JPH06304690A - Automatic conveying device in forging press - Google Patents

Abstract

PURPOSE:To obtain an automatic conveying device in a forging press, in which the movement of a beam can further accurately be controlled. CONSTITUTION:Out of beam driving devices of right and left sides, the one side is composed of three servomotors 11, 15, 19 for vertically moving, advancing/retreating and opening/closing, three ball screws 12, 14, 18 and a movable member independently shifted in the straight line by screwing with these ball screws. The other side is connected with the one side through one pair of beams 4 and composed of two servomotors 21, 24 for vertically moving and opening/ closing, two ball screws 22, 25 and movable member shifted in the straight line by screwing with these ball screw and supported in freely movable in the advancing/retreating direction. By this method, as a locus drawn with the beam in the opening/closing movement is the straight line having the shortest distance, it is no fear to interfere or collide to even small gap with the die. Further, the servomotor for advancing/retreating is fitted to only one side, but this load is extremely reduced and the beam transmitting this movement to the other side can be lightened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic conveying device for grasping a work in a forging press and moving the work in the order of press working.

[0002]

2. Description of the Related Art A beam driving device is provided on both left and right sides of a forging press, and two beams are horizontally connected between upper and lower dies to vertically move (lift motion) and forward and backward motion (feed motion). ) And opening and closing movements (clamping movements) in combination with each other, a transfer mechanism has been put to practical use in which a work is grasped between fingers mounted inwardly of both beams, moved to a required place and released. This beam driving device must repeat three kinds of motions in order and synchronize with the operation of the press. Therefore, the beam driving device receives the rotation of the crankshaft of the press body and uses a transmission mechanism that combines a cam mechanism, a gear and a rack, and a coupling shaft. It has been converted into beam motion.

However, since a combination of a cam disk, a gear rack, and the like is determined in such a mechanism, the stroke length (stroke), timing, and speed of the three-direction movement of the beam can be executed only at specific fixed numerical values. Since it cannot be appropriately changed depending on the size and type of the work, a problem in use arises unless a large-sized automatic forging press or the like with little work change is removed. In other words, the transfer type forging press, which is widely used in general, handles many kinds of workpieces and produces small quantities.Therefore, in order to carry out the required beam movement with a fixed transfer device, it is mounted on the die array or the beam. This problem is dealt with by exchanging the fingers, but it goes without saying that this reduces productivity and complicates maintenance and inspection. There is also a problem in that the mechanism is complicated and a large number of members that maintain rigidity are used to form a large drive device, which occupies a large space on the left and right sides of the forging press.

In order to solve these problems, the applicant has previously proposed a transfer device capable of freely (and accurately) adjusting the transfer of the work in accordance with the size and working degree of the work, the conditions of the die, etc. We have proposed a device that provides optimal operation by freely setting motion conditions such as stopping (Japanese Patent Application No. 3-280).
848). In this prior art, as shown in FIG. 3, a beam driving device of an automatic transporting device is provided with a hollow rectangular intermediate frame 102 which is attached to an outer frame 101 fixed to a press body so as to be able to move up and down, and traverses in the intermediate frame 102. And a pair of beams 104 rotatably attached to the clamp frame 103, and servomotors 105A, 105B and 105C for driving the vertical movement, the horizontal movement and the opening / closing movement. The above problem is solved by a configuration in which a control device that generates a pulse signal based on an input initial condition performs necessary driving and stopping.

[0005]

This prior art is highly evaluated in that it can easily respond to various changes in forging conditions to control the optimum conveying action. In particular, the input device for writing the initial condition to the control device of each servo motor, the display device for displaying the operation diagram in which the input is image processed, the image processing and the initial condition are read, and the displacement amount of the beam is calculated to correspond. The CPU includes a CPU for transmitting a pulse generation signal and a pulse generator, and the displacement amount calculated from the feedback pulse of the servomotor is compared with the initial condition to intermittently generate the pulse generation signal so that the two coincide with each other. Controlling the beam drive contributes to a high degree of automation of the forging press.

