JP2017006947A - Roll forging machine and roll forging method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a roll forging machine and a roll forging method thereof for improving production efficiency by continuously executing mold fabrication, by alternately supplying a molding object material to a pair of roll metal molds from two carrying devices.SOLUTION: A roll forging machine of the present invention is composed of a pair of roll metal molds 4 and 6 provided on a pair of roll driving shafts 3 and 5 rotating by a driving body and having a plurality of molding tools for executing mold formation by roll forging and a carrying device for moving to a position for executing the mold formation on a molding object material, a receiving position and a carrying-out position. The carrying device is composed of a first robot 10 for moving a robot hand on a square-shaped first movement passage 50A including a straight line-shaped molding movement passage 51 corresponding to a mold formation position and a first retreat passage 52 separated to one side to the molding movement passage and a second robot 30 for moving the robot hand on a square-shaped second movement passage 50B including the molding movement passage 51 and a second retreat passage 53 separated to the other side to the molding movement passage.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a roll forging machine that performs mold forming on a material to be molded using a pair of roll dies and a roll forging method thereof. More specifically, the material to be molded is alternately supplied to the pair of roll dies from the two conveying devices, and the molding process of the material to be molded by the pair of roll dies is continuously performed to improve the production efficiency. The present invention relates to a roll forging machine and its roll forging method.

  When manufacturing a forged product (forged product) that is a metal part, a processing method is known in which the material is first preformed into a desired shape and then the desired product is formed by a forging press or the like. This preforming is also called wasteland processing or the like, and a roll forging machine (also called a forging roll) is known as a kind of forging machine that performs such processing (see, for example, Patent Document 1).

  Also, forging rolls, a technology related to a robot hand for a forging roll that can prevent the impact from being transmitted to the robot hand even when the impact acts on a metal material during roll forging is also known. (For example, refer to Patent Document 2). In this technique, a robot hand is provided on the wrist of the second arm of the robot. This robot is a multi-joint type, and includes a first arm, a second arm, and the like, and a configuration in which a robot hand is controlled to move by a robot control unit is disclosed. Furthermore, a technique related to a forging roll that is low in cost, does not increase installation space, doubles cycle time, and can effectively use an expensive forging press is also known (see, for example, Patent Document 3).

Japanese Patent Publication No. 52-8783 Japanese Patent Publication No. 1-333262 JP-A-5-169176 Japanese Patent No. 3435314

On the other hand, in a roll forging machine, there are many requests for improving productivity.
However, Patent Documents 1 and 2 describe a technique related to the configuration of a roll forging machine, but there is no description related to an improvement in productivity of the roll forging machine. Patent Document 3 also describes a technique related to the configuration of the robot hand, but there is no description regarding further improving the productivity of the roll forging machine. Furthermore, Patent Document 4 describes a technique related to a forging roll for the purpose of improving the cycle time. Like the first roll and the first matting, and the second roll and the second matning, Two sets of roll forming parts (roll sets) are required, and this is only a technique for improving the cycle time by a factor of two compared to the conventional one set of roll forging machines, and there is still much room for improvement. It was what was.

  That is, in the step of turning the first pusher and extruding the billet to the first matning, the step of turning the second pusher and extruding the billet to the first matning, the step of discharging the first outlet conveyor, the second outlet conveyor, etc. However, there was a problem that productivity was lowered because roll forging was not performed. In addition, the technique disclosed in Patent Document 4 requires expensive first roll set and second roll set, and causes economic problems, storage management problems when molding is not performed, and the like.

The present invention has been made to solve the above-described problems, and achieves the following object.
An object of the present invention is to arrange two conveying devices for a pair of roll dies, and alternately supply a material to be molded from the two conveying devices to the pair of roll dies, An object of the present invention is to provide a roll forging machine and its roll forging method that can improve the productivity by continuously performing the molding process of the molded product by the above-described method.
Another object of the present invention is to provide a roll forging machine and a roll forging method thereof in which a robot hand does not cause interference even when two transport devices are arranged for a pair of roll dies. is there.

The present invention adopts the following means in order to achieve the above-described object.
The roll forging machine of the present invention 1
A pair of roll drive shafts rotatably provided on the roll forging machine main body and rotated by driving of the drive body, and a plurality of forming dies provided on the roll drive shaft for performing mold forming have a predetermined interval. The pair of roll molds formed and the molding material are moved to the molding material receiving position, the molding position of the pair of roll molds by the plurality of molding dies, and the molding product unloading position. In the roll forging machine having a conveying device for making the conveying device, the conveying device has a linear forming movement path connecting positions corresponding to the plurality of mold forming positions, and one side with respect to the forming movement path A first robot in which a robot hand moves on a first movement path having a square shape or a substantially square shape including a first retraction path that moves a position separated by a predetermined amount, and the shaping movement path, For the molding moving path A second robot on which a robot hand moves on a second or substantially square-shaped second movement path including a second retraction path that moves a position separated by a predetermined amount toward the other side. In the robot and the second robot, when the robot hand of the first robot is moving along the molding movement path, the robot hand of the second robot is the second movement path other than the molding movement path. When the robot hand of the second robot is moving on the molding movement path, the robot hand of the first robot moves along the first movement path other than the molding movement path. It is characterized by being controlled by.

