JPH0669591B2 - Transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Object of the Invention (1) Field of Industrial Application The present invention relates to a transfer device for sequentially transporting a workpiece along a press line to a lower press position.

(2) Conventional technology Conventionally, a feed bar having fingers as a holding device capable of holding a workpiece is arranged along a press line, and the feed bar is moved up and down, and is moved back and forth in a direction along the press line. The workpieces are sequentially conveyed by reciprocating.

(3) Problems to be Solved by the Invention In the above-mentioned conventional apparatus, in order to accurately hold and convey the work piece on the fingers, there are a plurality of holding points by the fingers for the work piece, and those holding points. It is necessary to set at a sufficient pitch also in the direction along the press line, but in that case, the width of the finger standby position provided adjacent to the press position on the press line in the direction along the press line, It has to be set to a size large enough to accommodate all of the fingers arranged at the set pitch, which causes a problem of increasing the size of the press line and increasing the cost.

The present invention has been proposed in view of the above, and an object thereof is to provide a transfer device that can solve the above problems of the conventional device.

B. Structure of the Invention (1) Means for Solving the Problems The transfer device according to the present invention comprises an elevating frame along a press line, and a reciprocating motion provided in the elevating frame in the direction along the press line. A movable carriage, a movable base that is provided on the elevating frame so as to reciprocate in the same direction as the carriage, and a movable base that is connected to the carriage, and a movable base that is reciprocally movable in the same direction as the carriage. The workpiece holding device, a conversion device that brings the holding devices closer to and away from each other, and an interlocking device that is provided between the conversion device and the carriage. The device includes an opening mechanism that operates the conversion device during the forward movement of the carriage to keep the holding devices in a separated state at all times, and an opening mechanism during the backward movement of the carriage. Has a closing mechanism that activates the conversion device when both holding devices reach a predetermined standby position so that the holding devices are closest to each other.

(1) Operation According to the above configuration, while the carriage is moving forward, that is, while the workpiece is being conveyed, the two holding devices are always separated from each other in the direction along the press line. The object can be held accurately without bending.

Further, when the two holding devices reach the predetermined standby position while the carriage is retracting, the two holding devices are in the state of being closest to each other, so that the space occupied by the two holding devices at the standby position in the direction along the press line. Can be narrowed.

(3) Example An example of the present invention will be described below with reference to the drawings.

In FIGS. 7 and 8, 1 is a base formed between the uprights 2 on which a carriage 3 which can be carried in and out is set. A lower die 4 is arranged on the carriage 3 at a predetermined pitch P, so that a press position 5 is formed. An idle position 6 is provided on the uppermost press position 5, and a carry-in section 7 is further provided on the upper hand. Further, the carry-out section 8 is provided below the lowermost press position 5, and thus a press line 9 extending from the carry-in section 7 to the carry-out section 8 is formed. A pair of left and right elevating frames 10 are arranged along the press line 9, and the elevating frames 10 are interlocked with an elevating device 11 provided on the base 1 side. Below the carry-out section 8 and adjacent to the base 1, an operating device 13 having a cam shaft 12 interlocked with a press drive device (not shown) is provided, and the elevating device 11 is attached to the operating device 13. It is linked and linked. That is, the lifting device 11 includes a rack shaft 14 that is interlocked with the cam shaft 12 via a cam, a cam follower, and a lever (none of which is shown) and is reciprocally movable along the press line 9, and the rack shaft 14.
Pinion 15 that meshes with 14 and rack 16 on this pinion 15
The lifting shaft 17 is interlocked with the lifting shaft 17, and a guide device 18 for the lifting shaft 17 and the like. The upper end of the lifting shaft 17 is fixed to the lifting frame 10. The elevating shafts 17 are provided at a plurality of places, and for that purpose, a synchronizing device 19 is provided between the elevating shafts 17.

As shown in FIGS. 1 to 6, a carriage 20 is provided at one end of the elevating frame 10 so as to be reciprocally movable back and forth in a direction along the press line 9. That is, the carriage 20 is of a gate type and is fitted into the elevating frame 10 from above. The carriage 20 is supported and guided by a plurality of nipping rollers 22 which vertically engage with guide rails 21 mounted on both sides of the elevating frame 10, and is also laterally It is guided by a plurality of side rollers 23 that engage from the direction. The cam shaft 12 and the carriage 20 are interlockingly connected by a feeding device 24 by interlocking with a press driving device through a reduction gear device 33. That is, the feeding device 24 is
, A L-shaped feed lever 27 attached to the support shaft 26 so as to swing back and forth, a cam follower 28 attached to the feed lever 27, and a roller 29 attached to the upper end of the feed lever 27. , A guide body 31 attached to the carriage 20 to form a vertical slide groove 30 into which the roller 29 fits, and a restraining cylinder 32 for biasing the cam follower 28 against the feed cam 25. .

