This application claims the benefit of Japanese Application No. 2017-208204, filed on Oct. 27, 2017 and Japanese Application No, 2018-086544, filed on Apr. 27, 2018, the entire contents of each are hereby incorporated by reference in their entirety.
The present invention relates to a workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine.
As a workpiece (material) conveying apparatus of a transfer press machine in which a plurality of multi-process (multiple) dies are arranged side by side in a workpiece conveying direction for one slide and bolster, there is known a workpiece conveying apparatus configured to sequentially convey a workpiece between the multi-process (multiple) dies from a die on upstream to a die on downstream.
For example, a related-art transfer press machine performs transfer working as follows. As illustrated in
Further, in Patent Literature 1, as illustrated in
Patent Literature 1 here corresponds to Japanese Patent Application Laid-open No. 2004-50263.
In the related-art workpiece conveying apparatus described above, the two feed bars require a plurality of fingers corresponding to respective stages in order to hold workpieces having different shapes, sizes, or the like corresponding to the respective stages.
Therefore, when the die is changed to change the size, the shape, or the like of the workpiece in each process, the fingers are required to be replaced in accordance with the changed size, shape, or the like of the workpiece.
However, in such a case, the following problems are assumed to occur.
(A) Causing Reduction in Production Efficiency
Time is required for an operation of replacing individual fingers such as removing original fingers from the feed bars and replacing the original fingers with different fingers. As a result, the time of stopping the press line is increased. Stopping the press line for a long time period is disadvantageous in terms of enhancement in production efficiency.
(B) Causing Increase in Cost and Storage Space
Respective workpieces having different processing shapes and sizes require dedicated fingers having positions and postures corresponding to the workpieces, and hence the cost may be increased.
Further, a space for storing a plurality of different types of fingers is required, and hence space saving in a production plant is hindered.
(C) Causing Mistakes, Etc. Due to Complicated Replacement Operation
When the replacement operation is manually performed, erroneous tool replacement may be performed due to inattention of an operator.
Therefore, the conveyed workpiece may be failed to be clamped, which may cause conveyance operation stop (stop of a production line) or the like.
In view of the above, it is also conceivable to eliminate the replacement of the fingers by adopting a configuration in which each conveying tool including the fingers itself includes a drive mechanism for tool (finger) posture change.
However, when the individual conveying tool includes the drive mechanism, the weight and the load applied to the feed bar are increased. Thus, there arise such a problem that lifetime of the conveying apparatus for a transfer press machine is shortened (durability is reduced) and such a problem that it becomes difficult to increase a conveyance speed due to the increase in weight of the feed bar (movable portion).
Therefore, according to one aspect of the present invention, provided is a workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, the workpiece holding tool changing system being configured to change at least one of a relative position and a posture of a workpiece holding tool with respect to a feed bar, the workpiece holding tool being configured to hold a workpiece, the feed bar including at least one workpiece holding tool along a long-axis direction of the feed bar, the feed bar further including, for each workpiece holding tool, at least one set among: a set of an X-axis direction linear-motion mechanism configured to guide movement of the workpiece holding tool with respect to the feed bar in an X-axis direction corresponding to a feed direction of the workpiece and an X-axis direction movement inhibition mechanism configured to inhibit the movement; a set of a Y-axis direction linear-motion mechanism configured to guide movement of the workpiece holding tool with respect to the feed bar in a Y-axis direction corresponding to a clamp direction and a Y-axis direction movement inhibition mechanism configured to inhibit the movement; a set of a Z-axis direction linear-motion mechanism configured to guide movement of the workpiece holding tool with respect to the feed bar in a Z-axis direction corresponding to a vertical direction and a Z-axis direction movement inhibition mechanism configured to inhibit the movement; and a set of a posture changing mechanism configured to change the posture of the workpiece holding tool with respect to the feed bar and a posture change inhibition mechanism configured to inhibit the change in posture, wherein, under a state in which inhibition of one of the movement and the change in posture by one of corresponding one movement inhibition mechanism and the posture change inhibition mechanism is canceled, a workpiece holding tool changing apparatus provided separately from the feed bar changes one of the relative position and the posture of the workpiece holding tool to one of a desired relative position and a desired posture with respect to the feed bar, and wherein, after the change, the workpiece holding tool changing system is brought into a holding state in which the one of the movement and the change in posture is inhibited by the one of the corresponding one movement inhibition mechanism and the posture change inhibition mechanism.
Further, according to another aspect of the present invention, provided is a workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, the workpiece holding tool changing system being configured to change at least one of a relative position and a posture of a workpiece holding tool with respect to a feed bar, the workpiece holding tool being configured to hold a workpiece, the feed bar including at least one workpiece holding tool along a long-axis direction of the feed bar, the feed bar further including, for each workpiece holding tool, a set of an X-axis direction linear-motion mechanism configured to guide movement of the workpiece holding tool with respect to the feed bar in an X-axis direction corresponding to a feed direction of the workpiece and an X-axis direction movement inhibition mechanism configured to inhibit the movement, each workpiece holding tool being supported by the feed bar via: a first arm having a proximal end portion that is supported by a first-arm support base supported by the X-axis direction linear-motion mechanism, so as to be swingable in a substantially vertical plane via a first joint; a second arm having a proximal end portion that is supported on a distal end side of the first arm so as to be swingable in the substantially vertical plane via a second joint; and a posture changing mechanism provided on a distal end side of the second arm and configured to change the posture of the workpiece holding tool with respect to the feed bar, each workpiece holding tool including: a first-arm swinging inhibition mechanism configured to inhibit swinging of the first arm about the first joint; a second-arm swinging inhibition mechanism configured to inhibit swinging of the second arm about the second joint; and a posture change inhibition mechanism configured to inhibit change in posture by the posture changing mechanism, wherein, under a state in which inhibition of the movement, the swinging, and the change in posture by the X-axis direction movement inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism is canceled, a workpiece holding tool changing apparatus provided separately from the feed bar changes one of the relative position and the posture of the workpiece holding tool to one of a desired relative position and a desired posture with respect to the feed bar, and wherein, after the change, the workpiece holding tool changing system is brought into a holding state in which the movement, the swinging, and the change in posture are inhibited by the X-axis direction movement inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism.
