JPH03221234A - Swing type plastic working machine - Google Patents

Abstract

PURPOSE:To prevent slippage between a die and a work by executing NC control to servo motors for rotating a die holder around the vertical axis and around the swinging axis with a swing type plastic working machine. CONSTITUTION:In the swing type plastic working machine of rotary forging machine, etc., for executing the plastic working by pushing the die 2 fitted to the die holder 3 to the work W, the first servo motor 71 for driving around the vertical axis of die holder 3 and the second servomotor 72 for driving around the inclining axis, are arranged. Then, both servo motors 71, 72 are controlled with the NC device 70. By this method, rotation positional control can be executed to the metal holder 3 and the slippage between the die and the work can be made to zero and further, by developing the controlled large slippage, the plastic work improving the surface roughness can be executed.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention is applicable to swiveling plasticity ff[I
Regarding machine tools, especially vertical 11! ! A mold holder having inclined axes that intersect and descend near the processing area is rotated around the vertical axis, and the mold attached to the mold holder is pressed against the workpiece to impart plasticity to the workpiece. This relates to the improvement of a rotating type plastic processing machine that performs processing.

"Conventional technology" Conventionally, this type of M7! Isomorphic plastic processing machines have generally been used as ``caulking'' machines that plastically deform the head of a beam bent to perform a so-called ``tacking'' process. The "clamping" process merely processes the tlI portion of the rivet into a flat or simple curved surface, and it is extremely rare to process it into a complex-shaped surface. Also, in rotary forging machines, complicated shapes are handled by a fixed lower die, and the rotating upper die is used simply to fill the lower die with the workpiece, and the upper die processes the workpiece. The surface was usually a simple plane.

Therefore, no special attention was paid to slippage between the mold and the applied object, and slipping was usually stopped only by the frictional force between the two.For example, see Utility Model Publication No. 55-38601 shows a method in which a mold is attached to a main shaft so that it can freely rotate, and the mold is driven to rotate by one stroke of contact between the mold and a workpiece.

In addition, when attempting to plastically process a head with a particularly complex shape using this type of machine, either stand a bottle on the mold or mold holder and place the bottle against the frame of the machine, or place the bottle on the frame. Attempts have been made to fit the mold into the formed vertical groove and thereby accurately transfer the complex shape formed on the mold surface onto the surface of the workpiece.

There was also one in which the main shaft to which the mold was attached was prevented from rotating during turning by using two keys.

``Problem to be solved by the invention'' However, with the former free rotation device, the zero position of the mold cannot be controlled, and the IJ
If there is a pattern, rotation position 1 with the opposing mold (lower mold)
There was a problem that m 1M could not be kept constant and could not be used.

Well, with a device that regulates rotation using a bottle or key,
Shake the upper mold! There was a problem in that it was difficult to change the center point of the II turn.

Furthermore, in this type of processing, the mold, the workpiece, and the
) 1 to prevent slipping between the two spaces, and apply it to surfaces with complex shapes.
Not only when you want to do it, but also between the two parties, vI
There are cases where it is desired to cause controlled slippage to improve the surface roughness of the workpiece compared to that of the mold, such as in spinning processing, and it is desired to create a machine that can be used for both purposes. Ta.

The present invention has been made to solve the above problems, and its purpose is to regulate the rotational movement of the mold with respect to any rotational oscillation movement of the upper mold, and to improve the relationship between the workpiece and the metal mold. It is an object of the present invention to provide a revolving type plastic working machine that can prevent slippage between the machine and the mold and can maintain a constant rotational positional relationship with the opposing mold.

Furthermore, contrary to the above, it is an object of the present invention to provide a rotary plastic working machine capable of performing processing with actively controlled slippage between the mold and the workpiece.

"Means for Solving the Four Problems" In order to achieve the above-mentioned object, in the present invention, as shown in FIG. shaft! Mold holder 3 with iZ
In a rotating plastic processing machine that applies plastic working to the workpiece W by pressing the mold 2 attached to the mold holder 3 onto the workpiece W while rotating the machine around the vertical axis CL, a first servo motor 71 for rotating the mold holder 3 around the vertical axis CL; a second servo motor 72 for rotating the mold holder 3 around the tilt axis Z; , a numerical control device 7 for controlling the first and second servo motors 71 and 72;
0 is provided.

Then, the numerical control device 70 controls the mold holder 3
The turning direction around the vertical line CL and the inclination M
The directions of rotation around the axis Z force are opposite to each other, and the angular velocity ω of the former and the angular velocity Δω of the latter, the inclination @line Z
The first and second servo motors 71 are arranged so that the angle between the vertical axis CL and the vertical axis CL is θ, and the following gap equation is satisfied: Δω−(1,/coSθ−1)ω
．． 72 is preferably synchronously controlled.

