JPS6312698B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a compact press machine, in particular a press machine for secondary processing, in which a robot for inputting workpieces and for taking out products is built into the internal space of the machine.

It is well known that recently, robot systems based on press processing modernization systems have been adopted to automate and save labor in press processing.

A robot system usually consists of a feed bar with a chuck, a lift unit, a vacuum pump, a vacuum unit, and is made with various accessories.
This is a system in which press robots are operated centrally as a whole.

Currently, however, a robot that implements such a system has a main body including a driving part and an operating mechanism placed on the side of a press machine, and a feed bar and a chuck protruding from the feed bar are moved laterally to the press machine to feed the workpiece. The most commonly used mechanism is to load and unload products.

However, with this type of robot with a lateral feed mechanism currently in use, the workpiece case and product case are placed on the side of the press machine, so the main body including the drive system is further away from the press machine. Overall, it has the drawback of requiring a large installation space.

Although this has great effects in terms of automation and labor saving, it causes inconvenience in terms of handling.
Moreover, it is fatal from the point of view of effective use of factory land.
Improvements have been thoroughly considered.

Therefore, the inventors of the present invention have been responding to the trends of the times and have made efforts to study this issue, and as a result, they have succeeded in developing a robot using mechanical means. We have found a compact robot mechanism that is suitable for internal installation by utilizing the space behind the processing section of a press machine, and have proposed a compact press machine with a built-in robot by incorporating the robot into the press machine.

This robot has a drive unit, a lift cam and a feed cam fitted to the drive shaft, each swing arm that touches the periphery of each cam and operates according to the cam shape, and a feed bar that is linked to each swing arm. It is composed of a series of operating systems that transmit operations, and has made significant achievements in making conventional robots significantly more compact and improving the practicality of press machines. However, the space behind the C-shaped frame As a result, a series of operating system mechanisms have come to occupy the space, and there has been a demand for further compactness.

The present invention has thus been invented with the aim of immediately responding to such further demands, simplifying the mechanism, improving compactness, and making effective use of installation space.

That is, the feature of the present invention is that instead of the series of mechanical operating mechanisms of the previously proposed press machine with a built-in robot,
Positioning control of industrial machinery such as DC servo motors,
This uses a forward/reverse motor that is suitable for feed control, etc. One of these is a motor drive that is installed behind the processing section of the press machine and is capable of forward and reverse movement and is operated by numerical settings using a computer, etc. and a pair of left and right chucks protruding into the processing section of the press machine, and includes a feed bar that performs the required operation by driving the motor, and a pinion at the end of the connecting shaft connected to the drive shaft of the drive section. The feed bar and the pair of chucks protruding from the bar are made movable in the left and right direction by fitting into the rack and engaging with a rack provided on the feed bar.
At least, the first and second motors are used, and the first motor is used as a feed motor, and the second motor is used as a lift motor, and the vertical and horizontal movement of the feed bar is made possible by the engagement of the pinion and rack. .

Hereinafter, specific embodiments of the present invention will be described based on the accompanying drawings.

Figures 1 and 2 are a front view and a side view of essential parts of a press machine in which the feed bar can be moved vertically and horizontally as an embodiment of the press machine of the present invention, and is a single-acting crank type press machine with a C-shaped frame. Slide lower flange 21 and bolster 22 in press machine A
The figure shows an embodiment in which a robot C for inputting workpieces and taking out products, which is an important part of the present invention, is placed in an intermediate position space behind the processing section B, which is sandwiched between has been done.

Here, the press machine itself is a known single-acting or double-acting crank type press machine with a C-shaped frame, and there is no need to explain it, so the explanation thereof will be omitted.

In the configuration shown above, the robot has a driving part D behind the processing part B, an actuating part E consisting of a feed bar in front of the driving part D, and a pair of left and right chucks attached to the ends of arms protruding from the bar. The drive section D has at least two forward and reverse motors, a feed motor 1 and a lift motor 2, housed in a case 3, and a processing section B. It is installed at the back.

Of these, the first feed motor 1 has a driven shaft 8 connected to its drive shaft 4 via an intermediate shaft 5 interposed with universal joints 6 and 7. A pinion 9 is fitted to the end.

On the other hand, the second lift motor 2 has a pinion 11 similarly attached to the tip of a drive shaft 10 extending therefrom.

Both of the pinions 9 and 11 are linked to an actuating section E disposed on the front surface of the driving section D.

