JP5036297B2 - Robot hand and forging device - Google Patents

Description

  The present invention relates to a robot hand for supplying a forging material into a molding recess of a forging die, a forging device including the robot hand, and a forging method using the robot hand.

  When the forging material is transported to the forging die or the forging material is supplied into the molding recess of the forging die, a robot hand that grips the material may be used. For example, in Japanese Patent Laid-Open No. 11-123492, in a method of forming a material into a product shape through a plurality of forging stations, the material (forged intermediate) forged at the former forging station is transferred from the former forging station to the latter forging station. A robot hand for carrying is disclosed (see Patent Document 1).

This robot hand is protruded from a forging die of a preceding forging station between a pair of grip members (gripping pieces) for gripping the outer peripheral portion of the material, an opening / closing mechanism for opening and closing both grip members, and both grip members. A pressing member that presses the protruding material and is provided in a form that is biased in a direction opposite to the protruding direction of the protruding material. According to this robot hand, there is an advantage that the protruding material can be gripped without being displaced by pressing the material protruding from the mold with the pressing portion from above.
JP-A-11-123492

  By the way, in general, the following problems may occur when the material gripped by the robot hand is supplied into the molding recess of the mold.

  That is, for example, the clearance between the peripheral surface of the molding recess of the mold and the peripheral surface of the material is equal to or less than the thickness of the grip portion of each grip piece of the robot hand, and the height of the material If the dimension is equal to or less than the depth dimension of the molding recess, even if you try to place the material at the planned placement position of the material at the bottom of the molding recess while holding the material between both gripping pieces Since the gripping portions of both gripping pieces collide with the opening edge of the molding recess, the material cannot be placed at the planned placement position of the material while the material is gripped between the gripping pieces. Therefore, the material gripped between the gripping pieces has to be naturally dropped toward the bottom of the molding recess by releasing the grip above the molding recess. Therefore, the direction in which the material travels immediately after the material falls from between the gripping pieces is not stable, and as a result, the material may be placed at a position shifted from the planned placement position of the material at the bottom of the molding recess. is there. In particular, since the lubricant is generally attached to the bottom of the molding recess, the material is easily slipped by the lubricant, and the material is easily placed at a position shifted from the planned placement position of the material. If the material is forged in such a state that the material is disposed at a shifted position, for example, plastic processing is not performed uniformly, and as a result, burrs are formed unevenly or the material is unevenly filled in the molding recess. As a result, it becomes impossible to produce a high-quality forged product. This is an important problem particularly when the forging is a closed forging.

  The present invention has been made in view of the above-described technical background, and the purpose thereof is to supply a material for a planned arrangement position of the material at the bottom of the molding recess when supplying the forging material into the molding recess of the forging die. It is an object of the present invention to provide a robot hand that can prevent the displacement of the position, a forging device including the robot hand, and a forging method using the robot hand.

  The present invention provides the following means.

[1] In a robot hand for supplying a forging material into a molding recess of a forging die,
A pair of gripping pieces for gripping the peripheral surface of the material;
A gripping piece driving means for driving at least one gripping piece of both gripping pieces in a gripping direction and a grip releasing direction of the material;
An extrusion member that is gripped between both gripping pieces and that is disposed above the molding recess of the mold in a direction toward the bottom of the molding recess of the mold from between the gripping pieces;
An urging means for urging the extruding member in the material extruding direction, and
The push-out member is urged in the push-out direction of the material by the urging means in a state where the tip portion is in contact with the upper surface of the material gripped between the gripping pieces. Characteristic robot hand.

  [2] The pushing member pushes out the material from between the gripping pieces toward the bottom of the molding concave portion of the mold by the biasing force of the biasing means by weakening the gripping force of the material by the gripping pieces. 2. The robot hand according to item 1 above.

  [3] The extruding member is configured such that the material is pushed out from between the gripping pieces toward the bottom of the molding concave portion of the mold by the urging force of the urging means, and is pressed against the planned arrangement position of the material on the bottom. The robot hand according to 1 or 2.

[4] A push portion that pushes the upper surface of the material is provided at the tip of the extrusion member,
4. The robot hand according to any one of items 1 to 3, wherein a concave portion is formed at a central portion of the pressing surface of the pressing portion.

[5] The grip portion of one grip piece of both grip pieces is configured to grip a portion on the one grip portion side of the peripheral surface of the material at two points spaced from each other in the circumferential direction,
5. The robot hand according to any one of the preceding items 1 to 4, wherein the grip portion of the other grip piece is configured to grip a portion of the peripheral surface of the material on the side of the other grip portion at one point in the circumferential direction.

[6] The grip portion of one grip piece of both grip pieces is configured to grip a portion on the one grip portion side of the peripheral surface of the material at two points separated from each other in the vertical direction.
The gripping portion of the other gripping piece grips the portion on the other gripping portion side of the peripheral surface of the material at one point corresponding to the position between the two gripping points of the one gripping portion in the vertical direction. 6. The robot hand according to any one of items 1 to 5, which is configured.

  [7] The robot hand according to any one of [1] to [6], wherein the urging unit is a spring, an air spring, or rubber.