Further, according to still another aspect of the present invention, provided is a workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, the workpiece holding tool changing system being configured to change at least one of a relative position and a posture of a workpiece holding tool with respect to a feed bar, the workpiece holding tool being configured to hold a workpiece, the feed bar including at least one workpiece holding tool along a long-axis direction of the feed bar, the feed bar further including, for each workpiece holding tool, a set of a rotation support mechanism configured to support the workpiece holding tool in a freely rotatable manner in a plane substantially parallel to one of a substantially horizontal plane and a substantially vertical plane of the feed bar and a rotation inhibition mechanism configured to inhibit the rotation, each workpiece holding tool being supported by the feed bar via: a first arm having a proximal end portion that is supported by a first-arm support base supported by the rotation support mechanism, so as to be swingable in the substantially vertical plane via a first joint; a second arm having a proximal end portion that is supported on a distal end side of the first arm so as to be swingable in the substantially vertical plane via a second joint; and a posture changing mechanism provided on a distal end side of the second arm and configured to change the posture of the workpiece holding tool with respect to the feed bar, each workpiece holding tool including: a first-arm swinging inhibition mechanism configured to inhibit swinging of the first arm about the first joint; a second-arm swinging inhibition mechanism configured to inhibit swinging of the second arm about the second joint; and a posture change inhibition mechanism configured to inhibit change in posture by the posture changing mechanism, wherein, under a state in which inhibition of the rotation, the swinging, and the change in posture by the rotation inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism is canceled, a workpiece holding tool changing apparatus provided separately from the feed bar changes one of the relative position and the posture of the workpiece holding tool to one of a desired relative position and a desired posture with respect to the feed bar, and wherein, after the change, the workpiece holding tool changing system is brought into a holding state in which the rotation, the swinging, and the change in posture are inhibited by the rotation inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism.
In the present invention, the workpiece holding tool changing apparatus is configured to change one of the relative position and the posture of a corresponding workpiece holding tool to one of a desired relative position and a desired posture with respect to the feed bar through engagement with a single engaging portion of the corresponding workpiece holding tool.
In the present invention, the transfer press machine includes a moving bolster, and, under a state in which the moving bolster and the feed bar are removed from the transfer press machine to an outside, the workpiece holding tool changing apparatus changes one of the relative position and the posture of the workpiece holding tool to one of the desired relative position and the desired posture with respect to the feed bar, and the workpiece holding tool changing system is shifted to the holding state after the change.
Now, with reference to the accompanying drawings, description is made of a workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine according to embodiments of the present invention. The present invention is not limited to the embodiments described below.
The present invention has been made in view of the above-mentioned circumstances, and has an object to provide a workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, which is capable of rapidly and accurately changing a position and a posture of a workpiece holding tool (workpiece holding apparatus) with respect to a feed bar in accordance with specifications (such as a shape, a size, and a material) of a workpiece to be held without causing mistakes or the like, with a relatively simple and low-cost configuration and while increase in weight of the feed bar is suppressed.
Here, in a first embodiment of the present invention, a workpiece conveying tool (workpiece holding tool or workpiece holding apparatus) for a transfer press machine itself does not have a drive ability, and as described below, includes a grip portion, a ball joint portion, an X-axis direction (feed direction) linear-motion mechanism (linear guide), a Y-axis direction (clamp direction) linear-motion mechanism (linear guide), and a Z-axis direction (lift direction) linear-motion mechanism (linear guide). All of those components are driven mechanisms.
A workpiece conveying apparatus (transfer) 100 in the first embodiment includes, as illustrated in
Each of the feed bars 101R and 101L includes, as illustrated in
Each of the holding tools T1 to Tn includes a finger 110 whose position and posture are adjusted so as to enable holding (supporting, placing, or the like) of a workpiece in accordance with the specifications (such as the size, the shape, and the material) of the workpiece to be conveyed (not shown) (see
In this case, in the first embodiment, the relative positions of the holding tools T1 to Tn with respect to the feed bar 101R (101L) and the relative position and the posture of the finger 110 can be changed in accordance with the size, the shape, or the like of the workpiece to be conveyed.
In the first embodiment, the relative positions and the postures are changed with a configuration in which the holding tools T1 to Tn or the feed bar 101R (101L) does not include a drive source for changing the relative positions and the postures.
Therefore, in a workpiece holding tool changing system according to the first embodiment, the positions and the postures of the holding tools T1 to Tn (fingers 110) with respect to the feed bars 101R and 101L are changed in accordance with the size, the shape, or the like of the workpiece by the following method (steps).
