JPH03180237A - Forging manipulator equipment - Google Patents

Abstract

PURPOSE:To reduce the rate of time for carrying in or away a forging billet and forging material by holding or releasing the forging billet into or from a forging billet die through the advance or retreat of a forging billet holding and releasing member. CONSTITUTION:The forging billet or forging material is carried into or away from a forging die by driving a servo motor under the side end of a frame 3 first, rotating a ball screw shaft 6 through a transmission belt 8 and advancing a conveyor 4 by a set stroke. When the conveyor 4 advances by a prescribed stroke, the servo motor 5 is stopped to stop the conveyor 4 from being advanced. Then, a cylinder 10 for driving the forging billet holding and releasing member built in a manipulator body 9 is operated to carry the forging billet into or away from the forging die. The manipulator equipment can handle the forging billet and forging material efficiently and consequently, the idle time in pressing can be abbreviated.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a forging manipulator device that is applied to a forging device that performs forging processing in a vacuum and an inert gas atmosphere, and particularly relates to a forging manipulator device that is applied to a forging device that performs forging processing in a vacuum and an inert gas atmosphere. The structure has been improved so that the unloading process is carried out in one reciprocating motion.

(Conventional technique) Heat-resistant alloys are used for parts such as disks or blades used in jet engines for aircraft and gas turbines for power generation because they are used under high temperatures and pressures.These materials are prone to deformation. It was considered difficult to forge a complicated shape because the resistance was high and the deformation was generally low.

However, in recent years, even materials with poor compressibility, such as the heat-resistant alloys mentioned above, can be formed into a bottom shape under conditions that exhibit superplastic behavior.
Because it has low deformation resistance and good fluidity, forging equipment has been developed that can process it into thin walls and complex shapes close to final products.

A hydraulic press is considered to be suitable as a forging device for superplastic materials whose superplastic behavior is significantly dependent on the strain rate. Forging is performed in this atmosphere.

This forging device has various auxiliary equipment, one of which is a manipulator device that carries in and out of forged materials, and plays an important role.

That is, the manipulator device plays a large role in the forging operation. This is because the forging material is handled efficiently, reducing press stoppage time, and the forging material is carried in and out in accordance with the press operating at a predetermined temperature, fully demonstrating the high-speed performance of the press. This is because it serves to improve productivity, save labor, and improve working conditions.

Various types of manipulator devices are known, including a tire-type device that runs directly on the floor and a device that runs on rails. To explain based on the schematic diagram shown above, the symbol (21) in I is a chamber, and this chamber (21)
The inside is kept airtight under vacuum and inert gas atmosphere by inert gas supply equipment and vacuum evacuation equipment, which will be described later.

Inside this chamber (21) is a pair of forging dies (2
2a) (22b) is installed and the forging die (22b) is installed.
22a) is held by a press ram (23) that is movable up and down.

Heaters (24a) (24b) are installed near both sides of the forging molds (22a) (22b) to heat these forging molds (22a) (22b), and the forged material is Heat and maintain the temperature required for the forging process.

Furthermore, on both sides of the heaters (24a) and (24b), there is a carry-in path T in which a carry-in manipulator device (27) for carrying the forged material (26) into the chamber (21) is installed so that it can move forward and backward. (right side in the figure), and a carry-out path T2 (left side in the figure) in which a carry-out manipulator device (28) for carrying the forged material (26a) out of the chamber (21) is installed so that it can move forward and backward (left side in the figure). Road T, ,T.

includes a shutter (25a) for keeping the chamber (21)M airtight in a vacuum or inert gas atmosphere.
(25b) is installed so that it can be opened and closed.

In addition, supply equipment (29b) (on the left side in the figure) for supplying inert gas into the chamber (21) is installed at both sides of the lower part of the chamber (21) for exhaust gas to bring the inside of the chamber (21) under vacuum. It has a structure in which i-devices (29a) (on the right side in the figure) are respectively arranged.

The conventional forging device is configured as described above, but when carrying in the forging material (26), the carrying manipulator device (
27), while supporting the forged material (26) and moving it forward, the shank (25a) provided in the loading path T1 is raised and opened, and the loading manipulator device (27) is further advanced to remove the forged material (26). is placed on the forging die (22b) in the chamber (21).

