower mold are separated, The upper die press panel moving robot advances the advance / retreat arm to the lower surface of the upper die, and the upper die moves the upper die support claw backward to release the support of the press panel. A press apparatus is provided, wherein the press panel is removed from the upper mold.

Therefore, the press apparatus is provided with an upper press panel moving robot and a lower press panel moving robot corresponding to the upper mold and the lower mold, respectively.
When press processing is performed with the press panel supported by the upper die, the upper die support provided on the upper die is positioned by positioning the advance / retreat arm of the upper die press panel mobile robot on which the press panel is placed on the lower surface of the upper die. The nail advances to support the lower surface side periphery of the press panel. Then, when the press panel is supported by the upper mold support claw, the advance / retreat arm is retracted, and the press support is supported until the upper mold support claw presses between the upper mold and the lower mold. Then, the upper die and the lower die which are separated in a state where the press panel is supported by the upper die are joined, and the press panel is pressed. After the press working, the upper mold support claw is retracted to release the support of the press panel by the upper mold support claw and the upper mold is raised, and the advancing and retracting arm of the lower mold press panel mobile robot is moved to the upper surface of the lower mold Advance to the top of the lower mold. Then, the support claw is rotated in the support claw escape hole to support the press panel, and then the advance / retreat arm is retracted to remove the press panel from the lower mold.

  When press processing is performed with the press panel supported by the lower die, the advance / retreat arm of the lower press panel moving robot on which the press panel is placed advances to position the press panel on the upper surface of the lower die. After that, the rotating shaft is rotated to rotate the support claw in the support claw retracting hole, the press panel is placed on the upper surface of the lower mold, and the support claw is released, that is, the support claw is on the upper mold side. After that, the advance / retreat arm is retracted. In this state, press working is performed between the upper die and the lower die. After the press working, the upper mold is moved away from the lower mold while the upper mold support claw is advanced in the upper mold nail retraction hole so that the upper mold can be supported by the upper mold. Then, the press panel moves with the upper mold. Next, the advance / retreat arm of the upper die press panel mobile robot is advanced to the lower surface of the upper die, and the upper die support claw is retracted. Then, since the upper mold support claw releases the support of the press panel, the press panel is supported by the advance / retreat arm. After the press panel is supported by the advance / retreat arm of the upper press panel mobile robot, the advance / retreat arm is retracted to remove the press panel from the upper die.

  Furthermore, according to the present invention, as a press device capable of performing a plurality of pressing processes, an upper die support claw provided outside the peripheral edge of the press panel placed on the lower surface of the upper die and capable of moving back and forth to the peripheral edge of the press panel is provided. An upper mold and a press panel that is provided on the side of the upper mold and subjected to press work are mounted, and has an advancing / retreating arm composed of a pair of advancing and retracting axes that can advance and retreat to the lower surface of the upper mold. There is an upper die press panel moving robot located on the upper surface of the lower die, and an advancing / retreating arm which is located on the side of the lower die and is mounted with a press panel for pressing, and can be moved back and forth to the upper surface of the lower die. A pair of pivot shafts are provided opposite to each other, and support claws for supporting the press panel are fixed to the respective pivot shafts so as to face each other, and the press panel can be supported on the upper portion of the support claws. Is supported by rotating A lower mold press panel moving robot for placing the press panel on the upper surface of the lower mold by rotating the claws away from each other, and a lower mold press panel moving robot at a position where the lower mold press panel moving robot places the press panel The upper die and the lower die are provided with a lower support die provided with an upper die support nail recess hole into which an upper die support nail capable of entering an upper die support nail is provided. A plurality of press dies are arranged in parallel, and a lower press panel moving robot and an upper press panel moving robot are alternately arranged between the press dies arranged in parallel to form a multi-step press, and arranged between the press dies. The upper and lower press panel mobile robots can move the press panel between adjacent upper or lower molds. Fine lower-pressing panel mobile robot provides a press capable press apparatus of a plurality step, characterized in that moving the upper mold or the lower mold adjacent the press panels removed from the upper mold or the lower mold.

  Therefore, in the press machine, the upper die press panel mobile robot finishes the press work and moves the upper and lower arms upward to move the upper and lower arms away from the lower die so that the press panel can be supported. When the mold support claw is retracted to release the support of the press panel, the upper press panel moving robot supports the press panel. Next, the upper press panel moving robot moves the advance / retreat arm backward to remove the press panel from the upper die, and advances to the lower surface of the next upper die that is next to it while supporting the press panel. Next, the upper die support claw provided on the next upper die is advanced to support the periphery of the press panel, and then the advance / retreat arm of the upper die press panel moving robot is retracted. In this state, the upper die supporting the press panel is joined to the lower die to perform the pressing operation.

  At this time, the upper mold support claw of the upper mold penetrates into the upper mold support claw catching hole of the lower mold and does not interfere with the press work. Then, the upper mold starts to be separated from the lower mold in a state where the upper mold support claw is retracted and the support of the press panel is released. Then, the press panel is supported on the upper surface of the lower mold. In this state, the advance / retreat arm of the lower press panel mobile robot is advanced to the upper surface of the lower die. At this time, the support claws provided on the advance / retreat arm are positioned in the upper mold direction and are advanced to the upper surface of the lower mold without being able to support the press panel. The advance / retreat arm positioned on the upper surface of the upper mold rotates the support claw so as to be positioned on the lower surface of the press panel to support the press panel. With the press panel supported, the advance and retreat arm of the lower die press panel mobile robot is retracted to remove the press panel from the lower die. The advance / retreat arm with the press panel removed from the lower die is advanced to the upper surface of the next lower die. Accordingly, the press panel supported by the advance / retreat arm is also moved to the upper surface of the next lower mold.

When the press panel moves to the upper surface of the next lower mold, the support claws of the advance / retreat arm are rotated in the support claw escape holes provided in the lower mold to release the support of the press panel. Then, the press panel is supported on the upper surface of the lower mold. In this state, the advance / retreat arm of the lower press panel mobile robot is retracted. Next, the upper die and the lower die which are separated from each other are joined and subjected to press working.
After the press is completed, the upper die and the lower die are separated. At this time, the upper mold support claw provided in the upper mold is advanced to the lower surface of the periphery of the press panel in the upper mold support claw recess hole so that the press panel can be supported. Thus, when the upper mold and the lower mold are separated, the press panel is supported by the upper mold.

  In a state where the upper mold and the lower mold are separated from each other, an adjacent upper mold press panel moving robot different from the previous upper mold press panel moving robot advances the advance / retreat arm to the lower surface of the upper mold supporting the press panel in the same manner as described above. In this state, the upper mold support claws supporting the press panel are retracted to release the support of the press panel. Then, the press panel is supported by the advance / retreat arm. When the advancing / retreating arm supports the press panel, the advancing / retreating arm is retracted and advanced to the lower surface of the upper mold that is arranged next to each other, and the next upper mold supports the press panel as described above.

  As described above, the upper mold press panel moving robot or the lower mold press panel moving robot provided between the press molds repeatedly while changing sequentially from the upper mold on which the press panel is placed to the lower mold and from the lower mold to the upper mold. Are moved to adjacent upper dies or lower dies, and press work is performed with the respective press dies. The first press panel may be placed on the upper press panel moving robot or the lower press panel moving robot by a material handling robot provided separately. Similarly, when the press panel is finally removed from the press apparatus, it may be removed from the upper press panel moving robot or the lower press panel moving robot by a material handling robot provided separately.

