JP5342823B2 - Transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transfer device for simply executing the position adjusting work of a finger to a feed bar. <P>SOLUTION: The transfer device comprises a pair of feed bars 1 which are arranged in parallel, and freely openable/closable, a pair of fingers 2a, 2b which are provided on the inner side of the pair of feed bars 1 so as to be opposite to each other, and chuck a workpiece W from both sides when the pair of feed bars are closed, a finger supporting mechanism 3 which movably supports at least one finger 2a out of the pair of fingers 2a, 2b by one feed bar 1 corresponding thereto along the opening/closing direction, and presses it in the closing direction, and a displacement measuring sensor 4 for measuring the displacement of one finger 2a in the opening/closing direction with respect to one feed bar d1. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to, for example, a transfer device used for transferring a workpiece in a forging device or the like and related technology.

  As the transfer device used for transferring a workpiece to a forging die in a forging device, those shown in the following Patent Documents 1 and 2 are well known.

The transfer device includes a pair of feed bars arranged in parallel and a pair of fingers provided in a state of being opposed to each other inside the pair of feed bars. Then, the pair of feed bars are closed, and the work is sandwiched (chucked) by the pair of fingers. In this state, the pair of feed bars move in the length direction, and the work corresponds to the forging die. Placed in position. Thereafter, the pair of feed bars is opened and the chuck of the workpiece is released, so that the workpiece is placed in the forging die.
No. 7-15618 JP 2000-197936 A

  By the way, in the conventional transfer device, if the position of the finger with respect to the feed bar is slightly displaced from the normal position, the workpiece cannot be chucked in a stable state by the pair of fingers. For example, if one of the fingers is displaced in the opening / closing direction (inside / outside) with respect to the feed bar, the workpiece will deviate from the center line when the workpiece is chucked by the pair of fingers, and the workpiece is in a stable state. In some cases, the workpiece cannot be held or the workpiece cannot be set at a predetermined position.

  Therefore, in the conventional transfer device, the position of the finger with respect to the feed bar is confirmed and adjusted as necessary before the operation is started. However, this adjustment work requires high accuracy. It was a precise and careful work, and the burden on the worker was large and troublesome.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a transfer device that can easily and accurately perform a position adjustment operation of a finger with respect to a feed bar and related technology.

  In order to achieve the above object, the present invention comprises the following arrangement.

[1] A pair of feed bars arranged in parallel and openable and closable,
A pair of fingers that are provided inside each of the pair of feed bars so as to face each other, and chuck the workpiece from both sides when the pair of feed bars are closed;
A finger support mechanism for supporting at least one of the pair of fingers movably along one of the corresponding feed bars along the opening and closing direction and urging it in the closing direction;
A transfer device comprising: a displacement amount sensor for measuring a displacement amount of the one finger in an opening / closing direction with respect to the one feed bar.

  [2] The transfer device according to [1], wherein the chuck state of the workpiece by the pair of fingers is confirmed based on information from the displacement measurement sensor.

  [3] The transfer device according to item 1 or 2, wherein a fixed position in an initial state of the one finger with respect to the one feed bar is adjusted based on information from the displacement measurement sensor.

[4] A plurality of the pair of fingers are provided on the pair of feed bars at intervals along the length direction thereof.
4. The transfer device according to any one of items 1 to 3, wherein a plurality of workpieces are chucked by the plurality of pairs of fingers when the pair of feed bars are closed.

[5] The finger support mechanism includes a finger interlocking member that is disposed in a penetrating state from the inside to the outside of the one feed bar and moves in conjunction with the finger.
A measured part is provided at the outer end of the finger interlocking member,
The transfer device according to any one of the preceding items 1 to 4, wherein the displacement amount measuring sensor is fixed to the one feed bar in a state corresponding to the measured part. [6] The displacement amount measuring sensor is not 6. The transfer device according to any one of items 1 to 5, which is configured by a contact sensor.

  [7] The transfer device according to any one of items 1 to 6, wherein the displacement amount measurement sensor is configured by an eddy current displacement sensor.

[8] The transfer device according to any one of items 1 to 7,
A forging die for forging the workpiece that has been installed,
The workpiece is forged by moving the pair of feed bars in the length direction of the workpiece while the workpiece is chucked by the transfer device, then opening the pair of feed bars and releasing the chuck of the workpiece. A forging device characterized in that it is installed in a metal mold and forged.

[9] A forging method using the transfer device according to any one of items 1 to 7,
The workpiece is forged by moving the pair of feed bars in the length direction of the workpiece while the workpiece is chucked by the transfer device, then opening the pair of feed bars and releasing the chuck of the workpiece. The process of installing in the mold,
Forging a workpiece placed on the forging die, and a forging method.

