JPH0227054B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a work handling device for a forging manipulator.

[Conventional technology]

As shown in FIG. 2, a conventional workpiece handling device for a forging manipulator generally grips a workpiece b using a pair of tongue levers a and a that open and close.

[Problems to be Solved by the Invention] However, in the case of the conventional device, the portion of the workpiece b held by the tongue levers a becomes an unforged portion, and it is necessary to avoid leaving this unforged portion. In order to do this, the direction of workpiece b must be
It was necessary to change the grip by 180 degrees or to position two manipulators facing each other.

The present invention has been made in view of these circumstances.

[Means for solving problems]

The work handing link device for a forging manipulator of the present invention is a work handling device for a forging manipulator that is provided with two sets of gripping portions for gripping a workpiece in the axial direction. It is equipped with a gripping part, and a mechanism for rotating the outer cylinder is provided on the outer periphery of the other end of the outer cylinder, and furthermore, an inner cylinder that is longer than the length of the outer cylinder can be freely rotated and moved in the axial direction. A mechanism for fitting the inner cylinder, having a gripping part at one end of the inner cylinder, and rotating the inner cylinder on the outer periphery of the other end of the inner cylinder,
The structure is such that the inner cylinder is fitted into the mechanism so as to be movable in the axial direction.

[Effect]

Therefore, the gripping position of the workpiece can be changed, and unforged parts are eliminated.

In addition, it is possible to rotate the gripping part on the inner cylinder side or the gripping part on the outer cylinder side to a desired position, and it is also possible to rotate the workpiece in a state where the workpiece is firmly gripped by both gripping parts. Further, by moving the inner cylinder in the axial direction, the relative position in the axial direction between the gripping part on the inner cylinder side and the gripping part on the outer cylinder side can be changed.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 1, a fan-shaped bracket 2 is fixed to the tip of the inner cylinder 1, and the bracket 2 is
The intermediate portions of a pair of inner tongue levers 4, 4, each having a tongue head 3 at the tip thereof, are pivoted to face each other, and the rod 5 is movably penetrated into the inner cylinder 1, and the tip of the rod 5 is inserted into the inner cylinder 1. , connecting the distal ends of the inner tongue levers 4, 4 via links 6, 6;
The inner tongue levers 4, 4 can be opened and closed by operating an opening/closing cylinder 7 provided at the rear end of the inner cylinder 1.

Further, an outer cylinder 8 which is shorter than the inner cylinder 1 is provided on the outer periphery of the inner cylinder 1.
is rotatably fitted so that the inner cylinder 1 is movable in the axial direction with respect to the outer cylinder 8, and brackets 9, 9 are provided at the tip of the outer cylinder 8 so as to be positioned on the outside of the brackets 2, 2. At the same time, a tongue head 10 is attached to the tip of the brackets 9, 9.
A pair of outer tongue levers 11, 11 with
The middle part of the tongue head 10,1
0 and 3,3 are arranged in parallel in the axial direction,
Further, the opening/closing cylinders 12, 12 provided on the brackets 9, 9 are connected to the ends of the outer tongue levers 11, 11, so that the outer tongue levers 11, 11 can be opened and closed by operating the opening/closing cylinders 12, 12.

Thus, two sets of gripping parts are formed in the axial direction of the inner and outer cylinders 1 and 8.

Further, a casing box 13 is provided on the outer periphery of the inner and outer cylinders 1 and 8 to support the rear end of the inner cylinder 1 at one end and the front end of the outer cylinder 8 at the other end, respectively. The box 13 is supported on the side of the manipulator main body (not shown), and within the casing box 13, an inner cylinder rotation gear 15 is attached to the inner cylinder 1 via a spline 14 etc. so as to be movable in the axial direction, and the outer cylinder 8 is connected to the outer cylinder 8. Install the rotating gear 16. Further, the motor 17 is attached to one side of the casing box 13, and the shaft 18 of the motor 17 is connected to the shaft 18 of the motor 17.
pinions 19 and 20 that penetrate into the casing box 13 and mesh with the gears 15 and 16, respectively.
is provided to rotate idly with respect to the shaft 18, and a slide clutch mechanism 21 is provided between the pinions 19 and 20 of the shaft 18 for selectively transmitting the rotational force of the motor 17 to the pinion 19 or 20,
A brake (not shown) is provided in each drive system so that the inner cylinder 1 or outer cylinder 8 that is not driven does not rotate. Furthermore, a bracket 22 is extended from the rear side of the casing box 13, and the middle part of a lever 24, whose one end is connected to a push/pull cylinder 23, is pivotally connected to the bracket 22, and the other end of the lever 24 is connected to the inside. The inner cylinder 1 side is rotatably engaged with the rear end of the cylinder 1 or the cylinder 7 section.

