WO2022113773A1

WO2022113773A1 - Molding device

Info

Publication number: WO2022113773A1
Application number: PCT/JP2021/041662
Authority: WO
Inventors: 諭史田幡
Original assignee: 住友重機械工業株式会社
Priority date: 2020-11-30
Filing date: 2021-11-12
Publication date: 2022-06-02
Also published as: US20230294163A1; JPWO2022113773A1

Abstract

In order to appropriately transport a workpiece, the present invention is provided with a movable frame 51, a first arm 52 swingably supported by the movable frame, a second arm 53 swingably supported by the tip of the first arm, a holding part 54 capable of holding the workpiece supported by the second arm, a first swing mechanism 55 for imparting a swinging action to the first arm, a second swing mechanism 56 for imparting a swinging action to the second arm, a rotation mechanism 57 for imparting a rotating action to the second arm, and a movement mechanism for imparting a moving action in at least one direction to the movable frame.

Description

Molding equipment

The present invention relates to a molding apparatus.

In the press device as a molding device, a relay device for receiving the billet as an object to be molded from the feeding device and arranging it at the initial position of the transfer feeder is installed around the mold.
On the other hand, since the surroundings of the mold are in a harsh environment where stains are likely to occur due to the supply of the mold release agent used for the mold, the conventional relay device is used in order to suppress the occurrence of failures and malfunctions. An arm mechanism that reduces the number of joints and rotates the arm with two joints has been adopted (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 8-174134

However, in the above-mentioned conventional molding apparatus, since the number of joints of the relay device is small, there are many restrictions on the operation, and depending on the shape and dimensions of the object to be molded, the billet may be poorly conveyed or the transfer feeder may be in the initial position. There was a problem that it became necessary to manually adjust the mounting position of the billet cradle.

An object of the present invention is to provide a molding apparatus that stably conveys an object to be molded.

The molding apparatus according to the present invention is
Movable frame and
A first arm swingably supported by the movable frame,
A second arm swingably supported by the first arm,
A holding portion that can hold the object to be molded supported by the second arm,
A first swing mechanism that imparts a swing motion to the first arm,
A second swing mechanism that imparts a swing motion to the second arm,
A moving mechanism that imparts a moving motion to the movable frame in at least one direction,
It is configured to be equipped with.

According to the present invention, it is possible to stably convey the object to be molded.

It is a front view of the press apparatus which concerns on this embodiment. It is the right side view of the relay device which omitted the illustration of a moving mechanism. It is sectional drawing of the 2nd arm. FIG. 3 is a cross-sectional view taken along the line UU in FIG. It is sectional drawing which follows the VV line in FIG. It is sectional drawing along the WW line in FIG. It is a block diagram which shows the schematic control composition of a press apparatus.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Structure of molding equipment]
FIG. 1 is a front view of a press device 1 as a molding device according to the present embodiment. As shown in FIG. 1, the left-right direction of the paper surface corresponds to the left-right direction of the press device 1, the up-down direction of the paper surface corresponds to the up-down direction of the device 1, and the vertical direction of the paper surface corresponds to the front-back direction of the device 1. The right side of the paper is the right, and the front side of the paper is the front.
As shown in this figure, the press device 1 is a forging press device that performs forging, and is a device main body 100, a billet B supply device 30, a transfer feeder 40, a relay device 50, and a control device 90. And prepare.
The apparatus main body 100 includes a bed 23, a plurality of uprights 22, a bolster 24, a slide 18, a cradle 13 for billet B, and a drive unit (not shown).