Further, as illustrated in FIGS. 4 and 5 of the embodiment drawings, the mechanism for controlling the rotation of the mold holder 3 drives the mold holder 3 to rotate around the vertical axis CL. The first servo motor 7■ and the vertical axis by the frame 10! A first annular body 8 rotatably supported around the lCL, a second servo motor 72 for rotationally driving the first annular body 8, and the first annular body 8.
inside the first annular body 8, said vertical axis C
a second annular body 6 supported by a first axis 7 substantially orthogonal to L so as to allow axial movement of the axis 7 and rocking about the axis 7; Inside the body 6, a second axis 5 substantially perpendicular to the first axis allows the second annular body 6 to move axially and to swing about the axis. a third annular body 4 supported in such a manner that the third annular body 4 and the mold holder 3 are mutually movable or movable in the axial direction of the tilt axis Z and mutually movable in the rotational direction. The numerical control device 70 controls the rotation of the first and second servo motors 71 and 72, which are immovably connected to each other, and control the relationship between the mold 2 and the workpiece W during machining. A rotary plastic working machine is provided in which slippage can be controlled arbitrarily between zero and a predetermined value.

Further, as illustrated in FIGS. 6 and 7 of the embodiment drawings, the mold holder 50 is moved in the axial direction by a first shaft 81 perpendicular to the vertical axis CL with respect to the frame 10. an annular body 82 supported so as to be swingable about its axis; The mold holder 5 is engaged with the frame 10 through a kind of universal joint including a member 84 supported so as to be able to move in the axial direction and swing around the axis.
0 is pivoted about the vertical axis CL, it completely prevents the mold holder 50 from rotating about the tilted axis Z, thereby preventing the mold 2 and the workpiece W from rotating when the mold 2 is pivoted. Provided is a rotary plastic working machine characterized in that contact with the plastic working machine is always made at a constant relative position.

Further, a member supported by the second shaft 83 inside the annular body 82 is a second annular body 84, and the second annular body 84 and the mold holder 50 are connected to the inclined axis Z. It is preferable that they are fitted together so that they can move relative to each other in the direction of , and are coupled so that they cannot move relative to each other in the direction of rotation.

"Operation" In the rotating plastic working machine configured as described above, the rotational position of the mold holder 3 is directly controlled by the second servo motor 72. The first and second servo motors 7172 are synchronously controlled so as to satisfy a predetermined relational expression. The rotation speed of type 2 matches.

In addition, in the case where the mold holder 3 is engaged by the three annular bodies 4 and 6.8 and the first annular body 8 is driven by the servo motor 72, the rotation position of the mold holder 3 is directly controlled by the servo motor 72. be done. Further, the movement of the mold holder 3 other than its rotation is not restricted.

Further, in the case where the mold holder 50 is engaged with the frame 10 via a kind of universal joints 81 to 84, only the rotational position of the mold holder 50 is restricted to a constant position, and operations other than rotation are not restricted.

``Example'' Before entering into the description of the example, slippage between the mold and the workpiece in this type of machine will be explained with reference to FIG. 2.

The mold holder 3 is supported by a rotating body that rotates around a vertical axis CL-CL, and the mold holder 3 is supported by a rotating body that rotates around a vertical axis CL-CL.
-CL, and the mold holder 3 and white water can freely rotate around an inclined axis Z-Z that intersects the vertical axis CL-CL at an angle θ near the processing area. has been done. A mold 2 is attached to the processing portion at the tip of the mold holder 3. W is the workpiece.

Now, the vertical axis CL-CL and the inclined axis z-2 intersect at a straight line O, and the point O is on the contact line between the mold 2 and the workpiece W, and the upper surface of the workpiece W is on the vertical axis. CL-
Assume that the plane is perpendicular to CL, and that mold 2 has the shape of a circle jI with the previous offender's circle as the apex and the apex angle is 2 x (π/'2-θ>.At this time, mold 2 and The workpiece mW is in contact with the straight line O-P extending in the radial direction from point ○.As the mold holder 3 rotates, the mold 2 and the workpiece W are transferred without any relative slippage. At this time, the contact line 〇-P moves in a fan shape on the upper surface of the workpiece W with the point O as the center.When looking at the movement of this contact line from -E of the mold 2, the point ○ is the apex. It will move on a conical surface.In Uni, if the contact line is at the initial position 〇-P0 and the line segment 〇-P.=r, then the point P is a circular arc with radius r on the workpiece W. or on the mold 2, a circle jI with a radius of r-eO3θ
It will move on the surface. Therefore, the first point P on the mold.

The movement of the contact point that started from 2 returns to the initial point P when the point P moves on the conical surface of the mold 2 by a distance of 2πr'co3θ. If this is projected onto the upper surface of the workpiece, it will look like FIG. 3.

That is, although it has returned to the initial point P0 on the mold, a distance of 2πr2πr′cosθ still remains on the workpiece.

Next, move this point P along the vertical axis CL- on the workpiece.
Looking at the angular velocity ω around CL and the angular velocity ω′ around the tilt axis Z-Z on the mold, it is as follows.

ω°/ω=l/cosθ...(1>
Therefore, the difference Δω between these two angular velocities is as follows.