  [8] The robot according to any one of the preceding items 1 to 7, wherein a clearance between the peripheral surface of the molding concave portion of the mold and the peripheral surface of the material is equal to or less than the thickness of the grip portion of each grip piece. hand.

  [9] The robot hand according to any one of [1] to [8], wherein the height dimension of the material is equal to or less than the depth dimension of the molding recess of the mold.

  [10] A forging device including the robot hand according to any one of 1 to 9 above.

[11] A material supply step of supplying a forging material into a molding recess of the forging die using a robot hand;
A material forging step of forging the material in the molding recess of the mold after the material supplying step,
The robot hand includes a pair of gripping pieces for gripping the peripheral surface of the material, gripping piece driving means for driving at least one gripping piece of the gripping pieces in the gripping direction and the grip releasing direction, and a peripheral surface of the material. A pair of gripping pieces to be gripped, a gripping piece driving means for driving at least one gripping piece of both gripping pieces in a material gripping direction and a grip releasing direction, and gripping between both gripping pieces and molding of a mold An extrusion member that extrudes the material disposed above the recess in the direction of the bottom of the molding recess of the mold from between the gripping pieces, and an urging means that urges the extrusion member in the extrusion direction of the material. ,
The pushing member is urged in the pushing direction of the material by the urging means under a state in which the tip portion is in contact with the upper surface of the material held between the two holding pieces,
In the material supply process, the material held between the gripping pieces of the robot hand and disposed above the molding concave portion of the mold is pushed by the pushing member biased in the material pushing direction by the biasing means. A forging method characterized in that the material is fed into the molding recess of the mold by extruding from the gripping piece in the direction of the bottom of the molding recess of the mold.

  [12] In the material supply step, the material is pushed by the biasing means in the material pushing direction by weakening the gripping force of the material by both gripping pieces of the robot hand, and between the gripping pieces. 12. The forging method according to 11 above, wherein the forging is extruded in the direction of the bottom of the molding recess of the mold.

  [13] In the material supply step, the material is pushed out in the direction of the extrusion of the material by the urging means, and is pushed out from between the holding parts toward the bottom of the molding concave portion of the mold. 13. The forging method according to 11 or 12 above, wherein the forging method is pressed against the planned placement position.

  [14] In the material supply step, the material pressed against the planned placement position of the material at the bottom of the molding recess of the mold by the pushing member biased in the material pushing direction by the biasing means is held in that state for a predetermined time. 14. The forging method according to item 13 above.

[15] A push part that pushes the upper surface of the material is provided at the tip of the pushing member of the robot hand,
15. The forging method according to any one of the preceding items 11 to 14, wherein a concave portion is formed at a central portion of the pressing surface of the pressing portion.

[16] The grip portion of one grip piece of both grip pieces of the robot hand is configured to grip a portion on the one grip portion side of the peripheral surface of the material at two points separated from each other in the circumferential direction. And
16. The forging method according to any one of the preceding items 11 to 15, wherein the gripping portion of the other gripping piece is configured to grip the portion on the other gripping portion side of the peripheral surface of the material at one point in the circumferential direction.

[17] The grip portion of one grip piece of both grip pieces of the robot hand is configured to grip the portion on the one grip portion side of the peripheral surface of the material at two points separated from each other in the vertical direction. And
The gripping portion of the other gripping piece grips the portion on the other gripping portion side of the peripheral surface of the material at one point corresponding to the position between the two gripping points of the one gripping portion in the vertical direction. The forging method according to any one of the preceding items 11 to 16, which is configured.

  [18] The forging method according to any one of the above items 11 to 17, wherein the urging means is a spring, an air spring, or rubber.

  [19] Any one of items 11 to 18 above, wherein the clearance between the peripheral surface of the molding recess of the forging die and the peripheral surface of the material is equal to or less than the thickness of the grip portion of each grip piece of the robot hand. The forging method described in 1.

  [20] The forging method according to any one of the above items 11 to 19, wherein the height dimension of the material is equal to or less than the depth dimension of the molding recess of the mold.

  The present invention has the following effects.

  In the invention of [1], the push-out member of the robot hand is attached to the push-out direction of the material by the urging means in a state where the tip end portion is in contact with the upper surface of the material gripped between the gripping pieces. It is supposed to be Therefore, when extruding the material from between the two gripping pieces, the material can be pushed by the pushing member in the direction of the bottom of the molding recess of the mold. As a result, the direction in which the material advances immediately after the material is pushed out from between the gripping pieces can be stabilized, thereby preventing the material from being displaced with respect to the material arrangement planned position at the bottom of the molding recess of the mold. be able to.

  In the invention of [2], the pushing member is weakened in the gripping force of the material by both gripping pieces, so that the material is moved from between the gripping pieces to the bottom of the molding recess of the mold by the biasing force of the biasing means. Since the material is extruded, it is possible to reliably stabilize the direction in which the material travels, thereby reliably preventing the displacement of the material.

  In the invention of [3], the pushing member pushes the material from between the gripping pieces toward the bottom of the molding concave portion of the mold by the urging force of the urging means and pushes the material to the planned arrangement position of the material on the bottom. As a result, the displacement of the material can be more reliably prevented.