The bed 23 and the plurality of uprights 22 form a frame portion of the press device 1.
The bolster 24 is fixed on the bed 23, and a plurality of lower molds 12 are fixed on the bolster 24.
The slide 18 is supported by a guide (not shown) provided on the upright 22 so as to be able to reciprocate with the vertical direction as the stroke direction. The same number of upper molds 11 as the lower mold 12 are fixed to the lower part of the slide 18. The plurality of upper molds 11 as molds and the plurality of lower molds 12 as molds form a pair corresponding to each other and are arranged along the left-right direction. Are facing up and down. When the slide 18 rises, the upper die 11 and the lower die 12 are separated from each other, and when the slide 18 lowers, the upper die 11 and the lower die 12 are combined and the workpiece is forged between them. It is molded. The upper mold 11 and the lower mold 12 are arranged so that the molding on the right side is closer to the finished product.

The drive unit is configured to move the slide 18 forward and backward, and includes a motor, a flywheel, a clutch brake, a speed reducer, a crank mechanism, and the like as a drive source. Then, the rotation of the motor is converted into vertical movement by the crank mechanism and applied to the slide 18.
When the motor as the drive source is a servomotor, the flywheel and the clutch brake can be eliminated.

The cradle 13 is installed at the initial position of the transfer feeder 40, that is, at the lower left side of the entrance of the conduction portion 14 in which the plurality of upper dies 11 and lower dies 12 are arranged in the frame portion of the press device 1.
The cradle 13 is composed of a cup-shaped container into which the billet B can be inserted from above. A structure that can be manually adjusted with respect to the height of the cradle 13 and the arrangement in the front-back and left-right directions may be provided.

The transfer feeder 40 conveys the billet B onto the lower mold 12 located on the leftmost side (upstream side) from the cradle 13 which is the initial position of the billet B, and at the same time, the billet B (molding) on each lower mold 12 is carried. Is being transported to the lower mold 12 on the right side (downstream side).
The transfer feeder 40 includes a pair of feed rods 41 arranged along the left-right direction, and each feed rod 41 is provided with a plurality of gripping claws (not shown).
Then, from the pair of feed rods 41, the gripping claws extend so as to face each other. Further, the distance between the gripping claws in the left-right direction corresponds to the distance between the plurality of lower molds 12. Further, each feed rod 41 is provided with one more gripping claw than the lower mold 12. For example, if there are five lower molds 12, the number of gripping claws is six.

The transfer feeder 40 clamps the pair of feed rods 41 by (1) approaching → (2) lift (up) → (3) advance (forward) → (4) down (down) → (5) unclamp (release). ) → (6) By operating in the order of return (backward), the billet B is conveyed from the cradle 13 to the lower mold 12, and the object to be molded on each lower mold 12 is moved to the right side (downstream side). ) Is executed.

The billet B supply device 30 includes a slope 31 inclined diagonally downward to the right, and supplies the billet B one by one to the delivery position 32 set at the right end of the slope 31.
The slope 31 is formed with a sliding groove of the billet B. For example, when hot forging is performed, billet B heated to a predetermined temperature by a heating device is supplied to the upper end of the slope 31 in advance. Further, in the case of cold forging, unheated billet B at room temperature is supplied to the upper end of the slope 31.
Then, in either case, the billet B slides to the delivery position 32.
A gate mechanism 33 is provided in front of the delivery position 32, and the passage of the billet B is restricted so that only one billet B stays at the delivery position 32.
A stopper (not shown) for preventing the billet B from sliding is provided at the delivery position 32, and the billet B stopped by the stopper can be taken out to the right by the relay device 50.
The end of the slope 31 on the transfer position 32 side can be swung by the fulcrum 34, and the transfer position 32 can be swung downward from the state shown in FIG. This is because at the delivery position 32, when the gripping tool 54 described later of the relay device 50 that has received the billet B swings to the right, the stopper or the like at the delivery position 32 is retracted downward so as not to interfere with each other. ..