Δω−ω″−ω=(1/cosθ−1〉ω...(
2) In Uni, the above angular velocity ω is the angular velocity of turning actually achieved by the rotating body, but the angular velocity ω is the rotation of the rotating body that causes the surface -L of the mold 2 to move between the mold 2 and the workpiece W. There is a notional angular velocity at which the contact line OP moves, but there is no actual angular velocity at which the 81 components move. However, if the difference ω between the two angular velocities mentioned above is not given between the mold 2 and the rotating body that drives the mold holder 3, slipping occurs when the mold 2 and the workpiece W are opened. It will end up being alive.

Therefore, in order to resolve this contradiction, the rotating body and the mold 2 are rotated in opposite directions, and the angular velocities ω and Δω of both are expressed by the following relational expression, Δω= (1/ cos θ−1)ω−− - It is sufficient to perform control so as to satisfy (3). In this way, the rotating body is actually rotated at an angular velocity ω, and the mold 2 is only rotated in the opposite direction at an angular velocity Δω, but this causes the mold 2 on the mold to Contact line with workpiece W ○P
The notional angular velocity ω" of is achieved as follows.

ω゛−Δω↓ω−(1/coSθ)ω...
(4) Therefore, the mold 2 It is possible to control the slippage between the workpiece W and the workpiece W.

Hereinafter, an example of a rotary plastic working machine that enables such control will be described.

FIG. 1 is a sectional view showing a rotary forging machine which is a first embodiment of a rotary plastic working machine according to the present invention.

Main body frame ■0 is the bend portion 102. Side plate part 103, upper plate part 104. It is integrally constituted by an upper block portion 105 and the like. A ram 20 is slidably guided in the bed portion 102 in the vertical direction and is raised and lowered by a drive device (not shown). A lower mold stand 21 and a lower mold 1 are fixed to the upper surface of the ram 20.

A rotating cylinder 23° is rotatably supported on the upper block portion 105 of the main body frame 10 via a sliding sleeve 22′. The rotating cylinder 23' has a well-centered inner diameter part 23B, and a gear 23A is formed on the outer periphery of the collar part. The gear 234 of the rotating cylinder 23' is attached to the main body frame 10 and meshes with the gear 25 of the fS rotation drive motor 271 force output shaft.

Place the bearing 27 at an eccentric position of the rotating tomoe 23'
- A rotary drive shaft 28° is vertically supported.

The upper end of the mold holder 3 is connected to the rotational drive shaft 28° by a universal joint 20.

On the other hand, the upper shaft end of the rotary drive shaft 28° protrudes toward the rotating cylinder 23′, and a gear 16 is fixed to the shaft end. lli
! The gear 16 of the I-shaft drive shaft 23' meshes with the gear 15 of the output shaft of the rotational drive motor 72 attached to the main body frame 10. The rotational drive motor 72 is installed so that the center of its output shaft coincides with the center axis CL of the machine.

The mold holder 3 is a member in which an umbrella-shaped part is continuously integrated below a shaft-shaped part, and the upper mold 2 is held on the bottom surface of the umbrella-shaped part.

The upper surface of the umbrella-shaped portion has a spherical surface, and slides into contact with an annular spherical washer IL0 fixed to the upper plate portion 104 of the main body frame 10. The pressure when pressing the shaped material W onto the lower mold 1 is supported by the upper plate portion 104 of the main frame 10 via the spherical washer 1 i 0 .

The rotary drive motor 71 and the single rotation drive motor 72 are connected to and controlled by the NC device 70. The rotation drive motor 71 serves as a first servo motor, and the rotation drive motor 72 serves as a second servo motor.

The operation will be explained. When the rotary drive motor 71 is rotated, the rotating cylinder 23' is rotated, and the bearing 27 in the eccentric position is rotated.
rotates around the machine center axis CL, and the mold holder 3 is driven to rotate in an inclined posture. At this time, the rotation of the rotary drive shaft 28' is controlled by the rotation drive motor 72 via the gear 16. Therefore, the universal joint 29
The rotation of the mold holder 3 connected to the mold holder 3 is similarly controlled.

Therefore, by appropriately synchronizing the rotations of the rotational drive motor 71 and the rotational drive motor 72 using the NC device 70 in accordance with the inclination angle θ of the mold holder 3, the workpiece W and the upper mold 2 can be It is possible to control the rotation of the mold holder 3 so as not to cause any slip between the mold holder 3 and to maintain a constant rotational positional relationship with the lower mold 1.

For example, the angular velocity ω2 of the mold holder 3 driven by the autorotation drive motor 72 is ω2−ω4 Δω with respect to the angular velocity of the rotating cylinder 23' driven by the rotation drive motor 71.
...If synchronous control is performed to satisfy the relationship 5), no slipping will occur between the wave machining mW and the upper m type 2.
Here, Δω is the angular velocity given by equation (3) above.

That is, the numerical control device 70 makes the direction of rotation of the mold holder 3 around the vertical axis 1iCL and the direction of rotation of the mold holder 3 about the tilt axis llZ opposite to each other, and also adjusts the angular velocity ω of the rotation and the angular velocity Δω of the rotation. is the tilt axis Z and the vertical axis 1
The angle formed with iCL is θ, and the following relational expression, Δω=(1
/CO8θ-1)ω, the two servo motors 71 and 72 can be controlled synchronously.