  In the invention of [4], since the concave portion is provided in the central portion of the pushing surface of the pushing portion of the pushing member, dust such as a solidified lubricant is interposed between the pushing surface of the pushing portion and the upper surface of the material. By doing so, it is possible to prevent a problem that the direction in which the material advances is shifted. As a result, it is possible to prevent the displacement of the material more reliably.

  In the invention of [5], the peripheral surface of the material can be gripped by a total of three points in the circumferential direction between the gripping pieces. Thereby, the surrounding surface of a raw material can be hold | gripped stably. Accordingly, it is possible to further stabilize the direction in which the material advances immediately after the material is pushed out between the gripping pieces.

  In the invention of [6], the peripheral surface of the material can be gripped at a total of three points in the vertical direction between the gripping pieces. Thereby, the surrounding surface of a raw material can be hold | gripped stably. Accordingly, it is possible to further stabilize the direction in which the material advances immediately after the material is pushed out between the gripping pieces.

  In the invention of [7], it is possible to provide an urging means having a simple structure with low cost.

  In the invention of [8], even when the clearance between the peripheral surface of the molding recess of the mold and the peripheral surface of the material is equal to or less than the thickness of the gripping portion of each gripping piece, it is described above. Can have an effect.

  In the invention of [9], even when the height dimension of the material is equal to or less than the depth dimension of the molding recess of the mold, the above-described effects can be obtained.

  In the invention of [10], a forging device that can achieve the effects of any of the inventions of [1] to [9] can be provided. Therefore, a high-quality forged product can be manufactured by forging using this forging device.

The inventions [11] to [13] exhibit the same effects as the effects of the inventions [1] to [3], respectively, in the material supply step of the forging method.
Has the same effect.

  In the invention of [14], the material pressed against the planned arrangement position of the material at the bottom of the molding recess of the mold by the pushing member biased in the material pushing direction by the biasing means is held in that state for a predetermined time. Therefore, it is possible to prevent the position of the material from shifting after the material has landed on the bottom of the molding recess of the mold. Thereby, the position shift of the material can be prevented even more reliably.

  In the inventions [15] to [20], the same effects as the effects of the inventions [4] to [9] are obtained in the raw material supply step of the forging method.

  Next, an embodiment of the present invention will be described below with reference to the drawings.

  In FIG. 1, (1) is a robot hand according to an embodiment of the present invention. As shown in FIG. 4, the robot hand (1) is provided in a forging device (50) according to an embodiment of the present invention. The forging device (50) is a closed forging device in detail, and includes a pair of an upper die (51) and a lower die (52) as a closed forging die. The upper die (51) can also be regarded as a punch for pressing the forging material (S).

  The robot hand (1) supplies the forging material (S) into the molding recess (53) of the lower mold (52). The cross-sectional shape of the molding recess (53) is, for example, a circular shape. Forging lubricant (lubricating oil) adheres to the bottom (53a) and peripheral surface of the molding recess (53). In FIG. 4, (54) is a knockout pin.

  The material (S) is, for example, cylindrical. The material (S) is made of metal, specifically, for example, aluminum (including an alloy thereof). At the time of forging, the material (S) is heated to a temperature range of 400 to 480 ° C., for example.

  However, in the present invention, the shape of the material (S) is not limited to a cylindrical shape, but may be a prismatic shape, for example, that is, variously set according to the shape of a desired forged product. It is what is done. Moreover, the heating temperature of a raw material (S) is not limited to being in said range. Further, the material (S) is not limited to being made of aluminum, and may be made of other metals.

  As shown in FIGS. 1 to 3, the robot hand (1) is provided at the tip of the robot arm (40) via one or a plurality of joint axes (41) (41) (see FIG. 1). 3).

  This robot hand (1) includes a pair of left and right grip pieces (2L) (2R) for gripping the circumferential surface of the material (S) from both the left and right sides of the material (S), and both grip pieces (2L) (2R). Gripping piece driving means (30) for driving the material (S) in the gripping direction and the grip releasing direction.

  The gripping piece driving means (30) includes, for example, a box-shaped air cylinder (31) as its driving source. As shown in FIG. 2, two telescopic rods (32) and (32) are provided on the left and right side surfaces of the air cylinder (31), respectively, so as to be telescopically driven. A left grip piece (2L) is fixedly attached to the distal ends of the left two rods (32) and (32), and the right two rods (32) and (32) have distal ends. The right grip piece (2R) is attached in a fixed state. The gripping piece driving means (30) supplies both the gripping pieces (2L) by supplying compressed air to the inside of the air cylinder (31) or discharging compressed air from the inside of the air cylinder (31). (2R) is driven in the gripping direction of the material (S) through the rods (32) and (32) (that is, the gripping pieces (2L) and (2R) are closed), or the gripping of the material (S) is released. It is configured to be driven in the direction (that is, the direction in which both gripping pieces (2L) and (2R) are opened). Reference numeral (33) denotes a compressed air supply / exhaust port into the air cylinder (31).

  The front tip portion of each gripping piece (2L) (2R) slightly protrudes downward, and the grip portion (3L) (3R) extends in the front-rear direction to the front tip portion and is provided in a fixed state. . Both grip portions (3L) and (3R) are arranged to face each other in the left-right direction.