[10] A pair of open / close bars arranged in parallel and freely openable / closable;
A pair of fingers that are provided inside each of the pair of opening and closing bars, and that chuck the workpiece from both sides when the pair of feed bars are closed;
A finger support mechanism for supporting at least one of the pair of fingers movably along the opening and closing direction on one of the corresponding opening and closing bars and urging it in the closing direction;
A work chucking device comprising: a displacement amount measuring sensor that measures a displacement amount of the one finger in the opening / closing direction of the one opening / closing bar.

[11] A pair of fingers are provided in a state of being opposed to each other inside a pair of feed bars that are arranged in parallel and freely openable and closable, and when the pair of feed bars are closed, the workpiece is moved by the pair of fingers. A chuck state confirmation method for a transfer device that is chucked from both sides,
Among the pair of fingers, at least one finger is supported on one corresponding feed bar so as to be movable along the opening and closing direction, and a finger support mechanism for biasing in the closing direction is installed, and
A displacement amount measuring sensor for measuring a displacement amount in the opening / closing direction of the one finger is installed on the one feed bar,
A chuck state confirmation method for a transfer device, wherein a chuck state of a workpiece by the pair of fingers is confirmed based on information from the displacement measurement sensor.

[12] A pair of fingers are provided in a state of being opposed to each other inside a pair of feed bars that are arranged in parallel and are openable and closable, and when the pair of feed bars are closed, the workpiece is moved by the pair of fingers. A finger position adjusting method for a transfer device that is chucked from both sides,
Among the pair of fingers, at least one finger is supported on one corresponding feed bar so as to be movable along the opening and closing direction, and a finger support mechanism for biasing in the closing direction is installed, and
A displacement amount measuring sensor for measuring a displacement amount in the opening / closing direction of the one finger is installed on the one feed bar,
A finger position adjustment method for a transfer device, wherein a fixed position in an initial state of the one finger with respect to the one feed bar is adjusted based on information from the displacement measurement sensor.

  According to the transfer device of the invention [1], the fixed position of the finger with respect to the feed bar can be easily adjusted to an appropriate position based on the amount of displacement of the finger with respect to the feed bar in a state where the workpiece is chucked.

  According to the transfer device of the invention [2], the chuck state of the workpiece can be confirmed accurately.

  According to the transfer device of the invention [3], the fixing position of the finger with respect to the feed bar can be easily adjusted to an appropriate position as described above.

  According to the transfer device of the invention [4], a plurality of works can be transferred in parallel.

  According to the transfer device of the invention [5], the displacement amount of the finger relative to the feed can be detected with high accuracy.

  According to the transfer device of the invention [6], the amount of finger displacement relative to the feed can be detected with higher accuracy.

  According to the transfer device of the invention [7], it is possible to detect the displacement amount of the finger with respect to the feed with higher accuracy.

  According to the invention [8], it is possible to provide a forging device that exhibits the same effect as described above.

  According to the invention [9], it is possible to provide a forging method having the same effects as described above.

  According to the invention [10], it is possible to provide a work chucking device that exhibits the same effect as described above.

  According to the invention [11], it is possible to provide a chuck state confirmation method for a transfer device that exhibits the same effect as described above.

  According to the invention [12], it is possible to provide a finger position adjusting method for a transfer device that exhibits the same effects as described above.

  FIG. 1 is a schematic plan view showing a multistage forging apparatus to which a transfer apparatus according to an embodiment of the present invention is applied. As shown in the figure, this forging device can perform a plurality of types of press forming on a workpiece (W) sequentially transferred by a transfer device.

  The forging device includes a housing (5), and the housing (5) includes first to fourth work installation portions (51) to (54) from the upstream side (left side in the figure) to the downstream side (right side). Are provided sequentially. And the 1st work installation part (51) is constituted as a work stand-by part etc., for example, and work (W) carried in from the exterior of housing (5) by carrying-in means (illustration omitted), such as a carrying-in conveyor, is carried out. It is installed in the work installation unit (51) so that it can stand by. Further, the second work setting part (52) is constituted by, for example, a mold for upsetting, and preforming such as upsetting for the work (W) installed in the work setting part (52). Is to be done. Further, the third work setting part (53) is constituted by, for example, a die for forging process, and main forming such as forging is performed on the work (W) set in the work setting part (53). It has come to be. Further, the fourth work setting part (54) is constituted by, for example, a finishing mold, and finish forming is performed on the work (W) set in the work setting part (54). ing.

  A discharge unit (55) configured by a discharge conveyor or the like is provided on the downstream side of the fourth work installation unit (54).

  In the present embodiment, the workpiece (W) is made of, for example, a metal such as aluminum or an aluminum alloy, and the above three press moldings are performed on the workpiece (W) in parallel to sequentially manufacture a predetermined forged product. Is done.