Conversely, the rotation drive motor 72 is rotated at high speed to generate actively controlled slippage between the upper die 2 and the workpiece W, and the surface of the workpiece W is The roughness can also be improved compared to that of the upper mold 2.

In the embodiment described above, the rotation position of the mold holder 3 is controlled by directly rotating the N rotation axis 28°, but the rotation position of the mold holder 3 is controlled using a mechanism that restricts the mold holder 3 only in the rotation direction. The rotational position of the mold 2 can also be controlled.

FIG. 4 is a perspective view showing an outline of the mold rotation control mechanism.

The lower mold 1 is fixed on a ram 20, and the material W is placed a thereon.

The upper mold 2 is attached to a mold holder 3 that rotates and swings at an angle with respect to the central axis CL of the machine perpendicular to the lower mold 1, and its rotation is controlled by the mold rotation control mechanism according to the present invention. controlled.

A third annular body 4 is fitted into the shaft-shaped portion of the mold holder 3. The third annular body 4 has two grooves 4A and 4B on its inner diameter.
Is it formed? Two short bottles 12 and 12', which are protrudingly implanted in the mold holder 3, are engaged with 114A and 4B. For this reason, the third annular body 4 is attached to one part of the mold holder 3.
Although it moves freely in the 11-line direction Z, it is restrained in the rotation direction ω and rotates in unison with the mold holder 3.

The third annular body 4 has two six rocking shafts 5' implanted in the outer peripheral portion of the third annular body 4 so as to protrude left and right in the radial direction. A second annular body 6 engages with the two swing shafts 5, 5'. That is, the second annular body 6 is provided with a hole 13.13' passing through in the radial direction, and the hole 13.
．． A swing shaft of 5.5 degrees is inserted through and supported by 13'.

Therefore, the third annular body 4 can freely swing around the swing @5.5, and can also slide freely in the axial direction of the swing shafts 5, 5'' (X direction in the drawing). It is supported by the annular body 6.

A drive shaft 7 is provided on the outer periphery of the second annular body 6 and protrudes left and right in the radial direction (Y direction in the figure) perpendicular to the swing 1fk5, 5°.
．． 7° has been planted. The drive shaft forms the first shaft. A first annular body 8 engages with the two drive shafts 7, 7'.

That is, holes 14 are formed in the inner circumference of the first annular body 8 in the radial direction.
．． 14' is formed, and the drive 11 7.7' is inserted and supported in the hole 14.14'. Therefore, the second annular body 6 can swing freely around the drive shaft 7.7', and can also slide freely in the axial direction of the swing shaft 7.7' (Y direction in the figure). Two and G are supported on the annular body 8.

The first annular body 8 is supported by a main body frame 10 (not shown), and is rotatably supported about the central axis 1icL of the machine. Teeth 8A are formed on the outer periphery of the first annular body 8, forming a gear. The first annular body 8 forming a gear is the drive gear 1
5, and its rotational position is regulated.

The operation will be explained. '@ Moving element 7.7' axial direction (Y
axial direction (X direction) of the sliding and swinging shafts 5, 5''
By sliding the third annular body 4 to the horizontal plane (XY thousand planes)
It can be moved freely within. Furthermore, by swinging around the drive shafts 7, 7° and swinging around the swinging axes 5, 5°, the third annular body 4 can rotate around an axis in any direction on the XY plane. Freely plI! ! I can. Furthermore, the movement of the mold holder 3 in the axial direction (Z direction) is not restricted by the third annular body 4, so that the mold holder 3 can take a free posture. Only ″> rotation 1 centered on that axis (2 axes) is pin L2.12°
is regulated by the engagement of fi 4 and A-IB-, and is regulated by the force rejuvenation position of the first annular body 8 forming a gear.

Therefore, by controlling the rotation of the drive tooth *l 3, the rotational movement of the mold holder 3 can be controlled, and the drive gear 5 can be controlled in synchronization with the rotational movement of the mold holder 3. Accordingly, the upper mold 2 can be rotated so that no slip occurs between the upper mold 2 and the 't<additional glue W.

FIG. 5 is a sectional view showing a rotary forging machine incorporating the above mold rotation control mechanism.

The main frame 10 has a bed section 102. Side plate part 103, upper plate part ■04. It is integrally constituted by an upper block portion 105 and the like. A ram 20 is slidably guided in the bed portion 102 in the vertical direction and is raised and lowered by a drive device (not shown). A lower mold stand 21 and a lower mold 1 are fixed to the upper surface of the ram 20.

When the main body frame 10 is attached to the upper block portion (()), the rotating cylinder 23 is rotatably supported by the sliding sleeve 22. The rotating cylinder 23 has an eccentric inner diameter portion 23B. A gear 23A is formed on the outside of the collar.

