JPH044937A - Method and device for continuous hotforging - Google Patents

Abstract

PURPOSE:To perform continuous operation and to reduce the tact time by providing a 1st manipulator having a feeder for a workpiece and a clamping device for the workpiece, a heating device for the workpiece, a device for forging/ cutting the workpiece and a carry away device for the workpiece. CONSTITUTION:The workpiece is supplied to the 1st manipulator 4 provided with the feeder for moving the workpiece 1 to a prescribed position. The 1st manipulator can move in the moving direction of the workpiece and in the direction for crossing the heating device 5. The workpiece is moved to a heating position so that it can be heated and the heated workpiece is supplied to prescribed positions for forging/cutting. Further, the forging/cutting device 6 is provided so that directly after the hot workpiece held by the 1st manipulator is forged it can be cut by the same device. In this way, the workpiece can be supplied, heated, forged, cut, transported continuously.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a continuous hot forging method in which a series of steps of supplying, positioning, heating, forging, and cutting a workpiece are continuously carried out in a forging-piercing line. and relates to an apparatus and a heating method.

[Conventional technology]

One of the conventional and common hot forging methods is to determine the length of the workpiece before forging according to the product dimensions, heat the workpiece at another location, move it, and then hand it to the worker. There is a method in which steps are taken to fix the material to a manipulator, and then forging is performed using a forging device.

In addition, as a hot forging device, Japanese Patent Application Laid-Open No. 48-13254
As described in the publication, multiple sets of rolling rolls supported parallel to each other and driven in opposite directions are arranged in tandem, and a long material is continuously passed through these rolling rolls to be forged into multiple stages. A manipulator that feeds a long material by rotation of a roll is known, and a manipulator used in a hot forging device is disclosed in Japanese Patent Application Laid-Open No. 56-144839.
As described in the publication, a hollow hole is drilled through the center of the manipulator body, and when a long material is forged, the long material is passed through this hollow hole, and the long material is clamped by the manipulator at a position close to the forging machine. It is known that it is designed to be gripped at the part.

Furthermore, a known heating device used in a hot forging device includes a plurality of heating coils arranged at a plurality of locations in the traveling direction of a long material, as described in Japanese Patent Application Laid-Open No. 61-212439. Some heating coils heat a long material to a predetermined temperature while conveying it by controlling the voltage applied to these heating coils.

[Invention or problem to be solved]

However, all of the above-mentioned conventional technologies are not capable of continuously supplying a long workpiece according to product dimensions, that is, a fixed-length workpiece, and continuously heating, forging, cutting, and conveying the workpiece. It does not make forging possible, but the general forging method mentioned above, JP-A-48-13254, and JP-A-56-
In the prior art described in Japanese Patent No. 144839, the workpiece is heated at a separate location and then fixed to a manipulator for forging, which reduces the takt time from supplying the workpiece to transporting the product. There is a problem in that it takes a lot of time and effort to make one product.

In addition, the above general forging method and Japanese Patent Application Laid-Open No. 56-14483
In the conventional technology described in Publication No. 9, when forging a workpiece by gripping it with a manipulator, no consideration is given to forging multiple products from one workpiece, and the material yield is reduced. There was a problem. Also, JP-A-48-1
In the conventional technology described in Publication No. 3254, a long material is continuously passed through multiple sets of rolling rolls for forging, so is it suitable for mass production where the shape of the product is the same? There are problems in that it is difficult to apply to high-mix, low-volume production that varies individually, and it is also difficult to process products with large shapes.

Furthermore, the heating device described in JP-A-61-212439 uses a plurality of heating coils to heat a moving workpiece in stages, so the workpiece can be heated to a predetermined length. There was a problem in that it was not possible to uniformly heat the entire area, including the inside, to the same temperature, and the length of the heating coil or the number of heating coils had to be changed depending on the heating range.

An object of the present invention is to provide a continuous hot forging method and apparatus that can continuously supply, heat, forge, cut, and transport a workpiece, and can reduce the takt time until a product is obtained. That's true.

Another object of the present invention is to provide a continuous hot forging device that is capable of continuously supplying, heating, forging, cutting, and transporting workpieces, and is suitable for both mass production and multi-product small-lot production. The goal is to provide the following.

Still another object of the present invention is to provide a continuous hot forging method and apparatus that can continuously supply, heat, forge, cut, and transport workpieces of fixed length and improve material yield. That's true.

Yet another object of the present invention is to uniformly heat a desired length range, including the cross-sectional area, with the same heating coil in response to changes in the heating range of the workpiece, even for a wide variety of product dimensions. An object of the present invention is to provide a heating method in hot forging that can be performed.

[Means to solve the problem]

In order to achieve the above object, the present invention provides a workpiece supply device that moves and supplies the workpiece forward to a predetermined position, and a clamp that grips the workpiece supplied by the supply device. a first manipulator movable at least in the direction of movement of the workpiece, the device heating the workpiece gripped by the clamping device, at least in a direction transverse to the direction of movement of the workpiece; a movable heating device, a forging/cutting device that forges and cuts the workpiece heated by the heating device into a magnificent shape, and receives and carries out the product forged and cut by the forging/cutting device. Provided is a continuous hot forging device characterized by having a conveying device.