The roll forging machine of the present invention 2 is the present invention 1,
The molding material receiving position and the molding product unloading position are arranged on an extension line of the molding movement path.
The roll forging machine of the present invention 3 is the present invention 1 or 2,
The first robot and the second robot are articulated robots.

The roll forging machine of the present invention 4 comprises the present inventions 1 to 3,
One of the first robot and the second robot is a floor type robot, and the other is a ceiling type robot.
The roll forging machine of the present invention 5 according to the present invention 1 to 3,
The first robot and the second robot are floor-standing robots installed at different height positions in the vertical direction.

The roll forging machine of the present invention 6 is the present invention 1 to 5,
The first robot moves the robot hand from the receiving process position to the first mold forming process position when the robot hand of the second robot moves from the final mold forming process position to the unloading process position. The second robot is configured such that when the robot hand of the first robot moves from the final mold forming process position to the unloading process position, the first robot moves from the receiving process position to the first mold. It is controlled to move to a molding process position.

The roll forging method of the roll forging machine of the present invention 7
A pair of roll drive shafts rotatably provided on the roll forging machine main body and rotated by driving of the drive body, and a plurality of forming dies provided on the roll drive shaft for performing mold forming have a predetermined interval. The pair of roll molds formed and the molding material are moved to the molding material receiving position, the molding position of the pair of roll molds by the plurality of molding dies, and the molding product unloading position. A conveying device for causing the molding device to move, and the conveying device has a linear molding moving path connecting positions corresponding to the plurality of mold forming positions, and a predetermined amount on one side with respect to the molding moving path. A first robot on which a robot hand moves, a molding movement path, and a molding path on a first or a second path that has a square shape or a substantially square shape including a first retraction path that moves in a distant position. A predetermined distance away from the moving path on the other side A roll forging method in a roll forging machine comprising a second robot on which a robot hand moves on a second movement path having a square shape or a substantially square shape including a second retraction path for moving a device, When the robot hand of the first robot is moving on the molding movement path, the robot hand of the second robot moves along the second movement path other than the molding movement path, and the second robot When the robot hand moves along the molding movement path, the robot hand of the first robot moves along the first movement path other than the molding movement path, and the first robot and the first robot Either one of the two robots can perform a molding process with the pair of roll dies.

The roll forging method of the roll forging machine of the present invention 8 is the present invention 7,
The robot hand of the first robot moves from the receiving process position to the first mold forming process position when the robot hand of the second robot moves from the final mold forming process position to the unloading process position. The robot hand of two robots is characterized in that when the robot hand of the first robot moves from the final mold forming process position to the unloading process position, the robot hand moves from the receiving process position to the first mold forming process position.

  In the roll forging machine of the present invention, a pair of roll dies are always rotated, and the material to be molded held by the first conveying means (first robot) or the second conveying means (second robot) alternately. Further, molding can be performed with a pair of roll dies, and productivity can be improved. For example, the first robot (or the second robot) moves the second robot (or the second robot) when the robot hand moves from the molding material receiving position to the first mold forming process position (for example, the first process position). 1 robot) is moved from the final mold forming process position (for example, the fourth process position) to the molded product unloading position. As described above, the first robot and the second robot can always perform the molding process with the pair of roll dies without the robot hands interfering with each other.

  In this roll forging machine, by rotating the two robots, conventionally, the supply operation time of the molding material, which is the loss time of the roll forging machine, and the unloading operation time of the molded product are not used as the loss time. Two robot hands are arranged one above the other so that interference can be avoided, and the two transfer devices can be rotated. This can improve the productivity of the roll forging machine.

  In addition, the conventional roll forging machine requires two sets of roll dies to improve productivity, but this roll forging machine does not require two sets of roll dies. In addition, the cost of creating the mold, the storage area of the mold, and the time for replacing the mold are reduced, and the economic effect is great.

  In the roll forging method of the roll forging machine, when one robot is moving on the forming movement path, the roll forging is controlled by moving the first retraction path or the second retraction path (using a pair of roll dies). This is a method of performing molding, and the molding is performed by supplying the molding material alternately to the pair of roll dies without interference between the robot hands of both robots, so that productivity can be improved.

FIG. 1 is a front view showing an embodiment of a roll forging machine of the present invention. FIG. 2 is a plan view of the roll forging machine. FIG. 3 is a front view showing the robot hand of the roll forging machine with a partial cross section. FIG. 4 is a side view of the robot hand. FIG. 5 is an explanatory view schematically showing a roll die of a roll forging machine. FIG. 6 is an explanatory diagram for explaining the movement path of the robot hand of the first robot and the robot hand of the second robot. FIG. 7 is an operation explanatory view showing the relationship between the robot hand of the first robot, the robot hand of the second robot, and the roll forging machine. FIG. 8 is an explanatory diagram 1 schematically showing the positional relationship between the first robot and the second robot. FIG. 9 is an explanatory diagram schematically showing the positional relationship between the first robot and the second robot. FIG. 10 is an explanatory diagram schematically showing the positional relationship between the first robot and the second robot. FIG. 11 is an explanatory diagram 4 schematically showing the positional relationship between the first robot and the second robot.

