JP2008114249A - Tandem press system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tandem press system which is fast in the workpiece conveying speed and has high productivity. <P>SOLUTION: The workpiece conveying device 10 to be provided between presses is provided with first, second and third arms 21, 31, 41 which are rotatably mounted around first, second and third rotary shafts 18, 28, 38, a workpiece sucking means which is disposed on the side of the tip of the third arm 41 and the sucking means for a workpiece and an attitude adjusting means by which the attitude of the sucking means 51 is adjustable by utilizing the forth rotary shaft 48 on the side of the third arm. The first arm 21 is rotated around the first rotary shaft 18, the second arm 31 is rotated around the second rotary shaft 28 and also the sucking means 51 is formed so as to be movable within the press working region and the attitude of the sucking means is adjustable while rotating the third arm 41 around the third rotary shaft 38. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a tandem press system in which a plurality of presses are arranged in tandem in the X direction and each press is pressed while conveying a workpiece from an upstream press to a downstream press using a workpiece conveying device.

  A so-called transfer press system is compared with a tandem press system.

  The former has a plurality of dies (stages) arranged in the workpiece conveyance direction (X direction), can move in three dimensions in the front-rear direction of the press (Y direction... Orthogonal to the X direction), and is long in the X direction. A pair of feed bars is provided, and a number of fingers and suction means provided on both feed bars are synchronously moved so that a workpiece (pressed product) is sequentially conveyed to each stage and pressed.

  In the latter, as shown in FIG. 7, a plurality of presses (arbitrary front and rear presses are represented as 1M and 1N) are arranged in tandem in the X direction, and a workpiece transfer device 10P provided between the conventional presses (1MP and 1NP). This is a structure in which each press is pressed while conveying the workpiece from the upstream press 1M to the downstream press 1N.

  That is, the former is constructed by integrating the press and the workpiece conveying device, and the latter is constructed by combining the plurality of presses 1P and the plurality of workpiece conveying devices 10P. It can be said that the latter is more effective in the actual production operation. In FIG. 7, 2 is a crown, 3 is a column, 4 is a connecting rod, 5 is a slide, and 8 is a bolster. The slide 5 is slidably mounted in the vertical direction (Z direction) along the slide guide 5G. The upper die 6 is attached to the lower surface of the slide, and the lower die 7 is attached to the upper surface of the bolster. Each mold can be exchanged by a mold exchange operation.

  In addition, the latter can be said to be effective in system construction. That is, the flexibility of selection of the press (machine) 1P and the workpiece transfer device 10P is wide. On the other hand, depending on the type and structure of the adopted workpiece transfer device 10P, there are some deficiencies (problems) from the viewpoint of improving production efficiency. That is, there is a problem in that it is impossible to quickly perform an important mold exchanging operation in production, and there is a danger. Therefore, the conventional press system is compared and examined in relation to the workability such as mold exchange and the method and structure of the work transfer device adopted.

  As the workpiece transfer device 10P, there is a case where a versatile articulated robot (see Patent Document 1) that is easily available due to its superior construction period and device economy may be employed. This robot (conventional example 1) includes a fixed base 1, a turning head 3, a parallelogram link mechanism (fixed base 1, first arm 5, link 9, auxiliary link 7 and the like), and a second arm 12, and is parallel. This is a horizontal plane turning method in which a quadrilateral link mechanism or the like is turned in a horizontal plane. Since the spring device 20 is provided, the operating angle of the second arm 12 can be reduced as compared with the conventional robot.

  However, in this horizontal plane turning type robot structure, the fixed base 1 and the drive source (servo motor 4 etc.) must be placed (fixed) on the installation location (the work floor 71 in FIG. 7). It is difficult and difficult to adjust the surrounding work and mold replacement. That is, it is unsuitable as the work transfer device 10P of the tandem press system.

  On the other hand, a vertical in-plane linear motion conversion / oscillation type work transfer device (see Patent Document 2) has been proposed. This device 10P (conventional example 2) includes a work gripping portion 15, a pair of slide driving means 11, 12 arranged in a V shape, and a link 8 connecting each slider 4, 5 and the work gripping portion 15. , 6 (a parallelogram link mechanism including a pair of links 7), and the workpiece gripping portion 15 is reciprocated in the workpiece conveyance (X) direction while converting two linear motions into angular motions of the two links. In this configuration, the entire structure including the drive source (servo motor 19 or the like) is disposed in the crown-side upper space (upper installation space 73 in FIG. 7). That is, the entire link mechanism is turned by a combination of the first slide and the second slide, and the workpiece gripping portion 15 connected to the link mechanism is moved in the X direction. Therefore, compared with the prior art example 1, since the work floor (71) can be vacated, the adjustment work accompanying the mold replacement is relatively easy.

  This conventional example 2 has a drawback of a linear motion slide / swing arm type work transfer device (conventional example 2P, see Patent Document 3) [Mold exchange operation is difficult, high weight and large size, excessive on the floor (back) High installation space is required, etc.]. Incidentally, this conventional example 2P includes a linear motion device 45 including a column and a slider installed on the work floor, a slide block 37, a guide rod 32, a swing arm 24, an output unit 25, and a clamper 21. By moving the guide block 32 up and down by the device 45 and swinging the guide rod 32 by the swing servo motor 41, the tip (drive point 33) is positioned and the movement is enlarged by the lever ratio, and the crossbar 18 is moved. This is a configuration for positioning the (work gripper). Therefore, it is difficult to replace the mold, and the weight is large and large.

  Next, the horizontal movement of the carrier 13 moving along the beam 11 laid between the presses, the rocking movement of the rocking table 19, the rocking center of the rocking table 19, and the cross bar 17 (vacuum cup 53). A workpiece transfer device (conventional example 3) is proposed that is configured to be able to transfer the workpiece W in the T direction by combining the combined motion with the expansion and contraction motion that changes the relative distance between the workpiece and the tilt motion by the rotation of the crossbar 17. (See Patent Document 4).

According to the conventional example 3 (horizontal / swing / extension / rotation movement method), the work floor can be vacated as in the case of the conventional example 2, and in the case of the conventional example 2 (2P). It seems that miniaturization in the X and Y directions can also be achieved as compared to FIG.
JP-A-10-118967 JP 2004-344899 A US Pat. No. 6,382,400 JP-A-2005-161406

  By the way, in the press or the press system, there are specific technical matters relating to the involvement of the press side and the work conveying apparatus side. That is, it is necessary to avoid the interference between the components, obtain a workpiece transfer speed that can satisfy the production plan, have a superior apparatus economy, and ensure stable operation. That is, the workpiece transfer device should not be easily selected only from the situation on the workpiece transfer device side. In addition, it must be able to meet even more stringent demands (for example, cost reduction, high product accuracy, high speed, small size, light weight, and easy maintenance).