  Therefore, according to the present invention, it is possible for the press panel moving robot to advance and retract the advancing and retreating arm that supports the press panel, and to support the press panel to the lower mold. Since the press panel supported on the upper surface of the mold is supported and the press panel can be removed from the lower mold by moving the advance / retreat arm in this state, the lower mold and the upper mold can be removed immediately after the press by the lower mold and the upper mold. The press panel can be moved if the gap is such that the advance and retreat arm of the press panel moving robot can enter. Therefore, it is possible to move the press panel between 200 ° and 270 ° when the upper mold, which could not be performed in the past, moves from top dead center to bottom dead center and returns to top dead center is 360 °. Thus, it is possible to reduce the wasted time in the pressing process.

In addition, the upper press panel mobile robot and the lower press panel mobile robot allow the press panel to be placed on and removed from the upper and lower dies, thereby increasing the degree of freedom in designing the press working process. Have
Then, the press mold composed of the upper mold and the lower mold is transferred to a plurality of press molds, and the upper mold press panel moving robot and the lower mold press panel moving robot are alternately arranged between the press molds arranged side by side. It is possible to remove the upper die and attach it to the adjacent upper die, or remove it from the lower die and attach it to the adjacent lower die, and press multiple presses without complicated movement of the press panel. As the process becomes possible, the press process can be smoothly performed in a plurality of processes, and the press process can be set without teaching the complicated movement teaching work of the material handling robot. Therefore, there is an effect that the working time in the press working process can be greatly shortened.

In the press apparatus 1, a press die is formed by an upper die 2 and a lower die 3. In the press mold, the upper mold 2 moves in the direction of the lower mold 3, and press processing is performed on the press panel W between the upper mold 2 and the lower mold 3.
A lower surface 21 which is a side surface of the lower mold 3 of the upper mold 2 is formed into a press working shape, and an upper mold supporting claw capable of moving forward and backward toward the press panel W which is a workpiece on the mold peripheral portion 22 of the lower surface 21. A claw cylinder 4 is provided. A plurality of claw cylinders 4 are provided so as to be positioned outside the peripheral portion of the press panel W, and can be supported so that the press panel W is positioned on the lower surface 21 of the upper mold 2 in a state where the rod 42 extends from the cylinder body 41. is there.

  An upper press panel moving robot 5 for panel attachment and panel removal is provided at a side position of the upper die 2. The upper press panel moving robot 5 is a robot having an advancing / retreating arm 51 which is an arm portion that can turn or move up and down and back and forth with respect to a base portion (not shown) fixed to the floor surface. The advance / retreat arm 51 can be freely moved under the control of. A driving base 52 is fixed to the tip of the advance / retreat arm 51. A pair of advancing and retracting shafts 53 projecting in the horizontal direction are provided at both ends of the drive base 52. The upper press panel mobile robot 5 has a structure in which a drive base 52 is attached to the material handle tip of the material handling robot. Therefore, the upper press panel mobile robot 51 is configured such that the advance / retreat arm 51 is swingable and extendable with respect to a robot body (not shown), and the advance / retreat arm 51 can be moved to a desired position.

The drive base 52 is provided with a width adjusting motor 52a for adjusting the facing width of the advance / retreat shaft 53 and a width adjusting shaft 52b that is rotated by the rotation of the width adjusting motor 52a. A sprocket 52c is attached to the end of the rotation shaft of the width adjusting motor 52a. A sprocket 52d that meshes with the sprocket 52c is also fixed to the width adjusting shaft 52b.
Both ends of the width adjusting shaft 52b are pivotally supported by the drive base 52, and a positive screw is cut on one end side and a reverse screw is cut on the other end side. A threaded portion 52e is provided. Then, slide base portions 52f are provided at both ends of the width adjusting shaft 52b in mesh with the screw portions 52e. The slide base 52f is slidably provided on the drive base 52 in the axial direction of the width adjusting shaft 52b. And the advance / retreat shaft 53 is fixed to the slide base 52f so as to face each other in the horizontal direction. Accordingly, when the width adjustment motor 52a rotates, the sprocket 52d rotates through the sprocket 52c, and the width adjustment shaft 52b rotates along with this rotation. Then, the slide bases 52f provided at both ends of the width adjusting shaft 52b are moved in a direction away from or toward each other.

The advancing / retracting shaft 53 is provided with the base end supported by the slide base 52f and the other end protruding. A support claw 54 is fixed to the other end side of the advance / retreat shaft 53. The support claws 54 are positioned around the foremost part and the middle part of the advance / retreat shaft 53 and are fixed so as to protrude toward the advance / retreat axis 53 to be installed oppositely.
Thus, by providing the support claws 54 so as to face each other, the press panel W can be placed so as to be positioned inside the advance / retreat shaft 53.

  The upper press panel mobile robot 5 formed in this way is controlled in operation according to a predetermined procedure by a control unit (not shown), and the upper press panel mobile robot 5 is installed on the side of the upper die 2. The press panel W is moved to the lower surface of the upper mold 2 in order to receive the press panel W that has been pressed from the upper mold 2 and to set the press panel W to be subjected to the pressing process on the upper mold 2. .

  The lower die 3 is provided with a die capable of pressing a press panel W sandwiched between the lower die 21 of the upper die 2, and the claw cylinder 4 can enter at a position facing the claw cylinder 4 of the upper die 2. As shown in FIG. Accordingly, the claw cylinder 4 of the upper die 2 does not enter the cylinder retraction hole 31 during the pressing process and hit another member or the like during the pressing process so as not to interfere with the pressing operation. The claw cylinder 4 is in a state where the rod 42 is contracted when entering the cylinder retracting hole 31 and does not support the press panel W.

  A lower press panel moving robot 6 for panel mounting and panel removal is provided at a side position of the lower mold 3. The lower press panel mobile robot 6 is an advancing / retracting arm that is an arm portion that can turn or move up and down and back and forth with respect to a base portion (not shown) fixed to the floor surface like the upper press panel mobile robot 5 The robot 61 has a control unit (not shown) and can move the advance / retreat arm 51 freely. A driving base 62 is fixed to the tip of the advance / retreat arm 61. A pair of pivot shafts 63 projecting in the horizontal direction are provided at both ends of the drive base 62. The lower press panel mobile robot 6 has a structure in which a drive base 62 is attached to the material handle tip of the material handling robot. Accordingly, the lower press panel mobile robot 61 is configured such that the advance / retreat arm 61 is swingable and extendable with respect to a robot body (not shown), and the advance / retreat arm 61 can be moved to a desired position.

The drive base 62 is provided with a width adjusting motor 62a for adjusting the opposing width of the rotating shaft 63 and a width adjusting shaft 62b that rotates by transmitting the rotation of the width adjusting motor 62a. A sprocket 62c is attached to the tip of the rotation shaft of the width adjusting motor 62a. A sprocket 62d that meshes with the sprocket 62c is also fixed to the width adjusting shaft 62b.
Both ends of the width adjusting shaft 62b are pivotally supported by the drive base 62, and a positive screw is cut on one end side and a reverse screw is cut on the other end side. A screw portion 62e is provided. Then, slide base portions 62f are provided at both ends of the width adjusting shaft 62b in mesh with the screw portions 62e. The slide base 62f is slidably provided on the drive base 62 in the axial direction of the width adjusting shaft 62b. The rotating shafts 63 are fixed to the slide base 62f so as to face each other in the horizontal direction. Accordingly, when the width adjusting motor 62a is rotated, the sprocket 62d is rotated via the sprocket 62c, and the width adjusting shaft 62b is rotated along with this rotation. Then, the slide bases 62f provided at both ends of the width adjusting shaft 62b are moved in a direction away from or toward each other.