[Relay device]
FIG. 2 is a right side view of the relay device 50, which is not shown in the moving mechanism described later, as viewed from the right.
The relay device 50 relays and conveys the billet B from the supply device 30 to the cradle 13 which is the initial position of the transfer feeder 40.
As shown in FIGS. 1 and 2, the relay device 50 is provided on the upper wall surface of the entrance which is the left end portion of the conduction portion 14 in which the plurality of upper dies 11 and lower dies 12 are arranged in the frame portion of the press device 1. It is attached.
The relay device 50 includes a movable frame 51, a first arm 52 swingably supported around the first joint shaft 521 by the movable frame 51, and a second joint shaft 531 around the swing end of the first arm 52. A second arm 53 rotatably supported by the second arm 53, and a gripping tool 54 as a holding portion of the billet B rotatably supported around an axis orthogonal to the second joint axis 531 with respect to the second arm 53. A first swing mechanism 55 that imparts a swing motion to the first arm 52, a second swing mechanism 56 that imparts a swing motion to the second arm 53, and a rotation mechanism that imparts a rotary motion to the gripping tool 54. It includes a gripping drive unit 61 that imparts a gripping motion to the gripping tool 54, and a moving mechanism that imparts a moving motion to the movable frame 51. The moving mechanism is composed of first to third moving

portions

58, 59, 60.

The movable frame 51 is attached to the upper wall surface of the entrance of the conductive portion 14 via a moving mechanism, and can be moved in the vertical, horizontal, front-back directions by the first to third moving

portions

58, 59, 60 constituting the moving mechanism. Is supported by.
The movable frame 51 has a support plate 511 supported by the moving mechanism, and an internal hollow body portion 512 extending downward from the support plate 511. The base end portion of the first arm 52 is swingably supported by the first joint shaft 521 parallel to the front-rear direction (horizontal direction) at the extending end portion (lower end portion) of the body portion 512.

The swing end of the first arm 52 swings mainly in the left-right direction by the first joint shaft 521. Further, the inside of the first arm 52 is hollow like the body portion 512 of the movable frame 51.
The second arm 53 is swingably supported by a second joint shaft 531 parallel to the front-rear direction (horizontal direction) at the extending end portion (lower end portion) of the first arm 52.

The base end portion (upper end portion) of the second arm 53 is swingably supported by the second joint shaft 531 and the swing end portion (lower end portion) swings mainly in the left-right direction. Further, the second arm 53 also has a hollow inside like the first arm 52, and a part of the configuration of the gripping drive unit 61 is stored inside.

As shown in FIG. 2, the first swing mechanism 55 includes a first swing motor 551, a speed reducer 552, a main gear 553, a transmission gear 554, and a driven gear 555.
The first swing motor 551 is fixedly mounted on the outside of the rear surface of the body portion 512 of the movable frame 51 in a state where the output shaft is directed in the front-rear direction. The output shaft of the first swing motor 551 is connected to a speed reducer 552 arranged inside the body portion 512.

The speed reducer 552 is fixedly mounted on the inside of the rear surface of the body portion 512 of the movable frame 51 in a state where the input / output shafts are oriented in parallel in the front-rear direction. A main gear 553 made of spur gears is attached to the output shaft of the speed reducer 552.
The main gear 553 is given a deceleration rotation around an axis along the front-rear direction by the speed reducer 552. Further, the main gear 553 meshes with the transmission gear 554 arranged below the main gear 553.

The transmission gear 554 is composed of spur gears and is rotatably supported by a support shaft 556 that is fixedly mounted in the body portion 512 and is parallel to the front-rear direction. Further, the transmission gear 554 meshes with a driven gear 555 arranged below the transmission gear 554.
The driven gear 555 is composed of a spur gear and is rotatably supported by a first joint shaft 521. Further, the driven gear 555 is integrally connected to the base end portion of the first arm 52.

With the above configuration, in the first swing mechanism 55, the main gear 553 is decelerated and rotated via the speed reducer 552 by the drive of the first swing motor 551. Further, a rotational force is transmitted from the main gear 555 to the driven gear 555 via the transmission gear 554, and the swing end portion (lower end portion) of the first arm 52 swings together with the driven gear 555.

