JPH05169176A - Robot hand for forging roll - Google Patents

Abstract

PURPOSE:To provide a robot hand jig for a forging roll to profitably prevent the impulse from being transmitted to the robot hand though the impulse is applied on a metallic stock W at the time of roll forging by forging rolls 7. CONSTITUTION:This robot hand is provided with a cylinder device 3 having a fixing part 2 fixed to the wrist 64 of the robot and a piston 33 which is provided movably back and forth in a cylinder room 30, a movable part 8 moving in the same direction as the piston 33, a gripping part 41 supported by the movable part 8 and to grip a metallic stock W and a valve device 5. The valve device 5 can select the mode of an actuating mode to supply air pressure into a cylinder room 30 and to move the piston back and forth or the mode of an opening mode to set the cylinder room 30 to a non-pressure state. The metallic stock W moves back impulsively at the time of roll forging by forging rolls 7 but the valve device 5 is changed to the opening mode and the piston 33 is in a free state, therefore, the piston 33 can move back without trouble by the impulse at the time of roll forging.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a forging roll robot hand fixed to the wrist of a robot. This robot hand can be applied, for example, when roll forging a red hot metal material with a forging roll.

[0002]

2. Description of the Related Art Conventionally, a pair of forging rolls having a caliber groove is used, a metal material is inserted between the rolls, and the metal material is bitten by the rotation of the forging roll to form a roll forging into a predetermined shape. I have decided.
By the way, conventionally, the metal material is generally held by hand, but this work is quite laborious. Therefore, automation is being promoted so as to eliminate manual work as much as possible.

[0003]

The present inventor has tried to utilize a robot hand for roll forging forming using a forging roll. However, at the time of roll forging, the biting speed of the metal material by the forging roll is considerably high, and the impact force is also considerably strong. Therefore, the load on the robot hand becomes large and the robot hand may be damaged, which is a problem in ensuring the durability of the robot hand.

The present invention was developed in view of the above-mentioned circumstances, and even if it is used for roll forging by a forging roll, it is advantageous for avoiding transmission of impact to the robot hand. The purpose is to provide a robot hand for use.

[0005]

A robot hand for a forging roll according to the present invention includes a fixed portion fixed to the wrist of the robot, a cylinder having a cylinder chamber held by the fixed portion, and a forward and backward movement in the cylinder chamber. A cylinder device that has a piston that is capable of dividing the cylinder chamber into a first chamber and a second chamber, and a material holding unit that moves in the same direction as the piston as the piston moves forward and backward and that has a grip portion that grips a metal material. And a valve device capable of switching between an operation mode in which fluid pressure is supplied to the cylinder chamber to move the piston forward and backward and an open mode in which the cylinder chamber is in a non-pressurized state and the piston is in a free state. It is a feature.

[0006]

[Operation] In use, the metal material is grasped by the grasping portion of the material holding portion. In that state, the robot hand is driven so as to approach the forging roll. Next, the valve device is put into an operating mode and fluid pressure is supplied to the cylinder chamber, whereby the piston is pushed by the fluid pressure and advances in the cylinder chamber. Therefore, the metal material held by the grip portion also advances and is inserted between the forging rolls.

With the metal material inserted in this way, the valve device is switched to the open mode, the cylinder chamber is not pressurized, and the piston is free. In this state, the forging roll is driven to rotate. Then, as the forging roll rotates, the metal material is roll-forged. At this time, the metal material is subjected to forging force, frictional force, etc., so that the metal material recedes in an impact. At this time, as described above, the valve device has already been switched to the open mode, and the piston is in the free state. Therefore, the piston can be retracted without any trouble due to the impact during roll forging. Similarly, the grip portion and the metal material can be retracted in the same direction without any trouble, and the impact transmitted to the robot hand is relieved.

[0008]

EXAMPLE An example of the present invention will be described below. (Structure) As shown in FIG. 1, a robot hand 1 for a forging roll according to the present embodiment includes a fixing part 2, a rodless type cylinder device 3, a material holding part 4, and a valve device 5. To have.