<Process of Changing Conveying Tool for Transfer Press Machine Itself>
(Step 1) In the first embodiment, a moving bolster (MB) is adopted as the bolster 2. Together with the moving bolster (MB) 2, the feed bar 101R (101L) and the holding tools T1 to Tn supported by receiving stands 3 are moved from the inside of the transfer press machine 1 to a die replacement position X (or Y) of the moving bolster (MB) 2 outside of a press line (see
In this case, the moving bolster (MB) refers to the bolster 2 configured to be separable from a bed of the transfer press machine 1, and configured to move from a bed position (press working position) in the transfer press machine 1 to the die replacement position X (die replacement position Y when the die replacement position Y is vacant) outside of the transfer press machine 1 by a drive mechanism included in the separated bolster 2 itself.
At the die replacement position X, workpiece holding tool changing robots (including running carriages) RR1 and RL1 stand by (same state as the state at the die replacement position Y in
In this case, each of the workpiece holding tool changing robots RR1 and RL1 and the workpiece holding tool changing robots RR2 and RL2 corresponds to an example of a workpiece holding tool changing apparatus in the present invention.
The die replacement position X (Y) is used as a place for replacement of a plurality of dies (lower dies, not shown), which are mounted along the long-axis direction of the feed bar 101R (101L) on the bolster 2 moved to the die replacement position X (Y), with another dies to be used in the next press working. In the first embodiment, in the manner to be described later, at the die replacement position X (Y), in addition to the replacement of the dies, the positions and the postures of the holding tools T1 to Tn with respect to the feed bars 101R and 101L are changed in accordance with the size, the shape, and the like of the workpiece to be held.
(Step 2) Subsequently in Step 2, the workpiece holding tool changing robot RR1 is moved along the robot running rail 4R to move to the upper side of the holding tool T1 (see
The workpiece holding tool changing robot RR1 is an articulated arm-type robot whose operation is to be controlled by a controller (control device) 500, and can be controlled to be movable along the robot running rail 4R.
(Step 3) Substantially in Step 3, a grip portion 120 of the holding tool T1 is held (clamped) by a first gripper 201 and a second gripper 202 of a gripper 200 provided to the workpiece holding tool changing robot RR1 (see
(Step 4) Subsequently in Step 4, as illustrated in a pneumatic system diagram of
In the first embodiment, as illustrated in
In this case, the ball joint portion 310 and the ball brake 311 correspond to an example of a posture changing mechanism and an example of a posture change inhibition mechanism configured to inhibit the change in posture in the present invention, respectively.
Further, in the first embodiment, as illustrated in
In this case, the X-axis direction linear mechanism 320 and the X-axis linear brake 321 correspond to an example of an X-axis direction linear-motion mechanism and an example of an X-axis direction movement inhibition mechanism configured to inhibit the movement in the present invention, respectively.
Further, as illustrated in
In this case, the Y-axis direction linear mechanism 330 and the Y-axis linear brake 331 correspond to an example of a Y-axis direction linear-motion mechanism and an example of a Y-axis direction movement inhibition mechanism configured to inhibit the movement in the present invention, respectively.
Further, as illustrated in
In this case, the Z-axis direction linear mechanism 340 and the Z-axis linear brake 341 correspond to an example of a Z-axis direction linear-motion mechanism and an example of a Z-axis direction movement inhibition mechanism configured to inhibit the movement in the present invention, respectively.
The X-axis linear brake 321, the Y-axis linear brake 331, and the Z-axis linear brake 341 can each be formed of a mechanism illustrated in
(Step 5) Subsequently in Step 5, the workpiece holding tool changing robot RR1 changes the position and the posture of the holding tool T1 by moving the grip portion 120 of the holding tool T1 so that the grip portion 120 achieves a predetermined position and a predetermined posture under control of the controller 500 (see
That is, along with the operation performed by the workpiece holding tool changing robot RR1 to change the position and the posture of the grip portion 120 of the holding tool T1, the position of the finger 110 is moved and changed via the X-axis direction linear mechanism 320, the Y-axis direction linear mechanism 330, and the Z-axis direction linear mechanism 340, and the posture of the finger 110 is freely changed via the ball joint portion 310.
(Step 6) After the change to a desired position and a desired posture of the holding tool T1 in Step 5, subsequently in Step 6, under a state in which the workpiece holding tool changing robot RR1 holds the grip portion 120 of the holding tool T1, a switching valve switches a path to stop supply of the air pressure to the air supply path of the lock system illustrated in
In this manner, the holding tool T1 is brought into a state in which the changed position and the changed posture with respect to the feed bar 101R are held. That is, Step 6 corresponds to a step of bringing the workpiece holding tool changing system into “a holding state in which the one of the movement and the change in posture is inhibited by the one of the corresponding one movement inhibition mechanism and the posture change inhibition mechanism” in the present invention.
(Step 7) After the actuation of the brakes in Step 6, subsequently in Step 7, the workpiece holding tool changing robot RR1 separates from the grip portion 120 of the holding tool T1, and moves on the robot running rail 4R along the extending direction of the feed bar 101R in order to change the position and the posture of the holding tool T2 adjacent to the holding tool T1 (see
The workpiece holding tool changing robot RR1 performs such processing of Step 1 to Step 7 for the holding tools T1 to Tn supported by the feed bar 101R, and the workpiece holding tool changing robot RL1 is controlled by the controller 500 to perform similar processing for the holding tools T1 to Tn supported by the feed bar 101L.
