JPH074639B2 - Forging manipulator - Google Patents

Description

TECHNICAL FIELD The present invention relates to a forging manipulator.

[Prior Art] Generally, a manipulator for forging is used for gripping a work extracted from a furnace and positioning the gripped work between tools of a press for handling.

[Problems to be Solved by the Invention] However, in the case of such a conventional manipulator, since it has only the function of moving or rotating the frame to push and pull the gripped work, the setup of the forging work is performed. As a result, a transfer device for transferring the work extracted from the furnace to the manipulator was required separately, the operating rate was poor, and the equipment installation area on the line configuration was large. Further, in such a manipulator, since there is only one set of work gripping parts, an unforged part is generated in the work, and in order to eliminate this, conventionally, two manipulators may be arranged to face each other. Furthermore, there was a problem in terms of equipment installation area.

The present invention has been made to solve such a problem.

[Means for Solving Problems] The forging manipulator of the present invention is provided with a main body frame 27 movable between the press equipment 38 and the furnace 39, and the main body frame 27 is orthogonal to the traveling direction of the main body frame 27. Holding frame via swivel table 31 that can swivel around the axis 30
32 is attached, and the shaft 30 of the turning table 31 is attached to the holding frame 32.
A handling device 25 extending in a direction orthogonal to the direction is attached so as to be movable in the axial direction, and two gripping parts 4 and 11 that can be independently rotated and opened / closed are coaxially provided at one end of the handling device 25. In addition, it is provided by shifting the position in the axial direction.

[Operation] Therefore, the position of the handling device can be arbitrarily obtained, and the gripping position of the work can be changed.

Embodiments Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a fan-shaped bracket 2 is fixed to the tip of the inner cylinder 1, and a pair of inner tong levers 4, 4 each having a tong head 3 at the tip of the bracket 2 are provided.
The intermediate portion of the rod is pivotally attached to the inner cylinder 1, and the rod 5 is movably inserted into the inner cylinder 1. The links 6 and 6 are attached to the tip portion of the rod 5.
The end portions of the inner tong levers 4, 4 are connected via
The inner tong 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 shorter than the inner cylinder 1 is rotatably fitted on the outer peripheral portion of the inner cylinder 1 so that the inner cylinder 1 is axially movable with respect to the outer cylinder 8, and a tip of the outer cylinder 8 is provided. In addition, the brackets 9 and 9 are bulged and fixed so as to be located on the outer sides of the brackets 2 and 2, and a pair of outer tong levers 11 provided with a tong head 10 at the tip of the brackets 9 and 9 are provided. The intermediate parts of the tongue heads 10, 11 are pivotally attached to each other so that the tongue heads 10, 10 and 3, 3 are juxtaposed in the axial direction.
Opening / closing cylinders 12,12 provided on the brackets 9,9 at the end of 1
And the outer tongue levers 11, 11 can be opened and closed by operating the open / close cylinders 12, 12.

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

Further, on the outer circumferences of the inner and outer cylinders 1, 8, a casing box 13 is provided, which is configured 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. Casing box
The manipulator main body (not shown) 13 is supported, and in the casing box 13, an inner cylinder rotating gear 15 is axially movable on the inner cylinder 1 via a spline 14 or the like.
Attach the outer cylinder rotation gear 16 to the outer cylinder 8. or,
Attach the motor 17 to one side of the casing box 13,
The shaft 18 of the motor 17 is inserted into the casing box 13, and the pinions 19 and 20 for meshing the gears 15 and 16 are provided so as to idle with respect to the shaft 18, and between the pinions 19 and 20 of the shaft 18. To the position, apply the rotational force of the motor 17 to the pinion 19 or 2
A slide clutch mechanism 21 for selectively transmitting to 0 is provided. Further, a bracket 22 is extended to the rear side surface portion of the casing box 13, an intermediate portion of a lever 24, one end of which is connected to a push-pull cylinder 23, is pivotally attached to the bracket 22, and the other end portion of the lever 24 is The inner cylinder 1 side is rotatably engaged with the rear end of the cylinder 1 or the cylinder 7.