Unlike the advance / retreat axis of the upper press panel mobile robot 5, the rotation shaft 63 is provided with a rotation sprocket 63a at the base portion pivotally supported by the slide base portion 62f. The rotating sprocket 63a is rotatable in mesh with a sprocket 62h of a rotating motor 62g provided on the slide base 62f. The rotation motor 62g is controlled by a control unit (not shown) so as to rotate appropriately in the forward and reverse directions. The rotation shaft 63 is rotated by the rotation of the rotation motor 62g.
A corner 63 b is fixed to the distal end side of the rotation shaft 63. The corner 63b is provided so that the corner base 63c is fixed to the rotation shaft 63 and protrudes toward the other rotation shaft 63 that is installed facing the corner 63b. The swinging part 63 d protruding from the corner base part 63 c is provided in the axial direction of the rotating shaft 63 so as to be approximately equal to the length of the press panel W, and can swing as the rotating shaft 63 rotates.

Reference numeral 64 denotes a support claw. The support claws 64 are positioned at both ends of the swinging portion 63d, that is, near the drive base 62 side end and the other end of the swinging portion 63d so as to protrude toward the opposed rotating shaft 63 side. Fix it.
Thus, by providing the support claws 64 so as to face each other, the press panel W can be placed so as to be positioned inside the swinging portion 63d.

The support claws 64 provided on the lower press panel moving robot 6 are in a state of projecting toward the sides facing each other when the press panel W is supported, and in a direction in which the rotating shaft 63 rotates the swinging portion 63d downward. When the support claw 64 is turned, the support claw 64 is also turned downward to open the gap between the opposed support claws 64, and eventually the gap becomes larger than the press panel W, so that the support of the press panel W is released. .
The rotation of the rotation shaft 63 is performed when the advance / retreat arm 61 is positioned on the upper surface of the lower mold 3, and when the press panel W is placed on the upper surface of the lower mold 3, or from the lower mold 3 is pressed. This is performed when the press panel W after completion is removed.
Note that when the rotation shaft 63 is rotated and the press panel W is placed, the lower press panel moving robot 6 may be attached to the lower mold 3 if the support claw 64 is buffered with the lower mold 3. The support claw withdrawal hole 32 may be formed so that the support claw 64 can enter similarly to the claw cylinder 4 of the upper mold 2. If the support pawl escape hole 32 can be shared with the cylinder escape hole 31, the cylinder escape hole 31 and the support pawl escape hole 32 may be formed as a common escape hole. As a result, the support claw 64 can enter the claw-retracting hole 32 of the lower mold 3, so that the support claw 64 and the lower mold 3 do not interfere with the placement of the press panel W.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front explanatory view showing the press device in a state at the top dead center before processing, FIG. 2 is a front explanatory view in a state at the bottom dead center showing the press device, and FIG. FIG. 4 is a cross-sectional explanatory view taken along the line A, FIG. 4 is a front explanatory view of a press device showing a state at the top dead center at the end of press working, FIG. 5 shows an upper press panel moving robot, and FIG. (B) is a front explanatory view, FIG. 6 shows a lower press panel mobile robot, (a) is a plane explanatory view, (b) is a front explanatory view, and FIG. 7 is an example of a pressing process. FIG. 8 is an explanatory diagram showing an embodiment composed of a plurality of steps.

Reference numeral 1 denotes a press device. The press device 1 has a press shape in which a press panel W, which is a workpiece, is sandwiched and pressed between an upper die 2 and a lower die 3 that are press dies 1 a to form a shape of the press panel W between the upper die 2 and the lower die 3. The processing itself is to perform press processing on the press panel W that is normally performed.
In general, the press device 1 is generally press-processed by placing the press panel W on the lower die 3 (conventional). In the present invention, however, the press panel W is attached to the lower die 3. The press working is continuously performed both in the case where it is placed on the upper die 2 and in the case where it is placed on the upper die 2.

  Therefore, the press device 1 is provided with a claw cylinder 4 for supporting the press panel W on the upper mold 2. A plurality of claw cylinders 4 are upper mold support claws, and a plurality of claw cylinders 4 are provided on the mold peripheral portion 22 of the lower surface 21 forming the mold shape of the upper mold 2 so as to advance and retreat toward the press panel W side. The claw cylinder 4 includes a cylinder main body 41 and a rod 42 that can be expanded and contracted with respect to the cylinder main body 41, and an air circuit prepared in a production factory is connected to enable expansion and contraction of the rod 42. . The air circuit is the same as that normally prepared and will not be described. However, a valve for supplying air to operate the claw cylinder 4 is controlled by a control unit (not shown), and the claw cylinder 4 is expanded and contracted. Be controlled. In the extended state, the claw cylinder 4 provided in this manner is extended so that the rod 42 is placed on the press panel W positioned on the lower surface 21 of the upper mold 2, and thus the plurality of claw cylinders 4 are in the extended state. The press panel W can be supported at the lower surface 21 position.

  In this embodiment, in order to support the press panel W, the claw cylinders 4 are provided at a total of eight places, two on each of the front, rear, left and right sides. However, an appropriate number may be installed at appropriate places according to the shape of the press panel W to be pressed. That's fine. In this embodiment, the claw cylinder 4 is used to support the press panel W on the lower surface 21 of the upper mold 2. However, the claw cylinder 4 does not depend on the cylinder in which the rod expands and contracts. The part may be formed by a locking part that can advance and retreat to the press panel W, or may be formed by a spring force, a solenoid or the like as long as it can advance and retreat to the press panel W, and can support the press panel W. Any upper mold support nail may be used.

  The lower die 3 is provided with a cylinder retracting hole 31 into which the claw cylinder 4 provided on the upper die 2 can enter. The cylinder retracting hole 31 is provided so that it can be retracted so that the claw cylinder 4 does not enter the lower mold 3 and interfere with the processing of the press panel W when the upper mold 2 is combined with the lower mold 3. Then, the claw cylinder 4 entering the cylinder retracting hole 31 enters the state where the press panel W is not already supported. Therefore, the rod 42 is contracted and removed from the press panel W. The press operation of the press panel W performed between the molds 3 is not affected.

  Reference numeral 5 denotes an upper press panel moving robot for panel mounting. The upper die press panel moving robot 5 for panel mounting is installed at a side position of the upper die 2. The upper press panel mobile robot 5 for mounting the press panel has a base portion (not shown) that is installed and fixed in the same manner as a commonly used material handling robot, and an advance / retreat arm 51 that is a swingable / extendable arm portion. However, since it is not different from the structure of a base part (not shown) and a swingable / extendable arm part of a normally used material handling robot, detailed description of its function is omitted. Therefore, the upper press panel mobile robot 5 for panel mounting is provided so that the advance / retreat arm 51 as an arm can be swung with respect to a base (not shown) on the floor and can be extended and contracted. The advance / retreat arm 51 is controlled by the control unit to rotate and advance / retreat, and the position of the tip thereof can be freely moved. A driving base 52 is fixed to the tip of the advance / retreat arm 51. Accordingly, the drive base 52 is freely moved by the turning movement and expansion / contraction movement of the advance / retreat arm 51.

  A pair of advancing and retracting shafts 53 projecting in the horizontal direction are provided at both ends of the drive base 52. Therefore, the upper press panel mobile robot 5 has a configuration in which the drive base 52 is attached to the material handle tip of the material handling robot. The drive base 52 is provided with a width adjusting motor 52a for adjusting the facing width of the advancing / retracting shaft 53 and a width adjusting shaft 52b that rotates when the rotation of the width adjusting motor 52a is transmitted. A sprocket 52c is attached to the end of the rotation shaft of the width adjusting motor 52a. A sprocket 52d that meshes with the sprocket 52c is also fixed to the width adjusting shaft 52b.

