JP4126413B2 - Mold changer - Google Patents

Description

  The present invention relates to a mold exchanging apparatus used for exchanging a mold provided in an automatic forging press or the like.

  In a transfer press apparatus in which a plurality of molds are arranged in order of processes and a workpiece is sequentially processed by the plurality of molds, an apparatus for exchanging the molds is attached. As a conventional mold exchanging apparatus, for example, as shown in Patent Document 1, there is an apparatus in which a mold removed from a press apparatus is carried out of the press apparatus by an exchanging carriage (moving bolster) and exchanged. In some cases, the mold is transported by an arm movable in a horizontal plane.

Japanese Patent Laid-Open No. 3-207535

  The one described in Patent Document 1 is provided with travel distance detection means and position setting means, and controls the drive device by comparing these output signals to stop the carriage at an appropriate replacement position. You can work. However, in the system in which the mold is carried out of the press device by the carriage and exchange work is performed, a carriage for transporting the mold to a predetermined position is required, and the carriage is moved to the periphery of the press apparatus. There is a problem that space and space for exchange work are necessary.

  On the other hand, there is also a type in which a mold is transported by an arm movable in a horizontal plane without transporting the mold by a carriage. In this apparatus, a mold holding part (mold receiving part) for storing a mold is provided at the tip of the arm, and the mold removed from the press device is held by the mold holding part to be replaced. And a new mold is held by the mold holding unit and conveyed to the mold mounting position of the press apparatus.

  Since the conventional apparatus for transporting the mold by the arm movable in the horizontal plane is designed to be operated manually by hand, when the mold released from the clamper is stored in the mold holding part, When a new mold held and transported by the mold holder is mounted on the press device, the mold holder must be set at a predetermined position depending on the skillful operator's can and knack. There wasn't. For this reason, the mold transfer operation is difficult and takes a considerable amount of time.

  Therefore, the present invention improves the problems of the conventional mold exchanging apparatus, and relies on the operator's can and knack in an apparatus for carrying out exchanging work by transferring the mold to a predetermined position with an arm movable in a horizontal plane. Therefore, it is an object to be able to hold and exchange the mold more easily and safely.

In order to solve the above problems, the present invention has the following configuration. That is, the mold exchanging apparatus according to the present invention is a mold exchanging apparatus for a transfer press apparatus in which a plurality of molds are arranged in the order of processes, and includes a mold holding section that holds a mold at a tip portion. Is provided on the side of the transfer press device, and the single arm is divided into a plurality of arm members, and is joined to each other by joints that are rotatable in the horizontal plane. By connecting, a flexible arm is formed , and by bending the arm, the tip of the arm is inserted into the transfer press device from the direction intersecting with the mold row arranged in the order of the process, and the mold is held. part is thereby configured so that it can move until all of the mold position, the rotation angle detecting means for detecting a rotational angle of the joint, based on an output of said rotation angle detecting means of the mold holding portion Rights A holding unit position calculating unit that calculates a position, a mold holding unit that compares the actual position of the mold holding unit calculated by the holding unit position calculating unit with a preset mold detachable range there is provided a judging means for judging whether or not in the mold removable range, further when the mold holding unit is in the mold removable range, so that it can release the mold clamper only appropriate mold It is characterized by being configured .

  According to the first aspect of the present invention, the arm that holds the mold is divided into a plurality of arm members, and the arm members are connected to each other by joints that are rotatable in a horizontal plane so that they can be bent. Therefore, the mold holding part provided at the tip of the arm can be smoothly moved to an arbitrary plane position. In addition, it is preferable to attach the base of the arm to a lifting platform that can be moved up and down along the vertical axis, because the mold holding part can be freely moved to a position necessary for attaching and detaching the mold.

  Further, the position of the mold holding part in the horizontal plane is calculated based on the rotation angle of each joint, and it is determined whether or not the calculated position is within a predetermined mold detachable range. Based on the result, the mold can be attached and detached, and the work can be performed properly and safely without requiring much skill.

