EP0432236B1 - Improved automatic installation for transferring and forging any metal components - Google Patents

Abstract

This invention concerns an improved automatic installation for transferring and forging any metal components. It essentially comprises a forging press (P) fitted with a plurality of stamping devices, a robot (6) fitted with an arm (7) for fetching a billet or blank to the press and two opposite robots (8, 9) arranged facing two opposite sides of the press (P), each equipped with a transfer arm (8a, 9a) having a plurality of component handling devices (10 to 17) and a plurality of spraying ramps (18) for the stamping devices (1, 2, 3, 4). This installation makes it possible to produce at a fast rate any components for the automobile industry, like crankshafts.

Description

The subject of the present invention is an improved automatic installation for the transfer and forging of any metal parts according to the press according to the preamble of claim 1.

Robotized installations have already been proposed enabling automatic production of parts by deformation under a press, the parts being automatically transferred to the press and automatically handled between the upper and lower dies of the press (see for example GB-A-2090174).

These facilities included, in general, a forging press equipped with a plurality of die bodies, a robot provided with a supply arm of a piece or a blank to the press, and two robots working "in mirror" respectively disposed opposite two opposite sides of the press and each provided with a workpiece transfer arm.

However, these installations did not allow a high production rate, could not forge important parts for manufacturing crankshafts for example, and did not have the flexibility required in terms of the operation of the mastering stations and of the piloting by numerical control.

Also, the present invention aims to remedy in particular the above drawbacks by proposing an improved robotic installation having all the qualities required with regard to productivity and flexibility of operation regardless of the volume of the parts to be forged and manufactured .

To this end, the subject of the invention is an improved automatic installation for transferring and forging any metal parts, essentially comprising a forging press equipped with a plurality of die-forging members, at least one robot provided with an arm brought a piece or a draft to the press and two opposing robots arranged respectively in manhole from two opposite sides of the press and each provided with a parts transfer arm, this installation being characterized in that the transfer arm of each of the two opposite robots is equipped with a plurality of parts gripping members and of a plurality of spraying booms of the forging members interposed between the gripping members.

It is therefore already understood that the transfer arm of each opposite robot can advantageously and alone manipulate several parts and spray or lubricate the tool.

Advantageously, each aforementioned transfer arm is equipped with as many gripping members as the press comprises forging members.

It will also be specified that the watering booms are preferably orientable.

Advantageously, the spray bars are mounted on each transfer arm so as to be interposed between two adjacent stamping members of the press during the advance of the transfer arms for gripping the parts.

According to a preferred embodiment, the press comprises four successive bodies or stamping stations, the first of which on which the piece is brought possibly has means, such as a print of particular shape, to form on the piece a burr allowing its gripping. by the gripping members, while the last member or stamping station deburring the part which is evacuated through said station on any inclined plane.

It will also be specified here that the two aforementioned opposite robots are each pivotally mounted and lockable on a base or the like.

The installation according to this invention is controlled by a digital control associated with a programmable automaton, in particular to allow work in synchronization of the transfer arms of the two opposite robots and of the robot allowing the supply of a piece or a blank to the press.

• la figure 1 est une vue schématique partielle et de dessus d'une installation conforme à cette invention, le coulisseau de la presse n'étant pas représenté ;
• la figure 2 est une vue schématique et en élévation de l'installation suivant la flèche II de la figure 1 ;
• la figure 3 est une vue partielle et de côté de l'installation, suivant la flèche III de la figure 1, et illustrant la cinématique du mouvement des bras de transfert appartenant respectivement aux deux robots opposés ;
• la figure 4 est une vue très schématique et en coupe illustrant les postes ou organes de matriçage de la presse et le fonctionnement des rampes d'arrosage ;
• les figures 5 et 6 sont respectivement des vues en coupe et de dessus d'une bavure associée à une pièce à forger et permettant sa préhension par les bras de transfert des deux robots opposés ; et
• les figures 7 et 8 sont respectivement des vues en coupe et de dessus d'une autre forme de bavure associée à la pièce.

However, other advantages and characteristics of the invention will appear better in the detailed description which follows and refers to the appended drawings given solely by way of example, and in which:

• Figure 1 is a partial schematic view from above of an installation according to this invention, the press slide is not shown;
• Figure 2 is a schematic view in elevation of the installation according to arrow II of Figure 1;
• Figure 3 is a partial side view of the installation, along arrow III of Figure 1, and illustrating the kinematics of the movement of the transfer arms belonging respectively to the two opposite robots;
• Figure 4 is a very schematic sectional view illustrating the press stamping stations or members and the operation of the spray bars;
• Figures 5 and 6 are respectively sectional views and from above of a burr associated with a workpiece and allowing its gripping by the transfer arms of the two opposite robots; and
• Figures 7 and 8 are respectively sectional views from above of another form of burr associated with the part.