  As shown in FIG. 6, a material positioning recess (4) having a substantially square shape in plan view is formed on the gripping surface of the left gripping portion (3L) of the left gripping piece (2L) of both gripping pieces (2L) (2R). ) Is provided. As shown in FIG. 2, when the material (S) is gripped by the left gripping piece (2L), the left portion of the peripheral surface of the material (S) is fitted inside the recess (4). It abuts against the two inner surfaces of the recess (4). As a result, the left gripping part (3L) of the left gripping piece (2L) grips the left part of the peripheral surface of the material (S) at two points (5L) (5L) that are separated from each other in the circumferential direction. It is configured.

  On the other hand, the grip surface of the right grip portion (3R) of the right grip piece (2R) is formed flat in the front-rear direction of the right grip piece (2R). Accordingly, the right grip portion (3R) of the right grip piece (2R) is configured to grip the right portion of the peripheral surface of the material (S) at one point (5R) in the circumferential direction.

  Therefore, as shown in FIG. 2, the gripping pieces (2L) and (2R) have a total of three points (5L) in the circumferential direction of the circumferential surface of the material (S) between the gripping pieces (2L) and (2R). (5L) (5R) can be gripped.

  In addition, as shown in FIG. 6, a groove having a U-shaped cross section is formed in the vertical middle portion of the left gripping portion (3L) of the left gripping piece (2L) of both gripping pieces (2L) (2R). The strip (6) is formed to extend straight in the front-rear direction of the left grip piece (2L). As a result, as shown in FIG. 4, the left gripping part (3L) of the left gripping piece (2L) has two points (5L) (5L) (the left part of the peripheral surface of the material (S) separated from each other in the vertical direction). 5L).

  On the other hand, a ridge (7) is formed to extend straight in the front-rear direction of the right grip piece (2R) at the intermediate portion in the vertical direction of the grip surface of the right grip portion (3R) of the right grip piece (2R). Yes. Furthermore, this convex line part (7) is arrange | positioned in the position corresponding to the groove part (6) of a left holding part (3L) in the holding surface of a right holding part (3R). As a result, the right grip portion (3R) of the right grip piece (2R) has two grip points (5L) (5L) of the left grip portion (3L) in the vertical direction of the right side portion of the peripheral surface of the material (S). ) At a corresponding point (5R).

  Therefore, as shown in FIG. 4, the two gripping pieces (2L) (2R) have a total of three points (5L) in the vertical direction of the peripheral surface of the material (S) between the two gripping pieces (2L) (2R). (5L) (5R) can be gripped.

  As shown in FIG. 4, the clearance (C) between the peripheral surface of the molding recess (53) of the lower die (52) of the forging device (50) and the peripheral surface of the material (S) is determined by the gripping pieces ( 2L) (2R) is set to be equal to or less than the thickness (W) of the gripping portions (3L) (3R) (that is, C ≦ W).

  Furthermore, the height dimension (H) of the material (S) is set equal to or less than the depth dimension (D) of the molding recess (53) of the lower mold (52) (that is, H ≦ D). ).

  Therefore, the robot hand (1) is configured to remove the material (S) from the bottom (53a) of the molding recess (53) while holding the material (S) between the gripping pieces (2L) (2R). Even when trying to place (place) at the planned placement position (P) of (S), each gripping piece (2L) (2R) hits the opening edge of the molding recess (53), so both gripping pieces (2L) ( 2R), the raw material (S) cannot be placed at the planned placement position (P) of the raw material (S) at the bottom (53a) of the molding recess (53). .

  Therefore, in this embodiment, the robot hand (1) includes the pushing member (10) and the urging means (20).

  As shown in FIGS. 4 and 7, the pushing member (10) holds the material (S) held between the holding pieces (2L) and (2R) and disposed above the lower mold (52). In addition, it is pushed out from between the gripping pieces (2L) and (2R) in the direction of the bottom (53a) of the molding recess (53) of the lower mold (52) (that is, downward).

  The extruded member (10) includes an extruded rod portion (11) having a circular cross section that extends straight in the vertical direction, and a disk-shaped push portion (1) integrally formed at the lower end portion of the extruded rod portion (11). 12). The diameter of the pushing portion (12) is set larger than the diameter of the pushing rod portion (11). The extruded rod portion (11) and the pushing portion (12) are made of a heat resistant material that can withstand the heating temperature of the material (S), and specifically made of steel such as SUS316, SS400.

  Furthermore, as shown in FIG. 5, the recessed part (13) with a circular cross section is provided in the center part of the pushing surface of the pushing part (12) of an extrusion member (10). Thereby, when extruding the raw material (S) with the extruding member (10), only the outer peripheral edge portion of the pressing surface of the pressing portion (12) is brought into contact with the upper surface of the raw material (S).

  In addition, as shown in FIGS. 1 to 3, a plurality of bolts (38) (38) are provided on the front surface of the air cylinder (31) of the gripping piece driving means (30) between the gripping pieces (2L) (2R). ) Are fixed horizontally. The holding piece (35) holds the pushing member (10) so as to be movable in the vertical direction, and the holding piece (35) is provided with a holding hole (36) penetrating in the vertical direction. .

  And the extrusion rod part (11) of an extrusion member (10) is an up-down direction with respect to an air cylinder (31) and both holding pieces (2L) (2R) in the holding hole (36) of a holding piece (35). Thus, the pushing member (10) is held by the holding piece (35) so as to be movable in the vertical direction.