  In addition, since the arm is divided into a plurality of arm members and each is connected to each other by joints that are rotatable in a horizontal plane, the mold holding part can be smoothly moved to all positions in the XY direction with a simple configuration. Can be moved to.

  The embodiments shown in the drawings will be specifically described below. 1 to 3 exemplify a mold exchanging apparatus according to the present invention. The mold exchanging apparatus 1 includes a column 2 fixed at a predetermined position and a column that can be moved up and down and rotated in a horizontal plane. A supported arm 3 is provided. The arm 3 is configured to be bendable by connecting three arm members 3A, 3B, and 3C with joints that are rotatable in a horizontal plane. In the illustrated example, the arm 3 is divided into three parts and connected to each other. However, the structure is not limited to three, and any structure may be used as long as a plurality of arms 3 are connected. A vertical screw rod 5 having a ball screw is rotatably supported on the support column 2 as a vertical axis, and is rotated forward and backward by a motor 7 installed at the upper end portion of the support column 2. The amount of rotation of the screw rod 5 is detected by a rotary encoder 8 provided below the screw rod 5.

  A nut member 11 of the lifting platform 10 is screwed to the screw rod 5. The lifting platform 10 is provided so as to be movable up and down along a vertical rail 12 provided on the support column 2, and moves up and down through a nut member screwed to the screw rod 5 by the rotation of the screw rod 5. Since the rotation amount of the screw rod 5 is detected by the rotary encoder 8 which is a rotation angle detecting means, the lifting amount of the lifting platform 10, that is, the entire arm 3 is obtained from the detection result. In some cases, the arm 3 may not be attached to such a lifting platform and may be supported by another machine frame. Moreover, as a raising / lowering method of the raising / lowering stand 10, it is not restricted to the example of illustration, For example, other suitable raising / lowering methods, such as a hydraulic motor and a crane, are also employable.

  The lifting platform 10 is provided with a vertical support shaft 15, and the base of the first arm member 3 </ b> A is attached to the support shaft 15. Since the support shaft 15 is rotatably supported in the horizontal plane by the bearing 16, the first arm member 3A is rotatable in the horizontal plane around the shaft 15.

  A second arm member 3B is rotatably supported in a horizontal plane by a shaft 17 at the distal end portion of the first arm member 3A, and a third arm is further disposed at the distal end portion of the second arm member 3B. The member 3C is supported by the shaft 18 so as to be rotatable in a horizontal plane. These first to third arm members constitute the arm 3 as a whole. Moreover, the connection part by the said axis | shaft 15, the axis | shaft 17, and the axis | shaft 18 comprises the joint part which supports an arm rotatably in a horizontal surface.

  A die holding portion (die receiving portion) 20 for holding a die is provided at the tip of the third arm member 3C constituting the arm 3. The mold holder 20 shown in the drawing functions as a tray that holds the upper mold among the upper and lower molds provided in the press device, and the mold is fitted and held in the mold holder 20. .

  The first, second and third arm members 3A, 3B and 3C constituting the arm 3 are provided with stopper holes h1, h2 and h3, respectively, and the stopper pin p is inserted into the hole h. Thus, the free rotation of each arm can be regulated. The first stopper pin p1 is supported by a bracket b1 fixed to the support column 2 so as to be movable up and down, and the second stopper pin p2 is supported by a bracket b2 fixed to the first arm member 3A so as to be movable up and down. The stopper pin p3 is supported by a bracket b3 fixed to the second arm member 3B so as to be vertically movable. Therefore, when the stopper pin p1 is inserted into the stopper hole h1, the rotation of the first arm member 3A with respect to the column 2 is restrained, and when the stopper pin p2 is inserted into the stopper hole h2, the second arm member with respect to the first arm member 3A is restrained. When the rotation of 3B is constrained and the stopper pin p3 is inserted into the stopper hole h3, the rotation of the third arm member 3C with respect to the second arm member 3B is constrained.