As shown in FIG. 2, the second swing mechanism 56 includes a second swing motor 561, a speed reducer 562, a main gear 563, first to third transmission gears 564 to 566, and a driven gear 567.
The second swing motor 561 is fixedly mounted on the outside of the front surface of the body portion 512 of the movable frame 51 in a state where the output shaft is directed in the front-rear direction. The output shaft of the second swing motor 561 is connected to a speed reducer 562 arranged inside the body portion 512.

The speed reducer 562 is fixedly mounted inside the front surface of the body portion 512 of the movable frame 51 in a state where the input / output shafts are oriented in parallel in the front-rear direction. A main gear 563 made of spur gears is attached to the output shaft of the speed reducer 562.
The main gear 563 is given a deceleration rotation around an axis along the front-rear direction by the speed reducer 562. Further, the main gear 563 meshes with the first transmission gear 564 arranged below the main gear 563.

The first transmission gear 564 is composed of spur gears and is rotatably supported by a support shaft 556 within the body portion 512. Further, the first transmission gear 564 meshes with the second transmission gear 565 arranged below the first transmission gear 564.
The second transmission gear 565 is composed of spur gears and is rotatably supported by the first joint shaft 521 within the body portion 512. The second transmission gear 565 meshes with a third transmission gear 566 arranged at an intermediate position of the first arm 52.
The third transmission gear 566 is composed of spur gears. The third transmission gear 566 is rotatably supported by a support shaft 568 provided parallel to the front-rear direction at an intermediate position in the longitudinal direction of the first arm 52 inside the front side wall of the first arm 52. There is. Further, the third transmission gear 566 meshes with the driven gear 567 arranged at the swing end portion of the first arm 52.

The driven gear 567 is composed of a spur gear and is rotatably supported by a second joint shaft 531. Further, the driven gear 567 is integrally connected to the base end portion of the second arm 53.

With the above configuration, in the second swing mechanism 56, the main gear 563 is decelerated and rotated via the speed reducer 562 by the drive of the second swing motor 561. Further, a rotational force is transmitted from the main gear 563 to the driven gear 567 via the first to third transmission gears 564 to 566, and the swing end portion (lower end portion) of the second arm 53 swings together with the driven gear 567.

FIG. 3 is a cross-sectional view of the second arm 53. FIG. 3 shows a posture in which the longitudinal direction of the second arm 53 is along the vertical direction, and the gripping tool 54 is in the initial position (directions of FIGS. 1 to 3) by the rotation mechanism 57. ing. In the description based on FIG. 3, the positions or directions of the second arm 53, the gripping tool 54, the rotation mechanism 57, and the gripping drive unit 61 will be described on the premise that they are in the illustrated postures.
As shown in the figure, a gripping tool 54 is provided at the swing end portion of the second arm 53 so as to extend outward in the radial direction of the swing.

The gripping tool 54 has a cylindrical main body portion 545 provided concentrically with the second arm 53 at the swinging end portion of the second arm 53 so as to be rotatable.
A pair of elbow-shaped

gripping arms

543 and 544 that individually hold a pair of

gripping claws

541 and 542 are mounted on the swinging end side of the main body portion 545.
One end of the

gripping arm

543, 544 is rotatably supported at the swinging end of the main body 545 by the same rotation support shaft along the left-right direction. The rotating ends of the gripping

arms

543 and 544 are fixedly equipped with the gripping

claws

541 and 542 facing each other. The pair of gripping

arms

543 and 544 can move the pair of

gripping claws

541 and 542 in contact with each other by rotating in opposite directions.

The pair of

gripping claws

541 and 542 have recesses facing each other. By moving in the gripping direction (approaching direction) by the pair of gripping

arms

543 and 544, the billet B can be gripped in the recesses of the respective

gripping claws

541 and 542. The recesses of the gripping

claws

541 and 542 are uniformly recessed along the left-right direction at the initial position by the rotation mechanism 57. Therefore, in this state, the gripping tool 54 is suitable for gripping the billet B in a state where the longitudinal direction is along the left-right direction.