The operating section E on the front surface of the drive section includes a support rod 13 housed in a support guide 12 extending vertically at an intermediate position of the processing section and a C-shaped support guide extending laterally at the lower end of the support rod 13. A feed bar 15 that moves in the left and right direction within the feed bar 14 and a pair of left and right chucks 17, 1 provided via a pair of arms 16, 16' that protrude forward from the front slit portion of the C-shaped support guide 14 from the feed bar 15.
7', and racks 18 and 19 are carved on one side of the vertical support rod 13 and on one side of the feed bar 15 (in the figure, on the upper side), and each of the drive parts D Pinions 9 and 11 are in mesh with each other.

Here, it is preferable that each of the first and second motors 1 and 2 uses a DC servo motor,
These are given numerical data from a computer such as a microcomputer, and their respective operation timings are set. Therefore, although not shown, a digital servo calculation unit is attached, which freely controls the DC servo motor using commercially available digital commands and realizes positioning operation, rotation angle, or ultra-precise speed control.

An example of such an arithmetic unit is a sequence circuit that performs automatic operation, manual operation, and home return operation based on operation input signals, and an arithmetic circuit that converts numerical commands such as a digital switch into a pulse train, and a digital servo circuit. A numerical value is set in the position counter by inputting a numerical command, and this set numerical value is changed to V- by the speed setting.
The pulse train (pulse frequency) generated from the F converter is subtracted. This pulse train is simultaneously sent to the digital servo circuit, and is used as a command pulse to drive the motor through a deviation counter and a D/A converter. In this case, the pulse train is sent out by the amount set in the position counter, and when the set value is reached, the position counter outputs a zero output signal and the pulses stop.

Thus, when the command pulse stops, the motor moves by the amount of deviation of the digital servo and then stops, completing positioning.

Of course, it goes without saying that any device suitable for such arithmetic device can be used as appropriate.

Further, when transmitting the drive from the driving section D to the operating section E, the pinions 9 and 11 at the end of the connecting shaft of the first motor 1 and the end of the driving shaft of the second motor 2, and the racks 18 and 18 in the operating section E, are connected to each other. The meshing engagement with 19 is
Each has one pinion, but each pinion may have two or more, so the number of motors is two.
It is also possible to increase the number. In addition, the motor may be used with a speed reducer as appropriate.

Note that the arm 1 protruding from the feed bar 15
The chucks 17 and 17' at the ends of the feed bars 6 and 16' are most commonly vacuum chucks, but other chucks such as magnetic chucks can also be used, and these can be replaced with the feed bar 15 as appropriate. ing. In the figure, 20 is a scrap outlet.

The press machine of the present invention has a robot mechanism which is a main part thereof and is constructed as described above.Next, the functions of the above-mentioned robots and the operation of the press machine will be explained based on FIGS. 3 to 5. FIG. 3 shows a case where the feed bar 15 has moved to the left end position in the figure and is in the stage of picking up the workpiece M and taking out the processed product.

Of course, there is no product at this position initially, and this is the starting position for picking up and feeding the workpiece M.

In this case, the slide lower flange 21 of the press
The bolster 22 on the table is in the non-pressing position, the press upper die 23 and lower press die 24 are opened, the feed bar 15 is lowered, and the left end chuck 17 picks up the required workpiece M from the workpiece placement part 25. On the other hand, the chuck 17' on the right end side is located above the press lower die 24 and, if there is a product P, in a state where it is ready to start taking out.

In this situation, the rotation of the second lift motor 2 and the rotation of the first feed motor 1
According to the rotation, the former moves the feed bar 15 upward by the engagement of the pinion 11 and the rack 19, and simultaneously moves the chuck 17 at the left end upward together with the workpiece M. As the motor 1 rotates, the pinion 9 engages with the rack 18 to move the guide bar 15 in the lateral direction, thereby transporting the workpiece M to the press position. At this time, on the other hand, in the chuck 17' on the right end side, the product P
If there is, press the lower mold 2 with the same operation.
4 and conveyed to the product storage section 26.

The two-dot chain line in FIG. 6 shows a state in which the workpiece M is transported to the press processing position and the product P is transported to the product storage section 26 by such transport.
The workpiece M is input and the product P is discharged, respectively.

Next, after the above conveyance is completed, the workpiece M newly brought to the press position is pressed, and the product P
When discharging, the second motor 2
is rotated in the opposite direction from the previous time, and the feed bar 1 is rotated by the meshing action between the rack 19 of the support rod and the pinion 11.
5 along with chucks 17 and 17',
A workpiece M is placed on a predetermined lower die 24. At this time, the chuck 17' on the right end side simultaneously releases the product P onto the product placement section 26.