A quadrangular cylindrical connecting shaft 35 is arranged along the elevating frame 10, and one end of the connecting shaft 35 is connected to the carriage 20 and is connected to the elevating frame 10 side via an appropriate supporting device (not shown). It is movably supported. Movable bases 36 are integrally attached to a plurality of places on the connecting shaft 35 at predetermined pitches P, respectively. On the movable table 36, a first support table 37 is provided at a position on the transport section 8 side, and a second support table is provided at a position on the loading section 7 side.
40 are supported via rails 38 and slide bodies 39 so that they can approach and separate from each other. A first crossbar 42 is disposed between first support bases 37 facing each other around the press line 9 via a mounting / demounting device 41, and a second support base 40 is also provided.
A second crossbar 44 is arranged between the two via a desorption device 43. Further, vacuum cups 45 and 46 as two holding devices capable of holding the workpiece 86 are attached to the crossbars 42 and 44, respectively.

The bracket 50 is hung from the lower surface of the carriage 20,
A horizontal shaft 51 orthogonal to the press line 9 is attached to the bracket 50. This horizontal axis 51 has an inverted T-shaped lever
The central portion of 52 is supported, and the lever 52 can swing back and forth around the horizontal axis 53. A cam follower 54 is attached to the front end of the lever 52, and a cam plate 56 having a closed-loop cam surface 55 on which the cam follower 54 acts is provided with the lift frame 10.
Mounted on. The cam surface 55 of the closed loop is a straight downward surface 55a, a straight upward surface 55b facing the middle portion of the downward surface 55a, continuous to both ends of the upward surface 55b, and the outer side is higher. The upward slopes 55c, 55d distributed to the front and back, and the end portions of these slopes 55c, 55d and the downward face 55
It is formed by the inversion surfaces 55e and 55f which are continuous with both ends of a.
A restraint cylinder 57 is arranged between the rear end of the lever 52 and the carriage 20, and the restraint cylinder 57 is a cam follower.
This is an example of an application device that presses 54 onto the cam surface 55. A push-pull shaft 58 is arranged along the elevating frame 10, and the push-pull shaft 58 is interlocked with the lever 52 via an operation direction changing device 71 and an interlocking position changing device 59. That is, the push / pull shaft 58 is disposed above the connecting shaft 35, and one end side thereof is supported by the operation direction changing device 71 of the rack and pinion configuration attached to the carriage 20 side. Further, the operation shaft 72 supported by the operation direction changing device 71 is supported by the carriage 20 via the support member 60 so as to be freely pushed and pulled. The operating shaft 72
An arm 62 is vertically swingably connected to one end of the arm 62 through a pin 61, and a horizontal pin 63 attached to the free end of the arm 62 is formed in the lever 52 and has a vertically elongated arc-shaped long hole 64. Is fitted to. A cylinder device 65 is arranged between the arm 62 and the lever 52 in order to change the fitting position of the lateral pin 63 with respect to the elongated hole 64. By changing the cylinder device 65 to a multi-stage type, the fitting position is changed to a plurality of stages. You can The arm 62 is a rod part
The fixing pin 67, which is constituted by fitting the 62A and the tubular portion 62B and is operated by the cylinder device 66 attached to the tubular portion 62B, is inserted or pulled out between the both portions 62A and 62B. , The arm 62 itself can be switched between the linked state and the disconnected state. A vertical through hole 68 is formed in the operating shaft 72, and a cylinder device 70 for operating a fixing pin 69 that can be inserted into and removed from the through hole 68 is attached to the carriage 20. The fixing device 73 is constituted by these 68 to 70. To do.

Each movable table 36 is provided with a conversion device 75 for converting the pushing / pulling movement of the pushing / pulling shaft 58 into the approaching / separating movement of the two support pedestals 37, 40. That is, the push / pull shaft 58 is formed by connecting a plurality of members, and the movable table 36 is formed on the rack shaft portion 58a. A frame body 76 slidably supporting the rack shaft portion 58a is attached to the movable base 36, and the frame body 76 has a pinion 77 that meshes with the rack shaft portion 58a and a mesh with the pinion 77. A rack shaft 78 parallel to the rack shaft portion 58a is provided. Then, the rack shaft 78 is fixed to the first support base 37.
In addition to 79, the push-pull shaft 58 is fixed 80 to the second support base 40.