Gear 23 of rotating cylinder 23. \ is the main frame', Ot'
Knee mounting (meshes with the gear 25 on the output shaft of the bulky rotary drive motor 7e. A disk 26 is fastened to the upper end surface of the rotating cylinder 23 with bolts (not shown).
A rotary drive shaft 28 is vertically supported via a bearing 27 at an eccentric position. The upper end of a mold holder 30 is connected to the rotary drive shaft 28 by a universal joint 29.

The mold holder 3 is a member in which an umbrella-shaped part is continuously integrated below a shaft-shaped part, and the upper mold 2 is held on the bottom surface of the umbrella-shaped part.

The upper surface of the umbrella-shaped portion is spherical and slides into contact with an annular spherical washer 11O fixed to the upper plate portion 104 of the main body frame 0. The pressure when pressing the workpiece W placed on the lower mold 1 is supported by the upper plate portion 104 of the main body frame 10 via the spherical washer 110.

The shaft-shaped portion of the mold holder 3 is provided with fS as explained in FIG. 4 above.
There are f number of mold rotation control mechanisms. That is, the first annular body 8 is rotatably supported between the upper plate portion 104 and the upper block portion 105 of the main body frame 10 by two spherical connections ji144°-46. The rotation center line of the first annular body 8 is perpendicular to the lower mold and the center axis CL''C' of fiV4. The first annular body 8 forming the gear 8A is attached to the output shaft of the rotation drive motor 72. drive gear 15
mesh with. The rotation drive motor 72 is attached to the main body frame 10.

A second annular body is supported on the inner periphery of the first annular body 8 via a drive shaft 7.7', and a second annular body is supported on the inner periphery of the first annular body 8 via a swing shaft 5, 5' (not shown). Three annular bodies 4 are supported. The ring-shaped part of the mold holder 3 is fitted into the third ring-shaped body 4, and the bins 12 and 12' implanted in the ring-shaped part are engaged with the grooves 4A and 4B provided in the third ring-shaped body 4. do.

The rotation drive motor 71 and the rotation drive motor 72 are connected to and controlled by the NC device 70.

The operation will be explained. When the rotary drive motor 71 is rotated, the rotary cylinder 23 is rotated, the bearing 27 at the damaged center pivots around the machine center axis CL, and the mold holder 3 is driven to pivot in an inclined posture.

At this time, since the rotary drive shaft 28 can rotate freely, the mold holder 3 connected by the universal joint 29
The rotation of the rotary cylinder 23 is also not restricted by the rotation of the rotary cylinder 23. The rotational position of the mold holder 3 is restrained and regulated by the rotational position of the first annular body 8.

Therefore, by appropriately synchronizing the rotations of the rotational drive motor 71 and the rotational drive motor 72 using the NC device 70 in accordance with the inclination angle θ of the mold holder 3, the distance between the workpiece W and the upper mold 2 can be adjusted. The rotation of the mold holder 3 can be controlled so as not to cause slippage, or the rotation can be controlled so as to maintain a constant rotational positional relationship with the lower mold 1.

In the embodiment described above, the first annular body 8 is driven to rotate in synchronization with the turning rotation of the mold holder 3 by the NC device 70, but if the inclination angle θ of the mold holder 3 is constant in a rotary forging machine. For example, the drive gear 5 and the rotary drive motor 71 may be connected to each other by a gear W1 structure and rotated synchronously.

This embodiment has the above-mentioned bath bottom and the three annular bodies 4b and 8 regulate the rotation position of the mold holder 3, so the rotation position of the mold 2 is controlled by the half-sized structure. It has the advantage that it can be controlled independently of the second rotational position. For this reason.

Slip between the die 2 and the workpiece is eliminated, making it possible to perform rotary forging through complete rolling contact, improving efficiency. Moreover, since the rotational positional relationship with the opposing mold 112 can be controlled, it becomes possible to perform rotary forging with a pattern also applied to the upper mold 2 that is oscillated and rotated.

In both of the two embodiments described above, the rotation position of the mold holder 3 is controlled by the rotation drive motor 72, but a mold rotation prevention mechanism that completely prevents the rotation of the mold holder 3 is provided. can be used to regulate the rotational position of the mold.

The third embodiment described below is based on the mold holder 50! J
The mold is equipped with a mechanism that prevents the mold from rotating to a constant position even when the center point moves or oscillates in a plane perpendicular to the central axis CL of the machine. be.

FIG. 6 is a perspective view showing an outline of the mold rotation stopper R structure.

The lower mold 1 is fixed on a ram 20, and a workpiece W is mounted thereon. Upper mold 2 is perpendicular to lower mold 1! The mold holder 5 is tilted and rotated with respect to the central axis CL of the fi machine.
0, and its rotation is regulated by the mold rotation prevention mechanism according to the present invention.

The member 32 fixed to the main body frame 10 has two holes 85, 85 along an axis perpendicular to the central axis CL of the machine.
° is formed. A first sleeve 81. radially projecting and fixed to the first annular body 82 in the hole 8585.
81° is inserted and the first annular body 82 is supported.

Therefore, the first annular body 82 is swingable about the first shaft 81 and slidable in the axial direction of the first shaft 8t.