Hereinafter, embodiments of the roll forging machine of the present invention will be described with reference to the drawings.
FIG. 1 is a front view showing an embodiment of the roll forging machine of the present invention, and FIG. 2 is a plan view of the roll forging machine. FIG. 3 is a front view showing a cross section of a robot hand of a roll forging machine, and FIG. 4 is a side view of the robot hand. FIG. 5 is an explanatory view schematically showing a roll die of a roll forging machine. FIG. 6 is an explanatory diagram for explaining a movement path of the robot hand of the first robot and the robot hand of the second robot, and FIG. 7 is a robot hand of the first robot, a robot hand of the second robot, and roll forging. It is operation | movement explanatory drawing which shows the relationship of a machine.

  FIG. 8 is an explanatory diagram schematically showing the positional relationship between the first robot and the second robot. FIG. 9 is an explanatory diagram schematically showing the positional relationship between the first robot and the second robot. 10 is an explanatory diagram schematically showing the positional relationship between the first robot and the second robot, and FIG. 11 is an explanatory diagram schematically showing the positional relationship between the first robot and the second robot. .

[Main body of roll forging machine]
The configuration of the roll forging machine 1 will be described with reference to FIGS. The roll forging machine 1 includes a roll forging machine main body 2, a first robot 10 that is a first transfer device, a second robot 30 that is a second transfer device, and the like.

  A first roll drive shaft 3 and a second roll drive shaft 5 are rotatably supported on the roll forging machine main body 2. The first roll drive shaft 3 and the second roll drive shaft 5 are arranged in a pair so that the central axes are parallel to each other. Both ends of the first roll drive shaft 3 are supported by the roll forging machine body 2 via bearings (not shown). Similarly, both ends of the second roll drive shaft 5 are supported by the roll forging machine main body 2 via bearings (not shown). The first roll drive shaft 3 is rotationally driven by the output of the servo motor SM being transmitted via a gear transmission mechanism (not shown). The output of the servo motor (not shown, but the same servo motor as that for the first roll drive shaft 3) is transmitted to the second roll drive shaft 5 via a gear transmission mechanism (not shown) and is driven to rotate. In other words, the first roll drive shaft 3 and the second roll drive shaft 5 having a pair of upper and lower configurations are configured to be rotationally driven by the pair of upper and lower servo motors SM, respectively.

In addition, the 1st roll drive shaft 3 and the 2nd roll drive shaft 5 are normally controlled to rotate and stop simultaneously. Further, the first roll drive shaft 3 and the second roll drive shaft 5 are controlled to rotate at the same rotation speed in mutually opposite rotation directions (R direction and R ′ direction in FIG. 5).
The 1st roll drive shaft 3 is attached to the outer peripheral surface so that the 1st roll metal mold | die 4 can be attached or detached. The 2nd roll drive shaft 5 is attached to the outer peripheral surface so that the 2nd roll metal mold | die 6 can be attached or detached.

  In the first roll mold 4, a plurality of molds 4a for performing mold forming by roll forging (mold forming by a pair of roll molds) are formed with a predetermined interval. In the second roll die 6, a plurality of forming dies 6a for performing roll forging are formed with a predetermined interval. When the first roll drive shaft 3 and the second roll drive shaft 5 rotate, the first roll mold 4 and the second roll mold 6 bite the material m to be molded between the mold 4a and the mold 6a. The molding material m is configured to be subjected to die forming (roll forging) processing using a pair of roll dies 4 and 6.

[Conveyor]
As shown in FIGS. 1 and 2, at the front part of the roll forging machine main body 2, a material m to be molded is supplied to the molding die 4a and the molding die 6a, and is subjected to a molding process to be molded into a desired shape. A first transport device and a second transport device for carrying out the molded product are provided. The first transfer device is a first robot 10 called an articulated robot. The second transfer device is a second robot 30 called an articulated robot. The first robot 10 and the second robot 30 are well-known as multi-joint robots that can move the robot hand in three dimensions. However, the first robot 10 and the second robot 30 are simply used to facilitate understanding of the description of this embodiment.

[First robot]
The first robot 10 is a ceiling type robot that is installed on the ceiling suspension base 7 so as to be suspended. The ceiling device base 7 is configured such that the top plate 73 is fixed to the upper part of the support column 72 on the three provided on the bottom plate 71 and constitutes the base of the ceiling device.

  The robot base 11 of the first robot 10 is fixed to the lower surface of the top board 73. A first turning mechanism unit 12 is provided between the robot base 11 and the first turning table 13. The first swivel base 13 swivels in the direction around the central axis C1 (in the direction of the arrow θ1) with respect to the base 11, and is positioned at a desired swivel position. A first swing mechanism 14 is provided between the first swivel base 13 and the first arm 15. The first arm 15 swings in the direction of the arrow θ2 about the center point C2 with respect to the first swivel base 13, and is positioned at a desired swing position. A second swing mechanism 16 is provided between the first arm 15 and the second arm 17. The second arm 17 swings with respect to the first arm 15 in the direction of the arrow θ3 about the center point C3, and the second arm 17 is positioned at a desired swing position.