However, it is undeniable that there is a demand for a more precise beam movement trajectory due to the configuration, as the control of the driving action becomes extremely sophisticated. One of them is that the forward / backward movement and the vertical movement of the beam are driven as a linear movement via a ball screw directly connected to a servomotor, while the opening / closing movement takes the form of an arc movement. That is, for driving the clamp, the clamp screw shaft 1 is moved in the clamp frame 103 in a direction orthogonal to the feed screw shaft 106.
07 is crossed, one end of the screw shaft is connected to the servomotor 105C for driving the clamp, and the other is screwed into the female screw hole 109 drilled in the slide 108, and the links 110, 111 and the lever 112 are provided below the slide. , 113, 114,
A beam 1 that holds 115 together so that it can be pivoted.
It is driven by forming a link mechanism for rotating 04 in the same direction and in opposite directions. The fact that the opening and closing movement draws an arc with a curvature in this way means that there is a risk of contact and interference with the mold unless the gap between the beam including the fingers and the mold is set larger than necessary. Leads to challenges. There is still room for improvement in that it is necessary to make room for the placement of the mold while controlling the driving of the beam at an extremely high level.

As the next problem, the previous configuration shown in FIG. 3 is a perspective view showing only one of the structures of the beam driving devices respectively arranged on the left and right sides of the forging press. The other beam driving device having substantially the same structure is connected to the opposite side via a pair of beams 104. The only difference is that the other beam driving device is not equipped with a servo motor for forward and backward movements.
The drive of B is transmitted by the beam 104 to move. However, for that reason, it is necessary to traverse the entire structure inside the intermediate frame mainly including the clamp frame etc. also arranged on the other side, so the driving force should be set high and the intensity of the beam transmitting the driving force should be calculated high. In addition to the above, it is difficult to say that the combination of members becomes complicated and maintenance is advantageous.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to further improve the automatic transfer device for a forging press developed above to improve its integrity and provide the same.

[0009]

An automatic conveying device for a forging press according to the present invention is provided with a driving device using a servomotor for driving a beam as a power source on the left and right sides of the forging press, and horizontally extending between upper and lower dies. In the configuration in which the movements of the two beams thus moved up and down, forward and backward, and opening and closing in three directions are image-displayed and computer-controlled, one beam driving device 1 has three servo motors for raising, lowering, advancing and retracting, and opening and closing. 11, 1
5, 19 and three ball screws 12, 14, 18 which are rotated by their driving, and movable members which are screwed with the ball screws and move linearly independently of each other. The other beam driving device 2 connected via the beam 4 is composed of two servo motors 2 for raising and lowering and for opening and closing.
1 and 24, two ball screws 22 and 25 that are rotated by their driving, and screwed with the ball screws to move linearly independently of each other, and to movably pivot in forward and backward directions. The above-mentioned problems have been solved by using a member.

[0010]

In comparison with the technique shown in FIG. 3, the transporting device of this forging press is configured not only to move up and down, to move the beam forward and backward, but also to move linearly even when the beam is opened and closed. Is accurately controlled, and the fear of interference with the mold is completely eliminated. It is the servomotor and the screw shaft that transmits the rotation that drive the clamp and open operations. Since this control is based on a pulse signal, precise and high-level drive control can be achieved compared to the conventional structure. realizable. Control itself that combines a servo motor, a screw shaft, and a pulse signal is known, but since this mechanism was introduced into all conveyors and the movement trajectory was made straight, the operation started softly even during opening and closing movements. It is possible to program a speed change that runs linearly and then softly stops. In this method, the most appropriate speed change is set and commanded by increasing or decreasing the pulse frequency, and the movements of a pair of both beams are perfectly synchronized, so that the optimum gripping, movement and opening of the work can be freely adjusted.

Further, the other beam driving device is provided with a raising / lowering servo motor 21 and an opening / closing servo motor 24, but there is no forward / backward servo motor, and the forward / backward movement of the beam 4 is performed by the first beam driving device 1. It is driven only by the forward / backward servomotor 15, while the other beam drive device 2 remains stationary in a completely unrelated state and merely pivotally guides the forward / backward movement performed through the movable member. Therefore, a large driving force for moving the other beam driving device 2 as a whole is unnecessary, and the motor load is significantly reduced.