The first annular body 82 is formed with two angles a86.86° in a direction substantially orthogonal to the first axis 81. A second shaft 83.83'' fixed to the second annular body 8 and protruding in the radial direction is inserted into the hole 86.86', and the second annular body 84 is supported. , the second annular body 84 is swingable about the second $1183.83' and slidable in the axial direction of the second axis 83.83°.

Two grooves 87 are provided in the inner peripheral surface of the second annular body 84 in the axial direction.
．． 87" is formed. A mold holder 50 is fitted into the second annular bodies 8, 4, and the mold holder 50 (11
Two short pins 88, 88' planted projecting around the periphery are adapted to engage in said groove 87, 87°. 2, the second annular body 84 and the mold holder 50 are movable relative to each other in the direction of the inclined axis Z, but are relatively immovable in the rotational direction ω.

The operation will be explained. Sliding in the axial direction (Y direction) of the first shaft 81.81' and the axial direction (Y direction) of the second shaft 83.83'
By sliding in the X direction), the second annular body 84 moves to the horizontal plane (
It is possible to move within one pressure in the XY plane). Also, the swinging around the first axis 81.81゛ and the second axis 83.8
By swinging around 3', the second annular body 84 moves in XY
-'P Can freely swing around an axis in any direction on the screen. Further, the mold holder O can freely move in the axial direction (Z direction) without being restricted by the second annular body 84. Therefore, the mold holder 50i can take any posture, and only its rotational position around its axis (two axes) is regulated by the engagement between the pins 88, 88' and the shafts 87, 87. A member 3 that is integral with the main body frame 10
regulated by 2.

Therefore, no matter how the mold holder 50 is tilted or swung and rotated, the rotation position of the mold holder 50 will be the same as the member 3 that is integral with the stationary main body frame 10.
0 to maintain a constant rotational position relative to the lower mold 1. Therefore, the rotational positions of the upper mold 2 and the lower mold 1 are not out of alignment, and processing such as coining can be performed.

FIG. 7 is a sectional view showing the mechanical configuration of a rotary forging machine incorporating the above-mentioned mold rotation prevention mechanism.

The main frame 10 is integrally constituted by a bed part 102, a side plate part 103, and a ceiling plate LO5, and the right side is used for work. It is open to the public. A ram 20 is supported on the bed 102 so as to be slidable in the vertical direction, and is elevated by a drive device (not shown).

The lower mold 1 is fixed to the ram 20 via a lower mold stand 21. The material that is the workpiece W is inside the lower mold.
=t-. The upper mold 2, which forms a pair with the lower mold 1 to form a mold, is attached to a rotating and swinging portion 30 fixed to the ceiling plate 105.

The rotating and swinging section 30 will be explained. Upper lid 31 having a substantially disk shape. Three members, a substantially cylindrical tube body 32 and an annular body 33, are molded together to form a hollow cylindrical rotating i-moving part case body, which is fixed to the ceiling plate 105 of the main body frame 10. A spherical seat 3LA is formed in the center of the upper lid 31, and the inner diameter of the cylinder 32 is stepped.

A large measuring drive gear 35 is rotatably fitted into one inner circumferential surface 32A of the upper part of the cylinder 32. Upper drive large gear 3
5 has an inner diameter surface 35A that is eccentric with respect to the outer diameter.

36 is rotatably inserted into the inner diameter surface 35Az of the upper rotary gear. The inner diameter eccentric from the upper rotating gear 36 [i
36, A, and its spacing is upper c1 drive large gear 3
It is the same as that of 5. On the upper surface of the upper drive large gear 35,
An annular upper g1 drive small gear 37 having teeth on its inner and outer peripheries is rotatably provided. The upper drive wheel gear 37 is independently rotatable about the same rotation center axis as the upper drive large gear 35, and its internal teeth mesh with some of the teeth of the upper rotation gear 36. The axial loads of these three gears 35.36.37 are supported by three spherical connections 838.3940.

These three gears 35, 36, 37 constitute a double eccentric mechanism, and the rotational positions of the upper drive large gear 35 and the upper drive wheel gear 37 determine the rotational position of the upper rotation gear 36 with respect to the central axis 11cL of the cylinder body 32. The eccentric position of the inner diameter surface 36A is determined.

The upper drive large gear 35 and the upper drive wheel gear 37 are driven by servo motors 61 and 62, respectively, and are controlled so that their rotational positions are controlled by nine times.

A double eccentric mechanism similar to the one described above is also incorporated below the cylindrical body 32 constituting the case body. In other words, the lower drive large gear 111 rotates on the inner circumferential surface 33A of the ring body 33 constituting the case body. It is inserted freely and its eccentricity! A lower rotary gear 42 is rotatably fitted into the inner diameter surface 44 A, and the lower rotary gear 42 is screwed into the inner surface of the lower drive gear 43 .

Three gears 414243 have three spherical connections 1144.4
Supported by 5□46. The lower rotating gear 712 has an eccentric inner diameter surface 42A. Lower drive large gear 41
and lower drive gear 43 are each connected to a servo motor 63.
64 and is rotated.