  A second turning mechanism 18 is provided between the second arm 17 and the third arm 19. The third arm 19 pivots in the direction around the central axis C4 (in the direction of the arrow θ4) with respect to the second arm 17, and is positioned at a desired position. A third swing mechanism 20 is provided between the third arm 19 and the fourth arm 21. The fourth arm 21 swings in the direction of the arrow θ5 about the center point C5 with respect to the third arm 19, and is positioned at a desired position. A robot hand 25 is attached to the fourth arm 21. The first robot 10 includes a first turning mechanism unit 12, a second turning mechanism unit 18, a first swinging mechanism unit 14, a second swinging mechanism unit 16, a third swinging mechanism unit 20, and the like that are not shown in the figure. Is controlled by a first robot control device (not shown) for driving and positioning control.

[Second robot]
The second robot 10 is a floor type robot.
The robot base 31 of the second robot 30 is fixed on the upper surface of the base plate installed on the floor surface. A first turning mechanism unit 32 is provided between the robot base 31 and the first turning table 33. The first swivel base 33 performs a swivel operation in the direction around the central axis C11 (arrow θ11 direction) with respect to the robot base 31, and is positioned at a desired swivel position. A first swing mechanism 34 is provided between the first swivel base 33 and the first arm 35. The first arm 35 swings in the direction of the arrow θ12 about the center point C12 with respect to the first swivel base 33, and is positioned at a desired swing position. A second swing mechanism 36 is provided between the first arm 35 and the second arm 37. The second arm 37 swings in the direction of the arrow θ13 about the center point C13 with respect to the first arm 35, and is positioned at a desired swing position.

  A second turning mechanism 38 is provided between the second arm 37 and the third arm 39. The third arm 39 pivots in the direction around the central axis C14 (arrow θ14 direction) with respect to the second arm 37, and is positioned at a desired position. A third swing mechanism 40 is provided between the third arm 39 and the fourth arm 41. The fourth arm 41 swings in the direction of the arrow θ15 about the center point C15 with respect to the third arm 39, and is positioned at a desired position. A robot hand 45 is attached to the fourth arm 41. The second robot 30 includes a first turning mechanism 32, a second turning mechanism 38, a first swinging mechanism 34, a second swinging mechanism 36, a third swinging mechanism 40, etc., which are not shown in the figure. Is controlled by a second robot control device (not shown) for driving and positioning control.

[Robot hand]
The robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 will be described with reference to FIGS. The robot hand 25 and the robot hand 45 have the same configuration, and in the description of this embodiment, the robot hand 25 will be described as an example.

  In the robot hand 25, a robot hand base (hereinafter referred to as a hand base) 253 is attached to the fourth arm 21 or the fourth arm 41. The hand base 253 is provided with a robot hand rotation axis (hereinafter referred to as a hand rotation axis) 254 that is rotatably supported by bearings 255 and 255. A pair of gripping claws 251 and 251 for gripping the molding material m are provided at the front portion of the hand rotation shaft 254. A robot hand opening / closing drive unit (hereinafter referred to as a hand drive unit) 252 for opening / closing the pair of gripping claws 251 and 251 is provided at the rear part of the hand rotation shaft 254. A connecting rod (not shown) and a hand opening / closing link mechanism (not shown) are provided between the hand drive unit 252 and the pair of gripping claws 251 and 251. The hand drive unit 252 moves the connecting rod back and forth in the longitudinal direction of the robot hand base 253 (a direction parallel to the central axis C6 shown in FIG. 3). The hand opening / closing link mechanism converts the forward / backward movement operation of the connecting rod into an opening / closing operation of the pair of gripping claws 251 and 251.

  In other words, the pair of gripping claws 251 and 251 perform an opening / closing operation by the operation of the hand driving unit 252 via the connecting rod and the hand opening / closing link mechanism. The hand driving unit 252 is provided with a clamping spring (not shown) for closing the pair of gripping claws 251 and 251 by moving the connecting rod backward to the rear side. Further, the hand drive unit 252 is provided with a cylinder 252a for moving the connecting rod forward to the front side against the clamp spring when a pressure fluid (for example, pressure oil) is supplied. . The forward movement operation of the connecting rod by the cylinder 252a opens the pair of gripping claws 251 and 251 via the hand opening / closing link mechanism. Then, when the supply of the pressure fluid to the cylinder 252a is stopped, the clamp spring moves the connecting rod backward by the biasing force. The backward movement operation of the connecting rod by the clamp spring causes the pair of gripping claws 251 and 251 to close via the hand opening / closing link mechanism. The forward / backward movement operation of the hand drive unit 252 and the connecting rod can be detected by the opening / closing operation detection unit 252b. Such a robot hand opening / closing device including the hand driving unit 252, a hand opening / closing link mechanism, a connecting rod, and the like is a well-known device, and detailed description thereof is omitted in this embodiment.