Further, according to the present invention, in the continuous hot forging apparatus,
The forging/cutting device includes a plurality of sets of forging dies for forging the workpiece into an arbitrary shape, a set of cutting dies for cutting the workpiece, and a rotatable machine that supports the forging die and cutting die. turret means, and is configured to automatically index the forging die and select the cutting die by rotating the turret means.

Further, according to the present invention, in the continuous hot forging apparatus,
disposed close to the workpiece loading side of the forging/cutting device,
The present invention further includes a workpiece restraining device that grips the workpiece at a position close to the forging/cutting device and allows the workpiece to be transferred to a clamping device of the first manipulator. Ru.

Preferably, the first manipulator is movable in three orthogonal axes including the direction of movement of the workpiece, and the clamp part is rotatable about an axis in the direction of movement of the workpiece.

Preferably, the first manipulator has a hollow hole passing through the center, the workpiece is inserted into the hollow hole by supply from the feeding device, and the clamping device is configured to insert the workpiece into the hollow hole through the hollow hole. It is configured to grip the protruding part of an object.

Preferably, the clamp device of the first manipulator includes a cylinder casing, a plurality of clamp claws whose proximal ends are pivotally supported with respect to the cylinder casing, and a plurality of clamp claws provided at the proximal ends of the clamp claws. an annular piece member having an annular cam surface with which the protrusion engages, and driving the clamp pawl by a cam action of the protrusion and the cam surface by axial movement relative to the cylinder casing; The piston means is provided to be slidable in the axial direction and drives the block member in the axial direction with respect to the cylinder casing.

Preferably, the first manipulator includes a handling section including the clamp device, and a rotation drive section that rotates the handling section about an axis in the moving direction of the workpiece, and the first manipulator rotates with the handling section. It is connected to the drive section via damper means.

Preferably, the forging/cutting device is disposed on the workpiece delivery side, grips the workpiece when the forging/cutting device cuts the workpiece, and transfers the cut product to the conveyance device. It further includes a second manipulator that moves.

Further, in order to achieve the above object, the present invention includes a main body having a hollow hole through which the workpiece can pass through, and a clamping device for gripping the workpiece that has passed through the hollow hole. A manipulator movable at least in the direction of movement of the workpiece, a heating coil movable at least in a direction intersecting the direction of movement of the workpiece, and a forging/cutting device for forging and cutting the workpiece into an arbitrary shape. In a continuous hot forging method using a method, a workpiece is supplied through a hollow hole of the manipulator, and the workpiece is gripped by the clamping device at a position protruding from the clamping device by a length necessary for the product dimensions, After moving the heating coil and manipulator to position the heating coil around the workpiece and performing uniform heating using induction heating, move the heating coil and the manipulator, respectively, to move the heating coil around the workpiece. There is provided a continuous hot forging method characterized in that the heated workpiece is forged by the forging/cutting device and then immediately cut by the same device, and the cut product is transported out. Ru.

Further, according to the present invention, in the continuous hot forging method,
After cutting the workpiece by the forging/cutting device, gripping the remaining workpiece by a workpiece restraining device at a position close to the forging/cutting device on the workpiece import side of the forging/cutting device; After opening the clamping device of the first manipulator, the first manipulator is moved backward, and the workpiece is gripped again by the clamping device, and then the workpiece restraint device is released and the workpiece of the clamping device is A device is provided to allow the transfer of processed materials.

Furthermore, in order to achieve the above object, according to the present invention, a heating coil is positioned around the workpiece to partially heat the workpiece, and the surface temperature of the workpiece in the axial direction is detected and the heated portion is heated. The workpiece is moved at a speed proportional to the gradient of the surface temperature, and the surface temperature of the entire length of the workpiece is uniformly heated within a set temperature range. The temperature distribution data obtained is fed back to the heating power and moving speed of the heating coil to control these, and the workpiece is reciprocated until the central part of the end surface of the workpiece reaches the set temperature range. Provided is a heating method characterized by uniformly heating the entire workpiece.

[Effect]

In the present invention configured as described above, the workpiece can be supplied to the first manipulator at the predetermined position by providing a feeding device that moves the workpiece forward to a predetermined position. By making the first manipulator movable at least in the direction of movement of the workpiece and making the heating device movable in a direction intersecting therewith, the heating device can be moved from a position where it does not interfere with the operation of the first manipulator. After moving the workpiece and positioning it at the heating position, the first manipulator moves the workpiece to the heating position so that heating can be performed, and the heated workpiece can be forged and cut. It becomes possible to supply the device to a predetermined position. In addition, by providing a forging/cutting device that forges and cuts the workpiece into an arbitrary shape, it is possible to immediately cut the heated workpiece gripped by the first manipulator with the same device after forging it. becomes. This allows for feeding, heating, and
It becomes possible to perform forging, cutting, and conveying continuously, reducing the takt time required to produce the product.