As shown in FIG. 3, the gripping drive unit 61 includes a gripping air cylinder 611 concentrically arranged in the cylindrical second arm 53, a piston 612 that moves forward in the longitudinal direction of the second arm 53, and a second arm. 2 It has a piston rod 613 located at the center of the arm 53,

link members

614, 615 connecting the piston rod 613 and the pair of gripping

arms

543, 544, and a gripping air cylinder opening / closing valve 616 (see FIG. 7). ..

The gripping air cylinder 611 is rotatably supported inside the second arm 53 about an axis along the longitudinal direction of the second arm 53.
The piston 612 is housed in the gripping air cylinder 611 and moves to one and the other in the longitudinal direction of the second arm 53 by the pressure of the air supplied by the gripping air cylinder on-off valve 616.

The piston rod 613 is fixed so as to penetrate the center of the piston 612, and one end thereof extends into the main body portion 545 of the gripping tool 54. One end of each

link member

614, 615 is connected to one end of the piston rod 613. One ends of these

link members

614 and 615 are rotatably connected to one end of the piston rod 613 about an axis along the left-right direction.
Further, the other end of each

link member

614, 615 is connected to an intermediate portion (for example, an elbow-shaped corner portion) of the pair of gripping

arms

543, 544. Also in this case, the other ends of the

link members

614 and 615 are rotatably connected to the gripping

arms

543 and 544 about an axis along the left-right direction.

According to the above configuration, when the piston 612 moves downward in the gripping air cylinder 611, the gripping drive unit 61 also moves the piston rod 613 downward, and the pair of gripping

arms

543 and 544 via the

link members

614 and 615. Rotates so as to be pushed downward, and a pair of

gripping claws

541 and 542 grip.
Further, when the piston 612 moves upward in the gripping air cylinder 611, the piston rod 613 also moves upward, and the pair of gripping

arms

543 and 544 are rotated upward via the

link members

614 and 615. It moves and the pair of

gripping claws

541 and 542 are separated and released.

As shown in FIG. 3, the rotation mechanism 57 moves the gear 571 provided on the outer periphery of the upper end portion of the gripping air cylinder 611, the rack member 57 that meshes with the gear 571, and the rack member 572 in the longitudinal direction thereof. It has a rotating air cylinder 573 and a rotating air cylinder on-off valve 574 (see FIG. 7).

The gear 571 is formed concentrically with the second arm 53 and the gripping air cylinder 611.
The rack member 572 is slidably supported in the front-rear direction at the upper end portion of the second arm 53.
In the rotating air cylinder 573, a piston rod (not shown) is directed in the front-rear direction, and the tip thereof is connected to the rack member 572.

According to the above configuration, when the piston of the rotating air cylinder 573 moves in the advancing direction, the gripping drive unit 61 slides the rack member 572 in the same direction and rotates the gripping air cylinder 611 via the gear 571. The gripping air cylinder 611 is connected to the main body portion 545 of the gripping tool 54, and the entire gripping tool 54 rotates together with the gripping air cylinder 611.
The stroke of the piston of the rotating air cylinder 573 is set to a length capable of rotating the gripping air cylinder 611 by exactly 90 °. Thereby, for example, by driving the rotating air cylinder 573, the gripping tool 54 at the initial position in FIG. 3 can be changed to a direction rotated by 90 ° about the longitudinal direction of the second arm 53.

Instead of the configuration of the rotating air cylinder 573 and the rack member 572, a configuration of a motor and a spur gear whose rotation angle amount can be arbitrarily controlled may be adopted. In that case, the gripping tool 54 can be rotated not only between two positions of 90 ° but also at an arbitrary angle.

FIG. 4 is a cross-sectional view taken along the line UU in FIG. 1, showing a state in which the first moving portion 58 of the moving mechanism is viewed from the left.
The first moving portion 58 can slide along the base body 581 supported by the second moving portion 59, the guide rails 582 fixedly supported at both front and rear ends on the left surface of the base body 581, and each guide rail 582. The provided slide block 583, the first moving motor 584 attached to the left surface of the base body 581, the ball screw shaft 585 connected to the output shaft of the first moving motor 584, and the ball nut screwed into the ball screw shaft 585. It has a 586 and a bearing 587 that rotatably supports the ball screw shaft 585.