  However, in the case of Conventional Example 1, in addition to the above disadvantages, there is a fatal problem that interference between the mold and the work transfer device is unavoidable. By the way, in order to eliminate the disadvantages (difficulty of mold replacement work) of the conventional example 1, contrary to the case of the conventional example 1, the installation place of the drive source (servo motor 4 etc.) and the fixed base 1 is used as the work floor. The conventional example 1A of the suspended structure changed from the surface into the upper installation space 73 is assumed.

  However, even in this virtual conventional example 1A, the structure around the auxiliary link (7 etc.) enters the press working region and swivels in the horizontal plane due to the structure of the in-plane swiveling method. Interference is inevitable. As a result, Conventional Example 1 (1A) has a limited adaptability to the type of mold. Even if a special and expensive mold can be introduced, it is necessary to operate with a significantly reduced production speed (spm ... pressing speed).

  In the case of the conventional example 2, in order to move the workpiece gripping part 15 above the mold, as is apparent from FIGS. 1 to 5, the movable structure (the first link 7, the workpiece gripping part 15 and the like) is slid. And bolster (mold) must be pushed and moved from the right tilt direction (or left tilt direction) to the vertical space. That is, interference with the slide is likely to occur.

  As an interference avoidance measure, it is necessary to provide a space for thrusting into the slide (a notch groove formed by complicated processing). Since this measure requires modification to the main components (slides) of the press, it causes mechanical strength reduction and vibration, and has a great influence on the press working accuracy. It is also disadvantageous in terms of processing economy. In addition, in order to prevent the slide from shaking, it is necessary to change the position of the slide guide 5G provided between the column to the upper part avoiding the above-mentioned notch groove (large-scale modification). Cause a decline.

  Further, in the conventional example 2, the three slides 4a, 4b, and 5 are reciprocated along the V-shaped member 16 and the movement speeds are associated with the current positions, and a pair of links 7 (7a and 7b). , 8 is swung. The structure is complicated, it takes time to maintain the sliding parts, and the setting change of the operation control sequence is also difficult. It is difficult to increase the work transfer speed. In addition, an increase in the conveyance speed by reducing the distance in the X direction cannot be expected.

  Compared to the case of Conventional Example 2, Conventional Example 3 can be expected to shorten the distance in the X direction between the front and rear presses and reduce the size in the press height direction. However, although it is considered that the interference between the workpiece W and the mold can be avoided by the conveyance based on the motion pattern (M), the slide 6 moves up and down at a certain speed or more because there is a thrust movement as in the case of the conventional example 2. Interference with is inevitable. The higher the sliding speed, the shorter the distance between the presses, and the narrower the vertical space, the more difficult it is to avoid interference. That is, by pushing the feed lever 18 from the rocking body 19 inclined after the carrier 13 is stopped, the vacuum cup 53 with arms provided on the cross bar 17 is moved to the slide 6 and the mold as shown in FIG. It is the structure positioned between. Interference with the slide 6 occurs as in the case of the conventional example 2, that is, the same problem as in the case of the conventional example 2 described above remains.

  As described above, the conventional examples 2 and 3 which are dedicated machines for the general-purpose conventional example 1 recognize the importance of the mold exchanging work and make the work transfer device 10P a metal mold in order to empty the work floor. It is natural that the mold is placed at a position (upper installation space 73) above the carry-in / carry-out area (work floor). In addition, it seems that the transfer trajectory of the workpiece is planned with a good (horizontal state) as good, due to the custom of transfer press. Based on these premises, it has been devised mainly to increase the conveyance speed.

  However, for example, in order to reduce the distance between presses and the upper installation space 73, the structure and operation are becoming more complicated because of the structure in which necessary functional components are combined in a superimposed manner. In other words, it is possible to construct a system with a simple structure and high productivity, including equipment weight and size reduction, load reduction, ease of handling, and cost reduction, as well as facilitating mold replacement and avoiding interference. However, development of a work transfer device that can increase the work transfer speed and a tandem press system including the work transfer device is strongly desired. Furthermore, it is pointed out that it is difficult to adopt a structure including a linear guide that is disadvantageous when the noise is large and the distance between presses is long.

  An object of the present invention is to provide a tandem press system having a simple structure and high productivity, which can increase the work conveyance speed while ensuring interference avoidance.

  According to the present invention, A: If the positioning accuracy of the workpiece suction position and the workpiece release position can be ensured, the conveyance path should not be limited to a straight line. It is not necessary to strictly maintain the conveyance speed on the way. B: If the workpiece can be transported only by the pivoting movement of the arm, the structure can be dramatically simplified, and it is effective for reducing the transport load and increasing the transport speed. C: Interference with the mold can be prevented if the suction means can be approached and separated from the upper side without thrusting and moving the suction means from an oblique direction. It was created to make it possible to realize dramatic improvements in transportation speed and simplification of the structure based on tests and research including analysis that refers to the operation of a large number of actual machines. In other words, it is different from the conventional ideas 1 to 3 that are constructed in a step-by-step manner so as to crush a large number of unique technical matters and events one by one, and they should be solved all at once. Based on a change in mindset.

  That is, the present invention is based on a simple arm rotation mechanism in which the workpiece transfer device is configured to rotate the arm, and the second and third arms are moved back and forth in the X direction while reciprocating the lower end side of the first arm. The suction means is moved between the slide and the mold from the substantially horizontal direction and positioned while rotating in accordance with the movement position on the lower end side of the first arm, so that the workpiece can be conveyed. It is characterized by.

  Specifically, in the tandem press system according to the first aspect of the present invention, a plurality of presses are arranged in tandem in the X direction, and press processing is performed on each press while conveying the workpiece from the upstream press to the downstream press using the workpiece conveying device. In the tandem press system, the work conveying device includes a first rotation shaft provided at an intermediate position between the upstream press and the downstream press in the X direction and extending in the Y direction orthogonal to the X direction, and an upper end side thereof. A first arm mounted so as to be rotatable about a first rotation axis and configured to be reciprocally movable in the X direction at the lower end side by rotation about the first rotation axis; A second arm provided on the lower end side of the first arm and mounted so as to be rotatable around a second rotation shaft extending in the Y direction; and a proximal end side provided on the distal end side of the second arm. A third extending in the Y direction A third arm mounted so as to be rotatable about a moving shaft; suction means provided on the tip side of the third arm and configured to suck and release the workpiece; and tip of the third arm Provided with a posture adjusting means capable of adjusting the posture of the suction means by using a fourth rotating shaft provided in the Y direction and extending in the Y direction, and rotating the first arm around the first rotating shaft. The second arm is rotated about the second rotation axis, and the suction means is formed to be movable in the press working region while the third arm is rotated about the third rotation axis. It is characterized by being.