In this way, when the preparation for press working is completed, the feed bar 15 is moved upward again to the position shown by the two-dot chain line by the aforementioned drive, and the chuck 17 on the left end side is rotated in the opposite direction by the first feed motor 1. In accordance with the accompanying leftward movement of the feed bar 17, the feed bar 17 moves slightly to the left, and at the same time, the chuck 17' on the right end also releases the product P and moves slightly to the left to release the pressed material. The chucks 17, 17' are retracted from the processing space to a neutral position, and the upper and lower press dies 23, 24 are fitted together, allowing press work to be carried out without any trouble according to a known operating system.

Thereafter, the above operations are repeated again according to the forward and reverse rotation of the first and second motors, and press working, loading of workpieces, and product removal are performed continuously and automatically.

Therefore, the feed bar 15 in the above explanation
As mentioned above, the series of timings for the vertical movement and lateral movement of the The counter-rotation movement is precisely controlled.

In addition, although the above description describes the case of one press machine, it is possible to arrange two or more press machines in parallel, and in this case, the drive section is arranged in that one press machine, By extending the feed bar support guide and feed bar, all machines can be operated at the same time.

As described above, the present invention utilizes the space behind the processing section of a press machine to assemble a robot in which the main parts can be placed, and the robot itself is compact and easy to assemble into the press machine. In addition, since the space behind the processing section is used, the installation space is significantly reduced, making it possible to create a truly compact press machine.
There is nothing in the way of the front of the device, and operations such as mold replacement are extremely easy.

In particular, the present invention is more compact than a mechanical drive mechanism disposed in the space behind the press machine, and allows effective use of the space of the C-shaped frame. By using , the series of timing control becomes easier, and
Improve practicality.

In addition, since the robot is integrated with the press machine behind the processing section of the press machine, unlike conventional robot systems, it is much easier to move the press machine as it can be handled as if it were a part of the press machine. In addition, it can be attached to conventional C-frame single-acting or double-acting crank presses with a small amount of modification, so it has great practical effects, not only automating presses and saving labor, but also shortening work time. Moreover, the press machine of the present invention is highly expected to be used in terms of effective utilization of factory land in consideration of installation space.

[Brief explanation of the drawing]

FIGS. 1 and 2 are front views and longitudinal sectional side views of essential parts of a press according to the present invention, and FIGS. 3 to 5 are illustrations of working steps of the press according to the present invention. A... Press machine, B... Processing section, C... Robot, D... Drive section, E... Operating section, 1... Feed motor (first motor), 2... Lift motor (second motor), 4, 10...drive shaft, 5...
Intermediate shaft, 6, 7... Universal joint, 8... Driven shaft,
9, 11... Pinion, 12, 14... Support guide, 13... Support rod, 15... Feed bar, 1
6,16'...Arm, 17,17'...Chuck, 18,19...Rack.

Claims (1)

[Claims] 1. A C-frame crank type press machine, which is equipped with a robot for inputting workpieces and taking out products, and the robot is arranged behind the processing section of the press machine and is capable of forward and reverse rotation. and a feed bar, which has a drive section consisting of a motor operated by numerical settings by a computer, etc., and a pair of left and right chucks protruding into the processing section of the press machine, and performs the required operation by driving the drive section. A pinion is fitted to the end of the connecting shaft connected to the drive shaft of the drive unit, and engages with a rack provided on the feed bar to move the feed bar and a pair of chucks protruding from the bar in the left and right direction. A press machine equipped with a robot is characterized in that it is movable. 2. A press machine with a robot according to claim 1, wherein the motor of the drive section is a DC servo motor. 3 A crank type press machine with a C-shaped frame, which is equipped with a robot for loading workpieces and taking out products, and the robot is located behind the processing section of the press machine and is capable of forward and backward movement, and is controlled by a computer, etc. The first, activated by numerical settings.
a second drive unit comprising at least two motors;
It has a pair of left and right chucks protruding from the processing section of the press machine, and includes a feed bar that performs the required operation by driving the drive section, and the first motor is a feed motor and its drive shaft A pinion is fitted to the end of the connecting shaft connected to the feed bar and meshes with the rack provided on the feed bar.
The motor is a lift motor, and has a pinion attached to the end of its drive shaft, which meshes with a rack provided on a support rod that integrally holds the feed bar together with the pinion that meshes with the feed bar. A press machine equipped with a robot, characterized in that the feed bar and a pair of chucks protruding from the bar are movable left and right and up and down. 4. A press machine with a robot according to claim 3, wherein the first and second motors are DC servo motors. 5. The robot-equipped press machine according to claim 3 or 4, wherein the connecting shaft is connected to the drive shaft of the first motor by a universal joint. 6. A press machine with a robot according to claim 3, 4, or 5, wherein the motor is provided with a speed reducer.