After the changes in position and posture of the holding tools T1 to Tn supported by the feed bar 101R and the holding tools T1 to Tn supported by the feed bar 101L are completed and the replacement of the dies of the bolster 2 is completed to complete a setup work, a work for replacing the bolster 2 and the feed bars 101R and 101L that are currently used is waited for.
According to the workpiece holding tool changing system for a workpiece conveying apparatus according to the first embodiment as described above, the holding tools T1 to Tn themselves do not include drive ability mechanisms including a drive source. The workpiece holding tool changing robot RR1 (RL1) configured to change the positions and the postures of the plurality of holding tools T1 to Tn sequentially changes the positions and the postures of the individual holding tools T1 to Tn while moving along the extending direction of the feed bar 101R (101L). Therefore, the tool replacement time can be greatly reduced while the increase in weight of the feed bar 101R (101L) is suppressed. Further, mistakes in adjustment of the position and the posture, which may occur in a case of a manual work by an operator, can be eliminated, which can contribute to enhancement in production efficiency.
Further, according to the first embodiment, the necessity of gathering tools in accordance with the specifications (such as the shape, the size, and the material) of the workpiece to be held is greatly reduced, and hence the space can be saved.
That is, according to the first embodiment, it is possible to provide the workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, which is capable of rapidly and accurately changing the position and the posture of the workpiece holding tool (workpiece holding apparatus) with respect to the feed bar in accordance with the specifications (such as the shape, the size, and the material) of the workpiece to be held without causing mistakes or the like with a relatively simple and low-cost configuration and while increase in weight of the feed bar is suppressed.
Now, a configuration example of the ball brake 311 configured to fix and release the ball joint portion 310 in the first embodiment is described with reference to
As illustrated in
The ball brake 311 includes brake movable elements 313A and 313B arranged on both sides of the spherical portion 312 so as to sandwich the spherical portion 312, and the brake movable elements 313A and 313B are supported by the distal-end movable base 300 so as to be freely swingable about swing fulcrums 314A and 314B.
In the brake movable elements 313A and 313B, cam followers 315A and 315B are freely rotatably mounted on a proximal end portion side on an opposite side of the spherical portion 312 on a distal end portion side across the swing fulcrums 314A and 314B.
Further, between the opposed cam followers 315A and 315B, a wedge element 316 is arranged so as to be freely advanceable and retreatable. The air supply path of the lock system illustrated in
Meanwhile, under a state in which the air pressure is supplied, the wedge element 316 is retreated toward the proximal end side against the elastic urging force by the spring or the like to allow the cam followers 315A and 315B to approach each other. In this manner, the brake movable elements 313A and 313B are swung about the swing fulcrums 314A and 314B so that the distal end sides thereof are separated away from each other to release the spherical portion 312. Thus, the grip portion 120 of the holding tool T1 and eventually the finger 110 can be freely displaced with respect to the distal-end movable base 300, that is, the posture can be freely changed.
Now, configuration examples of the X-axis linear brake 321, the Y-axis linear brake 331, and the Z-axis linear brake 341 in the first embodiment are described with reference to
The X-axis linear brake 321 is described as a representative. As illustrated in
In
As the X-axis linear brake 321, for example, a linear clamp manufactured by Nabeya Bi-tech Kaisha (NBK) (product name “Linear Clamper-Zee” (trademark)) can be used.
The X-axis linear brake 321 is configured to directly clamp the X-axis direction guide rail 322 so as to enable holding and positioning of the proximal-portion movable base 301 and eventually the holding tool T1 with respect to the X-axis direction guide rail 322.
For example, as illustrated in
On the left side in
That is, under a state in which the air pressure or the like does not act on the back surface of the piston 321A, the piston 321A is pressed by the spring 321B to be brought into a state of being elastically urged downward in
Meanwhile, when the air pressure or the like acts on the back surface of the piston 321A, the piston 321A is moved upward in
The X-axis linear brake 321, the Y-axis linear brake 331, and the Z-axis linear brake 341 in the first embodiment are not limited to the configuration exemplified in
In the first embodiment, as the holding tool changing robots RR1, RL1, RR2, and RL2, articulated arm-type robots as illustrated in
Further, in the first embodiment, the holding tool changing robots RR1, RL1, RR2, and RL2 that are articulated arm-type robots are described as the workpiece holding tool changing apparatus in the present invention. However, the workpiece holding tool changing apparatus in the present invention is not limited to those robots that enable movement with relatively high degree of freedom. The workpiece holding tool changing apparatus in the present invention may be a dedicated apparatus configured uniquely as the workpiece holding tool changing apparatus.
Further, the number of fingers 110 included in each of the holding tools T1 to Tn is not limited to 1, and each of the holding tools T1 to Tn may include a plurality of fingers.
Further, in the first embodiment, the bolster 2 is described as a moving bolster (MB). However, the present invention is not limited thereto. The bolster 2 may be a bolster fixed to the transfer press machine. Further, also the feed bar is not limited to the one configured to be freely removable from the workpiece conveying apparatus 100. That is, the present invention is also applicable to a case in which the posture and the position of the workpiece holding tool supported by the feed bar in the transfer press machine are changed. In other words, the present invention is applicable as long as the movable portion, for example, the feed bar, which is movable when the workpiece is conveyed, does not support a drive source for use to change the posture and the position of the workpiece holding tool.
Next, another embodiment of the present invention is described.