  According to a second aspect of the present invention, a pair of arm rotation mechanisms spaced apart in the Y direction are formed so as to be capable of synchronous conveyance operation.

  According to a third aspect of the present invention, each of the two sets of arm rotation mechanisms spaced apart from each other in the Y direction is formed so as to be independently transportable.

  Further, the invention of claim 4 relates the rotation movement of the first arm to the rotation movement of the second arm and the third arm and the rotation movement of the suction means, and automatically adjusts the posture of the suction means. It is formed to be adjustable.

  Further, in the invention of claim 5, the workpiece is a thin plate-shaped material and the suction means is a vacuum suction system.

  According to the first aspect of the present invention, it is possible to provide a tandem press system with a simple structure and high productivity, which can achieve a further increase in the workpiece conveyance speed while ensuring interference avoidance.

  According to the second aspect of the present invention, it is possible to facilitate the simplification of components (rotating shaft, drive source, etc.) and drive control and further cost reduction, and perform reliable and stable conveyance while accurately maintaining the work posture. The

  Further, according to the invention of claim 3, for example, it is possible to carry the workpiece by changing the workpiece posture in the upstream press and the workpiece posture in the downstream press. That is, the adaptability to the press working mode can be expanded.

  According to the invention of claim 4, the posture of the suction means can be automatically performed, and it is effective for increasing the work conveyance speed by simplifying the control.

  Furthermore, according to the invention of claim 5, the workpiece can be sucked and transported more reliably and without any damage.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

(First embodiment)
In the present tandem press line (1M, 10, 1N, etc.), as shown in FIGS. 1 to 5, a plurality of presses 1 are arranged in tandem in the X direction, and the work transfer device 10 is centered on the first rotating shaft 18. The first arm 21 rotatably mounted on the second arm 31, the second arm 31 rotatably mounted on the second rotating shaft 28, and the third rotating shaft 38. A third arm 41 movably mounted, a suction means provided on the tip side of the third arm 41 and capable of sucking and releasing the workpiece, and a Y direction provided on the tip side of the third arm There is provided posture adjusting means capable of adjusting the posture of the suction means 51 using the extended fourth rotating shaft 48, the first arm 21 is rotated about the first rotating shaft 18, and the second The arm 31 is rotated about the second rotation shaft 28 and the third arm 41 is rotated in the third rotation. While rotated around the shaft 38, and is movable form a suction means 51 to the pressing area.

  In this embodiment, as shown in FIG. 2, which is a side view of the downstream side (press 1N) from the upstream side (press 1M) in the X direction, the first arm 21, the second arm 31, and the third The arm rotation mechanism including the arm 41 is formed of a pair spaced apart in the Y direction, and the first rotation shafts 18 are integrally connected so as to form an equalizer shaft. That is, each arm rotation mechanism is formed so as to be able to perform a synchronous conveyance operation.

  Compared to the cases of Conventional Example 2 (combination structure of two reciprocating linear motions and two link swinging motions) and Conventional Example 3 (combination structure of swinging motions, reciprocating linear motions, vertical motions and horizontal motions). Thus, it is understood that the conveyance drive structure (arm rotation mechanism... Structure capable of conveying the workpiece only by the rotation movement) according to the present invention is greatly simplified. This simplification of the conveyance drive structure is extremely effective for achieving a significant increase in the workpiece conveyance speed as a result. Moreover, since the structure is simple and small, an effective overhead space above the head can be increased. The operator can safely and quickly perform adjustment work accompanying mold replacement on the work floor 71 that forms mold carry-in and carry-out. There is no need to increase the load (load) on the press construction.

  By the way, for confirmation, the basic configuration / function of the tandem press system is the same as in the conventional example shown in FIG. 7, in which a plurality of presses 1 are tandemly arranged in the X direction (work transport direction) and the work transport device. 10 is formed so that each press 1 is pressed while conveying the work 57 from the upstream press 1M to the downstream press 1N.

  In FIG. 2 (side view), FIG. 3 (plan view), and FIG. 4 (front view with a partial cross section), the first rotation shaft 18 is upstream of the Y direction (front-rear direction). It is provided at an intermediate position between the side press 1M and the downstream press 1N and extends in the Y direction. The first rotation shaft 18 is provided at a high position on the work floor 71 in the Z direction (vertical direction) orthogonal to the X direction and the Y direction.

  In FIG. 2, the first rotation shaft 18 includes a first rotation shaft (18F) of an arm rotation mechanism (21F, etc.) on the front side (F) and an arm rotation mechanism on the rear side (R). A common shaft (equalizer shaft) formed integrally with the first rotation shaft (18R) of (21R or the like) is formed. Similarly, the fourth rotation shaft 48 described later in detail is also a common shaft in which a fourth rotation shaft (48F) on the front side of the press and a fourth rotation shaft (48R) on the rear side of the press are integrally formed. (Equalizer shaft) is formed.

  The first rotation shaft 18 is a first drive source that is rotatably mounted on the fixed base 11 (a pair of front and rear base bearings 17) shown in FIG. 2 and connected via a speed reducer (not shown). Is rotated in the clockwise and counterclockwise directions. The first drive source includes a single first motor 19 that is common to the two front and rear arm rotation mechanisms (21F, 21R, etc.) and is fixed to the fixed base 11.

  The upper end side 22 of the first arm 21F is connected to the first rotating shaft 18 via a synchronous rotary connector (key or spline). That is, it is mounted so as to be able to rotate synchronously about the first rotation shaft 18. By the rotational movement about the first rotational shaft 18, the lower end side 26 of the first arm 21F can be reciprocated in the X direction as shown in FIG. That is, the first arm 21 </ b> F is capable of rotating (or swinging or rotating) in the X direction as a whole including the main body 24 and the lower end side 26 with the upper end 22 as the center of rotation. The first arm 21R is similar to the case of the first arm 21F, and rotates in synchronization with the rotation of the first arm 21F.

  The center part of the rotation mechanism including the upper end portions 22 and the like of the first arms 21F and 21R is covered with arm rotation mechanism cases 15F and 15R shown in FIG. 1 for safety.

  Note that “the first arm 21 rotates about the first rotation shaft 18” means “rotates about the central axis of the first rotation shaft 18”. . The upper end side 22 of the first arm 21 is fitted on the first rotating shaft 18 pivotally attached to the base bearing 17 (fixed base 11), and is fixed integrally in the rotating direction using a key or the like (relative). This is a so-called original rotation structure in which the first arm 21 is rotated in synchronization with the rotation of the first rotation shaft (original side) 18.