  The transfer device for transferring the workpiece (W) is configured to transfer the transfer object such as the workpiece (W) disposed in the first to fourth workpiece setting units (51) to (54) to the second to fourth. The workpiece is transferred to the work installation part (52) and the discharge part (55), respectively. The processed product may be transferred from the fourth workpiece setting unit (54) to the discharge unit (55) by the transfer device, but other than the processed product such as a burr is transferred by the transfer device. Sometimes. For example, when blanking is performed such that a product part is punched out at the fourth workpiece setting section (54), the blank product punched out is discharged from the lower side of the mold while remaining on the mold. The burr or the like to be transferred is transferred to the discharge section (55) by the transfer device.

  The transfer device according to the present embodiment includes a pair of feed bars (1) and (1) along both sides of the workpiece setting sections (51) to (54).

  The pair of feed bars (1) and (1) both extend along the workpiece transfer direction (front-rear direction) and are arranged in parallel. The pair of feed bars (1) and (1) can be opened and closed by a driving means (not shown) so as to move and open along the direction of contact with and away from each other (left and right direction) and to move forward and backward. It is configured.

  Inside the pair of feed bars (1) and (1), a plurality of pairs (four pairs) of a pair of fingers (2a) and (2b) arranged to face each other are provided at predetermined intervals along the front-rear direction. Yes. The pair of fingers (2a) (2b) is also referred to as a claw or the like, and is disposed corresponding to the work installation portions (51) to (54). Then, as will be described in detail later, when the pair of feed bars (1) (1) is closed in a state where the workpiece (W) is arranged on the workpiece setting portions (51) to (54), the workpiece (W) Are chucked (clamped) by a pair of corresponding fingers (2a) and (2b).

  As shown in FIGS. 2 and 3, one finger (2a) of the pair of fingers (2a) (2b) is configured as a movable-side finger, and a corresponding one of the feed bars (1) is provided with a finger support mechanism. It is supported via (3).

  In the finger support mechanism (3), a mounting plate (31) is fixed at a position corresponding to the finger (2a) on the inner surface of the feed bar (1). Both side guide rods (32) and (32) are provided on both front and rear sides of the mounting plate (31). The both side guide rods (32) and (32) are slidably attached in the opening and closing direction through the mounting plate (31) and the feed bar (1) in the opening and closing direction (inside and outside direction).

  Retaining members (33) and (33) are attached to the outer ends of the guide rods (32) and (32) on both sides, and the retaining members (33) and (33) are engaged with the outer surface of the feed bar (1). By stopping, both side guide rods (32) and (32) can be prevented from coming out inside.

  In addition, a finger support plate (34) is attached to the inner ends of the both side guide rods (32) and (32) so as to be bridged between the both side guide rods (32) and (32).

  Further, between the mounting plate (31) and the finger support plate (34) on the outer periphery of the both side guide rods (32) and (32), there are compression coil springs (35) and (35) etc. Force means are interposed. In the natural state, as shown in FIG. 2 (a), the guide rods (32) and (32) are urged inward by the urging force (spring force) of the coil springs (35) and (35). When the stop members (33) (33) are engaged with the feed bar (1), the inner end portions of the both side guide rods (32) (32) are arranged in a state protruding inward.

  A movable finger (2a) is attached to the inner surface of the finger support plate (34). This movable-side finger (2a) has an L-shaped shape in side view including a finger body (21) arranged horizontally and a mounting plate (22) arranged vertically. The mounting plate (22) is fastened and fixed to the finger support plate (34) via screws (25) (25).

  The finger (2a) has a shim (not shown) for position adjustment interposed between the mounting plate (22) and the finger support plate (34). By replacing the shim with a thicker one or adding a shim, the distance between the finger support plate (34) and the finger (2a) can be increased, and the finger (2a) relative to the feed bar (1) can be increased. The attachment position can be changed to the inside (center line Lc side). Further, by replacing the shim with a thinner one or reducing the number of shims installed, the distance between the finger support plate (34) and the finger (2a) can be reduced, and the feed bar (1) of the finger (2a) can be reduced. ) Can be changed to the outside. In this way, by the shim replacement / insertion operation, the attachment position of the finger (2a) in the inner and outer directions can be finely adjusted with respect to the feed bar (1).

  A pin member (36) is slidably mounted along the inner and outer directions between the guide rods (32) and (32) on both sides of the feed bar (1). The tip of the pin member (36) is disposed outward from the feed bar (1), and can be advanced further outward by sliding. Further, a metal measurement plate (41) is fixed to the tip of the pin member (36) in a state of being arranged in parallel with the feed bar (1).

  A push bar (38) is attached to the outer side surface of the finger support plate (34) in a state where the push bar (38) is arranged along the inside / outside direction (left / right direction) corresponding to the pin member (36). The pin member (36) can be pushed outward by the tip of the bar (38).