Similarly to the workpiece holding tool changing system for a workpiece conveying apparatus according to the first embodiment described with reference to
The second embodiment differs from the first embodiment in the holding tools T1′ to Tn′ arranged on the feed bar 101R (101L). Other configurations and functions are similar to those in the first embodiment, and hence description of those similar elements is omitted. Only the holding tools T1′ to Tn′ supported by the feed bar 101R (101L) are described in detail.
Also in the second embodiment, similarly to the first embodiment, the workpiece conveying tool (workpiece holding tool or workpiece holding apparatus) for a transfer press machine itself does not have a drive ability. As described below, the workpiece conveying tool includes a grip portion, a ball joint portion, an X-axis direction (feed direction) linear-motion mechanism (linear guide), a first arm (swinging mechanism), and a second arm (swinging mechanism). All of those components are driven mechanisms.
In the second embodiment, each of the feed bars 101R and 101L includes, as illustrated in
In this case, each of the holding tools T1′ to Tn′ corresponds to an example of the workpiece holding tool (workpiece holding apparatus) in the present invention.
Each of the holding tools T1′ to Tn′ includes the finger 110 whose position and posture are adjusted so as to enable holding (supporting, placing, or the like) of a workpiece in accordance with the specifications (such as the size, the shape, and the material) of the workpiece to be conveyed (not shown) (see
In the second embodiment, configurations of the finger, the ball joint portion, and other components are similar to those in the first embodiment. Therefore, the components are denoted by the same reference symbols, and detailed description of those components is omitted.
In the second embodiment, as illustrated in
The X-axis direction linear mechanism (linear-motion mechanism) 1320 (X-axis direction guide rail 1322) is provided on the upper surface of each of the feed bars 101R and 101L. On an upper surface of the X-axis direction linear mechanism (linear-motion mechanism) 1320 (X-axis direction guide rail 1322), a proximal-portion movable base 1301 is supported so as to be movable along the longitudinal direction of the X-axis direction linear mechanism (linear-motion mechanism) 1320 (X-axis direction guide rail 1322).
That is, the proximal-portion movable base 1301 is configured to be movable relative to the X-axis direction guide rail 1322 along the X-axis direction (feed direction, workpiece conveying direction, or long-axis direction of the feed bar 101R (101L)). With this configuration, the grip portion 120 and the finger 110 supported by the proximal-portion movable base 1301 can be moved along the X-axis direction.
Further, there is provided an X-axis linear brake 1321 configured to enable switching between a movement allowing state and a brake state (movement prohibiting state) of the proximal-portion movable base 1301 with respect to the X-axis direction linear mechanism (linear-motion mechanism) 1320.
The X-axis direction linear mechanism (linear-motion mechanism) 1320, the X-axis linear brake 1321, and the X-axis direction guide rail 1322 have the same configurations as those of the X-axis direction linear mechanism (linear-motion mechanism) 320, the X-axis linear brake 321, and the X-axis direction guide rail 322 in the first embodiment, respectively, while only the mounting places are different. In the first embodiment, the components are mounted on the side surface of the feed bar 101R (101L). However, in the second embodiment, there is exemplified a case in which the components are mounted on the upper surface of the feed bar 101R (101L). In the second embodiment, the X-axis direction linear mechanism 1320 and the X-axis linear brake 1321 can be mounted on a lower surface (substantially horizontal surface) or the side surface (substantially vertical surface) of the feed bar 101R (101L).
In this case, the X-axis direction linear mechanism 1320 and the X-axis linear brake 1321 correspond to an example of the X-axis direction linear-motion mechanism and an example of the X-axis direction movement inhibition mechanism configured to inhibit the movement in the present invention, respectively.
Further, in the second embodiment, as illustrated in
The first joint 1333 includes a first-arm brake mechanism 1331 and a first-arm speed reduction mechanism 1332 between the first-arm support base 1302 and the first arm 1330, and is configured to enable switching between a state in which the first arm 1330 is freely swingable with respect to the first-arm support base 1302 and a state in which the swinging is inhibited.
As the first-arm brake mechanism 1331, there can be adopted a mechanical brake mechanism configured to apply a brake by pressing a friction element against a rotor by an air pressure or the like, such as a drum brake or a disc brake. Otherwise, under a state in which no air is supplied (at the time of press working), the brake may be actuated by pressing the friction element of the brake by an elastic urging force of a spring or the like, and under a state in which air is supplied (at the time of tool posture changing work), the brake may not be actuated by separating the friction element of the brake away from a target to be braked against the elastic urging force of the spring or the like.
An electromagnetic brake may be alternatively adopted as the first-arm brake mechanism 1331. For example, “BXW” that is a commercially available model manufactured by MIKI PULLEY CO., LTD. can be adopted. In this case, under a state in which no electric power is supplied (at the time of press working), the brake may be actuated by pressing the friction element of the brake by an elastic urging force of a spring or the like, and under a state in which electric power is supplied (at the time of tool posture change), the brake may not be actuated by separating the friction element of the brake away from a target to be braked against the elastic urging force of the spring or the like.
Further, as the first-arm speed reduction mechanism 1332, for example, a speed reduction mechanism of a harmonic drive (trademark) type such as “CSF-25-160-2UH” that is a model manufactured by Harmonic Drive Systems Inc. can be used. However, the present invention is not limited thereto. A general speed reduction mechanism using a gear mechanism can be adopted.