The base body 581 is a flat plate parallel to the vertical and front-back directions. The base body 581 is supported by the second moving portion 59.
Each guide rail 582 and the ball screw shaft 585 are oriented in the vertical direction and are supported on the left surface of the base body 581.
Each slide block 583 and ball nut 586 are attached to the right side of the support plate 511 of the movable frame 51.
The first mobile motor 584 can arbitrarily control the amount of rotation.

According to the above configuration, when the first moving motor 584 is driven, the first moving portion 58 moves the ball nut 586 in the vertical direction by the rotation of the ball screw shaft 585, and adjusts the position of the movable frame 51 in the vertical direction by an arbitrary amount of movement. can do.

FIG. 5 is a cross-sectional view taken along the line VV in FIG. 1, showing a state in which the second moving portion 59 of the moving mechanism is viewed from the left.
The second moving portion 59 can slide along the base body 591 supported by the third moving portion 60, the guide rails 592 fixedly supported at both upper and lower ends on the left surface of the base body 591, and each guide rail 592. The provided slide block 593, the second moving motor 594 attached to the left surface of the base body 591, the ball screw shaft 595 connected to the output shaft of the second moving motor 594, and the ball nut screwed into the ball screw shaft 595. It has a 596 and a bearing 597 that rotatably supports the ball screw shaft 595.

The base body 591 is a structure in which a vertical plate parallel to the vertical and front-back directions and a horizontal plate parallel to the front-back and left-right directions are connected. The upper surface of the horizontal plate is supported by the third moving portion 60.

Each guide rail 592 and the ball screw shaft 595 are oriented in the front-rear direction and are supported on the left surface of the vertical plate of the base body 591.
Each slide block 593 and ball nut 596 are attached to the right side of the base body 581 of the first moving portion 58.
The second mobile motor 594 can arbitrarily control the amount of rotation.

According to the above configuration, when the second moving motor 594 is driven, the ball nut 596 moves in the front-rear direction due to the rotation of the ball screw shaft 595, and the movable frame 51 is moved in the front-rear direction via the first moving part 58. The position can be adjusted by any amount of movement.

FIG. 6 is a cross-sectional view taken along the line WW in FIG. 1, showing a state in which the third moving portion 60 of the moving mechanism is viewed from above.
The third moving portion 60 can slide along the base body 601 supported by the frame portion of the press device 1, the guide rails 602 fixedly supported at both front and rear ends on the lower surface of the base body 601 and the guide rails 602. The slide block 603 provided in the above, the third moving motor 604 attached to the lower surface of the base body 601 and the ball screw shaft 605 connected to the output shaft of the third moving motor 604, and the ball screwed into the ball screw shaft 605. It has a nut 606 and a bearing 607 that rotatably supports the ball screw shaft 605.

The base body 601 is a structure in which a vertical plate parallel to the vertical and front-back directions and a horizontal plate parallel to the front-back and left-right directions are connected. The right surface of the vertical plate is fixedly attached to the upper wall surface of the entrance of the conductive portion 14 in the frame portion of the press device 1.
The base body 601 supports the entire relay device 50.

Each guide rail 602 and the ball screw shaft 605 are oriented in the left-right direction and are supported on the lower surface of the horizontal plate of the base body 601.
Each slide block 603 and ball nut 606 are attached to the upper surface of the horizontal plate of the base body 591 of the second moving portion 59.
The third mobile motor 604 can arbitrarily control the amount of rotation.

According to the above configuration, when the third moving motor 604 is driven, the ball nut 606 moves in the left-right direction due to the rotation of the ball screw shaft 605, and the third moving portion 60 is moved via the first moving portion 58 and the second moving portion 59. The position of the movable frame 51 can be adjusted in the left-right direction by an arbitrary amount of movement.