Further, by making the first manipulator movable at least in the direction of movement of the workpiece and making the heating device movable in a direction intersecting thereto, any part of the workpiece can be partially heated and the workpiece can be heated. It is now possible to heat a desired length range with one heating device according to changes in the heating range, and it is also possible to easily reheat a heated workpiece. A decrease in temperature can be suppressed as much as possible.

By providing a hollow hole passing through the first manipulator, the workpiece is inserted into the hollow hole from the rear end of the first manipulator, passed through the center of the clamp device, and the protruding portion thereof is gripped by the clamp device. becomes possible,
This facilitates continuous supply of workpieces.

In addition, by making the first manipulator movable in three orthogonal axes, it is possible to heat the workpiece - change the forging position, and to adjust the workpiece position and shape to the position and shape of the forging die of the forging/cutting device. Positioning becomes possible, making it possible to forge various shapes.

In addition, by making the forging/cutting device have a structure with a rotatable turret means and having it support multiple sets of forging dies and one set of cutting dies, it becomes possible to automatically index the forging dies, which allows for large quantities of Not only can it be used for production, but it can also be used to produce a wide variety of products in small quantities. Furthermore, the cutting die can be selected quickly after forging, which is effective in further shortening the forging process and extending the life of the cutting die.

Furthermore, by placing a workpiece restraint device close to the workpiece input side of the forging/cutting device, after the workpiece is cut by the forging/cutting device, the remaining workpiece is held close to the forging/cutting device. It becomes possible to grip the object, and thereby the clamping device of the first manipulator can be opened and moved back, the workpiece can be gripped again by the clamping device, and the workpiece can be transferred. For this reason, it is possible to forge multiple products from one workpiece of fixed length,
Material yield can be improved.

In addition, the system detects the axial surface temperature and temperature distribution of the end face of the workpiece, controls the heating power and moving speed of the heating coil, and reciprocates the workpiece until the center of the end face reaches a temperature within the set temperature range. By doing so, it becomes possible to uniformly heat the workpiece over a desired length range, including the cross section, with one heating coil.

〔Example〕

Hereinafter, a continuous hot forging apparatus according to an embodiment of the present invention will be described.
This will be explained with reference to FIGS.

In FIG. 1, the continuous hot forging apparatus of this embodiment includes a workpiece supply device 2 that moves a fixed-length workpiece 1 forward to a predetermined position and supplies the workpiece, and 1; a heating device 5 that heats the workpiece 1 gripped by the clamp device 3; and a heating device 5 that heats the workpiece 1 gripped by the clamp device 3; A forging/cutting device 6 that forges and cuts the forged and cut product 7, a transport device 8 that receives and carries out the forged and cut product 7 (see Fig. 2), and a workpiece delivery side of the forging/cutting device 6. A second manipulator 9 similar to the first manipulator 4 is provided, which grips the workpiece 1 when cutting it and moves the cut product 7 to a conveying device 8. Further, on the workpiece loading side of the forging/cutting device 6, the workpiece 1 is gripped at a position close to the forging/cutting device 6 so that the workpiece 1 can be transferred by the first manipulator 4. A workpiece restraint device 10 is disposed.

In this embodiment, the workpiece 1 is a round bar of a fixed length made of, for example, 130mm steel, and the product 7 obtained by forging this has a three-dimensional shape at both ends as shown in FIG. or changing turbine blades.

The feeding device 2 has a fixed base 11 and a movable block 12, and the movable block 12 moves on a rail 13 laid on the fixed base 11 in the feeding direction of the workpiece 1, that is, in the orthogonal coordinates shown in FIG. It is movable to a predetermined position in the X direction. A chuck 14 is provided on the movable block 12 for clamping the workpieces 1, and a plurality of workpieces 1 are held on an inclined surface beside the feeding device 2, and the chucks 14 are placed one by one on the movable block 12. A feeding stand 15 for feeding is placed. Chuck 1
When the workpiece 1 is fed into the chuck 14, the chuck 14 clamps the workpiece 1, and the movable block 12 is moved to the fixed base 11.
By moving above in the X-axis direction, the workpiece 1 is fed to a predetermined position.

The first manipulator 4 includes a movable base 17 that is movable in the moving direction of the workpiece 1, that is, the X-axis direction, on a rail 16 laid on a forging line, and a rail 18 laid on the movable base 17. A movable block 19 with a U-shaped cross section that is movable in a direction perpendicular to the moving direction of the workpiece 1, that is, in the Y-axis direction, and a rail 20 laid opposite the inner surface of the movable block 19 in a vertical direction. That is, it has a manipulator body 21 that is movable in the Z-axis direction and is equipped with the above-mentioned clamp device 3, and the manipulator body 21 is provided with a hollow hole 22 through which the supplied workpiece 1 passes. ing.

The detailed structure of the manipulator main body 21 is shown in FIG. 3.

The manipulator main body 21 has a rotation drive section 23 and a handling section 24, and the handling section 24 has a clamping device 3.
Or is provided.