  However, it can also be implemented as a front-side turning structure. Incidentally, this front side turning structure is configured such that the upper end side 22 of the first arm 21 is rotatably fitted to the first turning shaft 18 fixed to the fixed base 11 so as not to turn, and the first driving is performed. The first arm 21 itself (the front side) that is the movable side is rotated around the first rotation shaft 18 that is the stationary side by using the source (19).

  The relationship between the second rotation shaft 28 and the second arm 31 and the relationship between the third rotation shaft 38 and the third arm 41, which will be described later in detail, are also constructed as a similar original-side rotation structure. . However, it can be implemented as a front-side rotation structure.

  The first drive source includes a first servo motor 19 connected to the first rotation shaft 18 and a first motor driver 19D. The first motor driver 19D rotates the first rotation shaft 18 while controlling the speed and position (angle) of the first servomotor 19 based on the control command output from the drive control device 61 of FIG. Can be driven. Servo motor drive power is generated and output by a drive power generation device (not shown) that receives commercial power.

  The first drive source (19 and the like) and the drive power generation device are arranged above the work floor 71 as shown in FIG. However, it can be carried out even if it is provided below the work floor (71).

  When implemented as a front-side rotation structure, a drive gear, a worm gear, and the like are provided on the first servo motor 19 side, and a driven gear, a worm wheel, and the like are provided on the first arm 21 side. The whole may be formed around the first rotation shaft 18 so as to be rotatable around the axis. The second arm 31, the third arm 41, and the suction means 51 (52) can also be constructed in the same way when the front side turning structure is used.

  The upper end side 22 of the first arm 21 is attached to the first rotating shaft 18 in a state where the position in the Y direction is constrained (a state in which the displacement in the Y direction is not possible).

  When the press is stopped, if the first arm 21 is kept stationary while tilted to one side in the X direction (press 1M side or 1N side) as shown in FIG. Don't get in the way. Therefore, the degree of freedom regarding the shape design of the first arm 21 is greatly expanded. For example, the arm cross-sectional shape and its dimensions can be reduced in size and weight while ensuring sufficient rigidity. Also from this point, the speeding up of the conveyance accompanying the reduction of the load is promoted, and the cost is effective.

  As described above, the structure (the present invention) that can transport the work 57 only by the rotational movement of the arms (21, 31, 41) has the following technical grounds and confirmation facts through experiments (technical recognition). It is believed that it will be created (established) for the first time against the background of

  That is, the work (thin plate-shaped material) 57 is transferred from a predetermined position on the lower mold (7) of the press 1M to a predetermined position on the lower mold (7) of the press 1N within a predetermined cycle time and It must be accurately positioned at the latter position. However, there is no reason or restriction that the transport speed must be always constant (the speed per unit time is constant). There should be no problem even if there is a certain speed fluctuation in the middle. In addition, there is no reason / restriction that the conveyance trajectory from the former position to the latter position must be always constant (for example, a straight path having a predetermined height is maintained from the upper surface of the lower mold 7).

  However, in the conventional examples 2, 3 and the like, all stages often used in the case of the transfer press are transported from a common integral structure (for example, a three-dimensional drive type work transport device) or a past practice. The concept of conveying along a straight path (trajectory) and at a constant speed in the whole area (or almost) is adopted. Thus, the two slides along the V-shaped guide have a complicated linear reciprocating movement, or a horizontal movement using a specially provided carrier or the like, resulting in a noisy, complicated and large structure.

  In the present invention, the lower end side 26 of the first arm 21 is moved along the arcuate locus R1 (see FIG. 4) and the moving speed in the X direction is changed according to the rotation inclination angle under the change of the above-described idea. Is allowed to vary within a certain range. Further, the third rotation shaft 38 (the tip side 36 of the second arm 31) is moved along the arcuate locus R2, and the movement speed in the X direction is allowed to vary within a certain range depending on the rotation angle. To do. Further, the fourth rotation shaft 48 (the tip side 46 of the third arm 41) is moved along the arcuate locus R3, and the movement speed in the X direction is allowed to vary within a certain range depending on the rotation angle. To do. That is, the work 57 can be transported by a rotational movement of a simple structure (arms 21, 31, 41).

  In addition, since the second arm 31 and the third arm 41 allow only the suction means 51 to enter and exit from the horizontal direction into the slide lift area, unlike the conventional examples 2 and 3, the first arm Interference between the slide 21 (the second arm 31 and the third arm 41) and the slide 5 can be avoided more reliably. Moreover, since it can be made to go in and out above the upper surface portion of the lower mold 7, unlike the conventional example 1, interference with the suction means 51 as well as the first arm 21 can be avoided. Further, when the distance between the presses is constant, the first arm 21 and the second and third arms 31 and 41 can be rotated simultaneously, so that the work transfer time can be shortened (the transfer speed can be increased).

  Furthermore, even if the rotation inclination angle of the first arm 21 is kept small, the workpiece transfer distance can be increased. On the other hand, in the case of a system in which the distance between presses is narrow, it can be adapted by reducing the rotation inclination angle of the first arm 21. Installation to an existing press line system is extremely simple. The situation of contact (interference) with the side wall of the slide 5 can be completely avoided.

  Here, the transport distance in the X direction of the suction means 51 is the length in the X direction of the first arm 21 in the inclined (angle θ) state shown in FIG. 4 when the length of the first arm 21 is L. L1 (= L × Sinθ) and the sum (= L1 + L2 + L3) of the X-direction length L2 of the second arm 31 and the X-direction length L3 of the third arm 41 in the horizontal state (= L1 + L2 + L3) The height on the work floor (71) when the first arm 21 is in a vertical state) is independent of the length of the second arm 31 (or the third arm 41), and the first arm 21 This is determined by the length on the work floor (71) and the third arm 41 (or the second arm 31). That is, when the work transfer distance is a predetermined value, it is possible to expand the free space in the Z direction on the work floor (71) that can be effectively used for adjustment work associated with die replacement. On the other hand, even if the length (vertical direction length) of the first arm 21 on the work floor (71) is constant, a large workpiece can be obtained only by changing the length of the second and third arms 31 and 41. It can also be applied to the transport distance (distance between presses).

  In addition, since the first arm 21 is not inclined and moved, interference with the slide 5 can be avoided without providing a specific cutout in the slide 5. That is, there is no fear of causing notch processing of the slide in Conventional Examples 2 and 3 and disadvantages (such as a reduction in rigidity and high cost) resulting therefrom. The inconvenience (disadvantage) of moving the slide guide 5G from the stable guide position to the upper position can be eliminated. In addition, since the inclination (angle θ) shown in FIG. 4 can be reduced, the distance between the presses can be shortened. Also from this point, it is possible to accelerate the conveyance.