When the first-arm speed reduction mechanism 1332 is provided between the first arm 1330 and the first-arm support base 1302, for example, a desired brake force (torque) can be generated with a small force (torque) of about 1/120 while the weight is reduced. In a case in which a desired brake force can be generated even when the first-arm speed reduction mechanism 1332 is omitted, the first-arm speed reduction mechanism 1332 can be omitted. The details described for the first-arm speed reduction mechanism 1332 are similarly applicable also to each speed reduction mechanism to be described below.
In this case, the first joint 1333 and the first-arm brake mechanism 1331 correspond to an example of a first joint and an example of a first-arm swinging inhibition mechanism in the present invention, respectively.
Further, in the second embodiment, a distal end of the first arm 1330 supports (pivotally supports) a second arm 1340 so that the second arm 1340 is freely swingable in the substantially vertical plane (in the plane substantially parallel to the Z-axis direction) via (about) a second joint 1343. Moreover, the second arm 1340 may be freely swingable in a plane inclined by a predetermined amount from the vertical plane.
The second joint 1343 includes a second-arm brake mechanism 1341 and a second-arm speed reducer 1342 between the first arm 1330 and the second arm 1340, and is configured to enable switching between a state in which the second arm 1340 is freely swingable with respect to the first arm 1330 and a state in which the swinging is inhibited.
In this case, the second joint 1343 and the second-arm brake mechanism 1341 correspond to an example of a second joint and an example of a second-arm swinging inhibition mechanism in the present invention, respectively.
The second-arm brake mechanism 1341 and the second-arm speed reducer 1342 can adopt configurations similar to those of the first-arm brake mechanism 1331 and the first-arm speed reduction mechanism 1332 described above.
Further, in the second embodiment, a distal end of the second arm 1340 supports the grip portion 120 and eventually the finger 110 via a third joint 1351 at free angles (postures) with respect to the second arm 1340.
The third joint 1351 corresponds to the spherical portion 312 of the ball joint portion 310 that is a universal joint. Similarly to the first embodiment, the ball brake 311 is provided so as to enable fixing of the spherical portion 312 (universal joint part) of the ball joint portion 310 at a desired position (posture position) (see
In this case, the third joint 1351 (ball joint portion 310) and the ball brake 311 correspond to an example of the posture changing mechanism and an example of the posture change inhibition mechanism configured to inhibit the change in posture in the present invention, respectively.
<Process of Changing Conveying Tool for Transfer Press Machine Itself>
Also in the second embodiment, similarly to the first embodiment, as illustrated in
How to change the positions and the postures of the fingers 110 of the holding tools T1′ to Tn′ is similar to that in the first embodiment.
Specifically, the grip portion 120 of the holding tool T1′ is held (clamped) by the first gripper 201 and the second gripper 202 of the gripper 200 provided to the workpiece holding tool changing robot RR1 as illustrated in
Next (corresponding to Step 4 described above), as illustrated in the pneumatic system diagram of
That is, this step corresponds to a step of bringing the workpiece holding tool changing system into “a state in which inhibition of the movement, the swinging, and the change in posture by the X-axis direction movement inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism is canceled” in the present invention.
Subsequently (corresponding to Step 5 described above), the workpiece holding tool changing robot RR1 changes the position and the posture of the holding tool T1′ by moving the grip portion 120 of the holding tool T1′ so that the grip portion 120 achieves a predetermined position and a predetermined posture under control of the controller 500 (see
That is, along with the operation performed by the workpiece holding tool changing robot RR1 to change the position and the posture of the grip portion 120 of the holding tool T1′, the position (position relative to the feed bar 101R) of the finger 110 is moved and changed via the movement of the X-axis direction linear mechanism 1320, the swinging of the first arm 1330, and the swinging of the second arm 1340, and the posture of the finger 110 is freely changed via the ball joint portion 310.
After that (corresponding to Step 6 described above), under a state in which the workpiece holding tool changing robot RR1 holds the grip portion 120 of the holding tool T1′, a switching valve switches a path to stop the supply of the air pressure to the air supply path of the lock system illustrated in
In this manner, the holding tool T1′ is brought into a state in which the changed position and the changed posture with respect to the feed bar 101R are held.
That is, this step corresponds to a step of bringing the workpiece holding tool changing system into “a holding state in which the movement, the swinging, and the change in posture are inhibited by the X-axis direction movement inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism” in the present invention.
The next step (Step 7 described above) and the subsequent steps are similar to those in the first embodiment, and hence description thereof is omitted here.
The workpiece holding tool changing robot RR1 performs such processing for the holding tools T1′ to Tn′ supported by the feed bar 101R, and the workpiece holding tool changing robot RL1 is controlled by the controller 500 to perform similar processing for the holding tools T1′ to Tn′ supported by the feed bar 101L.
According to the workpiece holding tool changing system for a workpiece conveying apparatus according to the second embodiment as described above, the holding tools T1′ to Tn′ themselves do not include drive ability mechanisms including a drive source. The workpiece holding tool changing robot RR1 (RL1) configured to change the positions and the postures of the plurality of holding tools T1′ to Tn′ sequentially changes the positions and the postures of the individual holding tools T1′ to Tn′ while moving along the extending direction of the feed bar 101R (101L). Therefore, the tool replacement time can be greatly reduced while the increase in weight of the feed bar 101R (101L) is suppressed. Further, mistakes in adjustment of the position and the posture, which may occur in a case of a manual work by an operator, can be eliminated, which can contribute to enhancement in production efficiency.