  The holding piece (35) is made of, for example, aluminum (including its alloy), thereby reducing the weight of the robot hand (1). Further, a gunmetal bearing (37) is inserted into the holding hole (36) of the holding piece (35) in order to prevent wear of the peripheral surface of the holding hole (36).

  Moreover, the screw rod part (16) is provided in the upper protrusion part at the upper front-end | tip part of the extrusion rod part (11) of an extrusion member (10). Then, a flange-like stopper piece (14) is fixedly attached to the upper end portion of the push rod portion (11) via a washer with a nut (15) screwed into the screw rod portion (16). This stopper piece (14) is for stopping the extrusion rod portion (11) from being extracted from the holding hole (36) of the holding piece (35).

  The biasing means (20) is made of a spring in this embodiment, and more specifically, a metal coil spring (21).

  The coil spring (21) is formed between the pushing portion (12) of the pushing member (10) and the holding piece (35) and inside the coil spring (21), the pushing rod portion (11) of the pushing member (10). Is arranged in a state of being inserted in the axial direction of the coil spring (21). Further, the coil spring (21) is disposed between the pushing portion (12) of the pushing member (10) and the holding piece (35) in a state compressed in the axial direction thereof. In (21), an urging force for moving the pushing member (10) downward is accumulated.

  Therefore, the pushing member (10) is in a state in which the pressing portion (12) at the lower tip thereof is in contact with the upper surface of the material (S) gripped between the gripping pieces (2L) (2R). The coil spring (21) is always urged downward, that is, in the pushing direction of the material (S). Further, the pushing member (10) is configured such that the gripping force of the material (S) by the both gripping pieces (2L) and (2R) is weakened, so that the material (S) is pressed by the urging force of the coil spring (21). 2L) and (2R) are extruded downward, that is, in the extrusion direction of the material (S).

  Furthermore, the stroke length of the push rod portion (11) of the push member (10) is determined by the material (between the grip pieces (2L) and (2R)) and disposed above the lower mold (52) ( S) is pushed out from between the two gripping pieces (2L) (2R) by the pushing member (10) in the direction of the bottom (53a) of the molding recess (53) of the lower mold (52), and the bottom (53a) The stroke length is set such that it can be pressed against the planned placement position (P) of the material (S). In addition, the arrangement | positioning planned position (P) of a raw material (S) is set to the center part of the bottom part (53a) of a shaping | molding recessed part (53), for example.

  Next, the forging method using the forging apparatus (50) provided with the robot hand (1) of this embodiment will be described below.

  In this forging method, the material (S) is supplied into the molding recess (53) of the lower mold (52) using the robot hand (1), and the lower mold ( 52) and a material forging step of forging the material (S) in the forming recess (53).

  First, the material supply process will be described below.

  As shown in FIGS. 1 to 3, the heated material (S) is gripped between the gripping pieces (2L) (2R) of the robot hand (1). An example of this gripping operation method will be described as follows.

  A space between the gripping portions (3L) and (3R) of both gripping pieces (2L) and (2R) of the robot hand (1) is opened larger than the diameter of the material (S). The material (S) is placed on a predetermined material placing table (not shown). Then, both gripping pieces (2L) (2R) are relatively lowered from above the material (S) toward the material (S), and the gripping portions (3L) (3R) of the gripping pieces (2L) (2R) ) Between the material (S). When the gripping pieces (2L) (2R) are lowered, the pushing member (10) is pushed upward on the upper surface of the material (S), so that the pushing member (10) moves upward. The coil spring (21) as the biasing means (20) is compressed in the axial direction between the holding piece (35) and the pressing portion (12), and the material (S) is pushed out to the coil spring (21). The urging force in the direction is accumulated. Next, both gripping pieces (2L) and (2R) are driven in the gripping direction of the material (S) by the air cylinder (31) of the gripping piece driving means (30). Accordingly, the peripheral surface of the material (S) is gripped from both the left and right sides of the material (S) between the gripping pieces (2L) (2R).

  Alternatively, when the material (S) is not placed on the material placing table and the material (S) is arranged so as to be projected by a material protruding device such as a knockout device, the material (S) The gripping operation may be performed as follows. That is, both gripping pieces (2L) and (2R) are opened above the material (S) and waited. Then, by projecting the material (S), the material (S) is arranged between the gripping portions (3L) (3R) of both gripping pieces (2L) (2R). During the protruding operation of the material (S), the pushing member (10) is pushed upward on the upper surface of the material (S) to move the pushing member (10) upward, and accordingly, the holding piece (35 ) And the pressing portion (12), the coil spring (21) is compressed in the axial direction, and the biasing force in the pushing direction of the material (S) is accumulated in the coil spring (21). Next, both gripping pieces (2L) and (2R) are driven in the gripping direction of the material (S) by the air cylinder (31) of the gripping piece driving means (30). Accordingly, the peripheral surface of the material (S) is gripped from both the left and right sides of the material (S) between the gripping pieces (2L) (2R).