  Further, if the tilting and pivoting movement of the first arm 21 and the pivoting movements of the second and third arms 31 and 41 are executed in parallel, the speed of workpiece transfer can be further increased. Note that if the rotational movement of the fourth rotational shaft 48 is also executed simultaneously, it is possible to further promote the speeding up of the entire conveyance process through the quick attachment / detachment of the workpiece.

  2 to 4, the second arm 31 </ b> F has a proximal end 32 connected to the second rotation shaft 28 via a synchronous rotation connector (key or spline), and the second rotation shaft 28 is connected to the second rotation shaft 28. It is attached to the center so that it can rotate. The second rotation shaft 28 is provided on the lower end side 26 of the first arm 21 and extends in the Y direction. The entire body including the main body 34 and the distal end side 36 of the second arm 31F can be reciprocated in the X direction and the Z direction by a rotational movement around the second rotational shaft 28 (base end side 32). it can. That is, the second arm 31F can narrow the necessary space above the work floor 71 when the distance between the presses is constant, as compared with the case where the arm rotation mechanism is constructed only from the first arm 21F. . The second arm 31R is the same as the second arm 31F, and rotates in synchronization with the rotation of the second arm 31F.

  As shown in FIG. 4, the second drive source for the second arm 31 </ b> F (31 </ b> R) includes a speed reducer (not shown) on the second equalizer shaft 281 that penetrates the hollow portion of the first rotation shaft 18. The second servo motor 29 and the second motor driver 29D are connected to each other. The second motor driver 29D rotates the second equalizer shaft (28) while controlling the speed and position (angle) of the second servomotor 29 based on the control command output from the drive control device 61 of FIG. Can be driven dynamically.

  A sprocket (not shown) is fixed to the front and rear (both) sides of the second equalizer shaft 281, and a corresponding sprocket (not shown) is also fixed to the second rotating shaft 28. A belt (not shown) is stretched. Therefore, if the second equalizer shaft 281 is rotationally driven by the second drive source (second servo motor 29), the second rotational shaft 28 is driven via the power transmission mechanism (sprocket, timing belt, sprocket). The second arm 31F can be rotationally driven integrally with the second rotational shaft 28 around the axis of the second rotational shaft 28 while controlling the speed and position (angle). The second drive source (29, etc.) is also disposed above the work floor (second floor) 61 as shown in FIG.

  The third arm 41F has a base end side 42 connected to the third rotation shaft 38 via a synchronous rotation connector (key or spline), and is mounted so as to be rotatable about the third rotation shaft 38. Has been. The third rotation shaft 38 is provided on the distal end side 36 of the second arm 31 and extends in the Y direction. The entire body including the main body 44 and the distal end side 46 of the third arm 41F can be reciprocated in the X direction and the Z direction by a rotational movement around the third rotational shaft 38 (base end side 42). it can. The third arm 41R is similar to the case of the third arm 41F, and rotates in synchronization with the rotation of the third arm 41F.

  The third drive source for the third arm 41F (41R) has the same structure as that of the second drive source, and includes a third servo motor 39 and a third motor driver 39D. The third motor driver 39D rotationally drives the second equalizer shaft while controlling the speed and position (angle) of the third servomotor 39 based on the control command output from the drive control device 61 of FIG. be able to. The power transmission mechanism (not shown) in this case is composed of a timing belt or the like disposed along the first and second arms 21 and 31 and the first rotation shaft (equalizer shaft) 18. Power for rotating the arm 41F (41R) is transmitted. The second arm 31 (36) is the stationary side, and the third rotation shaft 38 is the movable side.

  In addition, the first arm 21 (second arm 31), when performing a die replacement work on the upstream (downstream) press 1M (1N) side, as shown in FIG. 1M) can be made to stand by in an inclined state, so that the replacement work can be performed quickly and safely. If the first arm 21 stands up (the second arm 31 hangs down) and waits in a neutral state, various operations relating to the presses 1M and 1N on both sides can be performed simultaneously and smoothly.

  Next, the posture adjusting means is means for adjusting the posture of the suction means 51 (vacuum cup 53), and in this embodiment, it is constructed as a combination of the self-weight adjusting method and the forced adjusting method. Note that it is possible to carry out only by the self-weight adjustment method or only the forced adjustment method.

  Here, “the posture adjusting means is formed so as to be able to adjust the posture of the suction means 51 by using a fourth rotating shaft 48 provided in the tip end side 46 of the third arm 41 and extending in the Y direction.” “Using the fourth rotation shaft 48” means “the fourth rotation shaft 48 (stationary side) is the rotation center of the suction means 51 (movable side)” and “ This means that the suction means 51 (movable side) is synchronously rotated by rotating the fourth rotation shaft 48 itself, which is the movable side, with the fourth bearing 47 as the stationary side.

  In the self-weight adjusting method, the suction means 51 is rotatably mounted on the distal end side 46 (fourth rotation shaft 48) of the third arm 41, and the suction is performed regardless of the rotation inclination angle of the arm. This is a method of maintaining a certain posture (for example, the suction surface 55 is directed downward) by utilizing the own weight of the means 51 and inducing relative rotation around the fourth rotation shaft 48 as a rotation center. .

  In this embodiment, as shown in FIGS. 2 and 4, the suction means 51 (53) is rotatably mounted on the fourth rotating shaft 48 extending in the Y direction provided on the distal end side 46 of the third arm 41. In addition, the suction surface 55 is formed so that it can be adjusted to a posture in which the suction surface 55 is always directed downward by the action of its own weight. It is understood that only the suction means 51 held on the fourth rotating shaft 48 needs to be moved between the upper and lower molds 6 and 7 in the Z direction. The first arm 21 (and most of the second arm 31) does not enter or exit below the slide 5 (upper mold 6). Accordingly, avoidance of interference with the slide 5 and the upper mold 6 is perfect. Further, the work 57 can be sucked or released while the suction surface 55 is brought close to the lower mold 7.

  In the forced adjustment method, the suction means 51 is attached to the fourth rotation shaft 48 on the distal end side 46 of the third arm 41 so as not to be relatively rotatable. Then, the suction means 51 is synchronously rotated along with the rotation of the fourth rotation shaft 48 so that the posture of the suction means 51 (for example, the inclination angle of the suction surface 55) can be forcibly adjusted. The

  In the case of this embodiment, the suction means 51 is mounted on the distal end side 46 (fourth bearing 47) of the third arm 41 so as to be rotatably mounted (pivotally mounted) and extends in the Y direction. It is mounted so that it cannot rotate around 48. By the rotation of the fourth rotation shaft 48, the inclination angle of the suction means 51 (suction surface 55) can be automatically adjusted.