  Both ends of the width adjusting shaft 52b are pivotally supported by the drive base 52, and a positive screw is cut on one end side and a reverse screw is cut on the other end side. A threaded portion 52e is provided. Then, slide base portions 52f are provided at both ends of the width adjusting shaft 52b in mesh with the screw portions 52e. The slide base 52f is slidably provided on the drive base 52 in the axial direction of the width adjusting shaft 52b. And the advance / retreat shaft 53 is fixed to the slide base 52f so as to face each other in the horizontal direction. Accordingly, when the width adjustment motor 52a rotates, the sprocket 52d rotates through the sprocket 52c, and the width adjustment shaft 52b rotates along with this rotation. Then, the slide bases 52f provided at both ends of the width adjusting shaft 52b are moved in a direction away from or toward each other.

The advancing / retracting shaft 53 is provided with the base end supported by the slide base 52f and the other end protruding. A support claw 54 is fixed to the other end side of the advance / retreat shaft 53. The support claws 54 are positioned around the foremost part and the middle part of the advance / retreat shaft 53 and are fixed so as to protrude toward the advance / retreat axis 53 to be installed oppositely.
Thus, by providing the support claws 54 so as to face each other, the press panel W can be placed so as to be positioned inside the advance / retreat shaft 53.

The upper press panel mobile robot 5 supports the press panel W supported by the upper die 2 on the upper surface of the support claw 54 and removes it from the upper die 2 or supports it on the upper surface of the support claw 54 and presses the press panel W. Is not supported by a mechanism for rotating the support claw 54, but the upper press panel moving robot 5 is moved to the lower mold press panel moving robot. In order to be shared with 6, a rotation motor 52 g and a sprocket 52 h that are essential for the lower press panel mobile robot 6 are provided. In order to share the same, the advancing / retracting shaft 53 is also provided with a rotating sprocket 53a, a corner portion 53b, a corner base portion 53c, and a swinging portion 53d, and a support claw 54 is provided on the swinging portion 53d.
That is, the advancing / retreating shaft 53 is provided with a rotating sprocket 53a at the base portion pivotally supported by the slide base portion 52f. The rotating sprocket 53a is rotatable by meshing with a sprocket 52h of a rotating motor 52g provided on the slide base 52f. The rotation motor 52g is controlled by a control unit (not shown) so as to appropriately rotate in the forward and reverse directions. The advance / retreat shaft 53 is rotated by the rotation of the rotation motor 52g.
A corner portion 53 b is fixed to the distal end side of the advance / retreat shaft 53. The corner portion 53b is provided so that the corner base portion 53c is fixed to the advance / retreat shaft 53 and protrudes toward the other advance / retreat shaft 53 which is disposed oppositely. The swinging portion 53 d protruding from the corner base portion 53 c is provided in the axial direction of the advance / retreat shaft 53 so as to be approximately equal to the length of the press panel W, and can swing as the advance / retreat shaft 53 rotates.

Reference numeral 54 denotes a support claw. The support claws 54 are positioned at both ends of the swinging portion 53d, that is, near the driving base 52 side end and the other end of the swinging portion 53d so as to protrude toward the opposing rotating shaft 53 side. Fix it.
Thus, by providing the support claws 54 so as to face each other, the press panel W can be placed so as to be positioned inside the swinging portion 53d. In the upper press panel mobile robot 5, the support claw 54 is always used in this state.

  The upper press panel mobile robot 5 formed in this way is controlled in operation according to a predetermined procedure by a control unit (not shown), and the upper press panel mobile robot 5 is installed on the side of the upper die 2. The press panel W is moved to the lower surface of the upper mold 2 in order to receive the press panel W that has been pressed from the upper mold 2 and to set the press panel W to be subjected to the pressing process on the upper mold 2. .

When the upper press panel moving robot 5 receives the press panel W supported by the upper die 2, the upper press panel moving robot 5 for panel mounting is moved forward and backward by the control of a control unit (not shown). 51 is rotated or expanded and contracted to move the support claw 54 provided on the advance / retreat shaft 53 to the lower surface 21 of the upper mold 2. At this time, the support claws 54 protrude so as to oppose each other, and can support the press panel. Then, under the control of a control unit (not shown), the claw cylinder 4 is operated and the rod of the claw cylinder 4 supporting the press panel W is expanded and contracted to release the support of the press panel W. Then, the press panel W is separated from the upper mold 2 and moved and supported on the support claws 54 of the upper mold press panel moving robot 5.
In this state, the upper mold press panel mobile robot 5 turns and expands / contracts the advance / retreat arm 51 again to disengage the press panel W from between the upper mold 2 and the lower mold 3, and the next upper mold 2 capable of the next press work. It is moved to the lower surface or the mounting position of the press panel W that has finally been pressed.

When the upper press panel moving robot 5 attaches the press panel W to the upper mold 2, if the upper mold press panel moving robot 5 for panel mounting moves the press panel W to the lower surface 21 of the upper mold 2, the control is performed. Under the control of a portion (not shown), the claw cylinder 4 is operated to extend the rod 42 so as to be engaged with the press panel W, thereby supporting the press panel W.
In this state, the press panel W is supported by the claw cylinder 4 on the lower surface 21 of the upper die 2, so that the upper die press panel moving robot 5 for panel mounting rotates and extends again, and the upper die 2 and the lower die 3. Move to a position where it can be pressed. And it prepares for conveyance of the next press panel W.

3 is a lower mold | type. The lower die 3 is provided with a die capable of pressing a press panel W sandwiched between the lower die 21 of the upper die 2, and the claw cylinder 4 can enter at a position facing the claw cylinder 4 of the upper die 2. As shown in FIG. Accordingly, the claw cylinder 4 of the upper die 2 does not enter the cylinder retraction hole 31 during the pressing process and hit another member or the like during the pressing process so as not to interfere with the pressing operation. The claw cylinder 4 is in a state where the rod 42 is contracted when entering the cylinder retracting hole 31 and does not support the press panel W.
Further, similarly to the cylinder escape hole 31, the lower mold 3 is provided with a support claw escape hole 32 through which the support claw 64 of the lower press panel mobile robot 6 can enter. The nail retracting hole 32 is formed so as to extend from the peripheral portion of the press panel W placed on the lower mold 3 to the lower surface of the peripheral portion, and when the support nail 64 enters the nail retracting hole 32, Depending on the position, the support claw 64 can be positioned below the press panel W so as not to be buffered by the press panel W, and the support claw 64 can be rotated and positioned on the lower surface of the press panel W in this state. On the other hand, when the support claw 64 is slightly lowered from the upper surface of the lower mold 3 while supporting the press panel W, the support claw 64 can enter the claw retreat hole 32 while supporting the press panel W. Then, after the support claw 64 has released the support of the press panel W and moved to a position where it does not buffer with the press panel W in the entered state, the support claw 64 is slightly raised and is provided so as to be able to be removed from the claw retracting hole 32. ing. In addition, if the nail | claw escape hole 32 can be shared with the cylinder escape hole 31, you may drill the cylinder escape hole 31 and the support nail | claw escape hole 32 as a common escape hole. As a result, the support claw 64 can enter the claw-retracting hole 32 of the lower mold 3, so that the support claw 64 and the lower mold 3 do not interfere with the placement of the press panel W. The support pawl escape hole 32 may not be provided when the lower press panel mobile robot 6 only performs the work of placing the press panel on the lower die. In this case, the press panel W The upper surface of the support claw 64 that supports both ends from above the mold 3 is slid down while gently sliding down the upper surface of the support claw 64 to release the buffer with the support claw 64. What is necessary is just to be mounted.