  As shown in FIGS. 1 to 3, in a state where the peripheral surface of the material (S) is gripped between the gripping pieces (2L) (2R), the pushing member (10) has a pressing portion ( 12) is always urged in the pushing direction of the material (S) by the coil spring (21) under the condition that the upper surface of the material (S) is in contact. Further, as shown in FIG. 2, the left gripping portion (3L) of the left gripping piece (2L) has two points (5L) (5L) separated from each other in the circumferential direction on the left side portion of the peripheral surface of the material (S). ), And the right grip portion (3R) of the right grip piece (2R) grips the right portion of the peripheral surface of the material (S) at one point (5R) in the circumferential direction. Therefore, the peripheral surface of the material (S) is gripped between the gripping pieces (2L) (2R) at a total of three points (5L) (5L) (5R) in the circumferential direction. Furthermore, as shown in FIG. 4, the left gripping part (3L) of the left gripping piece (2L) has two points (5L) (5L) spaced apart from each other in the vertical direction on the left side of the peripheral surface of the material (S). ), And the right grip portion (3R) of the right grip piece (2R) has two grip points (3L) of the left grip portion (3L) in the vertical direction on the right side portion of the peripheral surface of the material (S). 5L) (5L) is gripped at a corresponding point (5R). Therefore, the peripheral surface of the material (S) is gripped by a total of three points (5L), (5L), and (5R) in the vertical direction between the gripping pieces (2L) and (2R).

  Next, as shown in FIG. 4, by driving the robot arm (40), the material (S) is held in a state where the material (S) is gripped between the gripping pieces (2L) (2R). It conveys from a mounting base or a raw material protrusion apparatus to the upper vicinity of the shaping | molding recessed part (53) of the lower metal mold | die (52) of a forging apparatus (50).

  Next, the gripping force of the material (S) by the gripping pieces (2L) (2R) is driven by the air cylinder (31) by driving the gripping pieces (2L) (2R) in the release direction of the gripping of the material (S). Weaken a little. Then, the pushing member (10) resists the frictional force between the gripping portions (3L) (3R) of both gripping pieces (2L) (2R) and the peripheral surface of the material (S), and the coil spring (21 ) To move downward. As a result, as shown in FIG. 7, the material (S) is pushed out from between the gripping pieces (2L) (2R) by the pushing member (10) biased by the coil spring (21). ) In the direction of the bottom (53a) of the molding recess (53) and pressed against the planned position (P) of the material (S) in the bottom (53a). Further, the material (S) is held in this pressed state for a predetermined time. This holding time is desirably set to 0.5 s (particularly preferably 1 s) or more, for example. By doing so, it is possible to reliably prevent the position of the material (S) from shifting after the material (S) has landed on the bottom (35a) of the molding recess (53). The upper limit of the holding time is not particularly limited, and is set to 2 s (particularly preferably 1.5 s) or less, for example.

  Next, the robot hand (1) is raised, and the pushing portion (12) of the pushing member (10) is separated from the upper surface of the material (S).

  Next, the robot hand (1) is discharged from between the upper mold (51) and the lower mold (52) and moved to the material mounting table or the material protruding device.

  The material supply process is completed by the above operation.

  Thereafter, a material forging step for forging the material (S) in the molding recess (53) of the lower mold (52) is performed. That is, in the material forging step, the upper die (51) is driven downward to press the material (S) with the upper die (51), thereby plasticizing the material (S) in the molding recess (53). Processed and hermetically forged into a predetermined shape. Thereafter, the forged material in the molding recess (53), that is, the forged product, is projected upward from the molding recess (53) by the knockout pin (54). Next, the forged product is taken out.

  The material forging process is completed by the above operation.

  Thus, the robot hand (1) of the present embodiment has the following advantages.

  The pushing member (10) of the lower end of the pushing member (10) of the robot hand (1) is in contact with the upper surface of the material (S) gripped between the gripping pieces (2L) (2R) Therefore, the coil spring (21) as the urging means (20) is urged in the pushing direction of the material (S). Therefore, when extruding the material (S) from between the gripping pieces (2L) (2R), the bottom (53a) of the molding recess (53) of the lower mold (52) is pushed out by the pushing member (10). ) Can be pushed in the direction. As a result, the direction in which the material (S) travels immediately after the material (S) is pushed out from between the two gripping pieces (2L) (2R) can be stabilized, so that the molding recess of the lower mold (52) can be achieved. It is possible to prevent the displacement of the material (S) relative to the planned placement position (P) of the material (S) at the bottom (53a) of (53).

  Further, the push-out member (10) is configured such that the gripping force of the material (S) by the gripping pieces (2L) and (2R) is weakened, so that the material (S) is pressed by the urging force of the coil spring (21). 2L) (2R) is pushed out in the direction of the bottom (53a) of the molding recess (53) of the lower mold (52), so that the material (S) is both gripping pieces (2L) (2R) The direction in which the material (S) travels immediately after being pushed out from the space can be reliably stabilized, and thus the displacement of the material (S) can be reliably prevented.

  Further, the push-out member (10) allows the material (S) to move from between the gripping pieces (2L) (2R) to the bottom of the molding recess (53) of the lower mold (52) by the biasing force of the coil spring (21). 53a), the material (S) in the bottom (53a) is pressed against the planned placement position (P) of the material (S), so that the displacement of the material (S) can be more reliably prevented.