The handling device 25 is configured as described above.

The handling device 25 is supported so as to be horizontally rotatable on a main body frame 27 having wheels 26, and is movable along a guide rail 29 laid on a foundation 28.

That is, in the center of the main body frame 27, a revolving table 31 capable of horizontally revolving via a revolving shaft 30 is arranged.
A holding frame 32 for movably holding an appropriate range of the outer cylinder 1 and 8 of the handling device 25 is provided on the 31. Further, a guide sleeve 33 is mounted integrally with the casing box 13 on the outer periphery of the outer cylinder 8 held by the holding frame 32, and a rack 34 is engraved in the lower part of the guide sleeve 33 in the axial direction. A pinion 35 that meshes with the rack 34 is provided in the holding frame 32. Further, a worm wheel 37 that meshes with the worm 36 is horizontally provided at a lower position of the holding frame 32.

As shown in FIG. 2, 49 is provided with a clamp shoe 51, a clamp cylinder 52, and a return spring 53, and at the time of forging, by using the clamp cylinder 52 to clamp the guide sleeve 33 with the clamp shoe 51, Handling equipment
This is a clamp for fixing 25 to the holding frame 32 and preventing the rack 34 and the pinion 35 from being galled by the reaction force of forging.

Further, as shown in FIG. 3, 50 is provided with a brake shoe 54 and a brake cylinder 55, and at the time of forging, by fixing the holding frame 32 to the main body frame 27 with the brake shoe 54 using the brake cylinder 55, This is a brake for preventing galling of the worm 36 and the worm wheel 37 due to the reaction force of forging.

In such a configuration, opening and closing the inner tong levers 4, 4
It is performed by operating the open / close cylinder 7 and pushing / pulling the rod 5, and opening / closing of the outer tongue levers 11, 11 is performed by operating the open / close cylinders 12, 12. For the rotation of the inner tong levers 4, 4 and the outer tong levers 11, 11, the position of the slide clutch mechanism 21 is selected and the rotational force of the motor 17 is transmitted from the pinion 19 to the inner cylinder 1 via the gear 15. Alternatively, it can be obtained by transmitting from the pinion 20 to the outer cylinder 8 via the gear 16. Further, since the inner cylinder 1 can be moved in the axial direction with respect to the outer cylinder 8 by the operation of the push-pull cylinder 23, the axial relative positions of the inner tong levers 4, 4 and the outer tong levers 11, 11 can be changed.

On the other hand, the entire handling device is driven by a drive device (not shown) to rotate the pinion 35, and
It moves axially through a rack 34 that meshes with 35.
Further, when the worm 36 is driven by a driving device (not shown), the holding frame 32 turns horizontally about the turning shaft 30 via the turning table 31.

Further, the entire manipulator moves along the rails 29 via the wheels 26 of the main body frame 27.

Therefore, as shown in FIG. 4 and FIG.
By directly laying the rail 29 between the furnace and the furnace 39, the manipulator itself can perform all of the work 40 extraction, transfer, and handling, which is advantageous in terms of line layout configuration and equipment installation area. In addition, the separate work transfer device becomes unnecessary.

Further, at the time of forging work, for example, as shown in FIG. 6, if the tong levers 4 and 11 are grasped with the phase shifted by 90 °, the work 40
Can be firmly held. Then, after forging in the circumferential direction a part a other than the part gripped while rotating the tong levers 4 and 11, in this state, as shown in FIG.
Open the outer tongue levers 11,11 and open the inner tong levers.
If only 4,4 are rotated, the part B corresponding to the outer tong levers 11,11 is forged in the circumferential direction, and the part D other than the gripping part C by the inner tong levers 4,4 is forged. be able to.