In such a configuration, the inner tongue levers 4, 4
is opened and closed by operating the opening/closing cylinder 7 and pushing and pulling the rod 5.
1 and 11 are opened and closed by operating opening and closing cylinders 12 and 12. Also, the inner tongue lever 4,
4 and the outer tongue levers 11, 11 are controlled by selecting the position of the slide clutch mechanism 21 and transmitting the rotational force of the motor 17 from the pinion 19 to the inner cylinder 1 via the gear 15, or from the pinion 20 to the gear 16. It is obtained by transmitting the signal to the outer cylinder 8 through the medium. On the other hand, since the inner cylinder 1 can be moved in the axial direction with respect to the outer cylinder 8 by operating the push/pull cylinder 23, the inner tongue levers 4, 4 and the outer tongue lever 11,
11 can be changed in the axial direction.

Therefore, for example, after the workpiece 25 is gripped by the inner tongue levers 4, 4 and the forging operation is performed,
If the inner tongue levers 4, 4 are opened while the outer tongue levers 11, 11 are in charge of gripping, the portions gripped by the inner tongue levers 4, 4 can be forged, and there is no unforged portion. Also, as mentioned above,
Inner tongue lever 4, 4 and outer tongue lever 1
1 and 11 are rotatable, the workpiece 25 can be rotated with both the inner tongue levers 4 and the outer tongue levers 11 and 11 tightly gripping the workpiece 25, and Since the gripping position can be appropriately selected, it is possible to accurately forge the workpiece 25 according to its shape, dimensions, etc.

In this way, in the present invention, the workpiece 25 can be changed without changing the orientation of the workpiece by 180 degrees or without preparing two manipulators.

As explained above, according to the workpiece handling device for a forging manipulator of the present invention, the gripping position of the workpiece can be changed without changing the orientation of the workpiece by 180° or preparing two manipulators, and the unforged part can be handled easily. In addition, the gripping part on the inner cylinder side or the gripping part on the outer cylinder side can be rotated to the required position, and the workpiece can be rotated with both gripping parts tightly gripping the workpiece. Moreover, by moving the inner cylinder in the axial direction, the relative axial position of the gripping part on the inner cylinder side and the gripping part on the outer cylinder side can be changed. , the excellent effect of being able to perform the process with high accuracy depending on the dimensions and the like.

[Brief explanation of drawings]

FIG. 1 is a sectional view showing a work handling device for a forging manipulator according to the present invention, and FIG. 2 is an explanatory view of a conventional example. 1 is an inner cylinder, 4 is an inner tongue lever, 5 is a rod, 7 is an opening/closing cylinder, 8 is an outer cylinder, 11 is an outer tongue lever, 12 is an opening/closing cylinder, and 17 is a motor.

Claims (1)

[Claims] 1. In a work handling device for a forging manipulator that is provided with two sets of gripping parts in the axial direction for gripping a workpiece, the gripping part is provided at one end of an outer cylinder rotatably supported on a casing box, and the other end of the outer cylinder is provided with a gripping part at one end. A mechanism for rotating the outer cylinder is provided on the outer periphery of the outer cylinder, and an inner cylinder longer than the length of the outer cylinder is fitted inside the outer cylinder so as to be rotatable and movable in the axial direction, and a gripping part is provided at one end of the inner cylinder. A manipulator for forging, characterized in that a mechanism for rotating the inner cylinder is provided on the outer periphery of the other end of the inner cylinder so that the inner cylinder is fitted into the mechanism so as to be movable in the axial direction. work handling equipment.