The rotation drive unit 23 has an outer block 25 that engages with the rail 20 of the movable block 19 and a rotatable inner ring shaft 26 located inside the outer block 25. 22A is formed. Inner ring shaft 26
A gear 28 is fixed to the outer periphery of the gear 28 via a key 27, and a pinion 29 meshes with this gear 28. pinion 2
9 has a shaft 30, which is rotatably supported by the outer block 25 via bearings 32 and 33 spaced apart by a spacer 31, and which is connected to an electric motor 35 via a coupling 34 on the outside of the outer block 25. is connected to. The electric motor 35 is attached to the outer block 25 by a bracket 36. When the electric motor 35 is driven, the pinion 29 rotates, and the inner race shaft 26 rotates via the gear 28. As a result, the inner ring shaft 26 is rotationally driven around the axis parallel to the moving direction of the workpiece 1, that is, the C-axis.

A replaceable guide ring 37 that matches the dimensions of the workpiece 1 is installed at the entrance of the hollow hole 22A of the inner ring shaft 26, and is used when the workpiece 1 moves in the X direction or rotates inside the hollow hole 22A. It guides the workpiece 1 and prevents the caulking phenomenon within the hollow hole 22A. This also ensures the levelness of the workpiece.

The handling part 24 includes a cylinder casing 38 forming the remaining portion 22B of the hollow hole 22, an annular piston 39 fitted in the cylinder casing 38 so as to be able to reciprocate, and a cylinder casing 38 as constituent members of the clamp device 3. a fixed ring 42 that is attached and has hydraulic supply and discharge holes 40 and 41; an end plate 43 that is attached to the fixed ring 42 and closes one end of the cylinder chamber formed by the cylinder casing 38; and an upper and lower 1 fixed to the end plate 43. A pair of support arms 44 , a pair of upper and lower clamp claws 46 whose proximal ends are pivotably supported around a pin 45 provided on the support arms 44 , and a pair of clamp claws 46 mounted on the outer extension portion 39A of the annular piston 39 A protrusion 48 is provided at the base end of the clamp claw 46, and an annular cam surface 49 with which the protrusion 48 abuts is formed on the block member 47.

When hydraulic pressure is supplied from the hydraulic pressure supply/discharge hole 40 of the fixed ring 42, the annular piston 39 moves to the left in the figure, and the clamp claw 46 rotates clockwise around the pin 45 due to the cam action of the block member 47 and the protrusion 48. Then, the workpiece 1 is clamped between the top and bottom.

Further, the workpiece is unclamped by supplying hydraulic pressure from the hydraulic pressure supply/discharge hole 41.

The cylinder casing 38 is connected to the inner ring shaft 26 of the rotary drive unit 23 via a mechanical damper 50 made of a combination of a disc spring and a coil spring. As a result, when the electric motor 35 is driven as described above, the cylinder casing 38 rotates, and the clamp device 3 is rotationally driven around the C-axis.

Further, when the workpiece 1 gripped by the clamp device 3 is forged, the impact of forging is absorbed by the damper 50 and is not transmitted to the rotation drive unit 23. This allows smooth rotation of the inner ring shaft 26 even during forging of the workpiece 1,
The workpiece 1 can be forged while being rotated.

Returning to FIG. 1, the heating device 5 includes a fixed base 60, a movable base 62 movable in the X-axis direction on a rail 61 laid on the fixed base 60, and a movable base 62 on a rail 63 laid on the movable base 62. a stand 64 that is movable in the Y-axis direction, a boulder 66 that is movable in the X-axis direction on a rail 65 laid on the stand 64, and a heating coil 67 that performs high-frequency heating that is attached to the tip of the holder 66. have.

The stand 64 is moved with the movable base 62 and the holder 66 adjusted in the X-axis direction and the position in the X-axis direction.
By moving the heating coil 67 in the Y-axis direction, as shown in FIG. It moves toward the forging/cutting device 6 and is positioned at a heating position that matches the movement path of the workpiece 1 . Also, by moving the stand 64 in the opposite direction, the heating coil 67 is returned to its original external position.

Further, the heating device 5 includes a heating coil 6 as shown in FIG.
A radiation thermometer 68 is installed outside the central part of the workpiece 7 to detect the surface temperature in the axial direction of the workpiece 1, and a radiation thermometer 68 is installed opposite the end surface of the workpiece 1 to detect the temperature of the end surface of the workpiece 1. The heating power and moving speed of the heating coil 67 are controlled to optimal values using the data obtained by these sensors. Radiation thermometer 6
8 is attached to a holder 66, and a wide range temperature measuring device 69 is attached to the forging/cutting device 6 via a positioning device 70 that constitutes an escape mechanism movable in a direction perpendicular to the X-axis direction.

Returning to FIG. 1 again, the forging/cutting device 6 includes a frame 71.
, slide tables 72a and 72b that can slide in opposite directions in the Y-axis direction within the opening of the frame 71, and an octagonal turret that is rotatably supported by each slide table 72a and 72b via a bearing. Jig-73a, 73
turret jig 7.
On each of the octagonal flat surfaces of 3a and 73b, as shown in FIG.
, 75b, and a pair of cutting dies 76a having sharp tip shapes for cutting the workpiece 1.