The fixed portion 2 is fixed to the wrist 64 of the robot 6 with bolts, and the facing plate 2 facing each other.
1 and 22, and a connecting rod 23 that is fixed to the facing plates 21 and 22 by a stopper 23c and connects the facing plates 21 and 22. The cylinder device 3 includes the facing plates 21 and 22.
Cylinder 30 fixed in parallel with the connecting rod 23 between
And a piston 33 that is arranged in a cylinder chamber 31 of the cylinder 30 so as to be able to move forward and backward. The piston 33 includes a cylinder chamber 30, a first chamber 31 and a second chamber 32.
When the piston 33 moves forward and backward, the volume of the first chamber 31 and the second chamber 32 becomes variable. Here, when the air pressure is supplied to the first chamber 31 from the first pipe 51, the piston 33 advances in the direction of the arrow X1, and when the air pressure is supplied to the second chamber 32 from the second pipe 52, the piston 33. Moves backward in the direction of arrow X2.

In this embodiment, the movable portion 8 is mounted on the outer peripheral side of the cylinder 30. As the piston 33 moves forward and backward, the movable portion 8 is moved by the attraction force of the magnet to cause the piston 33 to move.
Works in the same direction as. The material holding portion 4 has a grip portion 41 held by the movable portion 8. Here, the grip 41 is
An upper engaging claw 43 pivotally supported by the movable part 8 by a pivot shaft 42 so as to be swingable in the vertical direction, that is, the directions Y1 and Y2, a lower engaging claw 44 fixed to the movable part 8 by a bolt, and It is composed of a cylinder rod 46 connected to the extending portion 43a on the engagement claw 43 side by a shaft 45, and an air cylinder portion 47 for operating the cylinder rod 46. Here, when air is supplied to the air cylinder portion 47, the cylinder rod 46 moves upward, whereby the extension portion 43a moves upward, and the claw portion 43a at the tip of the upper engaging claw 43 moves downward. 44 claw portion 44a
The metal material W can be gripped by the lower engaging claw 44 and the upper engaging claw 43.

As shown in FIG. 1, the valve device 5 includes a first pipe 51.
And the second pipe 52. The valve device 5 applies the air pressure from the factory air pressure source 58 to the first pipe 51 or the second pipe 5.
A switching valve 53 for switching to either one of the two, a first opening valve 54 for communicating the first pipe 51 with the outside air to open the first chamber 31 of the cylinder chamber 30, and a cylinder valve for communicating the second pipe 52 with the outside air. Second opening valve 5 for opening the second chamber 32 of 30
It is composed of 5 and 5.

The valve device 5 can be switched between an operation mode and an opening mode. The operation mode is a mode in which air pressure is supplied to one of the first chamber 31 and the second chamber 32 of the cylinder chamber 30 to move the piston 33 forward and backward. The open mode is a mode in which the cylinder chamber 30 is in communication with the outside air and is in a non-pressurized state, and the piston 33 is in a free state. That is, in the operation mode, the switching valve 53 is connected to either the first pipe 51 or the second pipe 52 by the air pressure source 58.
While switching to supply air pressure from
The open valve 54 and the second open valve 55 are closed. On the other hand, in the open mode, the switching valve 53 has the first pipe 51 and the second pipe 5
Since the first opening valve 54 and the second opening valve 55 are opened while switching so that the air pressure from the air pressure source 58 is not supplied to both of the two, the cylinder chamber 30 the first chamber 31 and the second chamber 32 are not heated. It is brought into a pressure state and the piston 33 is brought into a free state. In the free state, the piston 33
The external force acting on the piston 33 moves as much as possible.

Next, the overall structure is shown in FIG. As shown in FIG. 3, the robot 6 is of an articulated type and has a base 60.
A shoulder 61 rotatable in the arrow A1 direction, a first arm 62 rotatable in the arrow A2 direction, a second arm 63 rotatable in the arrow A3 direction, and a rotatable arm in the arrow A4 direction. And a wrist 64. The fixing portion 2 of the jig 1 according to this embodiment is fixed to the wrist 64.

The forging rolls 7 form a pair of upper and lower sides and rotate in the direction of arrow E1 about the axis P1.
The forging roll 7 has a first caliber groove 71, a second caliber groove 72, a third caliber groove 73, and a fourth caliber groove 7.
4 are formed. A notch portion 75 is formed in the forging roll 7, and as shown in FIG. 1, when the notch portions 75 of the pair of forging rolls 7 face each other, a space portion T is formed.

In this embodiment, as can be understood from FIG. 3, the robot control unit 90 controls the operation of the robot 6 via the robot drive unit 91, and the valve control unit 93 controls the operation of the valve device 5. The forging roll control unit 95 controls the forging roll 7 via the forging roll driving unit 96. (Operation) In use, in the gripping process, as shown in FIG.
Is operated to close the upper engagement claw 43 of the grip portion 41, and the upper engagement claw 43 and the lower engagement claw 44
The metal material W in the shape of a round bar and in a high temperature of red heat is grasped. In this state, the robot 6 is driven to rotate so as to approach the forging roll 7.

Next, in the inserting step, the switching valve 53 is switched to the operation mode by the valve control section. Therefore, the first chamber 31 of the cylinder chamber 30 is connected via the first pipe 51.
Air pressure is supplied to. At this time, the valve control unit
The open valve 55 closes. As a result, the piston 33 is pressed by the air pressure and gradually advances in the direction of the arrow X1 in the cylinder chamber 30. Therefore, the metal material W held by the grip portion 41
Also moves in the direction of arrow X1, is inserted into the space T between the forging rolls 7 in the stopped state, and is positioned.

With the metal material W inserted into the space T and positioned as described above, the valve control unit sets the valve device 5 in the open mode. Therefore, the switching valve 53 is turned off, the supply of air pressure to both the first pipe 51 and the second pipe 52 is stopped, the first opening valve 54 and the second opening valve 55 are communicated with the outside air, and the cylinder chamber 30 Both the first chamber 31 and the first chamber 32 are open, and the piston 33 is free.

In such a state, the molding process is performed. That is, the forging roll controller starts to rotate the forging roll 7 around the axis P1 in the arrow E1 direction. Then, as the forging roll 7 rotates, the metal material W is roll-forged on the die face of the first caliber groove 71. At this time, the metal material W receives a forging force, a frictional force, and the like on the mold surface of the first caliber groove 71, so that the metal material W is retracted shockfully in the direction of arrow F1.

At this time, in this embodiment, as described above, the valve device 5 has already been switched to the open mode, and the piston 33 is in the free state. Therefore, when the impact is generated during roll forging, the piston 33 in the free state can retreat in the arrow X2 direction without any trouble. Similarly, the movable portion 8, the grip portion 41, and the metal material W can also be retracted in the same direction without any hindrance, whereby the metal material W is pulled out from the first caliber groove 71,
The first molding is completed.

After this, the forging roll 7 is stopped. Further, the switching valve 53 is switched to the operation mode by the valve control unit, air pressure is supplied to the second chamber 32 of the cylinder chamber 30 via the second pipe 52, and the second opening valve 5
5 closes. As a result, the piston 33 is pressed by the air pressure and retracts in the cylinder chamber 30 in the arrow X2 direction. Therefore, the metal material W held by the grip portion 41 also retreats in the direction of the arrow X2 and becomes the standby position.

Next, the second molding is performed. That is, the robot 6 is appropriately turned to rotate the jig 1 by 90 degrees, thereby rotating the metal material W by 90 degrees in the circumferential direction. Then, as described above, the metal material W is inserted into the space portion T of the forging roll 7 by driving the robot 6 and advancing the piston 33. Then, with the metal material W inserted, the valve device 5 enters the open mode, the first open valve 54 and the second open valve 55 communicate with the outside air, and the open state is established, and the piston 33 is set in the free state. In the open mode, the forging roll 7 is rotationally driven in the arrow E1 direction, and the metal material W is forged by the die face of the second caliber groove 72.

Even at this time, since the metal material W receives the forging force, the frictional force, etc. on the die face of the second caliber groove 72,
Although the metal material W retracts in the direction of arrow F1,
In the present embodiment, as described above, the valve device 5 has already been switched to the open mode and the piston 33 is in the free state, so the piston 33 can be retracted in the same direction without any trouble,
As a result, the metal material W is pulled out from the second caliber groove 72, and the second molding is completed.

After this, the forging roll 7 is stopped. Further, the switching valve 53 is switched to the operation mode by the valve control unit, air pressure is supplied to the second chamber 32 of the cylinder chamber 30 via the second pipe 52, and the second opening valve 5
5 closes. As a result, the piston 33 is pressed by the air pressure and gradually retracts in the cylinder chamber 30 in the arrow X2 direction. Therefore, the metal material W held by the grip portion 41 also retreats in the direction of the arrow X2 and becomes the standby position.

Next, the third molding is performed. That is, the robot 6 is appropriately turned to rotate the jig 1 by 90 degrees, and the metal material W is rotated by 90 degrees in the circumferential direction. Then, the metal material W is driven by driving the robot 6 and advancing the pistunto 33.
Is inserted into the space T of the forging roll 7. In this state, as described above, the valve device 5 is in the open mode and the first
The open valve 54 and the second open valve 55 are communicated with the outside air to be in an open state, and the piston 33 is in a free state. In the open mode, the forging roll 7 is rotationally driven in the arrow E1 direction, and the metal material W is forged by the die face of the second caliber groove 72.

Even at this time, since the metal material W receives the forging force, the frictional force, etc. on the die face of the third caliber groove 73,
Although the metal material W retracts in the direction of arrow F1,
In the present embodiment, as described above, the valve device 5 has already been switched to the open mode and the piston 33 is in the free state, so that the piston 33 and the metal material W can be retracted in the same direction without any hindrance. Material W is third caliber groove 7
3 and the third molding is completed.

After that, as described above, the forging roll 7 is stopped, the switching valve 53 is switched to the operation mode by the valve controller, the piston 33 is pressed by the air pressure, and the metal is moved in the cylinder chamber 30 in the arrow X2 direction. It gradually recedes with the material W. Next, in order to perform the fourth molding, the robot 6
By appropriately rotating the jig 1 and the metal material W in the circumferential direction.
The metal material W is inserted into the space T of the forging roll 7 by rotating it by 0 degree, and the fourth roll forging by the fourth caliber groove 74 of the forging roll 7 is performed as described above.

(Effects) As described above, according to the present embodiment, the metal material W is retracted by shock during roll forging by the forging roll 7, but the valve device 5 is already switched to the open mode. Therefore, the piston 33 is in a free state. Therefore, the piston 33 can retreat in the direction of the arrow X2 without any trouble even if an impact is applied during roll forging. Similarly, the grip portion 41 and the metal material W can also retract in the same direction without any trouble.

Therefore, the impact force is applied to the wrist 6 of the robot 6.
4, direct transmission to the arms 62, 63 is avoided, which is advantageous for protection of the robot 6. Further, in this embodiment, the piston 33 and the movable portion 8 are not mechanically directly connected, that is, the piston 33 and the movable portion 8 are interlocked by the magnetic attraction of the magnet device provided in the movable portion 8. .. Therefore, when the movable portion 8 retracts in the direction of the arrow X2 together with the metal material W due to the impact during roll forging, even if the degree of the impact force acting on the movable portion 8 is large, the impact force acting on the piston 33 is large. Can be reduced. Therefore, it is advantageous to maintain the inner wall surface of the cylinder chamber 30 in a good state. Therefore, the smooth movement of the piston 33 in the cylinder chamber 30 is ensured, and the first chamber 31 in the cylinder chamber 30 is secured.
This is advantageous for preventing air leakage between the second chamber 32 and the second chamber 32.

[0029]

According to the robot hand for forging rolls of the present invention, when the roll forging is performed by the forging rolls, the metal material retreats shockably, but the valve device is already switched to the open mode and the cylinder The chamber is open and unpressurized and the piston is free. Therefore, the piston can be retracted without any trouble due to the impact during roll forging. Similarly, the grip portion and the metal material can be retracted in the same direction without any trouble. Therefore, the impact force is prevented from being directly transmitted to the robot, which is advantageous for protecting the robot.

[Brief description of drawings]

FIG. 1 is a side view showing a usage state with a partial cross section.

[FIG. 2] The right half is an end view seen from the direction of arrow R1,
The left half is a sectional view as seen from the direction of arrow R2.

FIG. 3 is an overall configuration diagram shown together with a forging roll.

[Explanation of reference numerals] In the drawing, 2 is a fixing part, 3 is a cylinder device, 30 is a cylinder chamber, 33 is a piston, 4 is a material holding part, 41 is a gripping part,
5 is a valve device, 6 is a robot, and 7 is a forging roll.

Claims (1)

[Claims] 1. A fixed portion fixed to a wrist of a robot; a cylinder held by the fixed portion and having a cylinder chamber; and a cylinder chamber provided so as to be able to move forward and backward in the cylinder chamber. A cylinder device having a piston that divides the chamber into two chambers; a material holding unit that moves in the same direction as the piston as the piston moves forward and backward, and has a gripping unit that grips a metal material; And a valve device capable of switching between an operation mode in which the piston is moved forward and backward and an opening mode in which the cylinder chamber is in a non-pressurized state and the piston is in a free state. Robot hand jig.