Then, a forging material (26) is placed on the forging die (22b).
When the loading is finished, the loading manipulator device (
27) is retreated to the original position, and then the shutter (25a) is lowered to close the carry-in path T. Therefore, the inside of the chamber (21) is kept airtight under a predetermined vacuum and inert gas atmosphere.

On the other hand, when carrying out the forged material (26a), the shutter (25b) installed in the carrying-out path T2 is raised and opened to move the carrying-out manipulator device (28) into the chamber (
21) to hold the forged material (26a) in the chamber (21), the unloading manipulator device (28) is retreated to the original position, and then the shutter (25b) is lowered. Export route T2 is closed.

As mentioned above, the manipulator device in the conventional device is
The loading of forged materials and the unloading of forged materials are carried out using dedicated manipulator devices for entry and exit. Also, as mentioned above, this type of manipulator device can be used as a dedicated device for loading and unloading. An example of use is known in which two manipulator devices are moved back and forth twice to be carried in and out.

(Three problems to be solved by the invention) As mentioned above, in the forging process of heat-resistant alloys, which have high deformation resistance and generally low deformation, making it difficult to forge complex shapes, superplastic behavior is required. If the bottom shape is formed under conditions such as
Although it is possible to process the forging into a shape close to a complex final product, it is necessary to keep the chamber (21) that constitutes the forging device airtight under a predetermined vacuum and inert gas atmosphere.

However, in the conventional device described above, since the forging material is carried in and the forged material is carried out by each dedicated manipulator 'AM, the opening path T + T is changed every time the manipulator device advances and retreats.
The shutters (25a) and (25b) installed in the chamber (21) must be opened and closed, which makes it difficult to maintain airtightness within the chamber (21) under predetermined conditions. As a result, there is a problem in that it takes a long time to control the airtight atmosphere in the chamber (21) under predetermined conditions.

In particular, when shaping the bottom of small forged products such as blades used in jet engines for aircraft and gas turbines for power generation, the proportion of time required to bring in the forging material and take out the forged material during the forging cycle is 40-50 of processing
%, improvement of the above problems has become an important issue.

The present invention was invented in view of the above-mentioned points, and is directed to the operation of a manipulator device that carries in a forging material and carries out a forging material in a forging device that performs forging processing under a vacuum and an inert gas atmosphere. An object of the present invention is to provide a forging manipulator device which has been improved so as to significantly shorten the time required to control the atmosphere within the chamber.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the manipulator device of the present invention is a manipulator device that is applied to a forging device that performs forging processing in a secret chamber under a vacuum and an inert gas atmosphere. a transport mechanism for advancing and retracting the manipulator main body mechanism into the chamber of the forging device; and a forged object attached to the manipulator device (a) structure and provided with a die for holding the forging material and the forging material. a clamp mechanism, a drive mechanism that is attached to the manipulator main body mechanism and that moves the forging material holding release member forward and backward toward the forging material holding mold, and a forging material holder that is attached to the drive mechanism and that advances and retreats therewith. The forging material holding release member is configured to hold the forging material in the forging material holding mold and release the holding by moving the forging material holding release member back and forth.

(Function) Since the manipulator device of the present invention has the above-mentioned configuration, the forging material is held in the forging material holding mold and carried out, and the forging material is held and charged into the forging mold. This operation can be performed within the range of one reciprocating operation, and as a result, the movement of loading and unloading the forging material into and out of the forging material becomes one reciprocating operation instead of the conventional two reciprocating operations.

Therefore, when applied to a forging device that performs forging in a secret chamber under vacuum and an inert gas atmosphere, less time is required to control the atmosphere inside the secret chamber. For this reason, the tB manufacturing cycle for small forged products such as blade materials can be shortened by 25% compared to the conventional method.

In summary, according to the eyebrow breaking device of the present invention, it is possible to efficiently handle forged materials and forged materials, and to shorten the press stop time for this purpose. It carries out the movement of loading and unloading the forged material, fully demonstrating the high-speed performance of the press, improving productivity, saving labor, and improving working conditions.

(Embodiment) Hereinafter, one embodiment of the manipulator device for a forging machine of the present invention will be described in detail based on FIGS. 1 to 7.