76b is attached.

The rotating shafts of the turret jigs 73a and 73b are connected to an electric motor (not shown), and by driving the electric motor, the turret jigs 73a and 73b are rotated, and the seven sets of molds 7 are rotated.
Any one of the sets 5a, 75b or cutting dies 76a, 76b are moved into opposing operative positions. Thereby, automatic indexing of the forging dies 75a, 75b is quickly performed, and the workpiece 1 is forged into a desired shape by driving the hydraulic cylinders 74a, 74b. Also, after forging, the cutting dies 76a, 76b are automatically selected to form the hydraulic cylinder 74a, as shown in FIG.

It is cut by shearing with a force of 74b. Note that at this time, the tip of the workpiece 1 is gripped by the second manipulator 9.

The conveying device 8 is forged and cut by the forging/cutting device 6,
It has a conveyor 80 that receives the products 7 conveyed by the second manipulator 9, and the products 7 received by the conveyor 80 are automatically stored in a storage box 81.

The configuration of the second manipulator 9 is substantially the same as that of the first manipulator 4, and a description thereof will be omitted. However, in the following description, the constituent members of the second manipulator 9 will be expressed by adding a subscript a to the reference numerals given to the same constituent members of the first manipulator 4.

The workpiece restraint device 10 is attached to a plate 82 mounted on the upper end surface of the frame 71 of the forging/cutting device 6 on the workpiece loading side, and is attached to a Z-shaped rail 83 laid on the plate 82.
It has a ramp device 84 that can be raised and lowered in the axial direction, and the clamp device 84 is normally located at an upper position where it does not impede the progress of the workpiece 1, so that the workpiece 1 cannot be transferred by the clamp device 3 of the manipulator 4. Sometimes it descends and the workpiece 1
grasp. Although not shown, the positioning device W70 of the wide-area temperature measuring device 69 described above is also mounted on the upper end surface of the frame 71 on the workpiece loading side.

Next, a typical example of a forging method using the above continuous hot forging apparatus will be explained using a forging flow shown in FIG. 8.

First, with the workpiece 1 clamped on the chuck 14 of the supply device 2, the movable block 12 is moved forward in the X-axis direction,
Insert the workpiece 1 into the hollow hole 22 of the first manipulator 4, and stop at the position where the tip of the workpiece 1 protrudes from the clamp device 3 by a length required for the dimensions of the product 7 (Step 1)
. Next, in step 2) of clamping the workpiece 1 with the clamp device 3, the stand 64 of the heating device 5 is moved in the Y-axis direction, and the heating coil 67 is positioned at the heating position within the movement path of the workpiece 1 ( Step 3). After this, the first manipulator 4 is advanced in the X-axis direction to insert the workpiece 1 into the heating coil 67 (step 4), and the heating coil 67 is moved appropriately to perform high-frequency heating (step 5). . At this time, the heating power and moving speed of the heating coil 67 are controlled by the method described later using data obtained from the radiation thermometer 68 and the wide-area temperature measuring device 69, and the set temperature is maintained within the cross section of the workpiece 1. It is preferable to heat uniformly.

When the heating of the workpiece 1 is completed, the first manipulator 4 is moved back in the X-axis direction to remove the workpiece 1 from the heating coil 67 (Step 6), and the stand 64 of the heating device 5 is moved back in the Y-axis direction. Then, the heating coil 67 is moved out of the moving path of the workpiece 1 (step 7).

Next, the first manipulator 4 is advanced in the X-axis direction, the workpiece 1 is moved to a forging position by the forging/cutting device 6, and the hydraulic cylinders 74a and 74b are driven to perform forging (step 8). At this time, the turret jigs 73a, 73 of the forging/cutting device 6 are rotated appropriately, and the various molds 75a, 7
5b, while controlling the positions of the first manipulator 4 in the X-axis direction, Y-axis direction, Z-axis direction, and around the C-axis to match the selected molds 75a and 75b. The workpiece 1 is positioned at the position where the workpiece 1 is to be processed. This results in
Even relatively complicated shapes such as the product 7 shown in FIG. 2 can be forged with high precision. At this time, the clamping device (t3a) of the second manipulator 9 grips the tip of the workpiece 1,
The second manipulator 9 may be used in conjunction with the second manipulator 9 to add twist to the workpiece 1, thereby making it possible to give the product 7 a more complex shape. Also, if the heating temperature drops during this forging, the first manipulator 4
It is also possible to reheat the workpiece 1 by appropriately moving back in the X-axis direction and repeating steps 3 to 7 described above.

When the forging of the workpiece 1 is completed, the second manipulator 9 is moved forward in the X-axis direction, and its clamping device 3a grips the tip of the workpiece 1 (step 9), and at the same time, the forging/cutting device 6 starts the turret jig. Tool 73a.