  A rotary encoder 25 is attached to the lower ends of the shafts 15, 17, 18 that support each arm member as detection means for detecting the rotation amount of each arm member, and the rotation amount of each shaft is detected and operated. It outputs to the board 30. Based on the output of the rotary encoder 25, the operation panel 30 calculates a plane position of the central portion of the mold holding portion 20 provided at the tip of the arm, and the position calculation means calculates the position. The position of the center portion of the mold holding portion 20 is compared with a preset die attachable / detachable range (range in the plane), and the position of the center portion of the die holding portion 20 is within the attachable / detachable range. Position determining means for determining whether or not there is a control circuit is provided as a control circuit. When the position of the mold holding part 20 is within the mold detachable range, the notification means (lamp, voice, etc.) notifies that fact. Further, when the mold holding part 20 is in a range in which the mold can be attached and detached, the operation base part is displayed ON, and based on this, the mold clamper for fixing the corresponding mold can be released. .

  The operation panel 30 is erected on the side of the press device. The operation panel 30 is provided with a changeover switch 31 for selecting a die to be exchanged, and numbers (1 to 5) indicating processes are sequentially written around the switch 31. If the process number of the mold is selected with the changeover switch 31 prior to the mold replacement, the clamper can be released when the mold holding part 20 is set at a position where the mold can be attached and detached.

  The operation panel 30 is further provided with a pendant type remote control operation tool 35. The operation tool 35 includes a push button switch for raising an arm, a push button switch for lowering, a clamp switch for clamping a mold, an unclamp switch for releasing the clamp, and a mold holding unit 20 for attaching / detaching a desired mold. A notification lamp is provided to notify that the vehicle is at a possible position. An operator can hold the pendant type remote control operating tool 35 in his / her hand and perform arm movement and mold attachment / detachment operations.

  Next, how to use the mold exchanging apparatus will be described with an example of exchanging the upper mold. First, a die holding portion (upper die stacking jig) 20 that holds the upper die to be exchanged is attached to the tip of the arm member 3C. The proximity switch provided on the arm member 3C to which the mold holding unit 20 is attached is connected. This connection is performed by connecting a wire connected to the proximity switch to a terminal provided on the side surface of the arm body. The proximity switch can be attached to the mold holding unit 20.

  When the preparatory work is finished, the arm 3 is manually moved to move the mold holding unit 20 to a position immediately below the mold to be replaced. The raising switch of the pendant type operation tool 35 is operated to raise the mold holding part 20 to the mold replacement position. When the arm 3 is raised to a predetermined position, a proximity switch that detects the raised position of the entire arm is turned on.

  The mold holding unit 20 is further raised until it contacts the mold. At this time, the proximity switch at the arm tip is turned on. It is confirmed whether or not the lamp indicating “can be unclamped” provided in the pendant type operation tool 35 is lit, and if it is lit, it means that the mold holding unit 20 is in the mold detachable range. Then press the “unclamp” button. The die clamper attached to the die set side of the press apparatus unclamps only the designated die, and the die is placed on the upper die stacking jig which is the die holding portion 20 and can be unloaded. Become. In this state, the arm lowering button is pushed down to a height where it can be unloaded, and the tip of the arm is manually operated to unload the mold out of the machine.

  The arm 3 of the mold exchanging apparatus 1 includes arm members 3A, 3B, and 3C divided into three parts and three support shafts 15, 17, and 18, and each support shaft can rotate in a horizontal plane. Therefore, there is not only one method for moving the mold holding unit 20 to a specific mold position. FIGS. 6 to 11 show this moving method, and FIGS. 6 and 7 show two ways of reaching the mold in step 1. FIG. 8 and 9 show the method of reaching the mold in step 3, and FIGS. 10 and 11 show the method of reaching the mold in step 5, respectively. As described above, there is not one way to reach the mold in each step, but in any method, the rotation angle of each arm member by the rotary encoder provided at each joint position and the length of each arm member. As a data, the planar position of the die holding part 20 at the tip is obtained.