First, the overall configuration of the manipulator device will be explained based on the plane circle and front view shown in the first and second rows in FIG.
2) - is vertically raised and these supports (2) are used to raise the frame (
3) is supported.

A pair of cable belt conveyors (hereinafter referred to simply as conveyors) are arranged on the pedestal (1) so as to be movable forward and backward at a predetermined interval. As is well known, this conveyor (4) (4) has a structure in which a belt with grooves at both ends is placed on a cable, and the cable is driven to advance and retreat.The driving of this conveyor (4) (4) will be described later. This is done by a servo motor.

Reference numeral (5) denotes a servo motor, which is installed at the lower side end of the pedestal (3) and rotates a ball screw shaft (6) disposed in the long sleeve direction of the pedestal (3).

The rotational force of the ball screw shaft (6) and the servo motor (5) is transmitted by a transmission belt (8) stretched between the pulleys (7).

As shown in the plan view of Fig. 1, the manipulator main body (9) is installed on the conveyor belt (4) (4), straddling the pair of conveyors (4) (4). , move forward and backward together with the conveyor (4) (4).

The code 0ω is a cylinder for driving a forged material holding/releasing member, which will be described later, and is built into the manipulator main body (9).
The tip of the piston rod 01) is attached with an arm a for holding and releasing the forging material.

The overall configuration of the manipulator main body is as described above, and the forging die (22) for the forging material (26) and the forging material (26a) is
a) (22b) To open the conveyor hole, first drive the servo motor (5) at the bottom of the side end of the pedestal (3) to rotate the ball screw shaft (6) via the transmission belt (8). (4) is advanced by the set stroke.

If the conveyor (4) advances a predetermined stroke,
The servo motor (5) is stopped to stop the forward movement of the conhair (4).

At this time, the manipulator main body (9) installed on the conveyor (4)-H also moves forward by the distance that the conveyor (4) moves forward.

Next, the forging material holding/releasing member driving cylinder 00) built into the manipulator main body (9) is operated to carry out a hole for carrying out the forging material (26) to the forging die.

As described above, the hole for carrying out the forging material (26) to the forging die and the hole for carrying out the forging material (26a) to the forging die are carried out.

Incidentally, there is a forging device with the symbol F, and its configuration has a normal structure.

Next, the structure of the clamping mechanism for the to-be-forged object and the forging material holding/releasing member in the manipulator body will be described in detail with reference to FIGS. 3 to 6.

FIG. 3 is a plan view, and FIG. 4 is a longitudinal sectional view taken along line RR in FIG. 3.

In the figure, reference numerals (12a) and (12b) denote a pair of upper and lower holding arms, which are entirely configured in a U-shape on a plane with a set interval, and each base end (121) (
121) is fixed to the manipulator main body (9). Reference numeral 03) is a clamp arm for a forging material and forging material holding mold having a U-shape in plan, which is connected to the tip of a ball holding arm (12a) via a spring washer with a hexagonal pole l-04). After the forging is completed, the forging die (22
b) A holding groove (15
]) are provided with forging material holding molds. As described above, this forging material holding die 05) has a space formed in the center so that it does not become an obstacle when the knockout mechanism (not shown) of the knockout mechanism moves up and down.

As shown in the figure, the code 0ω indicates the forged material (26) on the plane.
The forging material (2
6) is a mold for holding a forged material having a groove 0'7) for holding the forged material, which is attached to the lower part of the clamp arm 0 with a bolt.

On the other hand, a sliding plate 08) as a member for holding and releasing the forging material is attached to the tip of the piston rod (11) that moves forward and backward by the cylinder 0■.
The tip portion (181) is related to close and open the lower surface of the forging material holding die 00 under full θ force by advancing and retracting the stamp.

That is, until the forging material (26) is placed into the forging die (22b), the tip portion (
181) is in a position to close the lower surface of the groove a'7) of the forging material holding die 0ω, and on the other hand, the forging material (26) is held in the die (
22b), the piston rod (
11) is moved backward (the state shown in FIGS. 3 and 4), and the lower surface of the forging material holding die 0ω is opened.

The configuration of an actual example of the manibrake loading for forging equipment of the present invention is as described above, and its control will be explained based on the control system block diagram shown in FIG. 5.