73b is rotated to automatically select the cutting dies 76a and 76b, and the workpiece 1 is cut by the force of the hydraulic cylinders 74a and 74b.
(Step 10). After cutting workpiece 1, the second
The manipulator 9 is moved backward in the X-axis direction, and when the product 7 obtained by cutting comes onto the conveyor 80 of the transfer device 8, the clamping device 3a is released, the product 7 is placed on the conveyor 80, and the product 7 is automatically placed in the storage box 81. (Step 11).

When one product 7 of the workpiece 1 is forged and carried out as described above, the first manipulator 4 is moved slightly backward in the X-axis direction, and in step 12), the clamping device of the workpiece restraint device 10 83 is lowered in the Z-axis direction and grips the workpiece 1 (step 13).

Next, the grip of the clamp device 3 of the second manipulator 4 is released, and the second manipulator 4 is moved back in the X-axis direction to ensure the protrusion length of the workpiece 1 in the same manner as in step 1. Step 14) The workpiece 1 is clamped again by the clamp device 3, and the clamp device 83 of the workpiece restraint device 10 is unclamped (step 15). Next, the first manipulator 4 is further retreated in the X-axis direction (step 16).
), return to step 3 above, repeat steps 3 to 11, and continuously heat, forge, and cut the workpiece 1 and transport the product. If there is still room for the length of the workpiece 1, steps 12 to 11 are repeated to forge and transport the next product. As a result, a plurality of products can be forged from one workpiece of regular size, and the material yield can be improved.

As described above, according to this embodiment, it is possible to continuously supply, heat, forge, cut, and transport the workpiece, and it is possible to reduce the takt from supplying the workpiece to transporting the product. In addition, the rotatable turret jigs 73a, 73b support various types of molds 75a, 75b, and automatic indexing is enabled, so that it is possible to handle not only mass production but also various types and small quantities of production. In addition, cutting dies 76a, 7 are attached to the turret jigs 7.3a, 73b.
6b is also attached, so that the cutting die can be selected quickly after forging, which is not only advantageous for continuous forging, but also extends the life of the cutting die since the heated workpiece is cut.

Furthermore, by adopting a cutting method using a cutting die, the device can be made more compact and safety can be improved.

Furthermore, since the clamping device 3 of the first manipulator 4 is movable in the X-axis, Y-axis, and Z-axis directions and rotatable around the C-axis, the above-mentioned multi-type mold 7-. 5a.

It becomes possible to position the workpiece according to the position and shape of each of the parts 75b, and it becomes possible to forge the workpiece into various shapes.

Additionally, multiple products can be forged from one regular-length workpiece, improving material yield.

Next, in the forging method described above, step 5 shown in FIG.
A preferred embodiment for use in the heating method will be described with reference to FIGS. 5 and 9.

In FIG. 5, a workpiece 1 of fixed size is gripped by the clamping device 3 with a length Ll, which is required for uniform heating according to the product size, plus an allowance, protruding, and the manipulator 4 is moved. and insert it into the high frequency heating coil 67. The length of the heating coil 67 is kept constant, and heating is performed while the heating coil 67 is fixed after being positioned at the heating position. At this time, if the required uniform heating length Ll is longer than the uniform heating area l of the heating coil 67, it is difficult to heat the entire length of the required uniform heating length Ll to a uniform temperature. That is, the temperature distribution in the longitudinal direction of the heating coil 67 decreases at both ends of the heating coil 67, as shown in FIG. This heating temperature gradient is the heating coil 6
Even if the output adjustment of 7 is changed, it remains constant and has little influence. Therefore, in this embodiment, as described above, the workpiece 1
The heating power and moving speed of the heating coil 67 are controlled using a radiation thermometer 68 that detects the surface temperature in the axial direction of the workpiece 1 and a wide-area temperature measuring device 69 that detects the temperature distribution on the end surface of the workpiece 1. This device uniformly heats the object 1 to a set temperature within its cross section.

First, after clamping the workpiece 1 with the clamping device 3,
It is inserted into the heating coil 67 and heating is started at the position (■) shown in FIG. At this time, since the length of the soaking area l of the heating coil 67 is shorter than the required length Ll for uniform heating, the temperature of the soaking area l increases first. This temperature rise is measured by the radiation thermometer 68, and the heating is continued until the maximum heating temperature T1 is reached. This heating is done at full power. When the soaking area l reaches the maximum heating temperature T1, the workpiece 1 is continuously moved at a speed proportional to the surface temperature gradient in the axial direction to the position (■) in Fig. 7, and the length Ll required for uniform heating is The entire length is heated to a set temperature range between the maximum heating temperature T1 and the minimum heating temperature T2. At the same time, the wide-area temperature measuring device 21 measures the workpiece 1.
Measure the temperature distribution on the end surface of the workpiece, preferably using the material and shape of the workpiece as parameters, and control the heating power and moving speed so that the surface temperature does not exceed the maximum heating temperature T1, and from ■ in Figure 9 Move it to position ■. Thereafter, the workpiece is moved back and forth until the center portion of the end face reaches the set temperature range, and the same operation is repeated. shape of the workpiece,
If the material changes, the heating power and moving speed are controlled using a program that takes into account the parameters of the material and shape. Note that instead of the shape and material of the workpiece, temporal changes in the end surface temperature may be detected and used.