  Then, when the finger (2a) is pushed outward with the feed bar (1) fixed, the finger support plate (34) moves outward to resist the biasing force of the coil spring (35), and the both side guides The rods (32) and (32) move outward and are pushed into the push bar (38), the pin member (36) moves outward, and the measured plate (41) is fed to the feed bar (1). It moves relative to the outside. When the pushing into the finger (2a) is released from that state, the guide rods (32) (32) are moved inward by the biasing force of the coil spring (35), and the finger support plate (34) and the finger are moved. (2a) returns to the initial state.

  The feed bar (1) is provided with an urging means (not shown) such as a spring for urging the pin member (36) inward. The pin member (36) is provided with a push bar (38). ) Is released, the urging means moves the pin member (36) inward to return to the initial state.

  Here, in the present embodiment, the finger support mechanism (3) is constituted by the guide rod (32), the finger support plate (34), the coil spring (35), the pin member (36) and the push bar (38). . The pin member (36) and the push bar (38) constitute a finger interlocking member. Further, the measured part is constituted by the measured plate (41). Further, an open / close bar is constituted by the feed bar (1).

  As shown in FIGS. 1 and 2, the fixed-side (other) finger (2b) is fixed to the feed bar (1) in a state in which the relative position does not change.

In the above configuration, in the state in which the workpiece (W) between a pair of fingers (2a) (2b), when closing the pair of feed bars (1) (1), a pair as shown in FIG. 2 (a) The workpiece (W) is chucked (clamped) by the fingers (2a) and (2b). At this time, one finger (2a) is pressed against the work (W) by the spring force of the coil spring (35) and is chucked by this pressing force. Therefore, if the amount of compression of the coil spring (35) in the chucked state is too large or too small, the chucking force of the pair of fingers (2a) (2b) on the work (W) will vary, and the work (W) There is a possibility that the workpiece (W) cannot be chucked in a stable state, the workpiece (W) is displaced from the center line (Lc), and the workpiece (W) cannot be transferred with high positional accuracy. Therefore, in the present embodiment, the compression amount (displacement amount) of the coil spring (35) in the chucked state is adjusted to an appropriate amount. Details of the adjustment method will be described later.

  In the transfer device of this embodiment, when chucking the workpiece (W), a chuck state confirmation sensor (4) is provided for detecting the quality of the chuck state.

  The chuck state confirmation sensor (4) is provided corresponding to each of the first to third movable fingers (2a) (see FIG. 1).

  As shown in FIG. 2, the chuck state confirmation sensor (4) is fixed to the feed bar (1) via the bracket (42), and is outside the measured plate (41) fixed to the pin member (36). It arrange | positions so that it may oppose. This sensor (4) is constituted by a displacement measuring sensor. As will be described in detail later, the displacement of the finger (2a) relative to the feed bar (1), in other words, the coil spring (35) in the chucked state. The amount of compression can be measured.

  In the present embodiment, the chuck state confirmation sensor (4) is a non-contact eddy current displacement sensor using a high-frequency magnetic field.

  In addition, the transfer device is provided with a controller (43). The controller (43) uses the output information from the chuck state confirmation sensor (4) to connect the sensor (4) and the measured plate (41). A distance (displacement amount) is calculated. Further, the controller (43) is provided with a display unit (44) for displaying the distance as the calculation result as character (numerical value) information.

  By the way, in the present invention, the type of the chuck state confirmation sensor (4) to be employed is not particularly limited, and any sensor that can measure a displacement amount such as a distance (interval) can be employed. Either a contact type or a non-contact type can be employed. As the contact type, a linear gauge sensor or the like can be used, and as a non-contact type other than the above, a capacitance type displacement sensor, a laser type displacement sensor, an ultrasonic type displacement sensor or the like can be used. it can.

  In particular, in the present invention, it is preferable to use a non-contact type sensor that is relatively easy to adjust and handle. In particular, an eddy current type displacement sensor has oil or dust between the sensor and the object to be measured. It is even more preferable to use an eddy current type displacement sensor as in this embodiment because it is difficult to adversely affect the measurement accuracy even if foreign matter is present and desired information can be obtained reliably. Needless to say, when an eddy current displacement sensor is used, it is necessary to use a metal object that generates eddy current as the object to be measured (measurement plate).

When using an eddy current displacement sensor as in this embodiment,
Even if foreign matter such as oil or dust is interposed between the sensor and the object to be measured, it is more preferable to use an eddy current type displacement sensor because the measurement accuracy is not adversely affected. Needless to say, when an eddy current displacement sensor is used, it is necessary to use a metal object that generates eddy current as the object to be measured (measurement plate).