  Furthermore, since the recessed part (13) is provided in the center part of the pushing surface of the pushing part (12) of an extrusion member (10), between the pushing surface of a pushing part (12) and the upper surface of a raw material (S). It is possible to prevent a problem that the direction in which the material (S) travels shifts due to the presence of dust such as solidified lubricant. Thereby, the position shift of the material (S) can be more reliably prevented.

  Further, as shown in FIG. 2, the robot hand (1) has a total of three points (5L) in the circumferential direction of the peripheral surface of the material (S) between the gripping pieces (2L) (2R) as described above. ) (5L) (5R), the peripheral surface of the material (S) can be stably held. Thereby, the direction in which the raw material (S) advances immediately after the raw material (S) is pushed out from between the gripping pieces (2L) (2R) can be further stabilized.

  Moreover, as shown in FIG. 4, the robot hand (1) has a total of three points (5L) in the vertical direction of the circumferential surface of the material (S) between the gripping pieces (2L) (2R) as described above. ) (5L) (5R), the peripheral surface of the material (S) can be stably held. Thereby, the direction in which the material (S) travels immediately after the material (S) is pushed out from between the two gripping pieces (2L) (2R) can be further stabilized.

  Furthermore, in this embodiment, since the coil spring (21) is used as the urging means (20), the urging means (20) having a simple structure can be provided at a low cost.

  Further, in this robot hand (1), the clearance (C) between the peripheral surface of the molding recess (53) of the lower mold (52) and the peripheral surface of the material (S) has each grip piece (2L) (2R). Even if the thickness is equal to or less than the thickness (W) of the grip portions (3L) and (3R), the same advantages as described above are obtained.

  Furthermore, this robot hand (1) is a case where the height dimension (H) of the material (S) is equal to or less than the depth dimension (D) of the molding recess (53) of the lower mold (52). Even if it exists, there exists an advantage similar to the above.

  Moreover, since the forging device (50) of the present embodiment includes the robot hand (1) of the present embodiment, a high-quality forged product can be manufactured by performing forging using the forging device (50). .

  Further, the forging method of the present embodiment supplies the material (S) into the molding recess (53) of the lower mold (52) using the robot hand (1) of the present embodiment. There is.

  Although one embodiment of the present invention has been described above, the present invention is not limited to that shown in the above embodiment.

  For example, in the above embodiment, the coil spring (21) is used as the biasing means (20). However, in the present invention, an air spring or rubber may be used in addition. By doing so, it is possible to provide an urging means (20) having an inexpensive and simple configuration.

  In the above embodiment, the gripping piece driving means (30) drives the gripping pieces (2L) and (2R) in the gripping direction and the grip releasing direction of the material (S), respectively. Further, only one of the grip pieces (2L) and (2R) may be driven in the gripping direction and the grip releasing direction of the material (S).

  Further, in the present invention, a plurality of knurled ridges (not shown) extending straight in the vertical direction are formed on the gripping surfaces of the gripping portions (3L) (3R) of the gripping pieces (2L) (2R). May be. In this case, when the material (S) is pushed out from between the gripping pieces (2L) (2R), the material (S) is guided downward by these irregularities, so that the material (S) The direction in which the material (S) advances immediately after being pushed out from between the two gripping pieces (2L) (2R) can be more reliably stabilized, and thus the displacement of the material (S) can be more reliably prevented. it can.

  In the present invention, the shape of the forged product produced by the forging device (50) is not particularly limited.

  INDUSTRIAL APPLICABILITY The present invention can be used in a robot hand that supplies a forging material into a molding recess of a forging die, a forging device including the robot hand, and a forging method using the robot hand.

FIG. 1 is a perspective view showing a robot hand according to an embodiment of the present invention in a state where a material is gripped. FIG. 2 is a plan view of the robot hand. FIG. 3 is a side view of the robot hand. FIG. 4 is a front view of the robot hand in a state before the material gripped by the robot hand is supplied into the molding recess of the mold. FIG. 5 is a perspective view of the pushing member and the holding piece of the robot hand. FIG. 6 is a perspective view of a grip portion of both grip pieces of the robot hand. FIG. 7 is a front view of the robot hand in a state where the material gripped by the robot hand is supplied into the molding recess of the mold.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Robot hand 2L ... Left grip piece 2R ... Right grip piece 3L ... Left grip part 3R ... Right grip part 5L ... Left grip part grip point 5R ... Right grip part grip point 10 ... Extrusion member 11 ... Extrusion rod part 12 ... Pushing part 13 ... Recess 20 ... Biasing means 21 ... Coil spring 30 ... Grip piece driving means 31 ... Air cylinder (drive source)
32 ... telescopic rod 35 ... holding piece 36 ... holding hole 40 ... robot arm 50 ... forging device 52 ... lower die (forging die)
53 ... Molding concave portion 53a ... Bottom P ... Material planned placement position S ... Material

Claims (18)