First, to explain each controller shown in the control system block diagram of FIG.
2> is a hydraulic pump (
33) is an extraction pressure regulating valve provided in the piping between the knockout cylinder (31) and the hydraulic pump (32), and (34) is a position detector for detecting the height position 1 of the mold part (22b) after being knocked out. (35) is the sequencer control port, (36) is the stroke controller, (37> is the stop signal 0N10FF device on the sliding plate side, and (38) is the main body of the manipulator of the present invention device in a predetermined position. Position detector (39) is a servo motor (5) that performs positioning by advancing and retracting up to
The controller for the rotational speed and stroke of is shown.

To explain the basic principle of control of the device of the present invention, first, a shutter ( 25a) to enable the ejection hole of the device.

Next, when carrying out the forged material (26a) that has been forged in the forging die (22b), the forged material (26a) is transferred to the forging die using a knockout mechanism built in the forging die. It is separated from the mold (22b).

Thereafter, the servo motor (5) of the device of the present invention is operated to move the conveyor (4) forward by a predetermined stroke, and after the forging material holding die θ holds the forging material (26a), the conveyor (4) is further moved forward by a predetermined stroke. 4) is moved forward and carried out from the carrying-out route T2. Then, once the forging material (26a) has been unloaded, the conveyor (4) is further advanced, and the forging material holding mold 06 is moved forward.
) is stopped when it reaches the center position of the forging die (22b).

After that, the knockout rod is raised to hold the forging material (26) held by the forging material holding die 0ω,
After retracting the sliding plate 0, the knockout rod is lowered to place the forging material (26) into the forging die (22).
b) Position the charging inside.

When the charging of the forging material (26) is completed, the conveyor (4)
The shutter (25
b) Close.

The basic operation of the device of the present invention is roughly as described above, but the drive sources must be sequentially controlled for the stroke and speed control of the manipulator device and the knockout mechanism, and the advance and retreat control of the FR moving plate θ mark. The specific controls during loading and unloading are as follows.

Forging mold (22a) (22b) for forging material (26a)
The procedure for carrying out the work is as follows.

When the forging of the forging material (26) is completed, the hydraulic pressure regulating valve (33) is opened and the knockout rod of the knockout mechanism (31) is protruded from the two sides of the mold (22b).
'Raise to the device. Next, the shutter (25a) that was closing the delivery route T1 is moved to the shutter opening/closing mechanism (3).
0) to open and carry in the manipulator body (9).

The maniplate main body (9) is driven by a servo motor (
5), the servo motor (
5).

Conveyor (4) on which the above maniplate body (9) is placed
moves forward by a predetermined stroke, the forging material holding die 09 of the main body reaches the center (j72) of the forging die (22b), and when the positioning of the forging material holding die 09 is completed, it is stopped. Thereafter, the knockout rod descends, and the forging material holding molds θ hold the forging material (22b).

Then, the conveyor (4) is moved forward, and the conveyor path T! The forged material (22b) is carried out from there.

On the other hand, the forging material (26>) is carried into the forging die (22b) as follows.

After the forged material (22b) is carried out from the forging die (22b), the servo motor (5) is driven to convey the conveyor (4).
) is advanced, and when the forging material holding mold aω installed on the conveyor (4) reaches the top of the mold (22b), it is detected by the position detector (38), and the detection signal is sent to the sequencer.
The signal is input to the controller (35), and based on the signal, the rotation of the servo motor (5) is controlled via the speed and stroke controller (39).

When the positioning of the forging material holding die 06) to the center of the forging die (22b) is completed as described above, a knockout iron (not shown) is passed through the space of the forging material holding die 0ω. The forging material (26) held in the forging material holding mold 01al is lifted.

After that, actuate the cylinder 00) to operate the piston rod (1
1) is moved backward, and the sliding plate 08) operates to open the lower surface of the groove 07) of the forging material holding die 00.

Due to the retreat of the sliding plate 08), the forging material (26) held in the groove 07) of the forging material holding die 00 is removed.
) slides down along the groove θ″r) and is supported by the knockout rod.

Then, lower the knockout rod and lower the forged material (2
6> into the mold (22b).