Further, according to the second embodiment, the necessity of gathering tools in accordance with the specifications (such as the shape, the size, and the material) of the workpiece to be held is greatly reduced, and hence the space can be saved.
That is, according to the second embodiment, it is possible to provide the workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, which is capable of rapidly and accurately changing the position and the posture of the workpiece holding tool (workpiece holding apparatus) with respect to the feed bar in accordance with the specifications (such as the shape, the size, and the material) of the workpiece to be held without causing mistakes or the like with a relatively simple and low-cost configuration and while increase in weight of the feed bar is suppressed.
In particular, according to the second embodiment, each of the holding tools T1′ to Tn′ is placed on the upper surface of the feed bar through intermediation of the first-arm support base 1302, and the first arm 1330 and the second arm 1340 are configured to swing in the substantially vertical plane (in the plane substantially parallel to the Z-axis direction). Therefore, as compared to a case in which the holding tools are mounted on the side surface of the feed bar as in the first embodiment, the possibility that the holding tools T1′ to Tn′ are brought into contact with the dies is reduced even under a state in which the feed bar is close to the dies. As a result, a space in the clamp direction can be reduced, which can contribute to reduction in installation space of the press line and enhancement of the degree of freedom in installation or the like.
The present invention is not limited thereto, and can adopt a configuration in which the first-arm support base 1302 is mounted on the side surface (substantially vertical surface) or the lower surface (substantially horizontal surface) of the feed bar.
Next, another embodiment of the present invention is described.
Similarly to the workpiece holding tool changing system for a workpiece conveying apparatus according to the first embodiment or the second embodiment, holding tools T1″ to Tn″ in a third embodiment themselves do not include drive ability mechanisms including a drive source, and the workpiece holding tool changing robot RR1 (RL1) configured to change the positions and the postures of the plurality of holding tools T1″ to Tn″ sequentially changes the positions and the postures of the individual holding tools T1″ to Tn″ while moving along the extending direction of the feed bar 101R (101L).
In the third embodiment, the X-axis direction linear mechanism (linear-motion mechanism) 1320 and the X-axis linear brake 1321 arranged on the upper surface of the feed bar 101R (101L) in the second embodiment are omitted. There is instead provided a rotation support mechanism configured to support each of the holding tools T1″ to Tn″ so as to be freely rotatable in a substantially horizontal plane on the upper surface of the feed bar 101R (101L). Other configurations and functions are similar to those of the second embodiment. Therefore, the components are denoted by the same reference symbols, and description of those components is omitted.
Also in the third embodiment, similarly to the first embodiment and the second embodiment, the workpiece conveying tool (workpiece holding tool or workpiece holding apparatus) for a transfer press machine itself does not have a drive ability. As described below, the workpiece conveying tool includes a grip portion, a ball joint portion, a rotation support mechanism, a first arm (swinging mechanism), and a second arm (swinging mechanism). All of those components are driven mechanisms.
In the third embodiment, as illustrated in
The rotation support mechanism 2320 includes a fixing part on an outer peripheral side thereof, which is supported in a fixed manner to a rotation base portion 2301 fixed to the upper surface of each of the feed bars 101R and 101L, and a rotation movable portion on an inner side thereof, which is mounted on a first-arm support base 2302.
Therefore, in the third embodiment, the first-arm support base 2302 is supported so as to be freely rotatable (turnable or swingable) in the substantially horizontal plane (in other words, freely rotatable about a rotation center axis 2323 (substantially vertical axis)) with respect to the rotation base portion 2301 and eventually each of the feed bars 101R and 101L via the rotation support mechanism 2320.
In this case, there is exemplified a case in which the rotation support mechanism 2320 is mounted on the upper surface of the feed bar 101R (101L). However, the rotation support mechanism 2320 can be mounted on the side surface (substantially vertical surface) or the lower surface (substantially horizontal surface) of the feed bar 101R (101L).
Further, the rotation support mechanism 2320 in the third embodiment includes a rotation base portion brake mechanism 2321 and a rotation base portion speed reduction mechanism 2322 between the rotation base portion 2301 and the first-arm support base 2302, and is configured to enable switching between a state in which the first-arm support base 2302 is freely rotatable about the rotation center axis (substantially vertical axis) 2323 with respect to the rotation base portion 2301 and a state in which the rotation is inhibited.
In this case, the rotation support mechanism 2320 and the rotation base portion brake mechanism 2321 correspond to an example of a rotation support mechanism and an example of a rotation inhibition mechanism configured to inhibit the rotation in the present invention, respectively.
The rotation base portion brake mechanism 2321 can adopt a configuration similar to that of the above-mentioned first-arm brake mechanism 1331.
Configurations other than the rotation support mechanism 2320 and the rotation base portion brake mechanism 2321 are similar to those of the second embodiment, and hence detailed description thereof is omitted.
<Process of Changing Conveying Tool for Transfer Press Machine Itself>
Also in the third embodiment, similarly to the first embodiment and the second embodiment, at the die replacement position X, the workpiece holding tool changing robots (including running carriages) RR1 and RL1 that are movable along the robot running rails 4R and 4L extending along the long-axis direction of the feed bars 101R and 101L change the positions and the postures of the fingers 110 of the holding tools T1″ to Tn″ in accordance with the size, the shape, and the like of the workpiece to be held.