Referring to FIGS. 1 to 4, we see a forging press P equipped with four adjacent tools or stamping members identified respectively in 1, 2, 3 and 4. Each stamping member 1, 2, 3, 4 comprises a upper matrix 1a, 2a, 3a and 4a integral with a slide 5 (FIG. 3), and a lower matrix 1b, 2b, 3b and 4b.

There has been shown at 6 in FIGS. 1 and 2, a robot provided with an arm 7 for feeding a piece or a blank (21) to the press on precisely the lower die 1b of the first stamping tool 1 .

As can be clearly seen in FIGS. 1 and 3, two opposite robots 8, 9, working in a mirror, are arranged respectively opposite two opposite sides of the press P. Each robot 8, 9 comprises, as known per se, a arm 8a, 9a for transferring the parts.

According to the invention, each arm 8a, 9a comprises a plurality of gripping members identified at 10, 11, 12 and 13, with regard to the gripping members carried by the arm 8a of the robot 8, and identified at 14, 15 , 16 and 17 with regard to the gripping members carried by the arm 9a of the robot 9.

It will be noted here that the gripping members are four in number for each robot 8, 9, this number corresponding to the number of stamping members 1, 2, 3 and 4.

FIGS. 1, 3 and 4 have shown at 18 watering booms which are preferably orientable and which, like the gripping members 10 to 17, are integral with the arms 8a, 9a of the opposite robots 8, 9. These spray bars, as can be seen in FIG. 1, are interposed between the gripping members so that each arm 8a, 9a has three spray bars or lubrication tools for stamping tools 1, 2, 3 and 4.

We see in Figure 1 that the spray bars 18 are mounted on each transfer arm 8a, 9a so as to be interposed between two adjacent die-stamping tools of the press P, during the advance of the transfer arm for seize the pieces.

There has been shown in 19 an axis of pivoting of the two opposite robots 8, 9 which are mounted on motorized carriages around said axis. We see at 20 in Figures 1 and 2 a fixing foot which locks in the working position the robots 8 and 9. The entire installation which has just been described is controlled by a digital control associated with an automat programmable.

However, for a better understanding of the invention, its operation will be explained below, as will its advantages compared to known systems.

First of all, it will be observed that the robots 8 and 9 each comprising four stations or gripping members work in synchronization for the transfer of the parts. These gripping members can constitute a set of aligned grippers which make it possible to transfer several parts at the same time, so that the transfer time is halved, which considerably increases the productivity.

According to a preferred operating mode, one forging tool in two works during the descent of the slide 5, so that it is advantageous to alternately provide blowing, lubrication and cooling of the tooling.

More precisely, as can be seen in FIG. 2, pieces 21 are brought and positioned by the arm 7 of the robot 6 in the first stamping operation, that is to say on the lower die 1b of the tool matrixing 1. The cycle then proceeds as follows.

When a piece is in position 1b, there is then a blank which is in position 3b which can be described as "finishing" position. After the forging operation by the press P, the transfer robots 8 and 9 with their transfer bars 8a and 9a advance in synchronization on each side of the press. They grasp by the gripping members 10, 12, 14, 16 the slug in 1b and the blank in 3b, lift them then translate to deposit them on the lower dies 2b and 4b which can respectively be called "rough" position and position "deburring". When gripping at 1b and 3b, the imprints (not shown) of the stamping tools 1 and 3 are blown to descale them and lubricated by the spray bars 18 which, as explained above, are integral with the bars transfer 8a and 9a. To do this (FIG. 4), the outlet orifices of the lubricant jets are oriented in the direction of the cavities and only those which are arranged opposite the empty cavities (2b and 4b, in the case of FIG. 4) are put into service. , while the other jets are blocked. Then, the bars 8a, 9a carrying the ramps 18 and the gripping members recede simultaneously during the descent of the slide.

The part which is in the trimming position 4b is evacuated through the lower die during the press stroke and falls on any inclined plane shown at 22 in FIG. 2. It will be observed here that the trimming station 4b is directly associated with the preceding forging stations, the size of the installation is advantageously reduced, which does not therefore need to include a special deburring station situated outside the press. In addition, such an association advantageously avoids the provision of an intermediate manipulator arm ensuring the transfer of the forged part from the forging press to a deburring press.

Returning to the operating cycle, the slider 5 is then reassembled, the transfer bars 8a, 9a advance and lift the part in position 2b and the burr detached from the finished part in 4b, then the robots 8 and 9 translate to place the piece in 3b at the same time as the removal in 1b of another piece thanks to the arm 7 of the robot 6. It should be noted that during forging, the robots 8 and 9 return to the initial retracted position.