Thus, the restraint cylinder 57, the cam plate 56, the lever 52, the arm 62, the operating shaft 72, the operating direction changing device 71 and the push-pull shaft.
Reference numeral 58 constitutes an interlocking device S. The interlocking device S is provided between the conversion device 75 and the carriage 20, and
During the forward movement of the
An opening mechanism that always keeps 45 and 46 in a separated state, and while the carriage 20 is retracting, when both holding devices 45 and 46 reach the standby position 85 shown in FIG. 7, the conversion device 75 is operated to hold them. The devices 45, 46 have a closing mechanism that brings them closest to each other.

Next, the operation of the above embodiment will be described.

FIG. 10 shows a state in which the lifting frame 10 has been raised immediately after finishing the feed A of the workpiece 86, and the feed lever 27 is at the forward limit shown by the chain line in FIG. The connecting shaft 35, the movable base 36, etc. are held at the forward limit (rightward limit in FIG. 1). At this time, the first and second crossbars 42, 44 are in the widest state in which they are most separated from each other, and the cam follower 54 is located on the reversing surface 55f. Further, the fixing pin 69 is detached from the through hole 68, and the fixing pin 67 integrally connects the rod portion 62A of the arm 62 and the cylindrical portion 62B.

From this state, when the elevating frame 10 is lowered by the elevating device 11 and the vacuum cups 45 and 46 are switched to the inoperative state, the work piece 86 is moved to the idle position 6 immediately below the first and second crossbars 42 and 44, and the press. It can be unloaded to the position 5 or the carry-out section 8.

After the workpiece 86 is unloaded, the elevating frame 10 is raised again by the elevating device 11, and then the first and second crossbars 42, 44 are retracted. This retraction is performed by swinging the lever 27 backward (X) (FIG. 1) with the restraining cylinder 57 contracted and the cam follower 54 biased downward. That is, by the swing X of the feed lever 27, the carriage 20, the connecting shaft
35, movable base 36, both support bases 37, 40 are moved backward, and crossbars 42, 44 integrated with both support bases 37, 40 are also moved backward to move between press positions 5, 5 as shown in FIG. To the standby position 85, which is the center of the vehicle, and the first half B of the backward movement process ends. During this backward movement process, the cam follower 54 moves upward
The lever 52 is pushed and guided by the 55d and descends, so that the lever 52 is swung backward around the horizontal axis 53. As a result, the actuating shaft 72 is moved to the carry-in section 8 side via the arm 62, and this movement causes the push-pull shaft 58 to be pulled D via the actuating-direction changing device 71 to move the second support base 40 in the same direction. Further, the pulling movement D causes the rack shaft 78 to move in the reverse direction via the rack shaft portion 58a and the pinion 77, and moves the first support base 37 in the reverse direction. Are moved toward each other in the direction along the press line 9 (reduction movement).

When the two crossbars 42,44 are retracted to the standby position 85 as shown in FIGS. 5,7,8,11, the feed lever 27 is stopped, and the two crossbars 42,44 are closest to each other. It is kept in the state. In this state, the lower die 4 and an upper die (not shown) cooperate with each other to perform a predetermined press working on the workpiece 86.

After this processing, swing the feed lever 27 backward to the limit X,
The second half C of the backward process is performed. That is, by the rearward swing X of the lever 27, the carriage 20, the connecting shaft 35, the movable base 35,
The two crossbars 42, 44 are moved through the two supports 37, 40 so that the crossbars 42, 44 are positioned at the good press position 5 as shown in FIG. During this movement, the cam follower 54 in FIG.
Comes into contact with the upward inclined surface 55c, so that the lever 5
The 2 is swung backward around the horizontal axis 53. This swinging acts as a pushing movement E of the pushing / pulling shaft 58 via the arm 62 and the like, and this pushing movement E is separated from the crossbars 42, 44 (widening movement) via the pinion 77, the rack shaft 78 and the like. Become. This makes the first
As shown in Fig. 2, crossbars 42 and 44 are located on both sides of the center of the press at the hand press position 5, and both vacuum cups 45 and 46 are located.
Will face the work piece 86 at an optimal location. Next, the elevating device 11 lowers the elevating frame 10 and the like to bring the vacuum cups 45 and 46 into contact with the workpiece 86 and to cause an adsorption action. Then, the lifting frame 10 and the like are raised again to lift the workpiece 86.