When the work of carrying in the forging material (26) is completed in this way, the servo motor (5) is operated again to move the conveyor (4) of the manipulator device backward, and the entire device is transferred to the chamber (21) of the forging device. Exit the vehicle from inside to the delivery route T, operate the shutter operating mechanism (3o), and close the shutter (
25a) is lowered to close the carry-in route T.

The operation control of the device of the present invention is performed as described above, and FIGS. 60 and 7 are perspective views showing the forging material <26> and the forging material (26a) when performing blade forging.
FIG. 6 shows the forged material (26a) which has been preformed into a shape that matches the groove shape of the forging material holding die 0ω, and FIG. 7 shows the forged material (26a) after forging.

(Effects of the Invention) According to the present invention, when forging is performed in a vacuum or an inert gas atmosphere, the reciprocating operation of the manipulator device required for carrying in the forging material and carrying out the forging material can be reduced from the conventional two-way operation. 1, and as a result, the time required for atmosphere control during the maniplate operation can be significantly shortened. In particular, when the device of the present invention was applied to blade forging, the teaching function of the manipulator device was utilized to achieve a highly accurate shift of the center position of ±1 degree. As a result, there are no problems with the equipment during operation.
By being able to significantly shorten the time for airtight control associated with the reciprocating motion of the manipulator device, the forging cycle for small forged products can be shortened by approximately 25%.

In summary, according to the apparatus of the present invention, it is possible to reduce the proportion of the time required for the forging material and the ejection hole of the forging material in the forging cycle time for forming the bottom of a forged product. This is a useful invention that has effects such as not requiring time to control the atmosphere using active gas.

[Brief explanation of drawings]

FIG. 1 is a plan view showing the entire manipulator device of the present invention;
FIG. 2 is a front view showing the entire manipulator device of the present invention;
FIG. 3 is a plan view showing the clamping mechanism of the forging material and the mold for holding the forging material in the manipulator device of the present invention;
Is the diagram R-1 in Figure 3? The fifth factor is a block diagram showing the control system in the manipulator device of the present invention, FIG. 6 is a perspective view showing the forging material applied to the manipulator device of the present invention, and FIG. 7 is the forging after forging pressurization. A perspective view showing the material, and FIG. 8 is a schematic diagram showing a conventional superplastic forging equipment. The names of the codes are as follows. (1) - Foundation, (2) - Support, (3) - Frame, (4) - Cable belt conveyor, (5) - Servo motor, (6) - Ball screw shaft, (7) -・Pulley, (
8)--Transmission belt, (9)--Manipulator body, 0■...Cylinder, Ql)--Piston rod, (1
2a) (12b)-Holding arm, θ...-Forging material and forging material mold clamp arm, 05)--Forging material holding mold, 00--Forging material holding mold, 00-Sliding dynamic plate, (21) - chamber of the forging device, (22a
) (22b) - Forging die, (23) - Press ram of forging equipment, (25a) (25b) - - Shutter for preparing transporter route, (26) - Forging material, (27) (2
8) - Manipulator, (29a) - Vacuum exhaust unit in forging equipment, (29b) - Inert gas supply equipment in forging equipment, (30) - Cylinder for opening and closing shutter, (31) - Knockout cylinder , (32
)...-hydraulic pump to supply a predetermined amount of hydraulic oil,
(33) - Hydraulic pressure adjustment valve, (34)... - Position detector that detects the height position of the mold part after knockout, (35)
- Sequencer controller, (36) - Stroke controller, (37) - Sliding plate stop signal 0
N10FF device, (38) - position detector of the manipulator body, (39) controller for the rotational speed and stroke of the servo motor, T, , T, - loading/unloading route of the manipulator device, Fig. 3, same No. 4 Figure] b 1 81 ] 8 21 1] 2b Figure 5

Claims (1)

[Claims] A manipulator device applied to a forging device that performs forging processing in a secret chamber under a vacuum and an inert gas atmosphere, the manipulator device comprising: a transport mechanism for advancing and retracting a manipulator main body mechanism into the chamber of the forging device; a forged object clamping mechanism that is attached to the manipulator main body mechanism and is provided with a die for holding the forged material; It consists of a drive mechanism that moves the forging material forward and backward, and a forging material holding and releasing member that is attached to the drive mechanism and moves forward and backward by the forging material holding and releasing member. A manipulator device for forging, characterized in that the forging is performed by advancing and retreating a holding release member.