Upper and lower spherical bearings 51 and 52, which support the mold holder 50, can rotate and slide in the axial direction on the eccentric inner diameter surfaces 36A and 42A of the upper rotating gear 36 and the lower rotating gear 42, which form a heavily eccentric FR structure. is inserted into. Note that the lower spherical bearing 52 is provided with a flap to prevent it from falling.

The mold holder 50 is a cylindrical member with a bottom like a cot, and the circumference near the upper and lower edges is formed into a spherical shape, forming annular spherical parts 50A and 50B.

The mold halter holder O has upper and lower annular spherical parts OA and 50B rotatably supported by upper and lower spherical bearings 51 and 52, respectively, and is supported by a heavy eccentric mechanism. The upper mold 2 is attached to the outside of the bottom plate of the mold holder 50. Furthermore, a spherical seat 50C is formed inside the bottom plate portion of the mold holder 50.

Upper part 1 forming the case body with the spherical seat 50C of the mold holder 50
A rod 53 is inserted between the spherical seat 31A and the spherical seat 31A. The rod 53 is a round rod whose upper and lower ends are formed into a convex spherical shape, and is able to rotate and swing freely by slidingly contacting the spherical seats 31A and 50C. A toggle mechanism is constituted by the idle rod 53 and the mold holder 50.

In order to detect the distance between the rotating and swinging part 30 configured as described above and the lower die 21 provided on the ram 20, the lower die stand 21 is
A vortex za displacement sensor 55 is provided on the ring #, 33, and a detection plate 56 through which an i'111 current flows is attached.

The mold rotation prevention mechanism described in FIG. 6 is engaged near the center of the side circumference of the mold holder 50. That is, holes 85 and 85' are provided in the radial direction of the cylindrical body 32 fixed to the main body frame 10. The hole 85, 85'
A first shaft 8181 is inserted through and supports the first annular body 82 .

A second annular body 84 is supported on the inner periphery of the first annular body 82 by a second shaft 83,83'. 5. Then, the pin 88°88° installed on the side peripheral wall of the mold holder 50
are assembled by engaging grooves 87, 87' formed in the second annular body 84.

The operation of the mechanical configuration will be explained. Upper tnW! By changing the rotational position of the upper drive wheel gear 37 relative to the A large dynamic gear 35, the amount of eccentricity of the central axis position of the upper spherical bearing 51 with respect to the central axis CL of the cylinder 32 can be changed. A shaft that determines the amount of eccentricity by rotating the upper drive gear 37;
By integrating the upper IIl drive driver gear and the upper large drive gear 35, the upper annular spherical surface portion 50A of the mold holder 50 is driven to rotate with its eccentricity 1 being M. T: The operation of the double eccentric mechanism of measurement is also 'at'.
It is possible to appropriately determine the amount of eccentricity of the lower annular portion 50B of the mold holder O with respect to the central axis C2, and to drive the mold holder O in rotation.

Therefore, the mold holder 50 can be made to perform a grinding motion. In addition, drive large gear 35.41 and drive vehicle gear 3
7.43 is not rotated as a unit, and the large drive gear 35.4
By relatively rotating the drive wheel gear 3743 during the rotation of the mold holder 50, it is also possible to cause the mold holder 50 to perform a swinging motion instead of a pivoting motion. At this time, the vertical movement of the mold holder 50 is determined by the toggle mechanism of the control rod 53. By appropriately controlling the amount of eccentricity of the lower spherical bearing 52, a grinding motion without vertical movement can be achieved, or a large vertical movement can be added.

At this time, each gear 35, 37, 41 forming a double eccentric mechanism
．． No matter how 43 is rotated, the upper and lower spherical bearings 5
Mold holder 50 slidably supported by 1.52
does not rotate due to these movements. The rotation position of the mold holder 50 is determined by the rotation prevention mechanisms 81 to 81.
By engaging with 88, it is restrained and regulated by the cylindrical body 32 that is integrated with the main body frame 10.

Therefore, it is possible to give the mold holder 50 various movements, for example, a rocking and turning movement while changing the center point, and maintain its rotational position constant. The rotational positional relationship of l can be maintained constant.

This embodiment has the above configuration and includes two annular bodies 82 and 84.
Since the rotation position of the mold holder 50 is regulated by
It has the advantage that it can be regulated independently of the swing rotational position of. For this reason, the rotational positional relationship with the opposing mold 1.2 is regulated to be constant, so that it is possible to perform rotary Wi-shaping with a pattern applied to the upper mold 2 which is rotated by vibration.

"Effects of the Invention" Since the present invention is configured as described above and includes means for controlling or regulating the rotational position of the mold holder, it produces the effects described below.

In the rotary plastic working machine according to the first aspect, the rotation position of the mold holder can be freely controlled by the numerical control device. Therefore, the slippage between the die and the workpiece can be reduced to zero, and plastic working with improved surface roughness similar to spinning work is also possible by producing a large and controlled slippage.