  In the present embodiment, preparation work is performed before the workpiece (W) is actually transferred by the transfer device having the above-described configuration.

  In this preparatory work, with the pair of feed bars (1) and (1) opened, one (movable side) finger (2a) is pushed outward against the biasing force of the coil spring (35) to feed the feed bar. Press on (1). At this time, the compression amount of the coil spring (35) is maximized. This compression amount corresponds to the displacement amount of the finger (2a) relative to the feed bar (1). Then, in the compressed state, the zero point adjustment of the chuck state confirmation sensor (4) is performed, and the controller (43) recognizes the amount of displacement (relative distance) in that state as “0 mm”. Similarly, zero point adjustment is performed on all the movable fingers (2a) attached to the feed bar (1).

  Next, the pressing operation to the finger (2a) is released, and the finger (2a) is returned to the initial position with respect to the feed bar (1) by the biasing force of the coil spring (35). The amount of compression of the coil spring (35) at this time is minimized, and the amount of compression corresponds to the amount of displacement in the initial state (unchucked state). In this embodiment, when the stroke amount of the finger (2a) with respect to the feed bar (1) is “ΔX”, the displacement amount in the unchucked state is also “ΔX”. In this embodiment, “ΔX” is set to “4 mm”, for example.

  Next, the pair of feed bars (1) (1) is closed, and the workpiece (W) is actually chucked by the pair of fingers (2a) (2b). In this chuck state, the actual displacement amount is measured based on the chuck state confirmation sensor (4).

  Here, when the actual displacement amount in the chuck state matches the ideal displacement amount set in advance, the compression amount of the coil spring (35) in the chuck state becomes optimum, and the finger is pressed at a desired pressing force. (2a) (2b) can be pressed against the workpiece (W), and can be chucked in a stable state. Therefore, in the present embodiment, the mounting position of the movable finger (2a) with respect to the feed bar (1) is adjusted so that the actual displacement amount in the chucked state matches the ideal displacement amount.

  For example, in the present embodiment, when the ideal displacement amount in the chucked state is half of the maximum displacement amount (ΔX), the ideal displacement amount is “ΔX / 2”. Specifically, when the maximum displacement (ΔX) is “4 mm” as described above, the ideal displacement is “2 mm”.

  Here, when the ideal displacement amount is “2 mm” and the actual displacement amount is “3 mm”, the compression amount of the coil spring (35) is 1 mm less than the ideal compression amount, so the finger (2a) The gap adjusting shim interposed between the finger support plates (34) is replaced with a 1 mm thick shim, or a 1 mm thick shim is newly added. As a result, the amount of compression of the coil spring (35) is increased by 1 mm, the amount of displacement in the chuck state (actual displacement amount) can be adjusted to “2 mm” equal to the ideal amount of displacement, and chucking is performed in a stable state. Can do.

  Further, when the ideal displacement is “2 mm” and the actual displacement is “1 mm”, the compression amount of the coil spring (35) is 1 mm greater than the ideal compression amount. Replace with a 1 mm thin one, or remove a 1 mm thick shim. As a result, the compression amount of the coil spring (35) is reduced by 1 mm, and the displacement amount (actual displacement amount) in the chucked state can be matched with the ideal displacement amount.

  Thus, the position of the finger (2a) in the initial state is adjusted so that a desired chucking force can be obtained. In the same manner as described above, the position adjustment operation is performed on the other movable side fingers (2a) as necessary so that a desired chuck state can be obtained in each finger (2a) (2b). To do.

  Thus, the preparation work for the transfer device is completed. After completing the preparatory work in this way, the transfer device is moved and production by the forging device is started.

  In the initial state before the start of production, the pair of feed bars (1) and (1) are open, and the tips of the movable fingers (2a) and the fixed fingers (2b) are virtually in standby. It arrange | positions on a line (La) (Lb). In the initial state, it is assumed that workpieces (W) are installed in the workpiece installation units (51) to (54).

  When production is started in this state, the pair of feed bars (1) (1) are closed, and the workpieces (W) of the installation portions (51) to (54) are closed by the pair of fingers (2a) (2b). Is chucked.

  At this time, based on the output information from each chuck state confirmation sensor (4), the controller (43) confirms that each workpiece (W) is securely chucked by the corresponding pair of fingers (2a) (2b). Judge whether or not. For example, when the displacement actually measured by the first displacement measurement sensor (4) matches the displacement in the adjusted chuck state (corresponding to the ideal displacement “ΔX / 2”), the controller In (43), it is determined that the chucking has been performed accurately, and the transfer operation described later is continued. If they do not match, the controller (43) determines that the chuck is defective, stops the transfer operation, displays information indicating that the chuck is defective, generates an alarm sound, and so on. To inform.

