Work holding tool replacement support device

Abstract

To provide a replacement support device for a work-piece holding tool that is able to detachably support the work-piece holding tool and prevent the work-piece holding tool from falling while being supported.SOLUTION: A replacement support device (a replacement wheeled-platform 100) for a work-piece holding tool, according to the present invention, is designed such that a work-piece holding tool 50 is supported by the replacement wheeled-platform 100 by an engagement releasing operation for separating a work-piece conveyance arm 40 and the work-piece holding tool 50 in a substantially horizontal direction, thereby releasing the engagement. In the replacement support device, the engagement releasing operation is performed by relatively moving a support portion 110, which is substantially integral with a placement surface 112 on which the work-piece holding tool 50 is placed, with respect to a base portion 130; in addition, by moving a locking element (a claw portion 153D) that sandwiches the work-piece holding tool 50 between itself and the placement surface 112 by use of the engagement releasing operation, the work-piece holding tool is supported while being locked by restricting vertical movement of the work-piece holding tool 50.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a workholding tool replacement support device that is used when replacing a workholding tool that holds a work in a manner that allows it to be released in order to transport the work in a press machine, and that supports the replaced workholding tool. [Background technology]

[0002] 2. Description of the Related Art Various types of workpiece transport devices have been proposed in the past for transporting workpieces between press machines and the like. For example, there is a work transport device equipped with a crossbar unit that extends in a direction approximately perpendicular to the work transport direction, and in such a device, for example, a work holding tool that holds and releases the work by vacuum suction, magnetic suction, etc. is attached to a crossbar that is arranged to cross the work transport direction and moves back and forth in the work transport direction.

[0003] Note that multiple types of such workpiece holding tools are prepared depending on the size and shape of the workpiece, and during setup, the workpiece holding tool is replaced with the one to be used depending on the workpiece.

[0004] For this reason, conventionally, for example, a work holding tool (hereinafter also referred to as a tool holder) is configured to be detachable via a general-purpose ball lock joint to a crossbar or the like supported on the transport arm (tip) of a work transport device, thereby facilitating and speeding up the work of attaching and detaching the tool holder during setup work.

[0005] An example of a ball lock joint is Quick Change (registered trademark) manufactured by BL Autotech Co., Ltd., which has a configuration as described in Patent Document 1.

[0006] As shown in Fig. 11, a main unit 1 is attached to the underside of a transfer arm, and an engaged device 10 is attached to the top surface of a tool holder 11. The main unit 1 and the engaged device 10 are configured as separate, separable bodies, and are positioned around the central axis via a positioning pin 2 and a positioning hole 3.

[0007] By driving the electric motor 4 of the main body device 1 to rotate, the screw portion 6 is rotated via the gear mechanism 5, and the moving rod 7 that is threadedly engaged with the screw portion 6 is moved downward in the figure, so that the ball 9 is pushed outward by the movable portion 8. This pushed-out ball 9 engages with the engaging portion 10A of the engaged device 10, and the main body device 1 (workpiece transport arm) and the engaged device 10 (tool holder 11) can be brought into an attached state (engaged state).

[0008] 11, the balls 9 are retracted inward, thereby disengaging the main device 1 from the engaging portion 10A of the engaged device 10, and the main device 1 (workpiece transport arm) and the engaged device 10 (tool holder 11) can be put into a disengaged state (disengaged state). This contributes to making the attachment and detachment of the tool holder during setup easier and faster. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-213847 [Patent Document 2] Japanese Patent Application Publication No. 2017-202491 Summary of the Invention [Problem to be solved by the invention]

[0010] However, as shown in Figure 11, when the main device 1 and the engaged device 10 (tool holder 11) are moved in the vertical direction to be attached and detached, the vertical dimensions (thickness) of the main device 1 and the engaged device 10 are relatively large, which hinders the improvement of the work transport speed and ultimately the shortening of the takt time of press processing.

[0011] In other words, workpiece transport is an operation in which the main body device 1 (tip of the transport arm) and the engaged device 10 (tool holder 11 and workpiece) are inserted between the upper and lower dies of the press to release (or receive) the workpiece. Therefore, if the vertical dimension (thickness) is large, in order to avoid interference with the die (upper or lower die), it is necessary to wait until the gap between the upper and lower dies becomes large before the workpiece can be transported, which means that the workpiece transport speed, and therefore the production speed, cannot be increased.

[0012] For this reason, the present applicant has proposed in Patent Document 2 a mechanism in which the tool holder is attached and detached while moving the crossbar in the longitudinal direction (a direction substantially perpendicular to the up-down direction, substantially horizontal).

[0013] Specifically, for example, a pin (extending along the longitudinal direction of the crossbar) that can be inserted into a hole (extending along the longitudinal direction of the crossbar) on the tool holder side is provided on (the tip of) the transfer arm, and by engaging these, the tool holder can be attached and detached to the transfer arm.The transfer arm is also provided with a mechanism that moves the pin back and forth to cause the ball to protrude outward, and an air cylinder (actuator) for driving the pin back and forth.

[0014] In this way, if the mechanism is such that the tool holder is attached to and detached from the transfer arm by moving it along the longitudinal direction (horizontal direction) of the crossbar, the thickness (vertical dimension) can be made thinner than when a conventional general-purpose ball lock joint is used, which makes it possible to avoid interference with the mold and contribute to improving the workpiece transfer speed.