How to change the positions and the postures of the fingers 110 of the holding tools T1″ to Tn″ is similar to that in the second embodiment.
Specifically, the grip portion 120 of the holding tool T1″ (see
Next (corresponding to Step 4 described above), as illustrated in the pneumatic system diagram of
That is, this step corresponds to a step of bringing the workpiece holding tool changing system into “a state in which inhibition of the rotation, the swinging, and the change in posture by the rotation inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism is canceled” in the present invention.
Subsequently (corresponding to Step 5 described above), similarly to the second embodiment, the workpiece holding tool changing robot RR1 changes the position and the posture of the holding tool T1″ by moving the grip portion 120 of the holding tool T1″ so that the grip portion 120 achieves a predetermined position and a predetermined posture under control of the controller 500.
That is, along with the operation performed by the workpiece holding tool changing robot RR1 to change the position and the posture of the grip portion 120 of the holding tool T1″, the position (position relative to the feed bar 101R) of the finger 110 is moved and changed via the rotation of the rotation support mechanism 2320, the swinging of the first arm 1330, and the swinging of the second arm 1340, and the posture of the finger 110 is freely changed via the ball joint portion 310.
After that (corresponding to Step 6 described above), under a state in which the workpiece holding tool changing robot RR1 holds the grip portion 120 of the holding tool T1″, a switching valve switches a path to stop the supply of the air pressure to the air supply path of the lock system illustrated in
In this manner, the holding tool T1″ is brought into a state in which the changed position and the changed posture with respect to the feed bar 101R are held.
That is, this step corresponds to a step of bringing the workpiece holding tool changing system into “a holding state in which the rotation, the swinging, and the change in posture are inhibited by the rotation inhibition mechanism, the first-arm swinging inhibition mechanism, the second-arm swinging inhibition mechanism, and the posture change inhibition mechanism” in the present invention.
The next step (Step 7 described above) and the subsequent steps are performed similarly, and hence description thereof is omitted here.
The workpiece holding tool changing robot RR1 performs such processing for the holding tools T1″ to Tn″ supported by the feed bar 101R, and the workpiece holding tool changing robot RL1 is controlled by the controller 500 to perform similar processing for the holding tools T1″ to Tn″ supported by the feed bar 101L.
According to the workpiece holding tool changing system for a workpiece conveying apparatus according to the third embodiment as described above, the holding tools T1″ to Tn″ themselves do not include drive ability mechanisms including a drive source. The workpiece holding tool changing robot RR1 (RL1) configured to change the positions and the postures of the plurality of holding tools T1″ to Tn″ sequentially changes the positions and the postures of the individual holding tools T1″ to Tn″ while moving along the extending direction of the feed bar 101R (101L). Therefore, the tool replacement time can be greatly reduced while the increase in weight of the feed bar 101R (101L) is suppressed. Further, mistakes in adjustment of the position and the posture, which may occur in a case of a manual work by an operator, can be eliminated, which can contribute to enhancement in production efficiency.
Further, according to the third embodiment, the necessity of gathering tools in accordance with the specifications (such as the shape, the size, and the material) of the workpiece to be held is greatly reduced, and hence the space can be saved.
That is, according to the third embodiment, it is possible to provide the workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, which is capable of rapidly and accurately changing the position and the posture of the workpiece holding tool (workpiece holding apparatus) with respect to the feed bar in accordance with the specifications (such as the shape, the size, and the material) of the workpiece to be held without causing mistakes or the like with a relatively simple and low-cost configuration and while increase in weight of the feed bar is suppressed.
In particular, according to the third embodiment, the X-axis direction linear mechanism (linear-motion mechanism) 1320 and the X-axis linear brake 1321 arranged on the upper surface of the feed bar 101R (101L) in the second embodiment are omitted, and there are instead provided the rotation support mechanism 2320 and the rotation base portion brake mechanism 2321 on the upper surface of the feed bar. Further, the first arm 1330 and the second arm 1340 are configured to swing in the substantially vertical plane (in the plane substantially parallel to the Z-axis direction). Therefore, as compared to the case in which the workpiece holding tool is mounted on the side surface of the feed bar as in the first embodiment, the possibility that the workpiece holding tool is brought into contact with the dies is reduced even under the state in which the feed bar is close to the dies. As a result, a space in the clamp direction can be reduced, which can contribute to reduction in installation space of the press line and enhancement of the degree of freedom in installation or the like.
The present invention is not limited thereto, and can adopt a configuration in which the rotation support mechanism 2320 and the rotation base portion brake mechanism 2321 are mounted on the side surface (substantially vertical surface) or the lower surface (substantially horizontal surface) of the feed bar.
As described above, according to the present invention, it is possible to provide a workpiece holding tool changing system for a workpiece conveying apparatus of a transfer press machine, which is capable of rapidly and accurately changing a position and a posture of a workpiece holding tool (workpiece holding apparatus) with respect to a feed bar in accordance with specifications (such as a shape, a size, and a material) of a workpiece to be held without causing mistakes or the like with a relatively simple and low-cost configuration and while increase in weight of the feed bar is suppressed.
The embodiments described above are merely examples for describing the present invention. It goes without saying that various modifications may be made without departing from the gist of the present invention.
Number | Date | Country | Kind |
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JP2017-208204 | Oct 2017 | JP | national |
JP2018-086544 | Apr 2018 | JP | national |
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Number | Date | Country | |
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20190126340 A1 | May 2019 | US |