  Here, in the present embodiment, the adjusted displacement amount (ideal displacement amount) as a criterion for determining the quality of the chuck state is provided with a tolerance of about ± 0.2 mm, and within a range including the tolerance, The quality of the chuck state is determined based on whether or not the actually measured displacement amount is included.

  Thus, when the chucking state of all the fingers (2a) (2b) is confirmed and the chucking state of all the fingers (2a) (2b) is normal, the pair of feed bars (1) (1) are moved forward. The workpieces (W) chucked by the fingers (2a) and (2b) are arranged corresponding to the next workpiece installation sections (52) to (54) and the unloading section (55). Subsequently, when the pair of feed bars (1) (1) are opened, the chuck of each finger (2a) (2b) is released, and each workpiece (W) is moved to the next workpiece setting section (52)-( 54) and the unloading unit (55).

  Thereafter, the pair of feed bars (1) and (1) are retracted and returned to their original positions, while the next workpiece (W) is carried into the first workpiece setting section (51) by the carrying-in means (not shown).

  By repeating the above operations, the workpieces (W) are sequentially transferred, and each workpiece (W) is subjected to predetermined processing such as the above-described forming processing in each workpiece installation unit (51). Are performed sequentially.

  As described above, according to the transfer device of the present embodiment, the fingers (2a) (2b) are based on the amount of displacement between the feed bar (1) and the fingers (2a) measured by the chuck state confirmation sensor (4). Therefore, the finger (2a) position adjusting operation as a preparatory operation can be easily performed.

  That is, when performing the position adjustment work of the finger (2a), the amount of displacement between the feed bar (1) and the finger (2a) with the workpiece (W) being chucked is measured, and the actual amount of displacement is By simply adjusting the position of the finger (2a) so as to coincide with the ideal amount of displacement set in advance, the finger (2a) can be accurately placed at the normal position.

  Here, when an ON / OFF type object detection sensor or the like that detects the presence or absence of an object is used as a sensor for confirming the chuck state, the position adjustment work of the finger (2a) as a preparation work is very important. Have difficulty. For example, when the object detection sensor is used in the transfer device, as shown in FIG. 7, the object detection sensor (chuck state confirmation sensor) is arranged so as to face the end of the measured plate (91) interlocked with the finger (2a). A configuration is adopted in which the measured plate detection sensor (9) is fixed to one feed bar (1) via a bracket (92). And as shown to Fig.9 (a), when a to-be-measured plate (91) is arrange | positioned outside the detection range of a detection sensor (9), a to-be-measured plate (91) is detected by a sensor (9). When it is determined that the unchucked state is present and the measured plate (91) is disposed within the detection range of the detection sensor (9) as shown in FIG. As a result, the plate (91) to be measured is detected, and the chuck state is determined.

  In the transfer device of this reference example, when performing the position adjustment operation of the finger (2a) as a preparatory operation, first, the pair of feed bars (1) (1) are closed and the fingers (2a) (2b) are used. Chuck work (W). Then, in the chucked state, the mounting position of the finger (2a) is adjusted so that the workpiece (W) is arranged at an accurate chuck position. The position of the finger (2a) is changed by exchanging shims or taking in and out the same as described above. Subsequently, in the chucked state, the mounting position of the sensor (9) is adjusted so that the measured plate (91) is arranged within the detection range of the detection sensor (9), or the measured plate (91) Adjust the mounting position. In this adjustment operation, when the position of the plate to be measured (91) is changed, the mounting position of the pin member (36) is changed. However, when the position of the pin member (36) is changed, the feed bar (1) is changed. On the other hand, since the position of the finger (2a) also changes slightly, it is necessary to adjust the position of the finger (2a) again. Furthermore, if the position of the finger (2a) is changed, the position of the pin member (plate to be measured) also changes slightly, so that it is necessary to adjust the position of the pin member (plate to be measured) again. Therefore, such operations are repeated endlessly, and the finger (2a), the detection sensor (9), and the plate to be measured (91) are all adjusted to optimum positions. As described above, the sensor (9) and the plate to be measured (91) are related to each other and affect each other's mounting position. It was very difficult.

  Moreover, since a plurality of fingers (2a) are provided, the position adjusting operation of one finger (2a) may adversely affect the position of the other finger (2a). For example, even if the position adjustment operation of the finger (2a) is performed in order from the first and the position adjustment of the last finger (2a) is completed, the position of the first finger (2a) whose position has been adjusted is not changed. It may change due to the influence of the position adjustment of (2a). In such a case, it is necessary to perform the position adjustment work from the beginning, which is troublesome, which further increases the burden on the operator and makes the position adjustment work more difficult.