[Outline control configuration of press equipment]
FIG. 7 is a block diagram showing a schematic control configuration of the press device 1.
As shown in this figure, the press device 1 includes a control device 90 that controls the operation of the entire device.
The control device 90 includes an input unit 91, a display unit 94, a storage unit 92, and a control unit 93.
The input unit 91 is an input interface by a user of the press device 1 such as a keyboard and a mouse. From the input unit 91, settings related to operation control of the device main body 100 and the like can be made.
The display unit 94 includes a display, and displays various information on the display.
The storage unit 92 is a memory that stores a control program 95 for controlling the operation of the apparatus main body 100 and setting data, and also functions as a work area. The control program 95 is executed by the control unit 93.
The control unit 93 controls each unit of the press device 1 based on the control program 95.
In this embodiment, the operation control performed by the control unit 93 on the relay device 50 will be mainly described.

The control unit 93 includes the first swing motor 551, the second swing motor 561, the gripping air cylinder opening / closing valve 616, the rotating air cylinder opening / closing valve 574, the first moving motor 584, and the second moving of the relay device 50 described above. It controls the motor 594 and the third mobile motor 604.

The basic operation of the relay device 50 based on the operation control of the control unit 93 will be described with reference to FIG.
(1) The first arm 52 is swung clockwise (to the left) by driving the first swing motor 551 to move the gripping tool 54 to the delivery position 32 of the supply device 30.
As described above, in the slope 31 of the supply device 30, since the end portion on the delivery position 32 side can swing up and down about the fulcrum 34, the end portion on the delivery position 32 side is retracted downward in advance. Stand by (two-dot chain line in FIG. 1), the gripping tool 54 of the first arm 52 moves to the delivery position 32 side, and then the end of the slope 31 on the delivery position 32 side is moved upward to move the billet B. The delivery is possible (solid line in Fig. 1).
(2) The gripping air cylinder 611 is operated by the control of the gripping air cylinder on-off valve 616 to rotate the pair of gripping

arms

543 and 544 of the gripping tool 54, and the pair of

gripping claws

541 and 542 move to the delivery position. A certain billet B is gripped.
(3) The end of the slope 31 of the supply device 30 on the delivery position 32 side can be swung downward around the fulcrum 34, and the end on the delivery position 32 side is downward so as not to interfere with the first arm 52. Evacuate (two-dot chain line in FIG. 1).
(4) The first arm 52 is swung counterclockwise (to the right) by driving the first swing motor 551 to move the gripping tool 54 above the pedestal 13. If necessary, the second arm 53 is swung by driving the second swing motor 561 so that the billet B faces in the vertical direction, and the direction of the billet B is adjusted.
If necessary, the rotating air cylinder 573 is operated under the control of the rotating air cylinder opening / closing valve 574 to rotate the gripping tool 54 in the longitudinal direction of the second arm 53.
(5) The gripping air cylinder 611 is operated by the control of the gripping air cylinder on-off valve 616 to rotate the pair of gripping

arms

543 and 544 of the gripping tool 54, and the pair of

gripping claws

541 and 542 grip the gripping

claws

541 and 542. Release the existing billet B and drop it on the lower cradle 13.
As a result, the billet B slides into the cradle 13 and is set at the initial position of the transfer feeder 40.
(6) After that, the transfer feeder 40 conveys the billet B to the lower die 12, the slide 18 of the apparatus main body 100 is lowered, and press molding is performed.

In the above (1), when the gripping tool 54 cannot be properly positioned at the delivery position 32 of the supply device 30 only by the swinging operation of the first arm 52 and the second arm 53, the first to third moving portions 58 to Any or all of the first to third moving motors 584 to 604 of 60 are driven to adjust the position of the gripping tool 54.
The driving of the first to third moving portions 58 to 60 may be performed before the start of the swinging operation of the first arm 52 or the second arm 53, during the swinging operation, or after the swinging operation.
Further, it is appropriate that the first to third moving portions 58 to 60 are driven either before the start of the swinging operation of the first arm 52 or the second arm 53, during the swinging operation, or after the swinging operation. In that case, it is performed at that timing.