  Reference numeral 6 denotes a lower press panel mobile robot. The lower die press panel mobile robot 6 is installed on the side of the lower die 3. The lower press panel moving robot 6 is a robot for mounting the press panel W and removing the press panel W from the lower die. The lower press panel mobile robot 6 includes a base portion (not shown) that is installed and fixed in the same manner as a normally used material handling robot, and an advance / retreat arm 61 that is a swingable / extendable arm portion. Since it is not different from the structure of the base part (not shown) and the swingable / extendable arm part of the material handling robot used, detailed description of its function is omitted. Therefore, the lower press panel mobile robot 6 for panel mounting is provided so that the advancing / retreating arm 61, which is an arm portion, can turn with respect to a base portion (not shown) on the floor and can be extended and contracted. The advance / retreat arm 61 is controlled by the control unit to rotate and advance / retreat, so that the position of the tip thereof can be freely moved. A driving base 62 is fixed to the tip of the advance / retreat arm 61. Therefore, the drive base 62 is freely moved by the turning movement and expansion / contraction movement of the advance / retreat arm 61.

  Similar to the upper press panel mobile robot 5, the lower press panel mobile robot 6 is an advance / retreat arm 61 that is an arm portion that can turn or move up and down and back and forth with respect to a base (not shown) fixed to the floor surface. The advancing / retreating arm 51 can be freely moved under the control of a control unit (not shown). A driving base 62 is fixed to the tip of the advance / retreat arm 61. A pair of pivot shafts 63 projecting in the horizontal direction are provided at both ends of the drive base 62. The lower press panel mobile robot 6 has a structure in which a drive base 62 is attached to the material handle tip of the material handling robot. Accordingly, the lower press panel mobile robot 61 is configured such that the advance / retreat arm 61 is swingable and extendable with respect to a robot body (not shown), and the advance / retreat arm 61 can be moved to a desired position.

The drive base 62 is provided with a width adjusting motor 62a for adjusting the opposing width of the rotating shaft 63 and a width adjusting shaft 62b that rotates by transmitting the rotation of the width adjusting motor 62a. A sprocket 62c is attached to the tip of the rotation shaft of the width adjusting motor 62a. A sprocket 62d that meshes with the sprocket 62c is also fixed to the width adjusting shaft 62b.
Both ends of the width adjusting shaft 62b are pivotally supported by the drive base 62, and a positive screw is cut on one end side and a reverse screw is cut on the other end side. A screw portion 62e is provided. Then, slide base portions 62f are provided at both ends of the width adjusting shaft 62b in mesh with the screw portions 62e. The slide base 62f is slidably provided on the drive base 62 in the axial direction of the width adjusting shaft 62b. The rotating shafts 63 are fixed to the slide base 62f so as to face each other in the horizontal direction. Accordingly, when the width adjusting motor 62a is rotated, the sprocket 62d is rotated via the sprocket 62c, and the width adjusting shaft 62b is rotated along with this rotation. Then, the slide bases 62f provided at both ends of the width adjusting shaft 62b are moved in a direction away from or toward each other.

Unlike the advance / retreat axis of the upper press panel mobile robot 5, the rotation shaft 63 is provided with a rotation sprocket 63a at the base portion pivotally supported by the slide base portion 62f. The rotating sprocket 63a is rotatable in mesh with a sprocket 62h of a rotating motor 62g provided on the slide base 62f. The rotation motor 62g is controlled by a control unit (not shown) so as to rotate appropriately in the forward and reverse directions. The rotation shaft 63 is rotated by the rotation of the rotation motor 62g.
A corner 63 b is fixed to the distal end side of the rotation shaft 63. The corner 63b is provided so that the corner base 63c is fixed to the rotation shaft 63 and protrudes toward the other rotation shaft 63 that is installed facing the corner 63b. The swinging part 63 d protruding from the corner base part 63 c is provided in the axial direction of the rotating shaft 63 so as to be approximately equal to the length of the press panel W, and can swing as the rotating shaft 63 rotates.

Reference numeral 64 denotes a support claw. The support claws 64 are positioned at both ends of the swinging portion 63d, that is, near the drive base 62 side end and the other end of the swinging portion 63d so as to protrude toward the opposed rotating shaft 63 side. Fix it.
Thus, by providing the support claws 64 so as to face each other, the press panel W can be placed so as to be positioned inside the swinging portion 63d.

The support claws 64 provided on the lower press panel moving robot 6 are in a state of projecting toward the sides facing each other when the press panel W is supported, and in a direction in which the rotating shaft 63 rotates the swinging portion 63d downward. When the support claw 64 is turned, the support claw 64 is also turned downward to open the gap between the opposed support claws 64, and eventually the gap becomes larger than the press panel W, so that the support of the press panel W is released. .
The rotation of the rotation shaft 63 is performed when the advance / retreat arm 61 is positioned on the upper surface of the lower mold 3, and when the press panel W is placed on the upper surface of the lower mold 3, or from the lower mold 3 is pressed. This is performed when the press panel W after completion is removed.
Note that when the rotation shaft 63 is rotated and the press panel W is placed, the lower press panel moving robot 6 may be attached to the lower mold 3 if the support claw 64 is buffered with the lower mold 3. The support claw withdrawal hole 32 may be formed so that the support claw 54 can enter similarly to the claw cylinder 4 of the upper mold 2. If the support pawl escape hole 32 can be shared with the cylinder escape hole 31, the cylinder escape hole 31 and the support pawl escape hole 32 may be formed as a common escape hole. As a result, the support claw 64 can enter the claw-retracting hole 32 of the lower mold 3, so that the support claw 64 and the lower mold 3 do not interfere with the placement of the press panel W.

  When the lower mold press panel mobile robot 6 receives the press panel W placed on the lower mold 3, the lower mold press panel mobile robot 6 moves forward and backward under the control of a control unit (not shown). 61 is turned or expanded and contracted to move the support claw 64 provided on the rotation shaft 63 to the upper surface of the lower mold 3. At this time, the support claws 64 are not opposed to each other, and the rotation shaft 63 is rotated so as to protrude in the direction of the lower mold 3, so that the press panel W and the support claws 64 are not buffered. In this state, the support claw 64 enters the support claw escape hole 32 provided in the lower mold 3 and is positioned below the press panel W.

  In this state, under the control of a control unit (not shown), the pivot shaft 63 is pivoted so that the swinging portion 63d of the corner portion 63b is also pivoted, and a pair of pivot shafts 63 (swing portion 63d). ) Are moved so as to face each other, and the press panel W can be supported. In this state, the lower press panel mobile robot 6 is lifted slightly so that the support claw 64 is detached from the claw retracting hole 32 and separated from the upper surface of the lower mold 3. Then, the press panel W is removed from the press die 1a and separated. The operations of the series of lower press panel mobile robots 6 are all performed by control of a control unit (not shown). However, since these controls are not different from the normal operation control of the robot, detailed explanation is omitted. .

  A case where one-step pressing is performed using the upper mold 2, the lower mold 3, the upper mold press panel moving robot 5, and the lower mold press panel moving robot 6 formed as described above will be described below. In the description, a case will be described in which the press panel W is placed on the lower mold 3 and press processing is performed, and the press panel that has been processed is removed from the upper mold 2 and moved to the next process. This processing step is based on the flowchart shown in FIG. 7, and a control unit (not shown) controls each unit as shown in the flowchart shown in FIG.