  On the other hand, in the transfer device of this embodiment, since the displacement amount measuring sensor (4) is used as the chuck state confirmation sensor (4), the position adjustment operation of the finger (2a) as a preparatory operation is performed. As described above, the amount of displacement between the feed bar (1) and the finger (2a) with the workpiece (W) being chucked is measured, and the actual amount of displacement matches the ideal amount of displacement. In addition, the position of the finger (2a) can be adjusted accurately and reliably only by changing the position of the finger (2a). That is, in this embodiment, unlike the transfer device of the above reference example, there is no need for troublesome work of repeatedly performing finger position adjustment work, measured plate position adjustment work, and sensor position adjustment work over and over by trial and error. The position of the finger (2a) can be easily adjusted with high accuracy.

  In particular, as in the present embodiment, in a multi-stage transfer device in which a plurality of fingers (2a) are provided for one feed bar (1), the position adjustment operation of each finger (2a) can be easily performed. Further, the position adjustment work can be further easily performed.

  Furthermore, in this embodiment, since each finger (2a) can be adjusted to an appropriate position, there is no position variation for each finger (2a), and the finger (2a) (2b) is pushed to the workpiece (W). The pressure (chuck force) can be set evenly, the balance is good as a whole, and the workpiece (W) can be transferred smoothly in a more stable state. In addition, since a plurality of workpieces (W) can be chucked with equal pressing force, deterioration of parallelism such as the feed bars (1) and (1) being arranged obliquely can be prevented, and the feed bars (1) and (1) can be prevented. The burden on the fingers (2a) and (2b) is reduced, the workpiece (W) can be transferred more smoothly, the operation reliability can be further improved, and the durability is further improved. Can do.

  Moreover, in the transfer apparatus of this embodiment, the parallelism of feed bar (1) (1) can also be test | inspected. In other words, shims having the same thickness are installed on each finger (2a), and the feed bars (1) (1) are closed in a state where all the mounting positions of the fingers (2a) are set to be the same. ) (2b) to chuck the workpiece (W). In that state, the amount of displacement is obtained by each chuck state confirmation sensor (4). If all the amounts of displacement are equal, the parallelism of the feed bars (1) and (1) is high, and it can be determined that they are normal. When there is variation in the amount of displacement by each sensor (4), the parallelism of the feed bars (1) and (1) is low and it can be determined that the sensor is defective. Thus, the parallelism of the feed bars (1) and (1) can be measured, a more stable chuck state can be obtained, and the workpiece (W) can be transferred more smoothly.

  In the case of the transfer device according to the reference example described above, it is impossible to measure the parallelism of the feed bars (1) and (1) because only the determination is made as to whether or not they are chucked.

  Moreover, in the transfer apparatus of this embodiment, since the displacement amount between the feed bar (1) and the finger (2a) is measured, the size of the workpiece (W) can also be measured, and the workpiece size can be inspected. Can be used together. For this reason, for example, when a workpiece (W) having a size other than the specified size has been conveyed, production can be interrupted, and the occurrence of defective products can be prevented.

  In the transfer device of this embodiment, the quality of the chuck state is quantitatively determined by the amount of displacement, so even when the workpiece (W) is transferred without any problem, the amount of chucking force etc. Therefore, it is possible to detect the strength of the chuck force and the like, and to prevent troubles such as a chuck failure from occurring. That is, even if the chucking force of the workpiece (W) is within the normal range, if the chucking force is somewhat weak or strong, it is predicted that a chuck failure will eventually occur. The occurrence of chuck failure can be prevented in advance by performing maintenance and inspection and adjusting the chuck condition to an appropriate state in advance. Therefore, it is possible to operate the device without any problems in a safe state at all times while reliably preventing the occurrence of major troubles due to defective chucks, such as defective product production or equipment failure, and further improve the reliability of the equipment. Can do.

  In the above embodiment, the plate to be measured (41) is attached to the finger support plate (34) via the push bar (38) and the pin member (36). The attachment means is not particularly limited. For example, as shown in FIG. 4, one end of a support rod (37) slidably passed through the feed bar (1) is fixed to the finger support plate (34), and the other end of the support rod (37) is measured. The plate (41) may be fixed, and the plate to be measured (41) may be detected by the displacement amount sensor (4). Further, as shown in FIG. 5, a plate to be measured (41) is fixed to an outer end portion of one guide rod (32) via a bracket (42), and the plate to be measured (41) is attached to a displacement amount measuring sensor. You may make it detect by (4). Further, as shown in FIG. 6, the outer end of one guide rod (32) may be detected by a displacement measuring sensor (4).

  Moreover, in the said embodiment, it comprises so that one finger (2a) can be moved with respect to a feed bar (1) among a pair of fingers (2a) (2b), and the other finger (2b) is made into a feed bar ( However, the present invention is not limited to this, and in the present invention, a pair of fingers may be configured to be movable with respect to the feed bar.