  Next, the procedure for replacing the lower mold will be described. First, a lower mold replacement position (position of a mold to be replaced) is selected on the operation panel 30. The arm 3 is moved manually and moved to the position directly above the replacement position. Then, the lowering button of the buttons for moving the arm up and down is pushed down to the lower mold replacement position. When lowered to the lower mold replacement position, the proximity switch is turned ON.

  The lower mold is fixed to the mold holding unit 20 by using a lower mold locking device of the mold holding unit 20 provided at the tip of the arm. It is confirmed whether or not the lamp indicating “can be unclamped” of the pendant type operation tool 35 is lit, and if it is lit, the “unclamp” button is pushed. Then, only the metal mold | die with which the metal mold | die clamp bar attached to the die set of a press apparatus was designated is unclamped, and the said metal mold | die can be carried out. Therefore, the ascending button is pushed among the buttons for raising and lowering the arm to raise the mold to a height at which it can be carried out, and the arm is moved manually to carry it out of the machine.

  The mold removed from the die set of the press apparatus is removed from the mold holding unit 20 at a predetermined location, a new mold is attached to the mold holding unit 20, and the die set position of the press apparatus is again reached. Bring it in and place it on the die set. Also in this case, the arm is raised and moved in the plane in the same manner as described above.

  The mold exchanging apparatus 1 is provided with position determining means for confirming the position (position in the X, Y, and Z axis directions) of the mold holding portion 20 that holds the mold, so that the mold can be properly attached and detached. It can be done safely at any position. Since the position confirmation is calculated from the output of the encoder provided in each rotating unit, it is structurally simple and reliable. Further, since the vertical movement is detected by a proximity switch in addition to the encoder, there is no risk of collision with the mold. Further, since the motor is driven in the vertical direction, the vertical movement is performed smoothly, and an overload at the time of contact between the mold and the mold receiver 20 can be prevented.

  In the above description, the arm is moved manually, but it may be automatically moved by an actuator such as a motor. Further, although the pendant operation tool 35 is used to raise and lower the arm, a push button for raising and lowering may be provided at the tip of the arm and operated by this. It is also convenient to attach a lamp indicating that unclamping is possible to the tip of the arm.

  As is clear from the above description, the mold exchanging apparatus according to the present invention can be suitably used for exchanging the mold provided in the forging press apparatus, and requires less skill. It is possible to change the mold.

It is a top view of a metal mold exchange device. It is the front view. It is sectional drawing showing the structure of an arm. It is sectional drawing of a support | pillar. It is a front view of a raising / lowering apparatus. It is a top view showing the movement method of an arm. It is a top view showing the movement method of an arm. It is a top view showing the movement method of an arm. It is a top view showing the movement method of an arm. It is a top view showing the movement method of an arm. It is a top view showing the movement method of an arm.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mold change apparatus 2 Support | pillar 3 Arm 5 Screw rod 10 Lifting stand 15 Support shaft 17 Support shaft 18 Support shaft 20 Mold receiving part 30 Operation panel 35 Pendant type operation tool

Claims (1)

A mold exchanging apparatus for a transfer press apparatus in which a plurality of molds are arranged in the order of processes , and a die holding part that holds a mold at a tip part is provided, and a base part is rotatably supported in a horizontal plane. provided the arm on the side of the transfer press apparatus, by dividing the single arm in a plurality of arm members, by connecting to each other in a rotatable joint in the horizontal plane, it constitutes a bendable arm By bending the arm, the tip of the arm is inserted into the transfer press device from the direction intersecting with the mold row arranged in the order of the process so that the mold holding part can move to all mold positions. together constitute a rotation angle detecting means for detecting a rotational angle of the joint portion, a holding portion position calculating means for calculating the plane position of the mold holding unit based on the output of the rotation angle detecting means, Whether the mold holding part is within the mold detachable range by comparing the actual position of the mold holding part calculated by the holding part position calculating means with the preset mold detachable range. The mold replacement is characterized in that it is configured so that the mold clamper can be released only when the mold holding part is within the mold detachable range. apparatus.

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