It should be noted here that the manufacturing cycle can comprise, as explained above, either two operations, that is to say two press strokes per piece, the latter then being only deposited on station 1b without being worked on, or three operations. In the latter case, the forging takes place from the first stamping station 1 to carry out a phase called "crushing" or "distribution of material".

It will also be observed that, in the first case, the gripping members 10 and 14 corresponding to the first stamping station 1, must have a particular configuration in order to be able to grasp the piece 21. In this regard, two possible variants have been illustrated in FIG. 1 of structure for the gripping members 10 and 14.

It should be noted here that, according to a particular aspect of the invention, the first stamping tool (1 or 2) can act on the piece 21 to form a burr having the desired shape and facilitating the gripping of the part by the organs grippers. In this regard, we see in Figures 5 and 6 a blank part E with which is associated a burr B forming somehow two small wings allowing the gripping of the blank by the gripping members integral with the arms 8a, 9a of the robots 8 and 9. In FIGS. 7 and 8, a variant of burr shape has been shown associated with the blank E and which here has the shape of a tongue or the like C. The shape of the gripping members 10 to 13 and 14 to 17 respectively adapts to these two configurations. Of course, this asymmetrical representation is given only by way of example. In reality, the gripping members of robots 8 and 9 will most often have an identical configuration. Likewise the organs 11 and 12, 13 have been shown different, depending on a possible evolution of the shape of the burr during work. The choice of this development, as of the form itself will obviously depend on the nature of the piece to be forged.

The installation according to this invention makes it possible to produce parts of variable volume and mass, it being understood that the transfer bars 8a, 9a of the robots 8 and 9 can be quickly assembled and disassembled to allow pre-adjustment outside the machine.

In addition, the gripping members 10 to 17 can be easily and quickly changed after rotation of the "mirror" robots 8, 9 as seen in FIG. 1.

The installation of this invention is somewhat universal in the sense that it can process parts according to any number and having any shape, and this with a minimum transfer time.

Of course, the invention is in no way limited to the embodiment described and illustrated, which has been given only by way of example.

This installation can therefore include elements other than those described, namely for example a cover protecting the two robots 8, 9 and their equipment against dust and a cooling and booster system installed under this cover to guarantee a correct and reliable operation of the robots in all circumstances.

Claims (8)

1. An improved automatic installation for transferring and forging any metal parts, essentially comprising a forging press (P) equipped with a plurality of swaging devices (1, 2, 3, 4), at least one robot (6) provided with an arm (7) for feeding a slug (21) or a blank to the press and two robots (8, 9) opposite each other arranged respectively facing two opposite sides of the press (P) and each provided with an arm (8a, 9a) for transferring parts, characterised in that the transfer arm of each of the two opposite robots (8, 9) is equipped with a plurality of devices (10 to 17) for grasping parts and with a plurality of manifolds (18) for sprinkling the swaging devices (1, 2, 3, 4), interposed between the grasping devices (10 to 17).
2. An installation according to Claim 1, characterised in that each aforementioned transfer arm (8a, 9a) is equipped with as many grasping devices (10 to 17) as the press has swaging devices (1 to 4).
3. An installation according to Claim 1 or 2, characterised in that the sprinkling manifolds (18) are preferably capable of orientation.
4. An installation according to one of Claims 1 to 3, characterised in that the sprinkling manifolds (18) are mounted on each transfer arm (8a, 9a) so as to be interposed between two adjacent swaging devices of the press when the transfer arms move forward to grasp the parts.
5. An installation according to one of the preceding claims, characterised in that the outlet orifices of the jets of the sprinkling manifolds (18) are oriented in the direction of the moulds and in that, each time the transfer arms move forward, only the jets oriented to face the empty moulds are put into service.
6. An installation according to one of Claims 1 to 5, characterised in that the press (P) comprises four successive swaging stations or devices (1 to 4), the first of which (1 or 2) to which the slug (21) is brought may have means, such as a mould with a particular shape, to form a runout (B, C) on the slug to enable it to be grasped by the grasping devices (10 to 17), while the last swaging station or device (4) ensures that the runout is removed from the part which is removed via said station over any inclined plane (22).
7. An installation according to one of Claims 1 to 6, characterised in that the two aforementioned opposite robots (8, 9) are each mounted to as to pivot (19), and to be lockable on a base or similar.
8. An installation according to one of Claims 1 to 7, characterised in that it is controlled by numerical control associated with a programmable automatic controller, particularly in order to allow synchronised working of the transfer arms of the two opposite robots (8, 9) and the robot (6) enabling a slug or a blank to be fed to the press.

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