As described above, according to the heating method of this embodiment, the workpiece 1 is partially heated by the heating coil 76 and the clamping device 3 is moved in the X-axis direction, so one heating coil can be used to cover a desired length range. In addition, since the heating power and moving speed of the heating coil 67 are controlled by detecting the axial surface temperature and temperature distribution of the end surface of the workpiece 1, the heating power and moving speed of the heating coil 67 are controlled. This makes it possible to uniformly heat the desired length range to the inside with the same single heating coil, depending on the change in the heating range of the workpiece, even for a wide variety of product dimensions. Can be heated.

Next, four types of forging processes using the continuous hot forging apparatus of this embodiment will be explained with reference to FIG.

In FIG. 10, type (2) performs temperature comparison after supplying, positioning, and heating the workpiece, and if OK, performs preliminary forging. Next, heating is performed again to perform final forging. This type (2) process is applied when forging cannot be completed with one heating. Type (2) process is applied when heating forge is performed again by moving the position because the length of the product cannot be achieved with just one heating range. Type (2) process is applied when heating and forging is performed once. Type ■ process is applied when type ■■ is combined.

As described above, if the continuous hot forging apparatus of this embodiment is used, both the type ■■ heated hot forging and the type ■■ heated local sequential forging are possible, and in each case, preliminary forging and final forging are possible. A forging process that performs forging is possible.

〔Effect of the invention〕

Since the present invention is configured as described above, it produces the effects described below.

A workpiece supply device, a first manipulator movable in the direction of the workpiece movement path, a heating device movable in a direction crossing the first manipulator, and a forging/cutting device that forges and cuts the workpiece into an arbitrary shape. , and a conveyance device, it is possible to continuously supply, heat, forge, cut, and convey the workpiece, and it is possible to reduce the takt time required to obtain a product from the workpiece. In addition, by moving and positioning the first manipulator and heating device, it becomes possible to heat a desired length range of the workpiece with one heating coil, and it is possible to change the grip of the workpiece during the forging process. It is also possible to reheat the workpiece without heating. Furthermore, even when cutting after forging is completed, it is possible to cut at any position while clamping with the clamping device of the first manipulator, improving material yield, extending the life of cutting jigs and tools, and further improving safety. It is also effective in

Since the clamping device of the first manipulator is movable in three orthogonal axes directions and rotatable around the axis in the movement path direction of the workpiece, it is possible to heat the workpiece, change the forging position, and It becomes possible to position the workpiece according to the position and shape of the forging die of the cutting device, and it becomes possible to handle forging of various shapes.

The forging/cutting device has a structure with a rotatable turret means, which supports multiple sets of forging dies and one set of cutting dies, making it possible to automatically index the forging dies, which makes mass production possible. Of course, it also becomes possible to produce a wide variety of products in small quantities.

Furthermore, the cutting die can be selected immediately after forging, which further reduces the time required for the forging process and extends the life of the cutting die.

The workpiece restraint device is placed close to the workpiece import side of the forging/cutting device, so after the workpiece is cut by the forging/cutting device, it is possible to transfer the workpiece using the clamping device of the first manipulator. Therefore, it is possible to forge a plurality of products from one regular-sized workpiece, further improving the material yield.

It detects the axial surface temperature and temperature distribution of the end face of the workpiece, controls the heating power and moving speed of the heating coil, and reciprocates the workpiece until the center of the end face reaches the set temperature range. , it becomes possible to uniformly heat the inside of the workpiece over a desired length range with one heating coil.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the entire continuous hot forging device according to an embodiment of the present invention, FIG. 2 is a diagram showing an example of a product forged by the device, and FIG. FIG. 4 is a driving layout diagram of the heating coil; FIG. 5 is a diagram showing the positional relationship between the heating coil and the workpiece during heating;
FIG. 6 is a front view of the main parts of the forging/cutting device, FIG. 7 is a diagram showing the shape and cutting situation of the workpiece after forging, and FIG. 8 is a diagram showing the continuous hot forging according to this embodiment. FIG. 9 is a diagram showing a forging method according to an embodiment of the present invention, and FIG. 10 is a flowchart showing a forging process using the forging apparatus shown in FIG. 1. Explanation of symbols 1... Workpiece 2... Feeding device 3... Clamping device 4... First manipulator 5... Heating device 6... Forging/cutting device 7... Product 8 ... Conveyance device 9 ... Second manipulator 10 ... Workpiece restraint device 22 ... Hollow hole 23 ... Rotation drive section 24 ... Handling section 38 ... Cylinder casing 39 ...・Annular piston 45...pin 46...clamp claw 47...piece member 48...protrusion 50...damper 67...heating coil 68...radiation thermometer 69...wide range temperature Measuring instruments 73a, 73b...Turret jigs 75a, 75b...Forging molds 76a, 76b...Cutting mold Applicant: Hitachi, Ltd.