  The fourth rotation shaft 48 is rotated by the rotation of the fourth servo motor 49. The fourth servo motor 49 forms a fourth drive source together with the fourth motor driver 49D shown in FIG. Although not shown in FIG. 2 and the like, this fourth drive source is also disposed above the work floor 71 (on the fixed base 11 side) as in the case of the third servo motor 39. The power transmission mechanism (not shown) includes a timing belt disposed along the first, second, and third arms 21, 31, and 41 and the first rotation shaft (ecolyzer shaft) 18. The power for adjusting the posture of the means 51 is transmitted. The third arm 41 (46) is the stationary side, and the fourth rotating shaft 48 is the movable side. Thus, regardless of the rotation angle of the arm, for example, the inclination when the suction surface 55 approaches (and leaves) the workpiece 57 (or molds 6 and 7) can be changed.

  Since the third and fourth servo motors 39 and 49 are smaller and have a smaller capacity than the other motors 19 and 29, the third and fourth servo motors 39 and 49 can also be mounted on the distal ends 36 and 46 of the second and third arms 31 and 41. can do. If constructed in this way, the power transmission mechanism can be omitted.

  Incidentally, the first, second, third, and fourth servo motors 19, 29, 39, and 49 have a function of maintaining a stationary (hold) torque. It is also preferable to provide an electromagnetic brake function.

  Further, in this embodiment, the self-weight adjustment method and the forced adjustment method can be selectively operated. The fourth rotation shaft 48 and the suction means 51 (52) are connected via a clutch (brake). When the self-weight adjusting method is selected, the clutch is turned off and the mechanical connection between the two 48 and 51 is switched so as to be relatively rotatable. When the forced adjustment method is selected, the clutch is turned on and the mechanical connection between the two 48 and 51 is switched to the relative rotation impossible.

  The suction means 51 is a means capable of sucking and releasing the work 57, and is formed of a vacuum cup, an electromagnetic magnet, or the like. In this embodiment, since the work 57 is a thin plate-shaped material shown in FIGS. 2 and 3, the vacuum cup 53 is employed. As shown in FIGS. 3 and 4, the plurality of vacuum cups 53 are attached to the plurality of holding members 52 fixed to the fourth rotating shaft 48 in a relatively non-rotatable state. That is, the posture (orientation) of the suction surface 55 of the vacuum cup 53 is based on the relationship between the inclination angles of the first, second, and third arms 21, 31, and 41 and the inclination angle of the fourth rotation shaft 48. Decided as corresponding.

  In FIG. 5, the drive control device 61 includes a control unit (CPU, ROM, RAM), a sequence storage unit (hard disk device), a setting / display unit 62, a sensor unit 63, and the like, and forms a drive control unit for the attitude adjustment unit. Rotation drive control signals are output to the motor drivers 19D, 29D, 39D, and 49D to control the rotation of the servo motors 19, 29, 39, and 49. The suction / release control signal is output to the vacuum controller 65 to control the suction / release of the suction means 51 (each vacuum cup 53).

  Basic fixed information (for example, workpiece conveyance information, posture adjustment information, suction / release information, etc.) constituting the workpiece conveyance program is stored in a hard disk device (not shown), and selective information (for example, workpiece 57). Can be changed (selected) using the setting unit (62) while referring to the display on the display unit (62), and this information is also stored in the hard disk device.

  During the press operation, one of a plurality of workpiece transfer programs can be selected and set using the setting unit (62). The control unit executes the selected workpiece transfer program. Various operations on the press 1 side (for example, a slide up / down operation) are executed by signals from a press operation control panel (not shown). The operation on the press 1 side is transmitted as a press operation signal and via the communication line 69, and the drive control device 61 uses the press operation signal to carry the workpiece while synchronizing the timing.

  Regarding the workpiece conveyance operation, based on the drive control command, the drive control device 61 performs the rotation of the first arm 21 around the first rotation shaft 18, with the second rotation shaft 28 as the center. The adsorbing means 51 is conveyed while associating (for example, interlocking) the rotational movement of the second arm 31 and the rotational movement of the third arm 41 around the third rotational shaft 38. In parallel with these, the rotation of the suction means 51 around the fourth rotation shaft 48 is interlocked to drive-control the posture of the suction means 51 (vacuum cup 53) so that it can be adjusted to a predetermined posture. be able to. One-stage transport speeding up can be promoted.

  During the rotational movement of the first, second arms 21 and 31 and the third arm 41, select an operation in which only the self-weight adjustment method (posture adjustment means) is activated and the forced adjustment method is in a rest state. Can do. In practice, it is often preferable to select this.

  When this is selected, the forced adjustment method is operated immediately before (or immediately after) the end of the rotational movement of the first, second arms 21 and 31 and the third arm 41. At this time, the self-weight adjusting method is set to a resting state. That is, by changing the inclination angle of the fourth rotation shaft 48, the posture (direction) of the suction surface 55 of the vacuum cup 53 with respect to the work 57 can be finely adjusted. The suction surface 55 is made to approach / suck the workpiece surface in a completely parallel posture, and finally approached / sucked in a state where the suction surface 55 is inclined with respect to the workpiece surface, and finally the workpiece surface in a completely parallel posture. It can be operated with a soft touch system that absorbs it.

  It should be noted that while the inclination angle of the fourth rotation shaft 48 with respect to the third arm 41 (tip side 46) is managed as an absolute amount, the forced adjustment method is always activated during the rotation movement of the third arm 41. If the attitude | position adjustment of the adsorption | suction means 51 is performed, conveyance speed-up can be achieved also from this point.

  First, the basic operation (action) of the arm rotation mechanism will be described.

  In FIG. 4, when the vertical state (neutral state) indicated by a two-dot chain line is used as a reference, a case of unloading and transporting the semi-processed product (work 57) to the upstream press 1M is considered. The drive control device 61 rotates the first rotation shaft 18 (first arm 21) by an angle (+ θ1) in the right rotation direction, and the second rotation shaft 28 corresponding to this angle (+ θ1). The (second arm 31) is rotated clockwise by an angle (+ θ2), the rotation angle (+ θ1) of the first rotation shaft 18 (first arm 21), and the second rotation shaft. The third rotation shaft 38 (third arm 41) is rotated counterclockwise by an angle (−θ3) in correspondence with the rotation angle (+ θ2) of 28 (second arm 31). As a result, the third arm 41 is held in a horizontal state. Then, the tip end side 46 (suction means 51) of the third arm 41 can be positioned on the lower mold 7 of the press 1M. Until now, the suction surface 55 always faces downward by the self-weight adjusting method. After that, the posture of the suction means 51 is rotated by rotating the fourth rotation shaft 48 by an angle (−θ4) [or an angle (+ θ4) in the right rotation direction] by using the forced adjustment method. Is automatically adjusted to a preset posture (inclination angle with respect to the workpiece 57).

  Consider a case in which a semi-processed product (57) is sent and conveyed to the downstream press 1N. The drive control device 61 rotates the first rotation shaft 18 (first arm 21) by an angle (−θ1) in the left rotation direction, and performs a second rotation corresponding to the angle (−θ1). The shaft 28 (second arm 31) is rotated in the counterclockwise direction by an angle (−θ2) and the rotation angle (−θ1) of the first rotation shaft 18 (first arm 21) and the second The third rotation shaft 38 (third arm 41) is rotated in the clockwise direction by an angle (+ θ3) corresponding to the rotation angle (−θ2) of the rotation shaft 28 (second arm 31). Thus, the third arm 41 is held in a horizontal state. Thereafter, the posture of the suction means 51 is rotated while rotating the fourth rotation shaft 48 by an angle (+ θ4) [or an angle (−θ4) in the left rotation direction] in the right rotation direction by using a forced adjustment method. Is automatically adjusted to a preset posture (inclination angle with respect to the workpiece 57).

  The suction means 51 includes a plurality of holding members 52 fixed to the fourth rotating shaft 48 of the third arm 41 (tip side 46), and a vacuum cup 53 attached to each holding member 52. The vacuum controller 65 shown in FIG. 6 is communicated with each vacuum cup 53 through a multi-branch connector (not shown) and a tube. The multi-branch connector can also be formed from a part of the fourth rotating shaft 48 having a hollow structure.

  Next, the operation and operation of the press line as a whole will be described.

(Manufacturing)
Unlike the conventional examples 2 and 3, regarding the presses 1M and 1N, the slide 5 does not need to be subjected to special notch processing for preventing interference, so that the cost can be reduced. Since there is no need to change the installation height or limit the height of the slide guide 5G accompanying the slide notch processing, it is possible to maintain a high press working accuracy.

  With respect to the work transfer device 10, the form and rigidity of the first, second, and third arms 21, 31, and 41 can be freely selected. Wide adaptability to the distance between presses. Characteristically, the rotation load is small, the high-speed rotation is excellent, and the positioning accuracy is high. Drive control is also easy. Overall, the structure is simple, small and light, so it can be realized at low cost.

(Assembly)
Since the workpiece transfer apparatus 10 can be assembled in parallel with each assembly operation of the presses 1M and 1N, the construction period can be greatly reduced and the cost can be reduced. The entire system can be reduced in size and weight. The distance between presses can be reduced, which is effective for speeding up workpiece transfer.

(Press operation)
In the standby state of the press operation, as shown in FIG. 4, the first arm 21 is in the neutral position (downward standing state), and the second arm 31 is in the downward standing state with the second rotating shaft 28 as the holding point. In addition, the third arm 41 is in an upright standing state with the third rotation shaft 38 as a support point, and the suction surface 55 of the vacuum cup 53 (suction means 51) is a position adjustment means (self-weight adjustment method). The work is held down.

  When the drive control device 61 shown in FIG. 5 receives the press operation information from the press operation control panel through the communication line 69 and confirms the press operation, the drive control device 61 controls the work conveyance device 10. First, before the press processing of the upstream press 1M is completed, the first arm 21 starts to rotate (right rotation: + θ) toward the press 1M shown in FIG. Inclined upstream. The second arm 31 also starts to rotate in the right rotation (+ θ) direction, and the third arm 41 starts to rotate in the left rotation (−θ) direction. That is, the rotation is controlled so that the second and third arms 31 and 41 are maintained in a horizontal state. Thus, since only the rotational movement of the arms (21, 31, 41) is required, the conveyance control is easy. The suction means 51 maintains the suction surface 55 downward while rotating in the right rotation (+ θ) direction around the fourth rotation shaft 48 by the function of the self-weight adjusting method. For example, after the rotation of the arms (21, 31, 41) is completed, the self-weight adjustment method can be switched to the forced adjustment method, and the posture (tilt) of the suction surface 55 can be automatically adjusted.

  As the slide 5 rises, the first to third arms 21, 31, 41 and the like further rotate to convey the suction means 51 to the lower mold 7 and lower the suction surface 55 to move to the lower mold 7. Make contact. Low load and high precision positioning. At the same time, the vacuum controller 65 operates. That is, the semi-processed product (work 47) of the upstream press 1M is adsorbed by each vacuum cup 53.

(Work transfer)
Before the slide 5 is lowered for the next pressing, the first arm 21 is rotated counterclockwise (−θ), the second arm 31 is also rotated counterclockwise (−θ), and the third arm 41 is rotated. Is rotated to the right (+ θ), and the suction means 51 is rotated in the left rotation (−θ) direction around the fourth rotation shaft 48, and the work 57 is conveyed toward the downstream press 1N in the X direction. To do. The first arm 21 is inclined downstream. Since only the arm (21, 31, 41) rotates, it can be conveyed at high speed (for example, a speed corresponding to 15 to 20 spm). The suction surface 55 of the vacuum cup 53 is held in a downward state.

  In principle, each arm (21, 31) does not enter the slide lifting area, and the suction means 51 (vacuum cup) held by the third arm 41 and the fourth rotating shaft 48 is not moved into the lifting area of the slide 5. 53) is carried in. Therefore, interference with the slide 5 and interference with the molds (6, 7) can be reliably avoided.

  The vacuum cup 53 is stopped in a state of being brought close to the lower die (7) of the downstream press 1N, and the work 57 is released and set in the lower die 7. Also in this case, the self-weight adjustment method can be switched to the forced adjustment method, and the posture (tilt) of the suction surface 55 can be automatically adjusted. Thereafter, the first arm 21 is rotated (right rotation direction: + θ), the second arm 31 is rotated in the right rotation (+ θ) direction, and the third arm 41 is rotated (left rotation direction: −). θ).

(Press stop)
In the press stop, as in the standby state, the first arm 21 is in the neutral state (neutral position) and is in the downward standing state, and the second arm 31 is also in the downward standing (drooping) state. The arm 41 is in an upright standing state. The suction surface 55 of the vacuum cup 53 (suction means 51) is held in a downward state.

(Mold exchange)
Prior to the mold exchanging work, the first arm 21 and the second arm 31 and the like are tilted and stopped at a position (press 1M side or 1N side) that does not obstruct the X direction. Since most of the work floor 71 is vacant, it is possible to easily and quickly perform adjustment work associated with mold replacement after the mold is carried in and out.

  According to the first embodiment having such a configuration, the workpiece transfer device 10 includes the first arm 21, the second arm 31, the third arm 41, the suction means 51, and the attitude adjustment means, The first arm 21 is rotated about the first rotation shaft 18, the second arm 31 is rotated about the second rotation shaft 28, and the third arm 41 is rotated third. Since the suction means 51 can be moved into the press working region and the posture of the suction means can be adjusted while rotating around the shaft 38, it is possible to adjust the posture of the suction means, while ensuring interference avoidance, The tandem press system with a simple structure and high productivity can be provided, the distance between the presses can be further shortened, and the speed of the workpiece transfer can be increased. In addition, the applicability to the size of the distance between the presses is wide, and more accurate and stable posture adjustment can be performed.

  In addition, since a pair of arm rotation mechanisms that are spaced apart in the Y direction are formed so as to be able to perform synchronous conveyance operations, simplification of components (rotation shaft, drive source, etc.), drive control, and further cost. Reduction can be promoted, and the workpiece posture can be maintained accurately and reliably and stably.

  Further, the rotation of the first arm 21 can be linked to the rotation of the second and third arms 31 and 41 and the rotation of the suction means 51 to automatically adjust the posture of the suction means 51. Therefore, it is effective for increasing the work transfer speed by simplifying the control.

  Furthermore, since the work 57 is a thin plate-shaped material and the suction means 51 is a vacuum suction system, the suction and transport can be performed more reliably and without damage.

(Second Embodiment)
In this embodiment, the basic configuration and function are the same as in the case of the first embodiment, but arm rotation mechanisms (first arms 21F, 21R, etc.) spaced apart in the Y direction are provided. It is formed to be able to operate independently.

  In FIG. 6, a first rotating shaft 18, a first servo motor 19 (first motor driver), a second servo motor 29 (second motor driver), and a third servo motor 39 (first motor driver). 3 motor drivers) are paired with each other (18F, 18R, 19F, 19R, 29F, 29R, 39F, 39R), and are spaced apart in the front-rear direction (left and right in the figure). The fourth rotating shaft 48 is also a pair (48F, 48R), and the suction means 51 is also divided into two parts so as to correspond to the rotating shafts 48F, 48R.

  Further, when the drive control device 61 is switched to the asynchronous operation mode, the front side mechanism (19F, 29F, 39F, 49F) and the rear side mechanism (19R, 29R, 39R, 49R) that constitute the two arm rotation mechanisms. Are operated independently at each timing. Therefore, the posture of the work 57 can be adjusted during the conveyance to change the work posture of the upstream press 1M and the work posture of the downstream press 1N. Applicability to diversification of press work can be greatly expanded. Wide adaptability to molds.

(Third embodiment)
In this embodiment, the basic configuration and function are the same as in the case of the second embodiment, but unlike the case of the second embodiment, the arm rotation mechanism (the first arm 21, The second rotation shaft 28, the second arm 31, the third rotation shaft 38, the fourth arm 41, the fourth rotation shaft 48, etc.) are provided only on one side before and after pressing (Y direction), A workpiece transfer device 10 is constructed.

  In such an embodiment, the length of the fourth rotating shaft 48 in the Y direction is increased so as to reach the opposite end surface of the bolster 8. Further, it is preferable to increase the mechanical rigidity by the amount corresponding to the cantilever type.

  In addition, since this structure can be easily assumed from FIG. 6, drawing is abbreviate | omitted.

  Thus, the third embodiment is effective when the work 57 is small in the small press 1.

  The present invention relates to a tandem press system in which a plurality of presses are arranged in tandem and a work transfer device is provided between the presses, and can greatly contribute to an increase in work transfer speed and an improvement in productivity.

It is an external appearance perspective view for demonstrating the 1st Embodiment of this invention. Similarly, it is a side view of the press 1N based on the arrow line AA of FIG. Similarly, it is a top view of press 1M (and press 1N) based on arrow BB of FIG. Similarly, it is the front view which carried out the cross section based on the arrow line CC of FIG. Similarly, it is a block diagram for explaining a drive control panel. It is a side view for demonstrating the 2nd Embodiment of this invention. It is a figure for demonstrating a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Press 3 Column 5 Slide 8 Bolster 10 Work conveying apparatus 18 1st rotating shaft (1st equalizer shaft)
21 first arm 22 upper end side 26 lower end side 28 second rotation shaft 281 second equalizer shaft 31 second arm 32 proximal end side 36 distal end side 38 third rotation shaft 41 third arm 42 base End side 46 Front end side 48 Fourth rotating shaft 51 Suction means 53 Vacuum cup 55 Suction surface 57 Work 61 Drive control device 71 Work floor surface 75 Y-direction space

Claims (5)

In a tandem press system in which a plurality of presses are arranged in tandem in the X direction, and each press is pressed while conveying a workpiece from an upstream press to a downstream press using a workpiece conveyance device.
The workpiece transfer device is
A first rotation shaft provided in an intermediate position between the upstream press and the downstream press in the X direction and extending in the Y direction perpendicular to the X direction;
A first arm whose upper end is mounted so as to be rotatable about a first rotation axis, and formed so that the lower end can be reciprocated in the X direction by rotation about the first rotation axis;
A second arm whose base end side is provided on the lower end side of the first arm and is rotatably mounted around a second rotation shaft extending in the Y direction;
A third arm whose base end side is provided on the front end side of the second arm and is mounted so as to be rotatable about a third rotation shaft extending in the Y direction;
A suction means provided on the tip side of the third arm and formed to be capable of sucking and releasing the workpiece;
Comprising a posture adjusting means capable of adjusting the posture of the suction means using a fourth rotating shaft extending in the Y direction provided on the tip side of the third arm;
The first arm is pivoted about the first pivot axis, the second arm is pivoted about the second pivot axis, and the third arm is pivoted about the third pivot axis. The tandem press system is formed so that the suction means can be moved into the press working region while being rotated.   Two sets of arm rotation mechanisms including the first rotation shaft, the first arm, the second arm, the third arm, and the fourth rotation shaft spaced apart in the Y direction The first rotation shafts are integrally connected so as to form an equalizer shaft, and the fourth rotation shafts are integrally connected so as to form an equalizer shaft. The tandem press system according to claim 1, wherein the tandem press system is configured to be capable of synchronous conveyance operation.   Two sets of arm rotation mechanisms including the first rotation shaft, the first arm, the second arm, the third arm, and the fourth rotation shaft spaced apart in the Y direction The tandem press system according to claim 1, wherein each arm rotation mechanism is formed so as to be capable of independent conveyance operation.   Based on the drive control command, the rotational movement of the first arm about the first rotational axis, the rotational movement of the second arm about the second rotational axis, The rotation of the third arm about the third rotation axis and the rotation of the suction means about the fourth rotation axis are associated with each other. The tandem press system according to any one of claims 1 to 3, wherein an adjustment drive control device for adjusting and controlling the posture is provided.   The tandem press system according to any one of claims 1 to 4, wherein the workpiece is a thin plate-shaped material, and the suction means is a vacuum suction system having a plurality of vacuum cups.

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