  The hand base 253 has a robot hand rotation positioning servomotor 261 (hereinafter referred to as a rotation axis servomotor) for rotating the hand rotation shaft 254 in the direction around the central axis C6 (in the direction of the arrow θ6 shown in FIG. 3). Is attached. A toothed pulley / toothed belt mechanism is provided between the output shaft of the rotating shaft servomotor 261 and the hand rotating shaft 254. That is, one toothed pulley is attached to the output shaft of the rotary shaft servomotor 261. Further, the other toothed pulley 262 is attached to the hand rotation shaft 254. A toothed belt is stretched between one toothed pulley and the other toothed pulley 262. The hand rotation servomotor 261 and the toothed pulley / toothed belt mechanism constitute a robot hand rotation positioning device (hereinafter referred to as a hand rotation device) 26. By providing the hand rotating device 26, for example, the hand rotating shaft 254 can be roll-forged (die forming by a pair of roll molds) by turning 90 degrees around the central axis C6. it can. The toothed pulley / toothed belt mechanism may be another rotational force transmission mechanism such as a gear mechanism.

[A pair of roll molds]
With reference to FIGS. 5 and 6, the mold forming (roll forging) processing by the pair of roll dies 4 and 6 will be described. In this roll forging machine 1, the robot hand 25 and the robot hand 45 move along a movement path as shown in FIG. 6. On the other hand, in the roll forging machine 1, four forming dies 4a and 6a are formed in a first roll die 4 and a second roll die 6. The mold 4a and the mold 6a constitute a pair of molds. Specifically, the first mold F1 is configured by the mold 4a1 and the mold 6a1. Similarly, the mold 4a2 and the mold 6a2 constitute the second mold F2, the mold 4a3 and the mold 6a3 constitute the third mold F3, and the mold 4a4 and the mold 6a4 constitute the fourth mold F4. (See FIG. 5).

  Corresponding to this, the first robot 10 and the second robot 30 have a first process position P2 corresponding to the first mold F1, a second process position P3 corresponding to the second mold F2, and a third mold. The robot hand 25 and the robot hand 45 are moved to a third process position P4 corresponding to F3 and a fourth process position P5 corresponding to the fourth mold F4. For example, the roll forging machine 1 molds the material to be molded into a desired shape by the molding die 4a1 and the molding die 6a1 at the first process position P2. In other words, the first roll mold 4 a is rotated in the R direction shown in FIG. 5 and the second roll mold 6 is rotated in the R ′ direction, and is gripped by the pair of gripping claws 251 and 251 provided in the robot hands 25 and 45. The forged material m is subjected to roll forging (die forming by a pair of roll dies).

  The first mold F1, the second mold F2, the third mold F3, and the fourth mold F4 are generally used as follows. In the first mold F1 at the first process position P2, the molding material m is crushed. In the second mold F2 at the second process position P3, the molding material m crushed by the first mold F1 is rotated 90 degrees around the central axis C6 by the hand rotating device 26, and the first mold F1 The part that has been crushed and widened is straightened. In the third molding die F3 at the third process position P4, the molding material m is crushed by returning 90 degrees around the central axis C6 by the hand rotating device 26. In the fourth molding die F4 at the fourth process position P5, the part that has been crushed and widened by the third molding die F4 is straightened, and a final uneven shape with a substantially circular cross section, which is the final shape, is formed. .

[Roll forging method]
The roll forging method of the roll forging machine 1 will be described with reference to FIGS.
The first roll mold 4 and the second roll mold 6 of the roll forging machine 1 are rotated at a predetermined rotation speed. The first roll drive shaft 3 and the second roll drive shaft 5 are rotationally controlled by the servo motor SM, and the rotational positions are synchronized.

  As shown in FIG. 6, the robot hand 25 of the first robot 10 receives a molding material receiving position (for receiving the molding material m heated to a predetermined temperature) from a molding material supply device (not shown). Hereinafter, described as a receiving position) P1, first process position P2, second process position P3, third process position P4, fourth process position P5, molding to be carried out to the molded article unloading device 8 A first movement path 50A is formed that moves in the order of the product unloading position (hereinafter referred to as unloading position) P6, the retreat position P7, and the pre-form material receiving position (hereinafter referred to as pre-receiving position) P8. A first process position P2, a second process position P3, a third process position P4, and a fourth process position P5 are linearly arranged in the molding moving path 51 for molding the molding material m. . In addition, a receiving position P1 and a carry-out position P6 are arranged on an extension line of the forming movement path 51. That is, the robot hand 25 includes a forming movement path 51 including a first process position P2, a second process position P3, a third process position P4, and a fourth process position P5, and a straight line extends from the receiving position P1 to the unloading position P6. And a box-like shape (R-shaped or substantially R-shaped) including a movement path arranged in a shape and a first retraction path 52 that is separated from the molding movement path 51 in one direction (for example, downward in this embodiment) by a predetermined amount. ) On the first movement route 50A.

  The robot hand 45 of the second robot 30 receives the receiving position P1, the first process position P2, the second process position P3, the third process position P4, the fourth process position P5, the unloading position P6, the retreat position P17, and the receiving of the molding material. The second movement path 50B is formed so as to move in the order of the front position (hereinafter referred to as the pre-reception position) P18. That is, the robot hand 45 includes a molding moving path 51 including a first process position P2, a second process position P3, a third process position P4, and a fourth process position P5, and a straight line extends from the receiving position P1 to the unloading position P6. Box-shaped (rough shape or substantially square shape) including a movement path arranged in a shape and a second retraction path 53 that is a predetermined amount away from the shaping movement path 51 in the other direction (for example, upward in this embodiment). ) On the second movement route 50B.

The operation of the first robot 10 and the second robot 30 will be described in relation to the operation on the roll forging machine main body 2 side.
On the roll forging machine main body 2 side, the first roll drive shaft 3 and the second roll drive shaft 5 are rotating at a predetermined rotational speed. Further description will be given along the “flow of operation” in FIG.
The robot hand 25 of the first robot 10 moves from the third process position P4 to the fourth process position P5. At this time, the second robot 30 moves from the pre-reception position P18 to the reception position P1 (see FIG. 9). After moving to the fourth process position P5, the first robot 10 performs mold forming with the fourth mold F4. In the second robot 30, the robot hand 45 grips and receives the molding material m from the molding material supply device at the receiving position P1 (step S1).

The robot hand 45 of the second robot 30 that has received the molding material m moves from the receiving position P1 to the first process position P2. At this time, the robot hand 25 of the first robot 10 moves from the fourth process position P5 to the unloading position P6, releases the molded product, and transfers it to the molded product unloading device 8. After moving to the first process position P2, the second robot 30 performs a molding process on the molding material m held by the robot hand 45 with the first molding die F1 (step S2).
The robot hand 45 of the second robot 30 moves from the first process position P2 to the second process position P3. At this time, the robot hand 25 of the first robot 10 moves from the carry-out position P6 to the retreat position P7. After moving to the second process position P3, the second robot 30 performs a molding process on the molding material m held by the robot hand 45 with the second molding die F2 (step S3).

  The robot hand 45 of the second robot 30 moves from the second process position P3 to the third process position P4. At this time, the robot hand 25 of the first robot 10 moves from the retracted position P7 to the pre-reception position P8 (see FIG. 10). After moving to the third process position P4, the second robot 30 performs a molding process with the third molding die F3 on the molding material m held by the robot hand 45 (step S4).

  The robot hand 45 of the second robot 30 moves from the third process position P4 to the fourth process position P5. At this time, the robot hand 25 of the first robot 10 moves from the pre-receiving position P8 to the receiving position P1 (see FIG. 11). After moving to the fourth process position P5, the second robot 30 performs a molding process with the fourth molding die F4 on the molding material m held by the robot hand 45. In the first robot 10, the robot hand 25 grips and receives the molding material m from the molding material supply device (step S5).

  The robot hand 45 of the second robot 30 moves from the fourth process position P5 to the unloading position P6. At this time, the robot hand 25 of the first robot 10 moves from the receiving position P1 to the first process position P2. After moving to the first process position P2, the first robot 10 performs a molding process with the first molding die F1 on the molding material m held by the robot hand 25. The second robot 30 releases the robot hand 45 at the unloading position P6 and delivers the molded product to the molded product unloading device 8 (step S6).

  The robot hand 25 of the first robot 10 moves from the first process position P2 to the second process position P3. At this time, the robot hand 45 of the second robot 30 moves from the carry-out position P6 to the retreat position P17. After moving to the second process position P3, the first robot 10 performs a molding process on the molding material m held by the robot hand 25 with the second molding die F2 (step S7).

The robot hand 25 of the first robot 10 moves from the second process position P3 to the third process position P4. At this time, the robot hand 45 of the second robot 30 moves from the retracted position P17 to the pre-reception position P18 (see FIG. 8). After moving to the third process position P4, the first robot 10 performs a molding process on the molding material m held by the robot hand 25 with the third molding die F3. (Step S8).
Returning to step S1, the operation of molding the material m to be molded to obtain a molded product is repeated.

  In the description of FIG. 6 and the above-described embodiment, the receiving position P1, the first process position P2, the second process position P3, the third process position P4, the fourth process position P5, and the carry-out position P6 are linearly arranged. However, the receiving position P <b> 1 and the unloading position P <b> 6 may not be arranged on the extension line of the molding moving path 51. For example, the receiving position P1 and the unloading position P6 may be arranged on the first retraction path or the second retraction path. Further, the receiving position P1 and the unloading position P6 may be arranged between the molding moving path and the first retreat path or the second retraction path.

  In other words, the first robot 10 and the second robot 30 are positioned so as to overlap the forming movement path 51 of the first process position P2, the second process position P3, the third process position P4, and the fourth process position P5. Any structure that does not perform mold forming at the same time may be used.

  The roll forging machine 1 always rotates a pair of roll dies 4 and 6 attached to a pair of roll drive shafts 3 and 5, and the first robot 10 and the second robot 30 rotate alternately so that a pair of roll dies 4 and 6 are rotated. The die forming (roll forging) processing by the roll dies 4 and 6 can be performed. Therefore, the roll forging machine 1 can improve productivity without stopping the molding process by the pair of roll dies 4 and 6 when receiving the molding material m and delivering the molding product. Can do. For example, when the robot hand 25 of the first robot 10 (or the robot hand 45 of the second robot 30) is located at the receiving position P1, the robot hand 45 of the second robot 30 (or the robot of the first robot 10). The hand 25) is located at the fourth process position P5. When the robot hand 25 of the first robot 10 (or the robot hand 45 of the second robot 30) is located at the carry-out position P6, the robot hand 45 of the second robot 30 (or the robot of the first robot 10). The hand 25) is located at the first process position P2. As described above, the first robot 10 and the second robot 30 are not subjected to interference between the robot hand 25 and the robot hand 45, and the pair of roll dies 4 and 6 always perform the molding process. As a result, the productivity of the roll forging machine 1 can be improved.

  Further, the first robot 10 and the second robot 30 perform the molding process from the first process position P2 to the fourth process position P5 by the first robot 10 moving on the molding movement path 51 of the first movement path 50A. The second robot 30 is controlled to move along a movement path including the second retraction path 53 other than the molding movement path 51 of the second movement path 50B. Conversely, when the second robot 30 moves along the molding movement path 51 of the second movement path 50B and performs the molding process from the first process position P2 to the fourth process position P5, the first robot 10 Control is performed to move a movement path including the first retraction path 52 other than the molding movement path 51 of the first movement path 50A. The first retraction path 52 of the first robot 10 and the second retraction path 53 of the second robot 30 are provided so as to be movement paths that are separated by a predetermined amount in the vertical direction across the molding movement path 51. Yes. Therefore, the robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 can move without interference.

  In this roll forging machine 1, the pair of roll dies 4, 6 are always rotated, and the first robot 10 and the second robot 30 can perform the molding process with the pair of roll dies 4, 6 alternately. , Productivity can be improved. For example, when the robot hand 25 of the first robot 10 (or the robot hand 45 of the second robot 30) moves from the receiving position P1 to the first process position P2, the robot hand 45 of the second robot 30 (or the first robot hand 45). The robot hand 25) of one robot 10 moves from the fourth process position P5 to the unloading position P6. As described above, the first robot 10 and the second robot 30 always perform the molding process with the pair of roll dies 4 and 6 without the robot hand 25 and the robot hand 45 interfering with each other. Can be.

  Further, the roll forging machine 1 rotates the two robots 10 and 30 so that the molding material supply operation time and the molding product unloading operation time, which are conventionally lost times of the roll forging machine 1, are as follows. Not a loss time. The two robot hands 25 and 45 are arranged vertically so that interference can be avoided, and the two robots 10 and 30 can rotate. Thereby, productivity improvement of the roll forging machine 1 can be aimed at.

  Furthermore, the conventional roll forging machine requires two sets of roll dies to improve productivity, but this roll forging machine does not require two sets of roll dies. As a result, reduction of mold production cost, reduction of mold storage area, reduction of mold replacement work time, etc. occur, and a great economic effect is also produced.

  The roll forging machine 1 that is controlled to move as described above can shorten the cycle time, reduce the temperature change of the molding material, and improve the product quality. Moreover, since the roll forging machine 1 can be rotated in the same rotation direction and the direction in which the load is applied is the same, the product life of the roll forging machine 1 is improved as compared with the roll forging machine that rotates in the normal rotation direction and the reverse rotation direction. Can be planned. Furthermore, since it can form continuously with the same roll metal mold | die, the dispersion | variation in a shape is suppressed and the improvement of product quality can be aimed at.

  The roll forging method of the roll forging machine is such that when the robot hand of one robot is moving along the forming movement path, the robot hand of the other robot has the first retraction path or the second retraction path other than the forming movement path. This is a method of performing roll forging by controlling to move the moving path including the material, and alternately forming the molding material on the pair of roll dies 4 and 6 without interference between the robot hands 25 and 45 of both robots. Since supply and roll forging (die forming by a pair of roll molds) are performed, productivity can be improved.

  As mentioned above, although embodiment of this invention was described, it cannot be overemphasized that this invention is not limited to this embodiment. For example, the transport device may be a Cartesian coordinate robot that can move in three axial directions. That is, any transfer device that can control the movement of the robot hand in the three-dimensional direction may be used. In addition to the movement in the horizontal plane, it is configured to be movable in a direction orthogonal to the horizontal plane, and when one robot hand moves on the molding movement path and is in the first process position to the fourth process position, the other The robot hand can be controlled to move along a movement path other than the molding movement path (for example, the first retraction path or the second retraction path away from the molding movement path) and avoid interference between the two robot hands. Any conveyance device that can perform the above-described process may be used. The articulated robot may be an articulated robot having another configuration and a different number of axes. Any configuration that can control the movement of the robot hand in the three-dimensional direction is acceptable.

  Furthermore, in this embodiment, the description is given with an example of a pair of roll molds in which four molds are formed. However, the pair of roll molds includes a plurality of molds (for example, two or six). A pair of formed roll dies may be used. In this embodiment, an example in which the mold forming process is performed in four steps is described. However, the mold forming process may be performed in six steps or two steps. There may be.

  Furthermore, although the transfer device is described as a ceiling-suspended robot (transfer device) and a floor-mounted robot (transfer device), there is a difference in height between the installation surface (floor surface) for installing the transfer device. And two floor-standing transfer devices may be provided. For example, the bottom surface of a pit dug a predetermined amount from the installation floor on which one conveyor is placed is used as the installation surface of the other conveyor, and the other conveyor is installed on the installation surface in this pit. May be.