[0012]

FIG. 1 is a perspective view showing an embodiment of the present invention,
FIG. 2 is a plan view (A) and a front view (B) of the whole. In FIG. 1, one beam driving device 1 is a ball screw 1 for raising and lowering a servo motor 11 for raising and lowering attached to a fixed frame 3.
A vertical moving table 13 that is screwed up and down to move up and down, a horizontal moving table 16 that slides on the vertical moving table 13 by screwing with a forward and backward ball screw 14 of a forward and backward servo motor 15, and a left and right It comprises a pair of clamp sliders 17 that are opened and closed by being screwed onto the open / close ball screw 18 of the open / close servo motor 19 on the moving table 16. Among these, the lifting servomotor 11 of one beam driving device 1 is placed on the fixed frame 3, and the lifting ball screw 12 connected to the rotation shaft of the lifting servomotor 11 is mounted between the fixed frames 3. Supported by
An up-and-down moving base 13 having a female screw that is screwed in the center with the elevating ball screw 12 is vertically supported by two lift guide rods 31 connecting between the fixed frames 3 at both ends.

The left and right moving base 16 of one beam driving device is composed of a horizontal portion 16A slidably fitted on the vertical moving base 13 and a vertical portion 16B bent vertically to penetrate the vertical portion 16B. A forward / backward ball screw 14 screwed into the female screw hole is connected to a forward / backward servomotor 15 attached to the side surface of the vertical moving table 13.

A pair of clamp sliders 17 of one beam driving device 1 are slidably fitted on the left and right moving base 16, and an opening and closing ball screw 18 which is commonly screwed into a female screw hole passing therethrough is provided. An opening / closing servomotor 19 is attached to the side surface of the left / right moving table 16 by screwing screws in the left and right opposite directions with the middle part as a boundary and connecting with the opening / closing ball screw 18.

The other beam driving device 2 connected through the pair of beams 4 engaged with the clamp slider 17
Is a lifting servomotor 2 mounted on a fixed frame 3.
1. An up-and-down moving table 23 that is screwed up and down by being screwed with the up-and-down ball screw 22 of FIG.
4 includes a pair of clamp sliders 26 that are screwed into the open / close ball screw 25 to open and close, and a beam guide rod 41 that is connected to the pair of beams 4 and slidably penetrates through the clamp sliders 26. As a more specific example of this, the vertical movement table 23 of the other beam driving device 2 has an opening / closing servo motor 24 attached to its side surface, and is connected to the opening / closing servo motor 24 by screwing in the opposite left / right direction for opening / closing. The ball screw 25 is screwed into the female screw holes of the left and right clamp sliders 26, and the pair of clamp sliders 26 slidably supported on the up-and-down moving table 23 extends downwardly to the leg portion 2
It is most preferable that the beam guide rod 41, which is provided with 7 and has the beam guide rod 41 connected to the beam 4 slidably inserted into the through hole of the leg 27.

[0016]

As described above, according to the present invention, since the beam driving device takes a locus in which all the movements including the opening / closing movement draw a straight line, the movement of the beam connects the shortest distance as compared with the conventional one. The fear of interference with the moving mold has been eliminated. Together with the control of the drive by the computer, accurate and precise drive adjustment can be easily performed, which can make a great contribution to the automation of the forging press. Further, not only the drive mechanism, especially the other beam drive device is simplified to greatly reduce the chance of failure, but also the load on the forward / backward servomotor of the one beam drive device and the beam transmitting this movement is increased. Since it is significantly reduced, it is possible to considerably reduce the weight by reducing the structural strength. Since the structure is simplified and open, it is easy to perform maintenance and inspections and arrangements after work, so maintenance is easier and further failure is less likely to occur, and even if it occurs, it is easy to repair it. Benefits are obtained.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a plan view (A) and a front view (B) showing the same example as a whole.

FIG. 3 is a perspective view showing a prior art.