  Furthermore, in the above-described embodiment, the case where the present invention is applied to a multistage transfer device that transfers a plurality of workpieces at the same time has been described as an example. However, the present invention is not limited thereto, and the present invention can be applied to one workpiece at a time. The present invention can also be applied to a transfer device in which only one pair of fingers is provided. Needless to say, when the present invention is applied to a multistage transfer device, the number of fingers installed is not limited.

  The transfer device according to the present invention can be applied to a device for transferring a workpiece in a forging device or the like.

It is a top view which shows roughly the multistage forge processing apparatus to which the transfer apparatus which is embodiment of this invention was applied. It is a figure which expands and shows the finger periphery in the transfer apparatus of embodiment, Comprising: The figure (a) is a top view of an unchucked state, The figure (b) is a top view of a chucked state. It is a side view which expands and shows the finger periphery in the transfer apparatus of embodiment. It is a top view which expands and shows the finger periphery of the transfer apparatus which is the 1st modification of this invention. It is a top view which expands and shows the finger periphery of the transfer apparatus which is the 2nd modification of this invention. It is a top view which expands and shows the finger periphery of the transfer apparatus which is the 3rd modification of this invention. It is a figure which expands and shows the finger periphery of the transfer apparatus which is a reference example, Comprising: The figure (a) is a top view in an unchucked state, The figure (b) is a top view in a chucked state.

Explanation of symbols

1 ... Feed bar (open / close bar)
2a, 2b ... Finger 3 ... Finger support mechanism 4 ... Chuck state confirmation sensor (displacement amount measurement sensor)
41 ... Measuring plate (non-measurement part)
W ... Work

Claims (9)

A pair of fingers are provided in a state of being opposed to each other inside a pair of feed bars that are arranged in parallel and can be opened and closed, and when the pair of feed bars are closed, the workpiece is chucked from both sides by the pair of fingers. A finger position adjustment method for a transfer device,
Among the pair of fingers, at least one finger is supported on one corresponding feed bar so as to be movable along the opening and closing direction, and a finger support mechanism for biasing in the closing direction is installed, and
A displacement amount measuring sensor for measuring a displacement amount in the opening / closing direction of the one finger is installed on the one feed bar,
The actual displacement amount of the one finger in a state where the workpiece is chucked by the pair of fingers is measured based on the displacement amount measurement sensor, and the actual displacement amount coincides with a preset ideal displacement amount. as to the finger position adjustment method of a transfer device, characterized in that to adjust the fixing position of the initial state of said one finger with respect to the one of the feed bar. The finger position adjustment of the transfer device according to claim 1, wherein when the stroke amount of the one finger with respect to the one feed bar is "ΔX", the ideal displacement amount is set to "ΔX / 2". Method. The finger position adjustment method for a transfer device according to claim 1 or 2 , wherein a chucking state of a workpiece by the pair of fingers is confirmed based on information from the displacement amount measuring sensor. A plurality of the pair of fingers is provided at intervals along the length direction of the pair of feed bars,
The finger position adjusting method for a transfer device according to any one of claims 1 to 3, wherein a plurality of workpieces are chucked by the plurality of pairs of fingers when the pair of feed bars are closed. . The finger support mechanism is disposed in a penetrating state from the inside to the outside of the one feed bar, and has a finger interlocking member that moves in conjunction with the finger,
A measured part is provided at the outer end of the finger interlocking member,
The finger position adjustment method for a transfer device according to any one of claims 1 to 4, wherein the displacement measuring sensor is fixed to the one feed bar in a state corresponding to the part to be measured . The finger position adjustment method for a transfer device according to any one of claims 1 to 5, wherein the displacement measurement sensor is configured by a non-contact sensor. The finger position adjustment method for a transfer device according to any one of claims 1 to 6, wherein the displacement amount measurement sensor is configured by an eddy current displacement sensor. The transfer device according to claim 1, wherein a fixed position in an initial state of the one finger with respect to the one feed bar is adjusted by the finger position adjusting method according to claim 1. A pair of feed bars arranged in parallel and freely openable and closable;
A pair of fingers that are provided inside each of the pair of feed bars so as to face each other, and chuck the workpiece from both sides when the pair of feed bars are closed;
A finger support mechanism for supporting at least one of the pair of fingers movably along one of the corresponding feed bars along the opening and closing direction and urging it in the closing direction;
A displacement amount measuring sensor for measuring a displacement amount of the one finger in the opening and closing direction with respect to the one feed bar;
The one of the fingers is measured such that the actual displacement of the one finger in a state in which the workpiece is chucked by the pair of fingers coincides with a preset ideal displacement. The transfer device is characterized in that the fixed position in the initial state of the one finger with respect to the feed bar can be adjusted .

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