JPH0890133A - Manipulator hand for forging - Google Patents

Abstract

PURPOSE: To provide a manipulator hand for forging which can forge under clamped condition. CONSTITUTION: The hand body 8 is provided so as to be freely rotatable to an arm 7 of the manipulator and a rotary member 9 rotated around a transmitting shaft 16 is provided on the hand body 8. A moving member 10 which is freely moved toward right and left sides and can be restricted to the rotary member 9, is provided on the rotary member 9, and a clamping means 12 for clamping a blank 3 is provided on the shifting member 10. By this method, the time required for the forging can be saved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a forging manipulator hand, which can be forged while holding a raw material.

[0002]

2. Description of the Related Art Forging a material is performed as follows. As shown in FIG. 4, the worker 1 uses the clamper 2
Thus, one end of the material 3 is gripped and the material 3 is placed on the lower die 4a of the forging machine 4, and then the pedal 5 is depressed to lower the upper die 4b for forging. Next, the work of gripping the material 3 with the clamper 2 and reversing the material 3 and then stepping on the pedal 5 to forge is repeated several times. Finally, the clamper 2 holds the material 3 and lowers the material 3 from the lower mold 4a.

[0003]

However, the temperature of the raw material is as high as 1100 ° C., the work is performed in front of a large forging machine, and the weight of the raw material is 20 to 20.
Since there is as much as 30 kg, it is very dangerous to manually forge the material.

In the forging work, the dimensional accuracy of the raw material is poor, and the raw material heated to about 1200 ° C. after the preliminary shaping is lined up at an arbitrary position. Therefore, the position and posture of the raw material during the forging work should be constant. I can't. In addition, the material is caught in the mold during the forging work, and unlike the case of performing other processing, the work does not proceed smoothly unless human judgment is involved.

As described above, since the forging work is a special work, it is difficult to automate the forging work by using a general work robot. Therefore, automation of forging work is delayed. In particular, when forging is performed with the material held, vibration and shock are greatly applied, and conventional manipulators and robots cannot withstand vibration and shock, and thus cannot respond.

Therefore, an object of the present invention is to provide a manipulator hand for forging which solves the above problems.

[0007]

The structure of the present invention for achieving the above object is a forging manipulator hand including a hand main body, a rotating member, a cushioning means, and a clamping means. The hand body is coupled to the tip of an arm of the manipulator, the rotating member is rotatably supported by the hand body, and is interlockingly connected to a first drive means fixed to the hand body, and the buffer means is a plurality of guide holes. A guide member with a stopper inserted into the movable member movably provides the movable member along the extension line of the rotary shaft of the rotary member, and a buffer member is interposed between the rotary member and the rotary member, so that the movable member is opposite to the rotary member. The second driving means is provided for pressing the rotary member against the relative movement of the moving member and the clamping means is provided with a gripping portion for gripping the material at the tip of the moving member. Characterized by being operatively connected to third driving means parts.

[0008]

[Function] The material is clamped by the clamp means and conveyed to the mold, and the forging is performed while the material of the material is clamped by removing the constraint of the moving member in the buffer means. Even if the material is clamped, the shock absorbing means absorbs the shock during forging, so that the manipulator is not adversely affected. After the first forging, the work of reversing the material together with the rotating member and then forging is repeated.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the drawings.

The construction of the manipulator hand for forging according to the present invention is shown in FIGS. As shown in FIG. 1, the forging manipulator hand includes a hand body 8 attached to an arm 7 of the manipulator, a rotating member 9 that is rotationally driven with respect to the hand body 8, and a moving member 10 with respect to the rotating member 9. It is composed of a buffer means 11 which is movable in the left-right direction and a clamp means 12 provided on the moving member 10.

The hand main body 8 is formed in a cylindrical shape with a bottom, and the hand main body 8 is rotatably provided around a shaft perpendicular to the plane of the drawing through a wrist member 13.

The rotating member 9 is rotatably housed in the left end opening of the hand body 8 via a pair of bearings 14.
A motor 15 as a first drive means is attached to the bottom surface of the right end of the hand body 8, and the output shaft of the motor 15 is interlocked with the rotary member 9 via the transmission shaft 16.

Next, the structure of the buffer means 11 will be described with reference to FIG. The rotating member 9 has a bottomed cylindrical shape, and a flange 17 is provided so as to close the opening thereof. A plurality of guide holes 18 are formed in the flange 17 at equal intervals along the circumference thereof, and the tip of a guide rod 19 inserted into the guide hole 18 from the right side of the flange 17 in FIG. Is screwed into the flange 10a.
A stopper 19a for preventing the guide rod 19 from coming off is formed, and a compression spring 20 surrounding the guide rod 19 is provided between the flange 17 and the flange 10a as a cushioning means. Then, in order to restrain the relative movement of the rotating member 9 and the moving member 10, the cylinder 21 as the second driving means is housed inside the rotating member 9 by being attached to the flange 17, and the rod 21a of the cylinder 21 is accommodated. A disk 23 for pressing the recessed portion 22 of the flange 10a is attached to the.