In the rotary plastic working machine according to the second aspect of the invention, slippage between the die and the workpiece can be completely eliminated. Therefore, the workpiece can be efficiently pushed into the lower mold placed below or to the side without any energy loss, and accurate transfer is possible.

Claim J:! In the I3 rotary plastic processing machine, the rotation position of the mold holder is regulated by three annular bodies, so the rotation position of the mold can be made independent of the swing rotation position of the mold with a simple configuration. il control can be performed. This eliminates slip between the die and the material, making it possible to perform rotary forging with complete rolling contact, improving efficiency. Moreover, since the rotational positional relationship with the opposing die can be controlled, it becomes possible to perform rotary forging with a pattern on the die that is rotated for ms.

In the rotary plastic working machine according to the fourth aspect of the present invention, only the rotational position can be restricted to a constant position while allowing various movements of the mold holder radar. For this reason, the rotational positional relationship with the opposing die is regulated to a certain degree, so it is possible to perform rotary forging by adding patterns to the die that swings and rotates with complex movements such as moving the center of rotation. become.

In the rotary plastic working machine according to claim 5, since the rotation position of the mold holder is regulated by the two rings, F! ! With this configuration, the rotational position of the mold can be regulated independently of the W1iJJ rotational position of the mold.

[Brief explanation of drawings]

The drawings show embodiments of the present invention; FIG. 1 is a sectional view showing the first embodiment, FIG. 2 is a front view illustrating the slippage between the mold and the workpiece, and FIG. 3 is a projection view. 4 is a perspective view showing the main parts of the second embodiment, FIG. 5 is a sectional view, FIG. 6 is a perspective view showing the main parts of the third embodiment, and FIG. 7 is a sectional view. It is a diagram. 21. Upper mold, 311. Mold holder, 411. First annular body, 5.5', Swing axis (second axis), 6
Second annular body, 7,7° 1. drive shaft (first shaft),
1031 Main body frame, 70, , NC device, 7
1°, first servo motor, 72. ,, second servo motor, 818. First axis, 82, First annular body, 831. Second axis, 84, second annular body. Figure 3 Figure L

Claims (1)

[Claims] 1. While rotating a mold holder having an inclined axis that intersects with the vertical axis near the processing area around the vertical axis, the mold attached to the mold holder is moved to the workpiece. A rotary plastic processing machine that plastically works a workpiece by pressing the mold holder against the vertical axis; a first servo motor for driving the mold holder to rotate around the vertical axis; A swing-type plastic working machine comprising: a second servo motor for rotating the servo motor; and a numerical control device for controlling the first and second servo motors. 2. The numerical control device reverses the direction of rotation of the mold holder around the vertical axis and the direction of rotation around the tilt axis, and the angular velocity ω of the former and the angular velocity Δω of the latter The first and second servo motors can be controlled synchronously so that the angle between the tilt axis and the vertical axis is θ, and the following relational expression Δω=(1/cosθ−1)ω is satisfied. The rotary plastic working machine according to claim 1, characterized in that: 3. A mold holder having an inclined axis that intersects with the vertical axis near the processing area is rotated around the vertical axis while pressing the mold attached to the mold holder against the workpiece to machine the workpiece. A swing-type plastic working machine that performs plastic working on an object includes: a first servo motor for swinging the mold holder around the vertical axis; and a first servo motor rotatably supported around the vertical axis by a frame. a first annular body; a second servo motor for rotationally driving the first annular body;
a second annular body supported by a first axis substantially orthogonal to the vertical axis to permit axial movement of the axis and rocking about the axis; a second shaft supported internally relative to the second annular body by a second shaft substantially orthogonal to the first shaft to permit axial movement of the shaft and rocking about the shaft; Three toroids,
The third annular body and the mold holder are coupled to be movable relative to each other in the direction of the tilt axis force axis and immovable relative to each other in the rotational direction, and both the first and second servo It comprises a numerical control device for controlling the rotation of a motor, and is characterized in that slippage between the mold and the workpiece during processing can be controlled arbitrarily between zero and a predetermined value. Rotary type plastic processing machine. 4 A mold holder having an inclined axis that intersects with the vertical axis near the processing area is rotated around the vertical axis, and the mold attached to the mold holder is pressed against the workpiece to machine the workpiece. In a rotating plastic processing machine that performs plastic processing on objects, the mold holder is moved in the axial direction of the frame by a first axis perpendicular to the vertical axis, and vibrations around the axis are controlled. an annular body supported within the annular body to permit axial movement of the axis and a second axis substantially orthogonal to the first axis with respect to the annular body; a member supported so that
when the mold holder is pivoted about the vertical axis;
The mold holder is completely prevented from rotating around the tilted axis, so that when the mold rotates, the mold and the workpiece always come into contact at a constant relative position. Rotary type plastic processing machine. 5 A member supported by the second shaft inside the annular body is a second annular body, and the second annular body and the mold holder are mutually movable in the direction of the inclined axis. 5. The rotary plastic working machine according to claim 4, wherein the rotary plastic working machine is coupled so as to be able to fit together and to be immovable relative to each other in the direction of rotation.