[Explanation of symbols]

 1 beam driving device 2 other beam driving device 3 fixed frame 4 beam 11 lifting servo motor 12 lifting ball screw 13 vertical moving table 14 forward and backward ball screw 15 forward and backward servo motor 16 left and right moving table 17 clamp slider 18 Ball screw for opening / closing 19 Servo motor for opening / closing 21 Servo motor for lifting / lowering 22 Ball screw for lifting / lowering 23 Vertical movement table 24 Servo motor for opening / closing 25 Ball screw for opening / closing 26 Clamp slider 27 Leg 31 Lift guide 41 Beam guide rod

Claims (6)

[Claims] 1. A drive device having a servomotor for driving a beam as a power source is provided on both left and right sides of a forging press, and two beams are horizontally mounted between upper and lower molds to move up and down, forward and backward, and open and close in three directions. In a conveyance device which displays a motion image and is computer-controlled, one beam drive device 1 has three servo motors 11, 1 for raising and lowering, for moving forward and backward, and for opening and closing.
5, 19 and three ball screws 12, 14, 18 which are rotated by their driving, and movable members which are screwed with the ball screws and move linearly independently of each other. The other beam driving device 2 connected via the beam 4 is composed of two servo motors 2 for raising and lowering and for opening and closing.
1 and 24, two ball screws 22 and 25 that are rotated by their driving, and screwed with the ball screws to move linearly independently of each other, and to movably pivot in forward and backward directions. An automatic conveying device for a forging press, which is made up of members. 2. The beam driving device 1 according to claim 1, wherein one beam driving device 1 is screwed up and down by a ball screw 12 for raising and lowering of a servo motor 11 for raising and lowering mounted on a fixed frame 3, and a vertically moving base 13, and the up and down movement. A left / right moving base 16 that slides on the base 13 by slidingly engaging with a forward / backward ball screw 14 of a forward / backward servomotor 15, and an opening / closing ball screw 18 of an opening / closing servomotor 19 on the left / right moving base 16. The other beam drive device 2 which is composed of a pair of clamp sliders 17 that are screwed together to open and close, and is connected via a pair of beams 4 engaged with the clamp sliders 17, has a servo motor 21 for raising and lowering attached to a fixed frame 3. A vertical moving table 23 that is screwed up and down with the lifting ball screw 22 and a pair that is screwed with the opening and closing ball screw 25 of the opening and closing servo motor 24 on the vertical moving table 23 to open and close. 2. An automatic conveying device for a forging press, comprising: the clamp slider 26, and a beam guide rod 41 which is connected to the pair of beams 4 and slidably penetrates through the clamp slider 26. 3. The raising / lowering ball according to claim 1, wherein the raising / lowering servomotor 11 of one of the beam driving devices 1 is placed on the fixed frame 3 and is connected to the rotary shaft of the raising / lowering servomotor 11. A screw 12 is axially supported between the fixed frames 3, and an up-and-down moving base 13 having a female screw threaded at the center with the lifting ball screw 12 is provided by two lift guide rods 31 connecting the fixed frames 3 at both ends. An automatic conveying device for a forging press, which is supported in a horizontal direction so that it can be raised and lowered. 4. The horizontal moving table 16 of one of the beam driving devices 1 according to claim 1, wherein the horizontal moving table 16 is a vertical moving table 1.
3 is composed of a horizontal portion 16A slidably fitted on top of the vertical portion 16B and a vertical portion 16B bent vertically, and a forward / backward ball screw 14 screwed into a female screw hole penetrating the vertical portion 16B is mounted on the vertical moving table 13. Forward / backward servomotor 1 attached to the side
An automatic conveying device for a forging press, characterized in that it is connected to 5. 5. The pair of clamp sliders 17 of one beam drive device 1 according to claim 1, wherein a pair of clamp sliders 17 are slidably fitted onto the left and right moving base 16 and female screw holes penetrating both are formed. The opening / closing ball screw 18 which is screwed in common has left-right opposite screws each having an intermediate portion as a boundary, and the opening / closing servo motor 19 is connected to the opening / closing ball screw 18.
Is attached to the side surface of the left-right moving table 16 and is an automatic conveying device for a forging press. 6. The opening / closing servomotor 24 according to claim 1, wherein the vertical movement table 23 of the other beam driving device 2 is provided with an opening / closing servomotor 24 on its side surface.
Ball screw 2 for opening and closing, which is screwed in the left-right direction to connect with 4
5 is screwed into the female screw holes of the left and right clamp sliders 26,
A pair of clamp sliders 26 slidably supported on the up-and-down moving table 23 has leg portions 27 extending downward, and a beam guide rod 41 connected to the beam 4 slides into a through hole of the leg portions 27. An automatic transfer device for a forging press, characterized by being inserted freely.