Finally, the structure of the clamp means 12 will be described with reference to FIG. A lever 24 is rotatably attached to a support member 10b formed on the moving member 10 about a rotary shaft 25.
The middle part of is supported. A slit 26 is formed at the tip of the lever 24 from the tip side, and the support shaft 2 is long in the vertical direction.
7 is rotatably supported via a long pin 28 in a direction perpendicular to the plane of the drawing. An arcuate tab 29a is fixed to the lower end of the support shaft 27. On the other hand, the claw 29a
And a pair of embedded bolts 3 at the tip of the moving member 10 corresponding to
An arcuate claw 29b is fixed via 0 and the nut 31. The tabs 29a and 29b are formed in an arc shape so that the material 3 to be forged can be reliably gripped. In order to drive the claw 29a, a cylinder 32 as a third driving means is attached to the moving member 10 as shown in FIG. 1, and the base end of the lever 24 is connected to the tip of the rod 32a.

Next, the operation of the forging manipulator hand will be described. In order to place the material 3 on the lower die 4a by using the forging manipulator hand, the cylinder 32 is pressed against the rotating member 9 by the cylinder 21 and the cylinder 32 is pressed against the rotating member 9. The pair of claws 29a and 29b are closed by, and the material 3 is grasped and the material 3 is moved onto the lower mold 4a.

Then, the disc 23 is recessed by the cylinder 21 so that the impact due to forging is not transmitted to the manipulator.
Keep away from 2. Then, due to the action of the compression spring 20, the moving member 10 can be moved to the right while being pressed to the left in FIG. In this state, the upper die 4b is lowered while holding the material 3 by the clamp means 12. Then, the material 3 is forged, but the impact at the time of forging is transmitted to the compression spring 20 via the moving member 10, and the impact is absorbed by the compression spring 20. Therefore,
Even if the hand clamps the material 3 at the time of forging, the impact is not directly transmitted to the manipulator.

After the first forging, the cylinder 21
The disk 15 is pressed against the recess 22 by the motor 15
Is driven to reverse the material 3 together with the rotating member 9 and the moving member 10 to separate the disk 23 from the concave portion 22, and then the second forging is performed. Hereinafter, the third and subsequent forgings are similarly performed.

When the forging work is completed, the disk 23 is recessed 2
The material 3 is unloaded from the lower mold 4a while being pressed to 2.

The cushioning member is not limited to the compression spring, and a vibration-proof rubber or the like may be used.

[0020]

As can be seen from the above description, in the forging manipulator hand according to the present invention, due to the presence of the cushioning means, the impact during forging is not directly transmitted to the manipulator and the manipulator is not adversely affected. Further, since the clamp means is provided via the buffer means, the material can be forged while being clamped. Unclamping and then clamping the material takes time because it is performed while visually observing from a distance, so the time is shortened and the time required for forging is saved.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of a forging manipulator hand according to the present invention.

FIG. 2 is a detailed view showing the vicinity of the buffer means according to the embodiment of the forging manipulator hand according to the present invention.

FIG. 3 is a detailed view showing the vicinity of the clamp means according to the embodiment of the forging manipulator hand according to the present invention.

FIG. 4 is an explanatory view for explaining a conventional forging procedure.

[Explanation of symbols]

 8 ... Hand main body 9 ... Rotating member 10 ... Moving member 11 ... Buffering means 12 ... Clamping means 15 ... Motor 18 ... Guide hole 19 ... Guide rod 19a ... Stopper 20 ... Compression springs 21, 32 ... Cylinder 22 ... Recess 23 ... Disc

Claims (1)

[Claims] 1. A forging manipulator hand comprising a hand body, a rotating member, a buffering means, and a clamping means, wherein the hand body is coupled to the tip of an arm in the manipulator, and the rotating member is a hand. It is rotatably supported by the main body and interlockingly connected to the first drive means fixed to the hand main body, and the buffer means is an extension line of the rotary shaft of the rotary body by means of a guide rod with a stopper inserted into a plurality of guide holes. A moving member is movably provided along the moving member, a buffer member is interposed between the rotating member and the moving member, and the moving member is pressed toward the anti-rotating member side to restrain relative movement between the rotating member and the moving member. Second clamping means for clamping, and the clamping means has a gripping portion for gripping the material at the tip of the moving member, and the forging manipulator machine in which the third driving means is linked to the gripping portion. De.