The lower press panel moving robot 6 to which the press panel W is attached to the press die 1a is placed on the support claw 64 provided on the advance / retreat shaft 53 at the position separated from the upper die 2 before pressing. Is placed. The press panel W is placed by a material handling robot (not shown) that carries the press panel W controlled by the panel placement step S1. However, the placing means is configured such that the press panel W which is sequentially conveyed by a conveyor (not shown) or the like is automatically placed on the support claw 64 without depending on the material handling robot (not shown). In this case, the lower press panel mobile robot 6 may be provided with means for detecting that it is placed. Furthermore, you may collect | recover from the upper mold | type 2 or the lower mold | type 3 in the press work process before this press work process.
Next, the lower robot entrance step S2 is executed. Then, the lower press panel moving robot 6 moves the retreat arm 61 to the upper surface of the lower die 3 while rotating and extending and retracting to the upper surface of the lower die 3 with the press panel W placed on the support claws 64.

  A waiting claw rotation step S3 is executed after waiting for the lower mold press panel moving robot 6 to be positioned on the upper surface of the lower mold 3 along the route taught in advance, and the lower mold press panel moving robot 6 rotates the rotating shaft 63. It is moved to rotate so that the swinging part 63d is positioned on the lower mold 3 side. As described above, the rotation is performed by the rotation motor 62g rotating a predetermined amount, transmitting the rotation via each sprocket, and rotating the rotation shaft 63.

When the rotation shaft 63 rotates by a predetermined amount and the support claw 64 is positioned on the lower mold 3 side, the support of the press panel W has already been released, and the press panel W is placed at a predetermined position on the upper surface of the lower mold 3. It will be in the state.
When the support claw 64 is rotated by a predetermined amount to release the support, the lower mold robot retreat step S4 is executed, and the lower press panel mobile robot 6 released by releasing the support of the press panel W is moved forward and backward. 61 is rotated and advanced and retracted to a position where it is not buffered in the press die 1a. The retracted position at this time may be a position where the press panel W is placed next.
The upper die lowering step S5, which is the next step, is executed at the same time as the advance / retreat arm 61 is retracted, and the upper die 2 starts to descend in order to perform press working with the lower die 3.

  In each of the above steps, the movement of the lower press panel moving robot 6 in the lower mold robot entering step S2 and the lower mold robot retreating step S4 is compared with the conveyance in the downward suction state by the conventional suction pad. In addition, since it is placed and supported on the upper surface of the corner 63b and the support claw 64, there is no risk that the press panel W will come off and fall, so it can enter and retreat with a sufficient moving speed. It is possible to move to the step of smoothly descending without lowering the upper mold 2 while waiting for the panel moving robot 6 to escape.

After the mold 2 descends and comes into contact with the lower mold 3, pressure is applied between the upper mold 2 and the lower mold 3 in a press working step S 6, and the press panel W is pressed.
At this time, the claw cylinder insertion detection step S7 detects that the claw cylinder 4 has entered the cylinder retraction hole 31 of the lower mold 3. Further, the upper die bottom dead center passage detection step S8 detects that the upper die 2 has reached the bottom dead center. Each of these detections can be detected by separately providing a position detection means.

When the upper die bottom dead center passage detection step S8 detects the passage of the bottom dead center, the claw cylinder extension step S9 is executed assuming that the press working has been completed. In the claw cylinder extension step S9, the claw cylinder 4 of the upper mold 2 is controlled, the cylinder body 41 of the claw cylinder 4 is operated, and the rod 42 is extended. When the rod 42 of the claw cylinder 4 is extended, the rod 42 is positioned below the periphery of the press panel W between the upper mold 2 and the lower mold 3, and supports the press panel W when the upper mold 2 is raised. It is possible.
When the claw cylinder extending step S9 is executed, the upper mold raising step S10 is then executed. By executing the upper mold raising step S10, the upper mold 2 starts to rise. Then, the rod 42 of the claw cylinder 4 comes into contact with the lower side of the press panel W to support the press panel W as the upper die 2 is raised, and the upper die 2 continues to rise, so that the press panel W becomes the upper die 2. It will be supported and will rise with the upper mold 2.

While the upper die 2 is moving up, it is determined whether or not the slide interference zone passage detection step S11 has passed the slide interference zone where the lower press panel mobile robot 6 can enter between the upper die 2 and the lower die 3. Monitoring. When the slide interference zone passage detection step S11 detects passage, the upper robot approach step S12 is then executed. In the upper die robot entering step S12, even if the upper die press panel mobile robot 5 enters between the press dies 1a, it does not interfere with the upper die 2 and the lower die 3, so that the upper die press panel moving robot 5 is moved to the lower surface of the upper die 2. Control to enter and move to 21.
The upper press panel moving robot 5 is controlled by the upper die robot entering step S <b> 12 and moves by moving the advance / retreat arm 51 by turning and expanding / contracting, and the support claw 54 moves to a position where the press panel W can be received from the upper die 2.

Next, the claw cylinder reduction step S13 is executed in response to the arrival of the upper press panel mobile robot 5 at a predetermined position. In the claw cylinder reduction step S13, control is performed so that the rod 42 of the claw cylinder 4 is reduced. In response to this, the cylinder body 41 operates to reduce the rod 42, and the support of the press panel W is released.
The press panel W released from the support by the claw cylinder 4 slides down from the claw cylinder 4 so as to be supported by the support claw 54 of the upper mold press panel mobile robot 5 located below the lower surface 21 of the upper mold 21, It is supported by the mold press panel moving robot 5.

At this time, an upper type robot panel receiving detection step S14 executed subsequent to the claw cylinder reduction step S13 is executed to monitor whether the upper type press panel moving robot 5 supports the press panel W or not. When the upper robot panel receiving detection step S14 detects the support of the press panel W by the upper press panel moving robot 5, the upper robot retreating step S15 is executed following the detection.
In the upper die robot retracting step S15, the upper die press panel moving robot 5 supports the press panel W. Therefore, the upper die press panel moving robot 5 is retracted from the press die 1a. In accordance with the support, the upper press panel moving robot 5 is retracted from the press die 1a at a speed and path that have been taught in advance. At this time, when the supported press panel W is placed on the press die 1a in the next pressing step, the position to be retracted is moved to a predetermined press die 1a and placed on the press panel W. . Further, when the press panel W has finished the last press process or when the press process is only one process, the press panel W is moved to a predetermined processed press panel W loading position and conveyed by a separately provided robot or a belt conveyor. It is placed on a conveying means such as. At that time, the support claw 54 is separately controlled.

That is, the next process entry step S16 and the next process upper mold claw cylinder extension step S17 are examples.
The next process entry step S16 is executed subsequent to the upper robot retreat step S15 and is as described above. For example, in the case where the next process continues to perform press working, for example, the supported press panel W is It moves to the lower surface of the upper mold 2 in the next process.
In response to the movement of the upper die press panel moving robot 5 to the predetermined position in the next step entry step S16, the next step upper die nail cylinder extending step S17 is then executed.
In the next process upper mold claw cylinder extension step S17, the claw cylinder 4 of the upper mold 2 is operated and the rod 42 is advanced. Then, the rod 42 enters the lower surface side of the peripheral portion of the press panel W, and the press panel W can be supported. In this state, although not described as a step, the upper die press panel moving robot 5 is moved downward to support the press panel W on the upper die 2, and after supporting the press panel W is finished, the lower die is separated. 2 is separated from the press die 1a. And again, it waits for detection of slide interference zone passage detection step S11 in the previous process, and is controlled by upper mold robot approach step S12. Accordingly, thereafter, as in the case described above, the work of collecting the press panel W from the upper mold 2 in the previous process is engaged.

Further, each of these steps 1 to 15 is a process for performing one press work, and before and after that, there is a control step of the previous process, and later, a control step of the next process is appropriately provided.
Similar to the next process entry step S16 and the next process upper mold claw cylinder extension step S17, the panel placement step S1 may also be controlled by the lower mold press panel mobile robot 6 in the previous process. Similarly, when the previous process is a pressing process, the lower mold press panel moving robot 6 is moved on the upper surface of the lower mold 3 in the previous process. At this time, the support claws 64 of the lower press panel mobile robot 6 are positioned in the lower die 3 direction, that is, in a state of being directed downward. Thereby, the support nail | claw 54 is a state which does not interfere with the press panel W which complete | finished the press work in the front process currently mounted in the lower mold | type 3 upper surface.

In this state, the upper press panel mobile robot 5 is rotated so that the support shafts 54 provided on the different rotation shafts 63 face each other by rotating the rotation shaft 63. In this state, the support claw 54 is positioned below the press panel W and supports the press panel W from below the periphery of the press panel W.
In this state, the upper mold press panel mobile robot 5 completes the panel placement step S1, and subsequently executes the lower mold robot entry step S2. Then, step 3 and subsequent steps are repeated.

  Further, even when the lower mold press panel mobile robot 6 is detached from the press mold 1a in the lower mold robot retreating step S4, even if the lower mold press panel mobile robot 6 enters above the lower mold 3, the upper mold 2 and the lower mold 3 are used. In response to having passed through the slide interference zone in the previous process that does not interfere with the process, the pressed panel W that has been pressed is moved again from the lower die 2 in the press process that is the previous process, and the panel placement step S1 is performed again. Executed.

By controlling the operations of the upper press panel mobile robot 5 and the lower press panel mobile robot 6, and the upper die 2 and the lower die 3 including the pre-process and the post-process as described above, a plurality of press working steps are performed. Can also be used in the case of continuously performing.
Hereinafter, a case where the three press working steps are continuously performed will be described as an example.

FIG. 8 shows an example in which the three pressing steps are continuously performed. The first pressing step is the previous step X, the above step is the second pressing step and the current step Y, and the third step. The pressing step is a post-process Z.
Each process is provided with an upper mold 2 (2a, 2b) and a lower mold 3 (3a, 3b), which are controlled by control of a control unit (not shown).
The pre-process X is placement of the press panel on the upper die 2b and unloading of the processed press panel W from the lower die 3b, and the subsequent current process Y is mounting of the lower die 3 of the processed press panel W unloaded from the pre-process X. The post-process Z is the placement of the press panel on the upper die 2a and the removal of the processed press panel W from the lower die 3a.
Then, a pre-process upper mold press panel moving robot 5b is installed in each press mold 1a of the pre-process X, and the press panel W is set on the upper mold. Further, since the pre-process X is the first step of the press process, the pre-process upper die press panel moving robot 5b supports the press panel W by the press panel mounting robot B instead of receiving the press panel W from the press process. The nail | claw 54 is mounted so that support is possible. This placement position is also performed at a position where the upper press panel moving robot 5b in the previous process is detached from the press die 1b.

  The press panel W is placed on the upper die 2b in the press die 1b by the upper die press panel moving robot 5b on which the press panel W is placed, moving the advance / retreat arm 51 directly below the lower surface of the upper die 2b. When positioned, the rod of the claw cylinder of the upper mold 2b is extended so that the press panel W can be supported. Next, the upper press panel moving robot 5b in the previous process is detached from the press mold 1b and moved again to the press panel mounting position by the press panel mounting robot B. In this state, the press operation is performed on the press panel W. When the press work is completed, the press panel W is recovered by the lower press panel moving robot 6 in the current process Y. The collection at this time is performed with the lower press panel mobile robot 6 positioned on the upper surface of the lower die 3b of the previous process X. The collection at this time is positioned with the support claws 64 of the lower press panel mobile robot 6 oriented in the lower die 3 direction, that is, downward as described above. Thereby, the support nail | claw 54 is a state which does not interfere with the press panel W which complete | finished the press work in the front process currently mounted in the lower mold | type 3 upper surface.

At this time, the lower press panel moving robot 6 collects the press panel W from the previous process X, and the previous process upper mold press panel moving robot 5b places the next press panel W on the upper mold as described above.
In these series of operations, the upper die press panel moving robot 5b and the lower die press panel moving robot 6 in the previous process may be controlled so as to stand by so as not to interfere with each other. At this time, if the upper mold 2b of the previous process X exceeds 200 ° to 270 °, which is the slide interference area, the upper mold press panel moving robot 5b and the lower mold press panel moving robot 6 are moved to the upper mold 2b and It is possible to enter between the lower mold 3b, and since both robots support the press panel W on the upper surface of the support claw, both robots can increase the moving speed, so that the work is faster than before. Efficiency is good.

Further, when the lower press panel mobile robot 6 places the press panel W on the lower mold 3 of the current process Y, the press panel after the press working in the current process Y supported by the upper mold 2 is completed. The claw cylinder 4 of the upper mold 2 is moved so as to receive W, and the press panel W is supported by the upper mold press panel moving robot 5 and placed on the upper mold 2a of the post process Z.
Similarly, at this time, from the lower mold 3a of the post-process Z, the post-process lower mold press panel moving robot 6a collects the processed press panel W from the lower mold 3a in the same manner as the lower mold press panel moving robot 6 collects in the previous process X to recover.
Then, the post-process lower press panel moving robot 6a in the post-process Z moves the collected press panel W to the adjacent placement place C, and then releases the support by the support claws and places it on the placement place C. Instead of mounting on the mounting place C, control may be performed so that the transfer to the next process is transferred to a robot or a transporting means prepared in advance.

In the above example, the press process consisting of three processes has been described as an example, but the upper press panel moving robot 5 or the lower press panel moving robot 6 is similarly provided between the press dies in a plurality of processes of four or more processes. What is necessary is just to arrange | position alternately.
The press panel moving robot installed between the press dies moves the press panel between the previous process and the subsequent process. After collecting from the lower mold in the previous process, the press panel W is moved to the upper mold in the subsequent process. Alternatively, the press panel W may be placed on the lower die in the subsequent process after being collected from the upper die in the previous process, and may be selected and used as appropriate for each successive pressing process.
Furthermore, although it is configured in the same manner as the lower press panel mobile robot 6 with the advancing / retracting axis 53 of the upper press panel mobile robot 5 as a rotational axis, in the upper press panel mobile robot 5, the support pawl 54 must be rotated. However, the forward / backward shaft 53 may be fixed, and the support claws 54 may be positioned so as to face each other and be configured to support the press panel W.

  The present invention can be used for a press apparatus that performs press working, and can be effectively used particularly in an automatic manufacturing process such as an automobile manufacturing factory or an electrical equipment manufacturing factory.