In the robot hand that supplies the forging material into the molding recess of the forging die,
A pair of gripping pieces for gripping the peripheral surface of the material;
A gripping piece driving means for driving at least one gripping piece of both gripping pieces in a gripping direction and a grip releasing direction of the material;
An extrusion member that is gripped between both gripping pieces and that is disposed above the molding recess of the mold in a direction toward the bottom of the molding recess of the mold from between the gripping pieces;
An urging means for urging the extruding member in the material extruding direction, and
Extrusion member is made as to which the tip under contact with the upper surface of the gripped material between the two holding pieces, is constantly urged in the direction of extrusion of the material by a biasing means Rutotomoni, The gripping force of the material by both gripping pieces is weakened, whereby the material is pushed out from between the gripping pieces toward the bottom of the molding recess of the mold by the biasing force of the biasing means. Robot hand. Extrusion member according to claim 1, characterized in that made as pressed against the planned placement position of the material in the bottom portion extruded in the direction of the bottom of the forming recess of the mold from between the two holding pieces by the biasing force of the biasing means materials Robot hand. A push part that pushes the upper surface of the material is provided at the tip of the extruded member,
Press unit pushing surface according to claim 1 or 2, wherein the robot hand recesses in the central portion is formed of. The gripping part of one gripping piece of both gripping pieces is configured to grip the part on the one gripping part side on the peripheral surface of the material at two points separated from each other in the circumferential direction,
The robot hand according to any one of claims 1 to 3 , wherein the grip portion of the other grip piece is configured to grip a portion of the peripheral surface of the material on the side of the other grip portion at one point in the circumferential direction. . The gripping part of one gripping piece of both gripping pieces is configured to grip the part on the one gripping part side on the peripheral surface of the material at two points separated from each other in the vertical direction,
The gripping portion of the other gripping piece grips the portion on the other gripping portion side of the peripheral surface of the material at one point corresponding to the position between the two gripping points of the one gripping portion in the vertical direction. the robot hand according to any one of claims 1 to 4 which is configured. The biasing means, spring, robot hand according to any one of claims 1 to 5 which is an air spring or rubber. The robot hand according to any one of claims 1 to 6 , wherein a clearance between a peripheral surface of the molding concave portion of the mold and a peripheral surface of the material is equal to or less than a thickness of a grip portion of each grip piece. The robot hand according to any one of claims 1 to 7 , wherein a height dimension of the material is equal to or less than a depth dimension of a molding concave portion of the mold. Forging apparatus having a robot hand according to any one of claims 1-8. A material supply process for supplying the forging material into the molding recess of the forging die using a robot hand,
In a forging method including a material forging step of forging the material in the molding recess of the mold after the material supply step,
The robot hand includes a pair of gripping pieces for gripping the peripheral surface of the material, a gripping piece driving means for driving at least one gripping piece of the gripping pieces in the gripping direction and the grip releasing direction of the material, and between the gripping pieces. And an extrusion member that pushes the material placed above the molding concave portion of the mold in the direction of the bottom of the molding concave portion of the mold from between the two gripping pieces, and urges the extrusion member in the extrusion direction of the raw material And an urging means for
The pushing member is always urged in the pushing direction of the material by the urging means under a state in which the tip portion is in contact with the upper surface of the material held between the two holding pieces,
In the material supply process, the material held between the gripping pieces of the robot hand and placed above the molding recess of the mold is energized by weakening the gripping force of the material by the gripping pieces of the robot hand . It is an extrusion member that is constantly urged in the material extrusion direction by means, and the material is fed into the molding recess of the mold by extruding it between the gripping pieces in the direction of the bottom of the molding recess of the mold. Forging method. In the material supply process, the material is always pushed in the material pushing direction by the urging means, and is pushed out from between the holding parts toward the bottom of the molding concave portion of the mold, and the material is arranged on the bottom. The forging method according to claim 10 , wherein the forging method is pressed against a predetermined position. In the material supply step, the material pressed against the planned placement position of the material at the bottom of the molding concave portion of the mold by the pushing member constantly biased in the material pushing direction by the biasing means is held in that state for a predetermined time. Item 12. The forging method according to Item 11 . A push part that pushes the upper surface of the material is provided at the tip of the pushing member of the robot hand,
The forging method according to any one of claims 10 to 12 , wherein a concave portion is formed in a central portion of the pressing surface of the pressing portion. The grip part of one grip piece of both grip pieces of the robot hand is configured to grip the part on the one grip part side of the peripheral surface of the material at two points separated from each other in the circumferential direction,
The forging method according to any one of claims 10 to 13 , wherein the grip portion of the other grip piece is configured to grip a portion of the peripheral surface of the material on the other grip portion side at a single point in the circumferential direction. . The grip portion of one grip piece of both grip pieces of the robot hand is configured to grip the part on the one grip portion side of the peripheral surface of the material at two points separated from each other in the vertical direction.
The gripping portion of the other gripping piece grips the portion on the other gripping portion side of the peripheral surface of the material at one point corresponding to the position between the two gripping points of the one gripping portion in the vertical direction. The forging method according to any one of claims 10 to 14 , which is configured. The biasing means, spring, forging method according to any one of claims 10 to 15, which is a air spring or rubber. Clearance between the peripheral surface and the peripheral surface of the material of the molding recess of the forging die, according to any one of claims 10-16 is equal to or less the thickness of the grip portion of the gripping pieces of the robot hand Forging method. The forging method according to any one of claims 10 to 17 , wherein the height dimension of the material is equal to or less than the depth dimension of the molding recess of the mold.

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