DESCRIPTION OF SYMBOLS 1 ... Roll forging machine 2 ... Roll forging machine main body 3 ... 1st roll drive shaft 4 ... 1st roll metal mold 5 ... 2nd roll drive shaft 6 ... 2nd roll metal mold 7 ... Ceiling suspension base | substrate 10 ... 1st robot DESCRIPTION OF SYMBOLS 11 ... 1st robot base 12 ... 1st turning mechanism part 13 ... 1st turning base 14 ... 1st rocking mechanism part 15 ... 1st arm 16 ... 2nd rocking mechanism part 17 ... 2nd arm 18 ... 2nd Turning mechanism unit 19 ... third arm 20 ... third swing mechanism unit 21 ... fourth arm 25, 45 ... robot hand 251 ... a pair of gripping claws 252 ... robot hand opening / closing drive unit 253 ... robot hand base 254 ... robot hand rotation Axis 26 ... Robot hand rotation positioning device 261 ... Robot hand rotation positioning servo motor 30 ... Second robot 31 ... Second robot base 32 ... First turning mechanism 33 ... Second robot turning table 34 ... First swing Mechanism part 35 ... 1st arm 36 ... 2nd rocking mechanism part 37 ... 2nd arm 38 ... 2nd turning mechanism part 39 ... 3rd arm 40 ... 3rd rocking mechanism part 41 ... 4th arm 50A ... 1st movement Path 50B ... Second movement path 51 ... Molding movement path 52 ... First retraction path 53 ... Second retraction path P1 ... Molded material receiving position P2 ... First process position P3 ... Second process position P4 ... Third process position P5: Fourth process position P6: Molded product unloading position P7, P17: Retraction position P8, P18: Position before receiving molding material

Claims (8)

A pair of roll drive shafts rotatably provided on the roll forging machine main body and rotated by driving of the drive body;
A pair of roll molds provided on the roll drive shaft and formed with a predetermined interval between a plurality of molds for performing mold forming;
In a roll forging machine having a molding material receiving position, a mold molding position by the plurality of molding dies of the pair of roll molds, and a conveying device for moving the molding material to a molding product unloading position,
The transfer device includes a linear forming movement path that connects positions corresponding to the plurality of mold forming positions, and a first retreat that moves a position that is a predetermined amount away from the forming movement path on one side. A first robot in which a robot hand moves on a first moving path having a square shape or a substantially square shape including a path;
On the second movement path having a square shape or a substantially square shape including the molding movement path and a second retraction path that moves a position away from the molding movement path by a predetermined amount to the other side, The robot hand consists of a second robot that moves,
In the first robot and the second robot, when the robot hand of the first robot is moving along the molding movement path, the robot hand of the second robot is the first robot other than the molding movement path. When the robot hand of the second robot is moving along the molding movement path, the robot hand of the first robot moves along the first movement path other than the molding movement path. A roll forging machine characterized by being controlled to move. In the roll forging machine according to claim 1,
A roll forging machine, wherein a molding material receiving position and a molding product unloading position are arranged on an extension line of the molding movement path. In the roll forging machine according to claim 1 or 2,
The roll forging machine, wherein the first robot and the second robot are articulated robots. In the roll forging machine according to any one of claims 1 to 3,
One of the first robot and the second robot is a floor-standing robot, and the other is a ceiling-suspended robot. In the roll forging machine according to any one of claims 1 to 3,
The roll forging machine, wherein the first robot and the second robot are floor-mounted robots installed at different height positions in the vertical direction. In the roll forging machine according to any one of claims 1 to 5,
The first robot moves the robot hand from the receiving process position to the first mold forming process position when the robot hand of the second robot moves from the final mold forming process position to the unloading process position. Is controlled,
The second robot moves the robot hand from the receiving process position to the first mold forming process position when the robot hand of the first robot moves from the final mold forming process position to the unloading process position. A roll forging machine characterized by being controlled. A pair of roll drive shafts rotatably provided on the roll forging machine main body and rotated by driving of the drive body;
A pair of roll molds provided on the roll drive shaft and formed with a predetermined interval between a plurality of molds for performing mold forming;
A material to be molded, a molding material receiving position, a mold molding position by the plurality of molding dies of the pair of roll dies, and a conveying device for moving the molding material to a molding product unloading position;
The transfer device includes a linear forming movement path that connects positions corresponding to the plurality of mold forming positions, and a first retreat that moves a position that is a predetermined amount away from the forming movement path on one side. On the other side of the first robot that the robot hand moves, the molding movement path, and the molding movement path on a first or second B-shaped movement path including the path. This is a roll forging method in a roll forging machine comprising a second robot on which a robot hand moves on a square or substantially square second movement path including a second retraction path that moves a fixed distance away. And
When the robot hand of the first robot is moving on the molding movement path, the robot hand of the second robot moves along the second movement path other than the molding movement path;
When the robot hand of the second robot is moving along the molding movement path, the robot hand of the first robot moves along the first movement path other than the molding movement path;
Either of the first robot and the second robot can perform a die forming process with the pair of roll dies. A roll forging method in a roll forging machine, characterized in that: In the roll forging method in the roll forging machine according to claim 7,
The robot hand of the first robot moves from the receiving process position to the first mold forming process position when the robot hand of the second robot moves from the final mold forming process position to the unloading process position;
The robot hand of the second robot moves from the receiving process position to the first mold forming process position when the robot hand of the first robot moves from the final mold forming process position to the unloading process position. Roll forging method in a roll forging machine.

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