It is front explanatory drawing showing a press device, and the state which exists in the top dead center before processing Front explanatory drawing of the state at the bottom dead center representing the press device A-A line cross-sectional explanatory view of FIG. Front explanatory view of the press device showing the state of top dead center at the end of press working (A) is an explanatory plan view and (b) is an explanatory front view. A lower press panel mobile robot is represented, (a) is a plan view, (b) is a front view. Operation flowchart showing an example of pressing process Explanatory drawing showing the example which consists of two or more processes Front explanatory view showing a conventional example

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Press apparatus 2 Upper mold | type 21 Lower surface 22 Die surrounding part 3 Lower mold | type 31 Cylinder escape hole 32 Support claw escape hole 4 Claw cylinder which is an upper mold support claw 41 Cylinder main body 42 Rod 5 Upper mold | type press panel mobile robot 51 Advance / retreat arm 52 Drive Base 52a Width adjusting motor 52b Width adjusting shaft 52c Sprocket 52d Sprocket 52e Screw part 52f Slide base 52g Rotating motor 52h Sprocket 53 Advance / retract shaft 53a Rotating sprocket 53b Corner 53c Corner base 53d Oscillating part 54 Support claw 6 Lower mold press panel Mobile Robot 61 Advance / Retreat Arm 62 Drive Base 62a Width Adjustment Motor 62b Width Adjustment Shaft 62c Sprocket 62d Sprocket 62e Screw Part 62f Slide Base 62g Rotation Motor 62h Sprocket 63 Rotation Shaft 63a Rotation Sprocket G 63b Corner 63c Corner base 63d Oscillating part 64 Support claw S1 Panel placement step S2 Lower robot entry step S3 Support claw rotation step S4 Lower robot retraction step S5 Upper mold lowering step S6 Pressing step S7 Claw cylinder insertion detection Step S8 Upper die bottom dead center passage detection step S9 Claw cylinder extension step S10 Upper die lifting step S11 Slide interference zone passage detection step S12 Upper die robot entry step S13 Claw cylinder reduction step S14 Upper die robot panel receiving detection step S15 Upper die robot Backward step S16 Next process entry step S17 Next process upper die claw cylinder extension step

Claims (5)

When a press panel is pressed between an upper mold and a lower mold, a moving device used for a pressing device on which the press panel is mounted and movable,
The press panel is mounted and has an advance / retreat arm that can advance and retreat to the press device. The advance / retreat arm is provided with a pair of rotary shafts opposed to a pair of end widths of the press mold, and each rotary shaft has a press. Support claws for supporting the panel are fixed opposite to each other, the press panel can be supported on the upper part of the support claws, and the support claws are rotated in directions away from each other by rotating the rotation shaft. A press panel moving robot used in a press apparatus, wherein the support of the press panel can be released. When pressing the press panel between the upper mold and the lower mold, the press panel is placed on the lower mold to perform press processing,
On the lower mold side, a press panel for pressing is placed and has an advance / retreat arm that can advance and retreat to the upper surface of the lower mold. The advance / retreat arm is provided with a pair of rotating shafts facing each other. The support claws for supporting the press panel are fixed to face each other, the press panel can be supported on the upper part of the support claws, and the support claws can be rotated away from each other by rotating the pivot shaft. A press panel moving robot that is moved to place the press panel on the upper surface of the lower mold;
The lower mold is provided with a support claw escape hole that can be rotated by a support claw provided in the press panel mobile robot at a position where the press panel mobile robot places the press panel.
A press apparatus characterized in that a press panel moving robot advances an advancing / retreating arm to position the press panel on the upper surface of the lower mold, and then the support claw is rotated in a support claw retracting hole to place the press panel on the lower mold. . When pressing the press panel between the upper die and the lower die, a press device capable of placing the press panel on the lower surface of the upper die,
Provided on the outer side of the peripheral edge of the press panel placed on the lower surface of the upper mold is provided with an upper mold support claw capable of moving back and forth to the peripheral edge of the press panel
On the upper die side, there is an advancing / retreating arm consisting of a pair of advancing and retreating shafts, which is mounted with a press panel to be pressed and can be advanced and retracted to the lower surface of the upper die. Equipped with a press panel moving robot located in
The press panel moving robot positions the press panel on the lower surface of the upper mold, the upper mold support claw advances and supports the press panel, and then the advance / retreat arm retracts, and the upper mold support claw is between the upper mold and the lower mold. A pressing device that supports a press panel until pressing. A press device that presses a press panel between an upper die and a lower die,
An upper die provided with an upper die support claw provided on the outer side of the peripheral edge of the press panel placed on the lower surface of the upper die and capable of moving back and forth to the peripheral edge of the press panel;
There is an advancing / retreating arm consisting of a pair of advancing and retreating shafts that is placed on the upper mold side and is mounted with a press panel for pressing, and can be moved back and forth to the lower surface of the upper mold. An upper press panel mobile robot positioned at
Located on the side of the lower mold, it has an advancing / retreating arm on which a press panel to be pressed is placed and can be moved back and forth to the upper surface of the lower mold. Support claws for supporting the press panel are fixed to the shaft so as to face each other, the press panel can be supported on the upper portion of the support claws, and the support claws are separated from each other by rotating the pivot shaft. A lower press panel moving robot that is rotated and places the press panel on the upper surface of the lower mold;
A support claw provided in the lower mold press panel moving robot enters the position where the lower mold press panel mobile robot places the press panel, and a support claw retracting hole that can be rotated is provided and an upper mold support claw provided in the upper mold enters. It consists of a lower mold with a possible upper mold support nail escape hole,
The upper die press panel moving robot positions the press panel on the lower surface of the upper die, the upper die support claw advances and supports the press panel, and then the advancing / retreating arm retracts, and the upper die support claw moves between the upper die and the lower die. The press panel is supported until press processing is performed, and after press processing, the advancing and retreating arm of the lower press panel mobile robot is advanced and positioned on the upper surface of the lower mold, and the support claw is rotated in the support claw retracting hole and pressed. Remove the press panel from the lower mold by supporting the panel and then retracting the advance / retreat arm,
Alternatively, the lower-type press panel mobile robot moves the advance / retreat arm to position the press panel on the upper surface of the lower mold, and then rotates the support claw in the support claw-retracting hole to place the press panel on the lower mold and press work After the press working, the upper die support claw that is in contact with the lower die advances to support the press panel, and then the upper die and the lower die are separated, and the upper die press panel moving robot moves forward and backward. Is advanced to the lower surface of the upper mold, and the upper mold moves the upper mold support claws back to release the support of the press panel, so that the press panel is supported by the advancing / retreating arm of the upper mold press panel moving robot, and the press panel is removed from the upper mold. A pressing device characterized by being removed. A press device that presses a press panel between an upper die and a lower die to perform a plurality of presses by arranging a plurality of press dies,
An upper die provided with an upper die support claw provided on the outer side of the peripheral edge of the press panel placed on the lower surface of the upper die and capable of moving back and forth to the peripheral edge of the press panel;
There is an advancing / retreating arm consisting of a pair of advancing and retreating shafts that is placed on the upper mold side and is mounted with a press panel for pressing, and can be moved back and forth to the lower surface of the upper mold. An upper press panel mobile robot positioned at
Located on the side of the lower mold, it has an advancing / retreating arm on which a press panel to be pressed is placed and can be moved back and forth to the upper surface of the lower mold. Support claws for supporting the press panel are fixed to the shaft so as to face each other, the press panel can be supported on the upper portion of the support claws, and the support claws are separated from each other by rotating the pivot shaft. A lower press panel moving robot that is rotated and places the press panel on the upper surface of the lower mold;
A support claw provided in the lower mold press panel moving robot enters the position where the lower mold press panel mobile robot places the press panel, and a support claw retracting hole that can be rotated is provided and an upper mold support claw provided in the upper mold enters. It consists of a lower mold with a possible upper mold support nail escape hole,
Multiple press dies consisting of an upper die and a lower die are arranged side by side, and a lower die press panel mobile robot and an upper die press panel mobile robot are alternately arranged between the press dies arranged in parallel to form a multi-step press die. ,
An upper press panel moving robot and a lower press panel moving robot arranged between the press dies can move the press panel between adjacent upper dies or lower dies,
An upper die press panel moving robot and a lower die press panel moving robot move a press panel removed from an upper die or a lower die to an adjacent upper die or lower die.

Images