Claims (11)

[Claims] (1) At least the workpiece, comprising a workpiece supply device that moves and supplies the workpiece forward to a predetermined position, and a clamp device that grips the workpiece supplied by the supply device. a first manipulator movable in the moving direction of the workpiece; a heating device movable at least in a direction intersecting the moving direction of the workpiece that heats the workpiece gripped by the clamp device; and the heating device A forging/cutting device that forges and cuts a heated workpiece into an arbitrary shape, and a conveyance device that receives and carries out the product forged and cut by the forging/cutting device. Continuous hot forging equipment. (2) The continuous hot forging device according to claim 1, wherein the forging/cutting device includes a plurality of sets of forging dies for forging the workpiece into an arbitrary shape and a set of cutting dies for cutting the workpiece. and a pivotable turret means for supporting the forging die and the cutting die, and automatic indexing of the forging die and selection of the cutting die are performed by rotating the turret means. Forging equipment. (3) In the continuous hot forging apparatus according to claim 1, the first manipulator is movable in three orthogonal axes including the direction of movement of the workpiece, and the clamp section is configured to move the workpiece. A continuous hot forging device characterized by being rotatable around a directional axis. (4) The continuous hot forging apparatus according to claim 1, wherein the first manipulator has a hollow hole passing through the center;
The continuous hot forging apparatus is characterized in that the workpiece is inserted into the hollow hole by supply from the supply device, and the clamp device grips a protruding portion of the workpiece that has passed through the hollow hole. (5) In the continuous hot forging apparatus according to claim 1, the clamp device of the first manipulator includes a cylinder casing and a plurality of clamp claws whose proximal ends are pivotally supported with respect to the cylinder casing. , the clamp claw has an annular cam surface that is engaged with a protrusion provided at the base end of the clamp claw, and the clamp claw is driven by a cam action between the protrusion and the cam surface by movement in the axial direction with respect to the cylinder casing. A continuous hot forging device comprising: an annular piece member; and a piston means provided to be slidable in the axial direction on the cylinder casing, and for driving the piece member in the axial direction with respect to the cylinder casing. . (6) In the continuous hot forging apparatus according to claim 1, the first manipulator includes a handling section including the clamping device, and a rotation unit that rotates the handling section about an axis in a moving direction of the workpiece. 1. A continuous hot forging device, comprising: a drive section, and the handling section and the rotation drive section are connected via a damper means. (7) The continuous hot forging device according to claim 1, wherein the continuous hot forging device is arranged close to the workpiece input side of the forging/cutting device, grips the workpiece at a position close to the forging/cutting device, and A continuous hot forging device further comprising a workpiece restraining device that allows the clamping device of the first manipulator to change the workpiece. (8) The continuous hot forging device according to claim 1, wherein the continuous hot forging device is disposed on the workpiece delivery side of the forging/cutting device, and is arranged on the workpiece delivery side of the forging/cutting device, so that when the workpiece is cut by the forging/cutting device, the workpiece is A continuous hot forging device further comprising a second manipulator that grips and moves the cut product to the conveyance device. (9) a manipulator movable at least in the movement direction of the workpiece, comprising a main body having a hollow hole through which the workpiece can pass, and a clamping device for gripping the workpiece that has passed through the hollow hole; In a continuous hot forging method using a heating coil movable at least in a direction intersecting the moving direction of the workpiece, and a forging/cutting device for forging and cutting the workpiece into an arbitrary shape, the workpiece is supplied through the hollow hole of the manipulator, the workpiece is gripped by the clamping device at a position where it protrudes from the clamping device by a length required for the product dimensions, and the heating coil and the manipulator are respectively moved to attach the heating coil to the workpiece. After positioning around the workpiece and performing uniform heating using induction heating, the heating coil and the manipulator are respectively moved to return the heating coil to the outside of the movement path of the workpiece, and the forging/cutting device After the heated workpiece is forged, it is immediately cut using the same equipment.
A continuous hot forging method characterized by transporting the cut product. (10) In the continuous hot forging method according to claim 9, after cutting the workpiece by the forging/cutting device, the forging/cutting device
The remaining workpiece is gripped by a workpiece restraining device at a position close to the forging/cutting device on the workpiece loading side of the cutting device, and after opening the clamping device of the first manipulator, the first A continuous hot forging apparatus characterized in that after the manipulator is retreated and the workpiece is gripped again by the clamp device, the workpiece restraint device is released and the workpiece is transferred to the clamp device. . (11) Position the heating coil around the workpiece to partially heat the workpiece, detect the surface temperature of the workpiece in the axial direction, and process the workpiece at a speed proportional to the gradient of the surface temperature of the heated part. The object is moved, the surface temperature of the entire length of the workpiece is uniformly heated within a set temperature range, the temperature distribution of the end surface of the workpiece is detected, and at least the temperature distribution data obtained thereby is transferred to the heating coil. The heating power and movement speed of the workpiece are fed back and controlled, and the workpiece is reciprocated until the central part of the end surface of the workpiece reaches the set temperature range, thereby uniformly heating the entire workpiece. A heating method characterized by: