JPH06142996A - Die change, forming method and its equipment in tandem press line - Google Patents

Abstract

PURPOSE:To improve the efficiency of production and to save a man-power by fully automating set-up change corresponding to the change of a work in a tandem press line of an automobile parts, etc. CONSTITUTION:A self clamp device 7 automatically attach and detaching various upper dies 4L to/from ram, and die changing devices 8, 9 of a bolster truck system and a die plate moving system that the conveying-out of used upper and lower dies and the conveying-in of upper and lower dies for succeeding machining are executed at a same time are provided in plural press machines 1 arranged in tandem. A clamp tool changing device 10 changing a clamp tool 60 by moving between the vicinity of a robot and the line side is provided on conveying in and out robots 5, 6, and an auto-nesting mechanism 13 that the position can be adjustable is provided on the shuttle truck 12 of the conveying devices 11 between presses. All of the changing process and the forming process of succeeding machining work are fully automatically executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for exchanging / molding dies in a tandem press line for processing automobile parts and the like, and a tandem press line facility used for carrying out this method.

[0002]

2. Description of the Related Art In recent years, in the press processing industry where the demand for high-mix low-volume production is increasing, it is becoming more and more common to replace dies 10 times a day, and maintain and improve the operating rate of press machines. In order to make it possible, shortening the die replacement time is an important factor. Therefore, in the conventional tandem press line for door panels, etc., we have introduced an automatic clamping device that automatically attaches and detaches the upper die of the press machine, and a mold exchanging device that simultaneously exchanges the used upper and lower dies for the next processing upper and lower dies. Was there.

[0003]

However, in the conventional tandem press line equipment as described above, the gripping tools of the carry-in robot and carry-out robot arranged at the front and rear parts of the press machine are manually replaced, and further, the press tool between the press machines is changed. Since the work receiving mechanism of the shuttle dolly of the transfer device for transferring the work is manually performed, there is a problem that it takes time to replace the work due to the change of the work type and many workers are required.

The present invention has been made in order to solve the above-mentioned problems, and its purpose is to be able to fully automatically perform the exchanging process associated with the change of the type of work and the forming process of the next processed work. It is an object of the present invention to provide a die replacement / molding method for a tandem press line and a tandem press line facility capable of improving efficiency and saving labor.

[0005]

MEANS FOR SOLVING THE PROBLEMS The method for exchanging and forming dies in a tandem press line according to the present invention is a tandem press line in which a plurality of presses arranged in a tandem sequentially form a work, and the type of work is changed. (1) Unclamp the used upper mold attached to the ram of the press machine and stack the used upper mold on the used lower mold to integrate the upper and lower molds. And carry out the used upper and lower dies from the inside of the press to the side of the line,
Carrying in and positioning the upper and lower molds for the next processing, clamping the upper mold for the next processing to the ram of the press machine, and raising this ram to divide the upper and lower molds, and (2) the work from the inside of the press machine. The process of exchanging the gripping tool of the carry-out robot and the carry-in robot that carries the work into the press machine with a gripping tool corresponding to the next processing work, and (3) gripping the next processing blank sheet by the carry-in robot or the next processing work. After the tool has been replaced, the carrying-in robot carries in the press molding after the upper and lower molds for the next processing have been replaced, and press-molds. The nest mechanism is adjusted according to the workpiece to be processed next, and the workpiece is transferred onto this auto nest mechanism by the carry-out robot whose gripping tool has been exchanged, and then transferred to the next press machine. .

The tandem press line equipment of the present invention is
The press ram is equipped with an automatic clamp device that automatically attaches and detaches various upper molds according to the type of work, and multiple presses arranged in tandem and integrated upper and lower molds are placed inside the press machine. A bolster truck type or die plate moving type die exchanging device that moves between the side of the line and carries out the used upper and lower dies and the upper and lower dies for the next processing at the same time, and the work inside the press machine. A carry-in robot and carry-out robot that carries in between the upper and lower molds and carries out the work between the upper and lower molds, a used gripper of the carry-in robot or the carry-out robot, and a carry-in robot or carry-out by mounting a gripper for the next processing. A gripper exchanging device that can move between the vicinity of the robot and the side of the line, and an automatic nesting machine that is arranged between each press and that can adjust the position according to the type of work on the shuttle carriage that reciprocates. A conveying device provided with a make up and a control panel for controlling the exchange step and the molding step on the basis of the work information.

[0007]

With the above construction, when the next work type is instructed to be changed, the used upper mold is unclamped by the automatic clamp device and the used upper and lower molds are integrated by the mold exchanging device. Is carried out from the press machine, and at the same time, the upper and lower dies for the next processing are carried into the press machine. The gripping tools of the carry-in robot and the carry-out robot are also replaced with the gripping tools for the next processing by the gripping tool exchanging device, and the position of the automatic nesting mechanism of the shuttle cart is adjusted corresponding to the next processing work. Press molding is performed with the upper and lower molds that have been exchanged, and the workpieces are unloaded from the press machine by the loading robot, unloading robot, and transfer device that have been exchanged, and loaded into the pressing machine for the next process. The entire exchange process and the forming process of the next processing work are fully automated, improving production efficiency and saving labor.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to an illustrated embodiment. This is an example of a tandem press line for molding automobile inner and outer door panels. 1 and 2 are a side view and a plan view of the entire tandem press line facility, FIG. 3 is a front view of the upper die automatic clamp device, and FIG. 4 is a bolster truck type gold for NO.1 and NO.2 press machines. The front view of the mold exchanging device, FIGS. 5 and 6 are NO.3 to N.
O.5 Schematic front view and schematic plan view showing the die exchanging device of the press machine, FIG. 11 is a side view showing a workpiece loading / unloading robot in each press machine, and FIGS. 12 and 13 are robot gripper exchanging devices. FIG. 14 is a schematic plan view and a schematic vertical sectional view showing a conveying device between press machines.

As shown in FIGS. 1 and 2, the tandem press line equipment is mainly composed of NO.1 to NO.5 presses 1-1 to 1-5 arranged in tandem, and an inlet side die supplying blank sheets. It consists of a stacker 2 and a discharge conveyor 3 on the output side for discharging the finished product. The loading robot 5 for loading the work into the press machine 1 and the work in the press machine 1 on the entry and exit sides of each press machine 1. A carry-out robot 6 for carrying out is provided.

In such a structure, the ram of each press machine 1 is provided with an automatic clamping device 7 of the upper die 4U so as to automatically and promptly respond to a change in the type of work.
The NO.1 and NO.2 press machines 1-1 and 1-2 include a bolster truck type mold exchanging device 8, and NO.3 to NO.5 press machines 1-3 to 1
-5 is provided with a die plate moving type mold exchanging device 9. Further, a gripper exchanging device 10 for exchanging the work gripper 60 at the tip of the robot is provided on the side of each robot 5 and 6 (excluding the carry-in robot 5-1 on the side of the stacker 2). Further, between the presses 1, a transfer device 11 having an automatic nesting mechanism 13 on a shuttle carriage 12 is arranged.

As shown in FIG. 3, a plurality of upper die automatic clamping devices 7 are attached to an upper die fixing plate 15 fixed to the lower portion of the ram, and the flange 4a of the upper die 4U is fixed to the upper die fixing plate 1.
The device for fastening to No. 5 is configured so that even if the upper mold 4U is replaced and the size of the upper mold 4U is changed due to a change in the type of the work, the upper mold 4U can be automatically and correspondingly clamped. This automatic clamping device 7 has a main body 20 attached to the upper die fixing plate 15, a moving clamper 21 movable with a T groove 16 formed on the lower surface of the upper die fixing plate 15 as a guide, and side rollers 22 on both sides. It comprises a chain-shaped flexible strip 23 provided, a hydraulic cable 24 for supplying pressure oil to the moving clamper 21, and the like.

The fixed portion 21a of the movable clamper 21 and the flexible strip 23 are slidable by engaging with the upper engaging groove 16a of the T-groove 16, and are installed in the main body 20 such as an air cylinder and a motor. It is pushed and pulled by the drive source to move.
When the moving clamper 21 reaches the inside of the U groove 4b of the upper die 4U, the limit switch 26 for die detection detects it.
Stop the drive source. Next, the movable portion 21b of the moving clamper 21 moves upward by hydraulic pressure, and the upper die 4U is tightly connected to the upper die stationary platen 15. When exchanging the upper mold 4U, the moving clamper 21 is retracted below the main body 20.

As shown in FIG. 4, the bolster truck type mold exchanging device 8 is capable of traveling on the rails laid on the left and right sides of the line from inside the press machines 1-1, 1-2. And the bolster 3 fixed on this trolley 30
It consists of 1. A lower die 4L is fixed on the bolster 31 via an auto clamp 32, and the used upper and lower die 4L
Is carried out from the inside of the press machine 1 to one side, and the upper and lower dies 4 for the next processing prepared on the other side are carried into the press machine 1. A safety guard 33 is provided at the loading / unloading opening between the posts 1a of the press 1 so as to be vertically openable and closable.

Die plate moving type die changing device 9
As shown in FIGS. 5 and 6, the press machines 1-3 to 1-5
Install the bolster 41 in the press station 40 inside,
Place the waiting stations 42 on the left and right sides of the line,
This is a method of moving the die plate 43 on which the upper and lower dies 4 are mounted, and the used upper and lower dies 4 are carried out from the bolster 41 to one standby station 42 and used for the next processing prepared in the other standby station 42. The upper and lower molds 4 are bolstered 41
Bring it on.

In the standby station 42, a pair of roller conveyors 44 are arranged in the line direction up to the front of the bolster 41 passing between the posts 1a of the press 1, and a closed loop driven by a drive motor 46 between the roller conveyors 44. A chain 45 is installed. The closed loop chain 45 has a connecting member 45a connected to the connecting member 43a of the die plate 43.
Push 3 to move.

The bolster 41 is fixed so that its upper surface is located below the upper surface of the roller conveyor 44 of the standby station 42, and the pair of roller conveyors 4 in the line direction.
7 is provided so as to be vertically movable. This roller conveyor 4
7 is moved up and down by a plurality of lift hydraulic cylinders 48 (see FIGS. 7 and 8) arranged at the lower part thereof, and is at the same level as the roller conveyor 44 at the ascending end and at the bolster 4 at the descending end.
It is supposed to be buried in 1.

The die plate 43, which is supported by the roller conveyor 44 and the raised roller conveyor 47 and is carried into the press 1 by the closed loop chain 45, has a stopper 49 attached to one end thereof and a bolster 41.
Positioning is stopped by contacting the end surface of the. As shown in FIG. 6, the standby station 42 and the press station 40 are provided with guide rollers 50 that roll on contact with the side surfaces of the die plate 43 for positioning in the line direction. Next, when the roller conveyor 47 is lowered, it is accurately positioned and seated on the bolster 41 by the plurality of positioning pins 51 (see FIG. 6) protrudingly provided on the upper surface of the bolster 41.

As shown in FIG. 8, the lower mold 4L has a hydraulic cylinder type auto clamp 52 and a T groove 53 at the time of press molding.
Although it is fixed to the die plate 43 by means of FIG. 9, pressure oil can be automatically supplied to the auto clamp 52 of the die plate 43 which is carried into the press machine 1 and positioned.
The coupler 54 shown in FIG. 10 is used. This coupler 54
Is a male coupler 54a fixed to the end face of the bolster 41.
And the female coupler portion 5 fixed to the end surface of the die plate 43.
4b, the die plate 43 descends on the bolster 41, and when the die plate 43 is positioned by the pin 51, the die plate 43 is engaged with each other to be connected.

The hydraulic power source 55 is installed near the bolster 41, and pressure oil is supplied to the coupler male portion 54a on the bolster 41 side by a pressure oil pipe 56. The coupler female portion 54b of the die plate 43 and the auto clamp 52 are the pressure oil pipes 5
7, swivel joint 58, flexible tube 5
Connect by 9. The coupler 54 is a coupler capable of sending pressure oil without leakage due to a check valve in the separated state and leaking high pressure oil in the coupled state.

As shown in FIG. 11, the loading and unloading robots 5 and 6 are multi-arm type robots whose bases are fixed to the front and rear surfaces of the press machine 1, swinging in the line direction to horizontally move the work W. Move to. The gripping tool 60 as an end effector is detachably attached to the tip of the arm via a fixing portion 61, and the vacuum pad 6 is attached to the frame base.
It is configured by attaching a plurality of 2.

The gripper exchanging device 10 is a device for automatically exchanging the gripper 60 according to the type of the work.
As shown in FIG. 2 and FIG. 13, the basket 70 in which the used gripping tool 60 ′ is placed on the upper stage and the gripping tool 60 for the next processing is placed on the lower stage.
And a second moving table 72 on which the basket 70 is fixed.
And a first moving table 71 that supports the second moving table 72,
The tilt table 73 supports the first moving table 71, and the supporting elevator 74 supports the tip of the second moving table 72 supported by a cantilever.

The tilt table 73 and the support elevator 74 are arranged on the inlet side or the outlet side of the transport conveyor 11 described later so as to sandwich the transport conveyor 11. The tilt table 73 is provided with an endless chain 76 driven by a geared motor 75, and a connecting member 77 of the chain 76 is connected to the first end.
By being fixed to the lower surface of the moving table 71, the first moving table 7
1 moves back and forth. First moving table 71 and second moving table 72
Are movably supported by guides 78 and 79, respectively (see FIG. 13).

The second moving table 72 is moved together with the first moving table 71. That is, racks 80 and 81 are provided on the upper surface of the tilt table 73 and the lower surface of the second moving table 72, respectively.
Pinions 82 and 83 that mesh with this rack are provided at both ends of the first moving table 71. When the pinions 82 and 83 are connected by the power transmission mechanism 84 including the toothed belt and the toothed pulley, the second moving table 72 moves at the same speed as the first moving table 71 due to the movement of the first moving first section 71. Therefore, the ground speed of the second moving table 72 is twice as high as that of the first moving table 71, and the gripping tool replacement time can be shortened.

The first and second movable bases 71 and 72 are extended, the tip of the second movable base 72 is supported by the raised connecting portion 74a of the support elevator 74, and in this state, the used gripping tool 60 '.
Is carried by the robot 5 or 6 and placed on the upper stage of the basket 70, and the used gripping tool 60 ′ is separated from the fixing portion 61. Next, the gripper 60 for the next process is fixed to the fixing portion 61,
The robot is stopped when the gripper 60 is slightly raised. From this state, the first and second moving bases 71 and 72 are retracted and lowered to the standby position, and the support elevator 74 is moved.
Also lower. The temporarily stopped robots 5 and 6 are restarted to carry in or carry out the next work.

As shown in FIG. 14, the carrier device 11 receives the work from the carry-out robot 6 by the auto nest mechanism 13 of the shuttle carriage 12 and causes the shuttle carriage 12 to travel at high speed to the entrance side of the next press machine. When a work is taken out by the carry-in robot 5, the work is returned and driven at a high speed, and when the kind of the work is changed, the position of the supporting member of the auto nest mechanism 13 is automatically adjusted.

The shuttle carriage 12 is movable by having wheels 12a sandwiching a pair of left and right guides 91 arranged on the upper surface of the support base 90 from above and below, and side wheels 12b rolling on the side surfaces of the guides 91. And is pulled by a closed-loop toothed belt (or roller chain) 92 wound around a toothed pulley (or sprocket) 93.
The closed loop toothed belt 92 is a power transmission mechanism 9 including a toothed belt (or roller chain) and a toothed pulley (or sprocket) by a servomotor 94.
It is rotationally driven via 5, 96.

As shown in FIG. 15, the power supply / control device 100 for adjusting the automatic nesting mechanism 13 has a shuttle carriage 1 as shown in FIG.
It is arranged at the stop position 2 so that power can be supplied through the connector 101 while the shuttle carriage 12 is stopped. The power supply / control device 100 is slidably supported along the pair of guides 102, and the shuttle carriage 1 is supported by the cylinder 103.
It is possible to move forward and backward with respect to 2. The male connector portion 101a is provided so as to project from the shuttle carriage 12, and the female connector portion 101b is provided on the front surface of the power feeding / control device 100.

Further, a buffer rod 105 having a spring 104 is provided so as to project from the front surface of the power feeding / control device 100, and a cross member 107 is provided with a tapered stepped hole 106 with which the tip of the buffer rod 105 is engaged. The parts 101a and 101b are accurately positioned so that a reliable connection is made.

As shown in FIG. 16, the auto nesting mechanism 13 includes a plurality of supporting members 110 for supporting a work, and a ball screw shaft 111 for moving and adjusting the supporting members 110.
The ball screw shaft 11 is composed of a drive source that rotates. The position of the support member 110 is adjusted by the supply of the power / control signal from the power supply / control device 100, and the support mechanism corresponding to the workpiece to be processed next can be obtained.

As shown in FIGS. 1 and 2, the destacker 2 includes a loading station 120, a magnet floater 121, a magnet conveyor 122, and a cleaning device 123 composed of pinch rolls, brush rolls, and ringer rolls. The centering unit 1 is composed of the centering unit 124, etc.
After being supplied to No. 24 and positioned by the tilting stage and the centering guide, they are inserted into the NO.1 press machine 1-1 by the carry-in robot 5-1. In the carry-in robot 5-1, the size of the blank sheet only differs depending on the type of the work, and therefore the gripping tool may be of one type, and the gripping tool exchanging device is not required.

In the control panel, each device is controlled as follows on the basis of the work information to perform exchange and molding (FIG. 1).
7, 18). This is an example of the NO.1 press machine. <Mold exchange> (1) When the type of work changes, the ram descends based on the work information, and when the upper die 4U is placed on the lower die 4L, the moving clamper 21 of the automatic clamp device 7 is unclamped, Move to the retracted position.

(2) Raise the ram to carry out the bolster truck 30 on which the used upper and lower dies are placed, to the side of the line, and at the same time, place the bolster truck 30 on which the upper and lower dies for the next processing are placed.
Are loaded into the press machine 1. (3) The ram is lowered, the upper die 4U for the next processing is clamped by the automatic clamp device 7, and then the ram is raised. The automatic clamp device 7 can automatically clamp even if the size of the upper mold is different.

<Replacement of grasping tool of carry-out robot> (1) The grasping tool 60 of the carry-out robot 6-1 is replaced at the same time as the aforementioned die replacement. With the shuttle carriage 12 advanced to the No. 2 press machine side and retracted, the gripping tool 6 for the next processing
The cage 70 of the gripper exchanging device 10 for which 0 is prepared is moved up to the vicinity of the carry-out robot 6-1. (2) The used gripping tool 60 ′ of the carry-out robot 6-1 is placed on the cage 70 and separated. Next, the gripping tool 60 for the next processing
Is attached to the carry-out robot 6-1. (3) The basket 70 is moved down and returned to the standby position. The carry-out robot 6-1 is returned to the original position so that the work can be carried out.

<Auto Nest Adjustment / Replacement of Grasping Tool of Carry-In Robot> (1) When the exchanging of the gripping tool of the carry-out robot is completed, the shuttle carriage 12 is retracted and returned to the NO.1 press machine side, and the shuttle carriage 12 is stopped. Power supply / control device 100 (connector 1
01) is connected and the position of the auto nesting mechanism 13 is adjusted according to the next workpiece. (2) At the same time, the loading robot 5 of the next-stage NO.2 press machine
The gripping tool 60 of -2 is replaced. This exchange is exactly the same as in the case of the carry-out robot 6-1.

<Molding of the next processing work> (1) Immediately after the above-mentioned die replacement and gripping tool replacement of the carry-out robot are completed, the carry-in robot 5-1 of the NO.1 press machine immediately moves the blank sheet up and down for the next processing. It is carried between the molds and press-molded. (2) After press forming, the work is taken out by the carry-out robot 6-1 which has been replaced with the gripping tool for the next processing, and placed on the auto nest mechanism 13 whose position adjustment of the shuttle carriage 12 has been completed. (3) Move the shuttle carriage 12 forward to the No. 2 press machine side.

(4) The above-mentioned press molding, unloading, and transportation are carried out during the gripping tool exchange of the loading robot 5-2, and at the time when this gripping tool exchange is completed, the work is transported by the shuttle carriage 12. The work-in robot 5-2 can carry the work into the No. 2 press machine in the next process. In addition, in the NO.2 to NO.5 press machines, the above-mentioned exchange is performed at the same time.

As a result of the unattended full automation as described above, the setup change can be greatly shortened as compared with the tandem press line having only the mold exchanging device and the automatic clamping device.

[0038]

As described above, according to the present invention, when the work is changed, the upper and lower dies are exchanged by the die exchanging device, the grasping tool exchanging device is used for exchanging the grasping tools of the carrying-in / out robot, and The position of the auto nesting mechanism is adjusted, and after the replacement is completed, the next work piece is press-formed, and the work piece is carried in and out.Therefore, the entire replacement step and the forming step of the next work piece can be completely automated. The productivity can be improved by significantly shortening the replacement work time, and labor can be saved by eliminating manual work.

[Brief description of drawings]

FIG. 1 is a side view showing the entire equipment of a tandem press line according to the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a front view showing an upper die automatic clamp device.

FIG. 4 is a front view showing a mold exchanging device of NO.1 and NO.2 press machines.

FIG. 5 is a schematic front view showing a mold exchanging device of NO.3 to NO.5 presses.

FIG. 6 is a schematic plan view of FIG.

7 is a sectional view taken along line VII-VII of FIG.

8 is a sectional view taken along line VIII-VIII of FIG.

FIG. 9 is a partial plan view showing a die plate of the mold exchanging device of FIG.

10 is a side view showing a die plate and a lower mold coupler in FIG. 9. FIG.

FIG. 11 is a side view showing a robot for carrying in and out a work in each press machine.

FIG. 12 is a side view showing a robot gripper exchanging device.

13 is a sectional view taken along line XIII-XIII in FIG.

14A and 14B show a transfer device between press machines, in which FIG. 14A is a schematic plan view and FIG. 14B is a schematic vertical sectional view.

FIG. 15 is a plan view showing a power supply / control device for a carriage of a carrier device.

FIG. 16 is a schematic plan view showing a work support mechanism of the carriage of the transfer device.

FIG. 17 is a flowchart (first half portion) of setup change in the NO.1 press machine.

FIG. 18 is a flowchart (second half) of setup change in the NO.1 press machine.

[Explanation of symbols]

 1 Pressing Machine 2 Destucker 3 Discharge Conveyor 4 Upper / lower type 4U Upper type 4L Lower type 5 Carry-in robot 6 Carry-out robot 7 Automatic clamping device 8 Bolster type mold exchanging device 9 Die plate moving type die exchanging device 10 Grip tool exchange Equipment 11 Transport equipment 12 Shuttle carriage 13 Auto nest mechanism

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI technical display location B25J 9/06 A 8611-3F 15/04 Z 8611-3F B30B 15/02 D 8015-4E

Claims (2)

[Claims] 1. A tandem press line for sequentially forming a work by a plurality of presses arranged in a tandem, when performing a setup change according to a change in the type of the work,
(1) Unclamp the used upper mold attached to the ram of the press, stack the used upper mold on the used lower mold to integrate the upper and lower molds, and press the used upper and lower molds. The process of carrying out from the machine to the side of the line, carrying in and positioning the upper and lower molds for the next processing, clamping the upper mold for the next processing to the ram of the press machine, and raising this ram to divide the upper and lower molds. And (2) the process of exchanging the gripping tool of the carry-out robot that carries out the work from the press machine and the carry-in robot that carries the work into the press machine with a gripping tool that corresponds to the next processing work, and (3) the next processing blank sheet. With the loading robot or the loading robot that has completed the gripping tool exchange of the next processing work, carry it into the press machine where the upper and lower molds for the next processing have been exchanged and press-mold, and (4) distribute between the press machines. Set up and carry work The position of the automatic nesting mechanism of the transfer device is adjusted according to the workpiece to be processed next, and the workpiece is transferred onto this automatic nesting mechanism by the carry-out robot whose gripping tool has been exchanged, and then transferred to the next press machine. A method for exchanging / molding a die for a tandem press line, which is characterized in that 2. A press ram is provided with an automatic clamp device for automatically attaching and detaching various upper molds according to the type of work,
Multiple presses arranged in tandem and integrated upper and lower dies are placed and moved between the inside of the press and the side of the line, and the used upper and lower dies are unloaded and the upper and lower dies for the next processing are loaded. And a die exchange device that simultaneously performs, a loading robot and an unloading robot that load a workpiece between the upper and lower dies in the press machine and unload the workpiece between the upper and lower dies, and a used gripping tool of the loading robot or the unloading robot, A gripping tool exchanging device that mounts a gripping tool for the next processing and can move between the vicinity of the carry-in robot or the carry-out robot and the side of the line, and the work on the shuttle carriage that is reciprocated between the presses. The tandem press dryer is equipped with a transfer device equipped with an auto nesting mechanism whose position can be adjusted according to the type of machine, and a control panel for controlling each replacement process and molding process based on work information. Equipment.