[0015] However, on the other hand, in an exchange cart that supports a tool holder removed from a transport arm in preparation for its next use, the support portion thereof is required to have a locking mechanism for locking the placed tool holder so that it does not fall from the support portion during the next installation work or when inverting (when, after the tool holder that was used is placed, the tool holder to be used next is rotated and brought to the transport arm), etc. Note that an exchange cart is an example of a mobile work holding tool attachment / detachment support device that detachably supports a tool holder having a plurality of workpiece suction devices that are adapted to the shape and size of the workpiece, and is carried in front of or behind a press machine (between press machines, etc.) to exchange the tool holder for the transport arm during setup work, etc.

[0016] It is assumed that the drive source for the locking mechanism and the sensor part of the lock state detection system will be provided on the support part (near the tool holder placement part). The lock state detection system is required to detect the locked state and adjust the attachment timing to prevent the transfer arm from attaching the tool holder while the transfer arm is in the locked state, which could result in excessive force being applied to the transfer arm and each device, causing damage.

[0017] However, if the drive source of the locking mechanism and the sensor part of the lock state detection system are provided near the support part of the exchange carriage, particularly near the tool holder placement part, the space around the support part will be occupied by the drive source and the sensor part. This may restrict the mounting position and orientation of multiple workpiece holders (suction cups and spiders) attached to the tool holder.

[0018] Furthermore, in cases where the support part of the exchange cart is provided on the opposite side of the center of rotation, and after the transport arm places the tool holder that was being used up until then, the exchange cart rotates the support part on the opposite side and brings the next tool holder to be used up to the transport arm, if a heavy object such as the drive source of the locking mechanism is disposed at the tip of the rotating part, it may be necessary to increase the capacity of the rotary drive part of the support part of the exchange cart and to have a highly robust structure to ensure rigidity, which could result in higher costs, larger size, and heavier exchange cart.

[0019] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a work holding tool exchange support device (exchange carriage) that has a simple, low-cost, lightweight and compact configuration, is capable of detachably supporting a work holding tool that holds a workpiece, and can prevent the workpiece from falling off while being supported. [Means for solving the problem]

[0020] For this reason, the present invention provides A work holding tool exchange support device that holds and releasably holds a work for work transport in a press machine, In a state where the work holding tool is placed on a placement surface while restricting movement of the work holding tool in a substantially horizontal plane, the work holding tool is supported by the exchange support device by a disengagement operation in which the work holding tool and a work transport device that detachably supports the work holding tool are separated in a substantially horizontal direction to release the engagement therebetween, The disengagement operation To make it happen The support portion of the exchange support device is substantially integral with the mounting surface on which the work holding tool is mounted. 、 For the base of this exchange support device , by the driving source Relative movement And both, By utilizing the disengagement action caused by the relative movement of the support part, the work holding tool placed on the placement surface of the support part is sandwiched between the placement surface and the support part. like, Locking elements The driving source To move inThe work holding tool is supported while being locked by restricting movement of the work holding tool in the vertical direction of the placement surface.

[0021] The present invention also provides A work holding tool exchange support device that holds and releasably holds a work for work transport in a press machine, a support part having a mounting surface configured to be able to mount a work holding tool while restricting movement of the work holding tool within a substantially horizontal plane, and configured to be able to move relatively along a lateral direction with respect to a base part of the exchange support device; a drive source for causing the support portion to move relatively; a locking element for clamping the workpiece holding tool placed on the mounting surface of the support part between the workpiece holding tool and the mounting surface, the locking element being interlocked with the relative movement of the support part by the drive source; By doing so, the driving source a support lock mechanism that can switch between an unlocked state and a locked state in which movement of the work holding tool in a vertical direction of the placement surface by moving the lock element between an unlocked position and a locked position; The present invention is characterized by the following.

[0022] The present invention also provides A work holding tool exchange support device that holds and releasably holds a work for work transport in a press machine, In a state where the work holding tool is placed on a placement surface while restricting movement of the work holding tool in a substantially horizontal plane, the work holding tool is supported by the exchange support device by a disengagement operation in which the work holding tool and a work transport device that detachably supports the work holding tool are separated in a substantially horizontal direction to release the engagement therebetween, a support part having a mounting surface configured to be able to mount the work holding tool while restricting movement of the work holding tool within a substantially horizontal plane, and configured to be able to move relatively to a base part of the exchange support device for the disengagement operation; a drive source for causing the support portion to move relatively; a locking element for clamping the workpiece holding tool placed on the mounting surface of the support part between the workpiece holding tool and the mounting surface, the locking element being interlocked with the relative movement of the support part by the drive source; By doing so, the driving source a support lock mechanism that can switch between an unlocked state and a locked state in which movement of the work holding tool in a vertical direction of the placement surface by moving the lock element between an unlocked position and a locked position; The present invention is characterized by the following.

[0023] In the present invention, The support lock mechanism includes: a first link member that swings around a pivot integral with the support portion in conjunction with the relative movement of the support portion; an intermediate link having one end rotatably connected to one end of the first link member; a second link member supported by the support portion so as to be swingable around an integral pivot axis, one end of which is rotatably connected to the other end of the intermediate link, and the other end of the second link member protrudes toward a mounting surface of the support portion by a predetermined amount and has a claw portion that functions as the locking element for clamping the work holding tool placed on the mounting surface between the second link member and the mounting surface; The present invention can be characterized in that it comprises:

[0024] In the present invention, The support lock mechanism includes: The exchange support device can be characterized by including a claw portion that is erected from the base portion, protrudes toward the mounting surface of the work holding tool at a predetermined angle, and functions as the locking element that clamps the work holding tool placed on the mounting surface between the work holding tool and the mounting surface.

[0025] In the present invention, the drive source may be disposed on a base portion at a predetermined distance from the placement surface.

[0026] In the present invention, the unlocked position and the locked position of the support lock mechanism can be detected by detecting the position of the movable part of the drive source. [Effects of the Invention]

[0027] According to the present invention, it is possible to provide a work holding tool replacement support device (replacement carriage) that has a simple, low-cost, lightweight and compact configuration, is capable of removably supporting a work holding tool that holds a workpiece, and prevents the workpiece from falling off while being supported. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 2 is a perspective view schematically showing a state in which an exchange carriage for a work holding tool according to a first embodiment of the present invention is being carried between press machines during setup work. [Figure 2] FIG. 2 is an enlarged perspective view of the workpiece transport device, the workpiece holding tool, and the exchange carriage extracted from FIG. 1. [Figure 3] 1A is a view of the workpiece transport device, the workpiece holding tool, and the exchange carriage according to the embodiment, as viewed from the upstream side in the workpiece transport direction, and FIG. 1B is a side view of FIG. [Figure 4] FIG. 2 is an enlarged perspective view of the transport arm, the workpiece holding tool, and the exchange carriage according to the embodiment of the present invention. [Figure 5] 1 is a cross-sectional view of the transfer arm, workpiece holding tool, and exchange carriage according to the embodiment taken along a vertical plane perpendicular to the workpiece transfer direction (in an unlocked state with the workpiece holding tool placed on the exchange carriage). FIG. [Figure 6] 1 is a cross-sectional view of the transfer arm, workpiece holding tool, and exchange carriage according to the embodiment, taken along a vertical plane perpendicular to the workpiece transfer direction (the exchange carriage is in an intermediate state between locked and unlocked states). FIG. [Figure 7] 1 is a cross-sectional view of the transfer arm, workpiece holding tool, and exchange carriage according to the embodiment taken along a vertical plane perpendicular to the workpiece transfer direction (the exchange carriage is locked with the workpiece holding tool placed on it). FIG. [Figure 8] FIG. 8 is a side view of the transfer arm, the workpiece holding tool, and the exchange carriage shown in FIG. 7. [Figure 9] 10 is a cross-sectional view of a transfer arm, a workpiece holding tool, and an exchange carriage according to a second embodiment, cut along a vertical plane perpendicular to the workpiece transfer direction (in an unlocked state with the workpiece holding tool placed on the exchange carriage). FIG. [Figure 10] 1 is a cross-sectional view of the transfer arm, workpiece holding tool, and exchange carriage according to the embodiment taken along a vertical plane perpendicular to the workpiece transfer direction (the exchange carriage is locked with the workpiece holding tool placed on it). FIG. [Figure 11] FIG. 1 is a cross-sectional view illustrating a conventional ball lock joint (Patent Document 1). DETAILED DESCRIPTION OF THE INVENTION

[0029] An embodiment showing an example of an exchange carriage for a work holding tool according to the present invention will be described below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below. The work holding tool exchange carriage of the present invention is an example of a work holding tool exchange support device (exchange carriage) that detachably supports a work holding tool that is detachably supported on a work transport device of a press machine, and is used when attaching the next work holding tool to be used to the work transport device during setup work, etc.

[0030] First Embodiment The exchange carriage 100 according to this embodiment is inserted (carried in) between the press machine 20 and the press machine 30, for example, as shown in Fig. 1, during setup work such as replacing the workpiece holding tool 50 currently in use with another workpiece holding tool 50', and is retracted (carried out) from between the press machine 20 and the press machine 30 after the setup work is completed. The exchange carriage 100 may be configured to be self-propelled, or a system in which it is moved forward and backward by other methods may also be employed. The exchange carriage 100 corresponds to an example of a work holding tool exchange support device according to the present invention.

[0031] As shown in Figures 2, 3(A), and 3(B), the exchange cart 100 is supported by a base support part 102 erected from its main body base 101, and is configured with a rotating shaft 103 that extends horizontally and in a direction approximately perpendicular to the work transport direction and is rotatable around its longitudinal center (symbol C in Figure 3(B)) (in the direction of arrow R in Figure 3(B)).

[0032] Four base portions 130 are attached around the rotating shaft 103. The four base portions 130 are provided with two base portions 130 lined up in the longitudinal direction of the rotating shaft 103 and two base portions 130 on the opposite side of the rotating shaft 103 with the central axis of rotation of the rotating shaft 103 in between.

[0033] 5 to 7, the base portion 130 is provided with a slide base 132 that is movable relative to the base portion 130 along the longitudinal direction of the rotation shaft 103 via a slide guide (linear guide) 131, etc. The slide base 132 is movable relative to the base portion 130 along the longitudinal direction thereof, and movement of the slide base 132 in a direction perpendicular to the longitudinal direction of the base portion 130 in a horizontal plane and movement of the slide base 132 away from the base portion 130 are restricted via the slide guide 131, etc.

[0034] For this reason, the support part 110 supported by the slide base 132 is configured to be movable relative to the base part 130 and hence the rotating shaft 103 along its longitudinal direction, and in this embodiment, this movement is performed by the operation of an actuator (air cylinder, etc.) 120, which is the driving source.

[0035] Specifically, as shown in Figures 4, 5 to 7, etc., actuator (air cylinder, etc.) 120 is attached substantially integrally to base portion 130, and the tip of its output shaft 121 is connected to slide base 132. The base end of output shaft 121 is connected to piston 122, and piston 122 is slidably inserted into cylinder 123. In addition, actuator 120 has a function of mechanically locking piston 122 at the right end portion in Figure 5 inside cylinder 123. When air is filled into cylinder volume portion 123B on the right side of piston 122 in the left-right direction in Figure 5, the pressure of the air moves piston 122 and therefore output shaft 121 to the left in Figure 5, and at the same time, slide base 132 also moves to the left in Figure 5 (see Figure 5). 5, 6 and 7, the spider 53 and the suction cup 54 are not shown. In this embodiment, air refers to compressed air (factory air) having a predetermined pressure (for example, about 0.3 to 0.8 MPa) that has been increased by an air compressor, etc. However, the air is not limited to air, and other gases or fluids such as oil or water can also be used.

[0036] Furthermore, when air is filled into the cylinder volume portion 123A on the left side of the piston 122 in the left-right direction in Figure 5, the resulting pressure moves the piston 122 and therefore the output shaft 121 to the right in Figure 5, and at the same time, the slide base 132 also moves to the right in Figure 5 (see Figure 6).

[0037] The movement of the slide base 132 acts on the link mechanism 150 provided in the support portion 110, and serves as a drive source for opening and closing (locking and unlocking) the claw portion 153D.

[0038] In this embodiment, as shown in Figures 5, 6, etc., the support part 110 is provided with a link mechanism 150 including a first link (stopper side link) member 151, an intermediate link member 152, and a second link (lock side link) member 153.

[0039] Regarding the link mechanism 150, a first link member 151, whose longitudinal direction is disposed in a substantially vertical direction, is supported so as to be rotatable (swingable) about a pivot 151B. The pivot 151B is integral with (including "fixed"; the same applies hereinafter) the support part 110, and a base end part 151A of the first link member 151 is disposed so as to be located between a release (unlock) side stopper 140 and a restriction (lock) side stopper 141, which are attached integrally to the base part 130.

[0040] On the other hand, a tip end 151C of the first link member 151 is rotatably (swingably) connected via a pivot (joint) 151D to one end of an intermediate link member 152 extending substantially laterally. A base end 153A of a second link member 153 is rotatably (swingably) connected to the other end of the intermediate link member 152 via a pivot (joint) 152A. The intermediate link member 152 is supported by being connected to the tip end 151C of the first link member 151 and the base end 153A of the second link member 153 via the pivot 151D and the pivot 152A, but is configured in a free state with respect to the support part 110.

[0041] The second link member 153 is supported so as to be rotatable (swingable) around a pivot (joint) 153B. The pivot 153B is integral with the support part 110, and a claw part 153D is provided at a tip part 153C of the second link member 153. The claw part 153D has a shape that protrudes from the tip part 153C to the left side in FIG. The claw portion 153D at the tip end portion 153C of the second link member 153 corresponds to an example of a locking element according to the present invention.

[0042] Furthermore, the top end surface (mounting surface) 112 of the support portion 110 is formed substantially horizontally, and the top end surface 112 is provided with a positioning pin 111 that protrudes upward at a predetermined position.

[0043] The exchange carriage 100 having the support portion 110 configured as described above is used as follows. The workpiece holding tool exchange carriage 100 according to this embodiment is carried between the press machines 20 and 30 during setup work when changing the shape or size of the workpiece (see FIG. 1, etc.). A workpiece holding tool 50 is detachably supported at the tip of a transfer arm 40, which is a workpiece transfer device (see FIGS. 2 to 7, etc.). The workpiece holding tool 50 holds and transfers a workpiece W, which is indicated by a two-dot chain line in FIG. 3. The transfer arm 40' has a configuration that is bilaterally symmetrical to the transfer arm 40, and therefore a description thereof will be omitted here.

[0044] The transfer arm 40 first removes the workpiece holding tool 50 of the current mold that it is supporting, in order to mount the next (different) workpiece holding tool 50' for the next press operation.

[0045] For example, as shown in FIG. 5, the transfer arm 40 is lowered while aligning the positioning hole 52 of the workpiece holding tool 50 with the positioning pin 111 on the exchange carriage 100 side. 5, the work holding tool 50 is placed on the tip upper surface 112 of the support part 110 of the exchange cart 100. Two support parts 110 are provided for one work holding tool 50 so that the work holding tool 50 can be reliably supported on the exchange cart 100. As already mentioned, the spider 53 and the suction cup 54 are not shown in Figures 5, 6, and 7. Alternatively, a positioning pin may be provided on the work holding tool 50 side, and a positioning hole may be provided on the exchange carriage 100 side.

[0046] When the workpiece holding tool 50 is placed on the tip upper surface 112 of the support member 110, the transport arm 40 activates (supplies air to) the actuator 41 to disengage (lock) the workpiece holding tool 50 from the locking mechanism 42 on the transport arm 40 side (see the state in Figure 6).

[0047] While this engagement is released, as shown in Fig. 6, in the exchange cart 100, the piston 122 moves in the cylinder 123 to the right in Fig. 5 due to the operation of the actuator 120. Accordingly, the slide base 132 and therefore the support part 110 move relatively to the right in Fig. 5 via the slide guide 131 etc.

[0048] This separates the engagement parts 43, 43' between the transport arm 40 and the workpiece holding tool 50. As shown in Figures 5 to 7, the engagement parts 43, 43' are made up of a pin and a pin hole that extend in the sliding direction (left and right direction in Figure 5), and are separated by moving the workpiece holding tool 50 rightward relative to the transport arm 40 in Figure 5.

[0049] At this time, the pivot 151B of the first link member 151 moves rightward in Fig. 5 relative to the base portion 130. Accordingly, the base end portion 151A of the first link member 151 moves away from the state in which it is in contact with the release-side stopper 140 (the state in Fig. 5) and comes close to and contacts the restriction-side stopper 141 (see Figs. 6 and 7).

[0050] In the state shown in Figure 7, the first link member 151 rotates around the pivot 151B, causing the base end 151A of the first link member 151 to abut against the regulation side stopper 141, and the first link member 151 transitions from an inclined state to an approximately vertical state and is maintained there.

[0051] In conjunction with this movement of the first link member 151, the second link member 153 rotates around the pivot 153B via the intermediate link member 152. Accordingly, the claw portion 153D operates to sandwich the base plate 51 of the work holding tool 50 between the mounting surface 112 of the support portion 110 in the thickness direction. As a result, the base plate 51 of the work holding tool 50 is locked (movement in the vertical or up-down direction is restricted) between the claw portion 153D and the tip top surface 112 of the support portion 110. Furthermore, movement of the base plate 51 in the horizontal plane relative to the tip top surface 112 of the support portion 110 is restricted by the positioning hole 52 and the positioning pin 111. Here, the piston 122 of the actuator 120 is in a position where it is mechanically locked within the cylinder 123, and therefore the base plate 51 remains locked by the claw portion 153D. The locked state of the piston 122 is maintained unless it is forcibly released by supplying pressure from the outside, and therefore, for example, even if a power outage or other power source interruption occurs after the exchange cart 100 supporting the workpiece holding tool 50 has retreated from between the press machines 20 and 30, the piston 122 cannot move within the cylinder 123. In other words, the workpiece holding tool 50 is stably supported by the exchange cart 100, and safety is ensured when an operator replaces the workpiece holding tool 50. The link mechanism 150 according to this embodiment and the positioning mechanism made up of the positioning hole 52 and the positioning pin 111 constitute one example of a support lock mechanism according to the present invention.

[0052] Through this series of operations, the work holding tool 50 is separated from the transport arm 40, and the base plate 51 of the work holding tool 50 is securely locked in a position where it is placed on the top surface 112 of the tip of the support part 110, and this position is maintained.

[0053] Next, in order to attach the next workpiece holding tool 50' for the next press operation to the transport arm 40, the exchange carriage 100 rotates the rotating shaft 103 to bring the workpiece holding tool 50', which is on the lower side in Figures 3(A) and 3(B), upward so that it faces the transport arm 40. At this time, since the base plate 51 of the work holding tool 50 is securely supported on the tip upper surface 112 of the support portion 110, the work holding tool 50 will not fall or the like.

[0054] Thereafter, by performing the reverse operations to those described above, the work holding tool 50' that matches the next die (the die for the next press operation) is attached to the transport arm 40, and the exchange carriage 100 supporting the work holding tool 50 that matches the previous die (the die for the previous press operation) is withdrawn from between the press machines 20 and 30, thereby completing the setup work.

[0055] As described above, according to this embodiment, the work holding tool 50 is disengaged by moving the work holding tool 50 laterally (left and right or within a horizontal plane) away from the transport arm 40 supporting the work holding tool 50, and the disengagement operation for disengaging the engagement is performed by moving the support part 110 on the exchange carriage 100 side by the operation of the actuator 120, and the support lock operation of the support lock mechanism is performed by utilizing (in conjunction with) the disengagement operation by the movement of the support part 110, which locks the work holding tool 50 placed on the placement surface 112 of the support part 110 to the placement surface 112. In other words, since a common drive source (actuator such as a motor or fluid pressure cylinder) is used for the disengagement operation and the support lock operation, it is possible to simplify the configuration, reduce the size and weight, and reduce costs.

[0056] Furthermore, according to this embodiment, a common drive source is used for the disengagement operation and the support locking operation, so that the degree of freedom in the installation layout of the drive source relative to the exchange cart 100 can be greatly improved.

[0057] Furthermore, according to this embodiment, a common drive source is used for the disengagement operation and the support lock operation, and this drive source is disposed in the exchange carriage 100, so an increase in the weight of the transport arm is suppressed. Therefore, deflection of the transport arm can be suppressed, which can contribute to realizing an improvement in the transport speed.

[0058] Furthermore, according to this embodiment, a common drive source is used for the disengagement operation and the support lock operation, and this drive source is disposed on the base portion 130 of the exchange cart 100, away from the mounting surface 112 of the support portion 110, thereby simplifying the configuration in the vicinity of the mounting surface 112 of the support portion 110. This increases the degree of freedom in the mounting positions and orientations of multiple workpiece holders (such as suction cups 54 and spiders 53) for the workpiece holding tool 50 that can be placed on it. This allows even a workpiece holding tool 50 equipped with a wide variety of workpiece holders arranged in a variety of ways to suit the size and shape of the workpiece to be placed on the support portion 110 of the exchange cart 100. In other words, an exchange cart that can contribute to the transportation of a wide variety of workpieces can be provided.

[0059] Furthermore, according to this embodiment, a common drive source is used for the disengagement operation and the support lock operation, and this drive source is disposed on the base portion 130 of the exchange cart 100 away from the mounting surface 112 of the support portion 110. Furthermore, position detection sensors 124A and 124B are attached to detect the position of a movable portion (such as a piston) of the drive source that is linked to the movement of the support lock mechanism (e.g., the claw portion 153D of the link mechanism 150). Therefore, there is no need to provide sensors for detecting the locked and unlocked states and their wiring near the mounting surface 112 of the support portion 110 of the exchange cart 100. This simplifies the configuration near the mounting surface 112 of the support portion 110, further increasing the flexibility in the mounting positions and orientations of the multiple workpiece holders of the workpiece holding tool 50 that can be placed on it. As a result, even a workpiece holding tool 50 equipped with workpiece holders of various sizes and shapes that are arranged in a variety of positions can be placed on the support portion 110 of the exchange cart 100. In other words, it is possible to provide an exchange carriage that can contribute to the transportation of a wide variety of workpieces. The locked / unlocked state detection system detects the locked state and is used to adjust the timing of attaching / detaching the work holding tool 50 to / from the transport arm 40 and the timing of moving the transport arm 40, so that the transport arm 40 does not attach the work holding tool 50 while in the locked state, which would cause excessive force to be applied to the transport arm 40 or each device, resulting in damage.

[0060] As described above, according to this embodiment, it is possible to provide a work holding tool replacement support device (replacement cart) that has a simple, low-cost, lightweight and compact configuration, is capable of removably supporting a work holding tool that holds a workpiece, and prevents the workpiece from falling off while being supported.

[0061] As shown representatively in Figure 7, an elastic element such as a coil spring S is interposed between spring accommodating portion 152B that is substantially integral with intermediate link member 152 and portion 110A that is substantially integral with the frame of support portion 110, so that intermediate link member 152 is elastically biased to the left in Figure 7. As a result, even if vibration or other disturbance occurs and claw portion 153D of tip end portion 153C of second link member 153 inadvertently moves to the right in Figure 7 to unlock base plate 51, this can be prevented, contributing to the realization of a more reliable lock.

[0062] The locking mechanism 42 for the workpiece holding tool 50 (or 50') of the transfer arm 40 is not particularly limited, but an example will be shown here. When the engagement (insertion) of the pins and pin holes of the engagement portions 43, 43' between the transfer arm 40 and the workpiece holding tool 50 is complete, the locking mechanism 42 activates the actuator 41 to move the link member 42A, which is rotatably connected to the output portion 41A of the actuator 41 by a pivot (joint) 42A1, to the right in Fig. 5. The state in Fig. 5 shows the locked state.

[0063] Link member 42A is rotatably connected to end 42B1 of link member 42B by pivot (joint) 42A2 on the opposite side of pivot 42A1, and link member 42B is rotatably supported by pivot (joint) 42B2 integral with transport arm 40. Pivot 42A1 only connects output section 41A and link member 42A, and pivot 42A2 only connects link members 42A and 42B, and is configured to be free from transport arm 40 and the like.

[0064] Link member 42B has an L-shape, and end 42B1, which corresponds to one half of the L, is connected to link member 42A, and its bent portion (middle portion) is rotatably supported relative to conveying arm 40 by pivot (joint) 42B2.

[0065] The locking portion 42B3 on the opposite side of the pivot 42B2 from the end 42B1 connected to the link member 42A is in contact with a stopper portion 55 integral with the work holding tool 50.

[0066] As a result, in the locked state of Figure 5, the engagement between the pins and pin holes of the engagement portions 43, 43' between the transport arm 40 and the work holding tool 50 is completed, and the transport arm 40 and the work holding tool 50 are abutted against the abutment portion 44, and the lock portion 42B3 presses against the stopper portion 44, so that the transport arm 40 and the work holding tool 50 are securely locked in a state where they cannot be separated from each other. In this state, the transfer arm 40 transfers the workpiece during the pressing operation.

[0067] In this link mechanism 42, the line S1 connecting the pivots 42A1 and 42A2 and the line S2 connecting the pivots 42A2 and 42B2 are arranged so as to intersect at right angles, so that even if the locking portion 42B3 receives a force that moves it away from the stopper portion 55, the force is transmitted only in the direction passing through the line S1. Therefore, no force component that moves the output portion 41A of the actuator 41 toward the retracted position (leftward in FIG. 5) is generated in the pivot 42A1 of the link member 42A.

[0068] That is, in this embodiment, when in the locked state of FIG. 5, the locking portion 42B3 will not separate from the abutting portion 44 unless the output portion 41A is moved by the operation of the actuator 41, so that the transport arm 40 and the work holding tool 50 are securely locked together and safe when transporting a work in a press operation.

[0069] 2, the transport arm 40 of the workpiece transport device according to this embodiment is supported movably in the vertical direction via an elevating mechanism 32 supported on a column 31 of a press machine 30, and includes a base-end arm 40A that is rotatable about a pivot 32A relative to the elevating mechanism 32, and a tip-end arm 40C that is rotatable about a pivot 40B at the tip of the base-end arm 40A. The transport arm 40 is configured such that, by swinging the base-end arm 40A and the tip-end arm 40C that is rotatable about the pivot 40B at the tip of the tip-end arm 40C, the workpiece is transported in the transport direction by a workpiece holding tool 50 that is detachably supported at the tip of the tip-end arm 40C, and the workpiece is raised and lowered by the elevating mechanism 32, allowing the workpiece to be taken in and placed in a mold. However, the workpiece transport device according to the present invention is not limited to this configuration, and the present invention is also applicable to workpiece transport devices that transport works with other configurations (the same applies to the following embodiments).

[0070] <Second embodiment> In the first embodiment described above, an example was described in which the link mechanism 150 is used so that the claw portion 153D of the tip portion 153C of the second link 153 operates to clamp the base plate 51 of the work holding tool 50 between the thickness direction and the mounting surface 112 of the support portion 110, thereby locking the base plate 51 of the work holding tool 50 between the claw portion 153D and the tip upper surface 112 of the support portion 110 (restricting movement in the vertical or up-down direction).However, in this embodiment, an example is described in which the link mechanism 150 is not used, as shown in Figures 9 and 10. Specifically, in this embodiment, an exchange cart 200 is used instead of the exchange cart 100.

[0071] 9 and 10, the exchange cart 200 according to this embodiment is provided with a locking mechanism 220 including a locking member 221 and a reinforcing element 224 that are erected substantially integrally with the base portion 130 so as to extend upward from the base portion 130 through the slide base 132. The reinforcing element 224 is a reinforcing element that suppresses deformation due to a force acting on an upper tip 222 of the locking member 221 in the left-right direction in FIGS. In this embodiment, the same elements as those described in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.

[0072] An upper tip 222 of the locking member 221 according to this embodiment is provided with a claw portion 223 that protrudes to a predetermined extent toward the left in FIGS. 9 and 10 (toward the placement surface 112 of the support portion 210).

[0073] When the slide base 132 is slid to the right in FIG. 9 from the unlocked state in FIG. 9 via the actuator 120, the support part 210 supported substantially integrally by the slide base 132 and the work holding tool 50 placed (supported) on the placement surface 112 by the support part 210 move to the right in FIG. 9.

[0074] As a result of this action, the claw portion 223 at the upper tip 222 of the locking member 221 clamps the base plate 51 of the work holding tool 50 between the mounting surface 112 of the support part 110 in the thickness direction, and the base plate 51 of the work holding tool 50 is locked (restricted from movement in the vertical or up-down direction) between the claw portion 223 and the tip upper surface 112 of the support part 110 (see Figure 10). The claw portion 223 at the upper tip 222 of the locking member 221 corresponds to an example of a locking element according to the present invention.

[0075] Conversely, when the slide base 132 is slid from the state shown in FIG. 10 to the left in FIG. 10 via the actuator 120, the support part 210, which is supported substantially integrally by the slide base 132, and the work holding tool 50, which the support part 210 places on (supports) the placing surface 112, move to the left in FIG. 10, and the claw part 223, which has locked the base plate 51 of the work holding tool 50 between the tip upper surface 112 of the support part 110, also moves to the left in FIG. 10, and the lock is released (see FIG. 9).

[0076] In the second embodiment having such a configuration, similarly to the first embodiment, the work holding tool 50 is disengaged by moving the work holding tool 50 laterally (left and right or within a horizontal plane) away from the transport arm 40 supporting (mounting) the work holding tool 50, and the disengagement operation for disengaging the work holding tool 50 is performed by moving the support part 210 on the exchange carriage 200 side by the operation of the actuator 120, and the disengagement operation by the movement of the support part 210 is used to perform a support locking operation for locking the work holding tool 50 placed on the placement surface 112 of the support part 210 to the placement surface 112. In other words, since the drive source (actuator such as a motor or fluid pressure cylinder) for performing the disengagement operation and the locking operation is shared, it is possible to simplify the configuration, reduce the size and weight, and reduce the cost.

[0077] Also, according to this embodiment, a common drive source is used for the disengagement operation and the support locking operation, so that the degree of freedom in the installation layout of the drive source relative to the exchange cart 200 can be greatly improved.

[0078] Furthermore, in this embodiment, a common drive source is used for the disengagement operation and the support lock operation, and this drive source is disposed in the exchange carriage 200, so an increase in the weight of the transport arm is suppressed. Therefore, deflection of the transport arm can be suppressed, which can contribute to realizing an improvement in the transport speed.

[0079] Furthermore, according to this embodiment, a common drive source is used for the disengagement operation and the support lock operation, and this drive source is disposed on the base portion 130 of the exchange cart 200, away from the mounting surface 112 of the support portion 210, thereby simplifying the configuration in the vicinity of the mounting surface 112 of the support portion 210. This increases the degree of freedom in the mounting positions and postures of multiple work holders for the work holding tool 50 that can be placed on it. This allows even a work holding tool 50 equipped with work holders that are variously arranged to suit the size and shape of the work to be placed on the support portion 110 of the exchange cart 100. In other words, it is possible to provide an exchange cart that can contribute to the transportation of a wide variety of workpieces.

[0080] Furthermore, according to this embodiment, a common drive source is used for the disengagement operation and the support lock operation. This drive source is disposed on the base portion 130 of the exchange cart 200, away from the mounting surface 112 of the support portion 210. Position detection sensors 124A and 124B are attached to detect the position of the movable portion (piston) of the drive source, which is linked to the support lock operation. Therefore, there is no need to provide sensors for detecting the locked and unlocked states and their wiring near the mounting surface 112 of the support portion 210 of the exchange cart 200. This simplifies the configuration near the mounting surface 112 of the support portion 110, further increasing the flexibility of the mounting positions and orientations of the multiple workpiece holders of the workpiece holding tool 50 that can be placed on it. As a result, even a workpiece holding tool 50 equipped with a wide variety of workpiece holders arranged to suit the size and shape of the workpiece can be placed on the support portion 210 of the exchange cart 100. In other words, an exchange cart that can contribute to the transportation of a wide variety of workpieces can be provided.

[0081] Thus, according to this embodiment, it is possible to provide a work holding tool replacement support device (replacement cart) that has a simple, low-cost, lightweight and compact configuration, is capable of removably supporting a work holding tool that holds a workpiece, and prevents the workpiece from falling off while being supported.

[0082] In addition, the tip support surface (loading surface) 112 in each embodiment is not limited to being an approximately horizontal plane, and by omitting the positioning pin 111 and positioning hole 52 and making the loading surface inclined in the vertical direction, it is also possible to configure the work holding tool 50 to be supported while moving within an approximately horizontal plane.

[0083] The above-described embodiment is merely an example for explaining the present invention, and various modifications can be made without departing from the scope of the present invention. [Explanation of symbols]

[0084] 20,30 Press machine 40 Work transport device 50 Workholding Tools 51 base plate 52 Positioning hole 100,200 Exchange cart (exchange support device for work holding tools) 101 Main body base 102 base support 103 Rotating shaft 110,210 Support part 111 Locating pin 112 Tip top surface (mounting surface) 120 Drive source (actuator, etc.) 121 Output shaft 130 Base 132 Slide Base 140 Release (unlock) side stopper 141 Restriction (lock) side stopper 150 Link mechanism 151 First link member (stopper side link) 151B Axis (Joint) 151D Axis (Joint) 152 Intermediate link member 152A Axis (Joint) 153 Second link member (lock side link) 153B Axis (Joint) 153D Claw (an example of a locking element) 223 Claw (an example of a locking element)

Claims

1. A work holding tool exchange support device that holds a workpiece so as to be able to hold and release the workpiece for workpiece transport in a press machine, In a state where the work holding tool is placed on a placement surface while restricting movement of the work holding tool in a substantially horizontal plane, the work holding tool is supported by the exchange support device by a disengagement operation in which the work holding tool and a work transport device that detachably supports the work holding tool are separated in a substantially horizontal direction to release the engagement therebetween, In order to perform the disengagement operation, a support portion of the exchange support device, which is substantially integral with a mounting surface on which the work holding tool is placed, is moved relative to a base portion of the exchange support device by a drive source; This work holding tool replacement support device is characterized by utilizing the disengagement action caused by the relative movement of the support part to move a locking element using the drive source so as to clamp the work holding tool placed on the support part's loading surface between the loading surface and the locking element, thereby restricting the movement of the work holding tool in the vertical direction of the loading surface and supporting the work holding tool while locking it.

2. A work holding tool exchange support device that holds a workpiece so as to be able to hold and release the workpiece for workpiece transport in a press machine, a support part having a mounting surface configured to be able to mount a work holding tool while restricting movement of the work holding tool within a substantially horizontal plane, and configured to be able to move relatively along a lateral direction with respect to a base part of the exchange support device; a drive source for causing the support portion to move relatively; a support lock mechanism including a lock element that clamps the workpiece holding tool placed on the placement surface of the support part between the placement surface and the lock element, and that moves the lock element between an unlocked position and a locked position by the drive source in conjunction with the relative movement of the support part by the drive source, thereby switching between an unlocked state and a locked state that restricts movement of the workpiece holding tool in the vertical direction of the placement surface; A work holding tool exchange support device comprising:

3. A work holding tool exchange support device that holds a workpiece so as to be able to hold and release the workpiece for workpiece transport in a press machine, In a state where the work holding tool is placed on a placement surface while restricting movement of the work holding tool in a substantially horizontal plane, the work holding tool is supported by the exchange support device by a disengagement operation in which the work holding tool and a work transport device that detachably supports the work holding tool are separated in a substantially horizontal direction to release the engagement therebetween, a support part having a mounting surface configured to be able to mount the work holding tool while restricting movement of the work holding tool within a substantially horizontal plane, and configured to be able to move relatively to a base part of the exchange support device for the disengagement operation; a drive source for causing the support portion to move relatively; a support lock mechanism including a lock element that clamps the workpiece holding tool placed on the placement surface of the support part between the placement surface and the lock element, and that moves the lock element between an unlocked position and a locked position by the drive source in conjunction with the relative movement of the support part by the drive source, thereby switching between an unlocked state and a locked state that restricts movement of the workpiece holding tool in the vertical direction of the placement surface; A work holding tool exchange support device comprising:

4. The support lock mechanism includes: a first link member that swings around a pivot integral with the support portion in response to the relative movement of the support portion; an intermediate link having one end rotatably connected to one end of the first link member; a second link member supported by the support portion so as to be swingable around an integral pivot axis, one end of which is rotatably connected to the other end of the intermediate link, and the other end of which has a claw portion that protrudes toward a mounting surface of the support portion by a predetermined amount and functions as the locking element that clamps the work holding tool placed on the mounting surface between the second link member and the mounting surface; 4. The work holding tool exchange support device according to claim 2, further comprising:

5. The support lock mechanism includes:

4. A work holding tool replacement support device as described in claim 2 or 3, characterized in that it is configured to include a claw portion that is erected from a base portion of the replacement support device, protrudes toward a predetermined position toward a mounting surface of the work holding tool, and functions as the locking element that clamps the work holding tool placed on the mounting surface between the work holding tool and the mounting surface.

6. 4. The workpiece holding tool exchange support device according to claim 2, wherein the drive source is disposed on a base part at a predetermined distance from the placement surface.

7. 4. The workpiece holding tool exchange support device according to claim 2, wherein the unlocked position and the locked position of the support lock mechanism are detected by detecting the position of the movable part of the drive source.

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