Further, as shown in FIG. 8, the outer tongue levers 11 and 11 are
To open the inner tongue levers 4, 4 and shift the phase of the outer tongue levers 11, 11 by 90 ° as shown in FIG. 9, then close the inner tongue levers 4, 4 to change the grip position. As shown in Fig. 10, if the outer tongue levers 11 and 11 are opened and the phases are shifted by 90 ° so that they do not interfere with the forging, the parts that the inner tongue levers 4 and 4 were gripping first C can be forged, and thus the unforged part can be eliminated.

Further, as described above, since the inner tong levers 4, 4 and the outer tong levers 11, 11 are rotatable and the gripping position can be appropriately selected, the forging work of the work 40 can be performed accurately according to its shape, dimensions, etc. It becomes possible to do well. In this way, the work 40 can be carried around without changing the orientation of the work 40 by 180 ° and without preparing two manipulators.

FIG. 11 shows another embodiment, which is basically constructed by displacing the system shown in FIG. 1 by 90 ° so that the handling device 25 can be rotated in a vertical plane.

The difference from the method shown in FIG. 1 is that the guide wheels 41, 41 are provided on the upper portion of the main body frame 27, and the auxiliary rail 42 is sandwiched between the guide wheels 41, 41. The clamp cylinder 44 provided in 43 allows it to move up and down so that the main body frame 27 can be clamped between the auxiliary rail 42 and the lower rail 29 by lowering the auxiliary rail 42 during the casting operation. . In addition, the rail 29 is
Wheels to roll on rails 45 laid parallel to
A wheel 46 is provided so that the wheel 46 can also be clamped by an auxiliary rail 47 that moves up and down by a clamp cylinder 48. However, the mechanism on the wheel 46 side is not always necessary.

Such a system can be used in the case of the layout shown in FIG. 2 and can achieve the same effect as that of the above embodiment.

In the above embodiment, both the inner tong levers 4 and 4 and the outer tong levers 11 and 11 can be rotated, but if only one of them is rotatable, the work 25
The circumferential position of can be changed.

[Effects of the Invention] As described above, according to the forging manipulator of the present invention, the handling device can travel between the press equipment and the furnace via the main body frame and can swivel via the swivel table. As a result, not only the work can be handled but also the work can be carried, the line configuration of the equipment can be simplified, and a dedicated work transfer device can be eliminated.
Further, since the handling device is provided with two sets of gripping parts that can be independently rotated and opened / closed, the gripping position of the work can be changed without preparing two manipulators, and the unforged part can be eliminated. , Etc. can be exhibited.

[Brief description of drawings]

FIG. 1 is a sectional view of a forging manipulator of the present invention, FIG.
FIG. 6 is a schematic front view showing a clamp, FIG. 3 is a schematic plan view showing a brake, and FIGS. 4 and 5 are explanatory views showing a layout of equipment when the forging manipulator of the present invention is used, and FIG. 10 to FIG. 10 are operation diagrams showing an example of an operation procedure for performing forging without an unforged portion, and FIG. 11 is an explanatory diagram of another embodiment of the present invention. 1 is an inner cylinder, 4 is an inner tong lever, 5 is a rod, 7 is an opening / closing cylinder, 8 is an outer cylinder, 11 is an outer tong lever, 12 is an opening / closing cylinder, 25 is a handling device, 26 is a wheel, 27 is a main frame, 31 is a turning table, 32 is a holding frame, 34
Is a rack, 35 is a pinion, 36 is a worm, and 37 is a worm wheel.

Claims (1)

[Claims] 1. A body frame (27) movable between a press equipment (38) and a furnace (39) is provided, and the body frame (2) is provided.
The shaft (3) that is orthogonal to the traveling direction of the body frame (27)
The holding frame (32) is attached via a turning table (31) which can turn about (0), and the holding frame (32)
A handling device (25) extending in a direction orthogonal to the axis (30) of the revolving table (31) is movably attached to the axial center direction of the swivel table (31). And two grips (4) that can be opened and closed
A forging manipulator comprising (11) coaxially and displaced in the axial direction.