Next, the restraining cylinder 57 is extended to bring the cam follower 54 into contact with the downward surface 55a. In this state, the feed lever 27 at the rear end is rocked to the front end Y (FIG. 1), and the carriage 20 is advanced to feed the work 86 by the predetermined pitch P. At this time, cam follower 54
Is guided by the straight downward surface 55a, the lever 52
Does not oscillate, so that both crossbars 42, 44 are fed or moved forward in the separated state to the state shown in FIG. Next, lower the elevating frame 10 etc. and place the vacuum cups 45, 46
The workpiece 86 can be wholesaled by deactivating it and then raising it. At this time, the cam follower 54 is on the reversing surface 55f, and the restraining cylinder 57 is contracted to restrain the cam follower 54 from descending to return to the initial state.

By repeating the above work, the workpiece 85 can be sequentially sent to the lower press position 5, and at that time, the carry-in part 7 is moved to the idle position 6, the idle position 6 is pressed to the press position 5, and the press position 5 is moved to the carry-out part 8. You can also send.

FIG. 9 shows a circuit for switching the restraining direction of the restraining cylinder 57, and a safety circuit is provided in its pneumatic system.

In FIG. 2, the working distance L from the horizontal axis 53 to the axis of the horizontal pin 63 can be arbitrarily changed by moving the horizontal pin 63 in the elongated hole 64 by the operation of the cylinder device 65. With this change, the horizontal pin 63
You can change the moving length of the
Since the push / pull amount (length) of the push / pull shaft 58 can be changed, the distance between the crossbars 42, 44 at the time of widening can be changed according to the shape of the workpiece 86.

For example, when the workpiece 86 has a small shape and stable feed can be performed without performing expansion / contraction, both cross bars 42,44
In the reduced width state, the cylinder device 70 in the fixing device 73 of FIG. 2 is operated to insert the fixing pin 69 into the through hole 68. Then, the cylinder device 66 is operated to pull out the fixing pin 67, and the rod portion 62A and the cylinder portion 62B of the arm 62 are slidable (extendable / contractible). When the desired press work is performed in this state, the swing of the lever 52 is absorbed by the sliding movement of the arm 62 and therefore is not transmitted to the push / pull shaft 58, and the push / pull shaft 58 is fixed by the fixing pin 69. Since they are locked, the desired workpiece 86 can be fed with the crossbars 42 and 44 maintaining the narrowed state.

C. Effect of the Invention According to the present invention, since both holding devices are always separated from each other in the direction along the press line while the carriage is moving forward, that is, while the workpiece is being conveyed, the workpiece is bent. It can be held accurately and stable high-speed conveyance becomes possible.

Further, when the two holding devices reach a predetermined standby position while the carriage is retracted, the two holding devices are in the state of being closest to each other, and therefore, the space occupied by the two holding devices in the standby position in the direction along the press line. It is possible to reduce the size of the press line and reduce the cost of the entire press line.

[Brief description of drawings]

The drawings show one embodiment of the present invention. Fig. 1 is a side view of the feed drive unit with a part thereof being cut away, Fig. 2 is a side view of a part of the feed drive unit with being partly cut away, and Fig. 3 is a side view of the same. Partial cutaway front view, FIG. 4 is the same part notched plan view, FIG. 5 is a partially cutaway plan view of the movable table part, FIG. 6 is the same vertical sectioned front view, and FIG. 7 is an overall side view. FIG. 8 is the same plan view, FIG. 9 is a system diagram, and FIGS.
The figure is a perspective view for explaining the operation. 9 ... Press line, 10 ... Lifting frame, 20 ... Carriage, 36 ... Movable table, 45,46 ... Vacuum cup as holding device, 75 ... Conversion device, 85 ... Standby device, 86
…… Workpiece, S …… Interlocking device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Michio Sakiyama 1-6-14 Edobori, Nishi-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. (56) Bibliography 54-31682 JP, U 59-26434 (JP, B2)

Claims (1)

[Claims] 1. A lift frame (10) along a press line (9), and a carriage (20) provided on the lift frame (10) and capable of reciprocating back and forth in a direction along the press line (9). A movable table (36) connected to the carriage (20) and reciprocally provided in the lifting frame (10) in the same direction as the carriage (20); and the carriage (36) attached to the movable table (36). 20) Retaining device (4) for two workpieces (86) that can be reciprocated in the same direction as
5, 46) and a conversion device (75) for bringing the holding devices (45, 46) closer to each other and separating them from each other, and provided between the conversion device (75) and the carriage (20). The interlocking device (S), the interlocking device (S) is provided with the interlocking device (S) while the carriage (20) is moving forward.
5) The holding mechanism (45, 46) is actuated to hold the two holding devices (45, 46) in a state where they are always separated from each other, and when the carriage (20) is retracting, both holding devices (45, 46) have a predetermined standby position ( 8
And a closing mechanism for actuating the conversion device (75) to bring the holding devices (45, 46) closest to each other when reaching 5).