In the above (3), instead of the retracting operation of the end of the slope 31 of the supply device 30 on the delivery position 32 side, or in parallel with the retracting operation of the end of the slope 31 of the supply device 30 on the delivery position 32 side. , The operation of picking up the billet B gripped by any one or all of the first to third moving portions 58 to 60 may be performed.
When the first to third moving units 58 to 60 are driven in parallel with the retracting operation of the end portion of the slope 31 of the supply device 30 on the delivery position 32 side, the first to third moving units 58 to 60 are driven. The end of the slope 31 of the supply device 30 on the delivery position 32 side may be retracted before the start of the retracting operation, during the swinging operation, or after the swinging operation.
Further, the first to third moving portions 58 to 60 are driven either before the start of the retracting operation of the end portion of the slope 31 of the supply device 30 on the delivery position 32 side, during the rocking operation, or after the rocking operation. If that is appropriate, do so at that time.

In the above (4), when the gripping tool 54 cannot be properly positioned above the pedestal 13 only by the swinging motion of the first arm 52 and the second arm 53, the first to third moving portions 58 to 60 Any or all of the first to third moving motors 584 to 604 are driven to adjust the position of the gripping tool 54.
The driving of the first to third moving portions 58 to 60 may be performed before the start of the swinging operation of the first arm 52 or the second arm 53, during the swinging operation, or after the swinging operation.
Further, it is appropriate that the first to third moving portions 58 to 60 are driven either before the start of the swinging operation of the first arm 52 or the second arm 53, during the swinging operation, or after the swinging operation. In that case, it is performed at that timing.

In the above (1), (3), and (4), when it is necessary to adjust the position and posture to properly perform each operation due to the change in the dimensions and shape of the billet B, the first to the first. 3. Any or all of the first to third moving motors 584 to 604 of the moving units 58 to 60 are driven to make adjustments.
The driving of the first to third moving units 58 to 60 may be performed before the start of each basic operation, during the operation, or after the operation.
If it is appropriate to drive the first to third moving units 58 to 60 before the start of each basic operation, during the rocking operation, or after the rocking operation, at that timing. conduct.

[Technical effect of this embodiment]
As described above, since the relay device 1 is provided with a movement mechanism in which the relay device 50 imparts a movement operation to the movable frame 51, restrictions on the gripping position of the billet B, the position where the grip is released, and the movement locus are reduced. , The billet B can be moved and conveyed more appropriately.
As a result, even in the case of billet B having a wide variety of shapes and dimensions, it is possible to appropriately and stably convey the billet B to the cradle 13.
When transporting billets B having a wide variety of shapes and dimensions, it is possible to eliminate the need for manual position adjustment work of the cradle 13, and it is possible to reduce the work load.

Further, since the moving mechanism of the relay device 50 is configured to impart a moving motion to the movable frame 51, the moving mechanism can be arranged on the mounting position side of the relay device 50, and is arranged away from the gripping tool 54 of the relay device 50. To realize. For this reason, since the moving mechanism is not arranged in a harsh environment where the mold is contaminated by a mold release agent or the like around the mold, it is possible to reduce malfunctions and failures of the moving mechanism, and to transport the billet B more stably. Can be done.

In particular, since the movable frame 51 is arranged above the gripping tool 54, the moving mechanism can be arranged farther from the harsh environment around the mold, and the influence of dirt such as a mold release agent can be reduced, which is more stable. It becomes possible to transport the billet B to the mold.
In addition, "the movable frame 51 is arranged above the gripping tool 54" means that the gripping tool is moved to the uppermost part of the movable range by the upper end portion of the movable frame 51 in a state where the moving mechanism is not activated. It means that it is above the upper end of 54.

Further, when the relay device 50 is mounted on the press device 1 that performs press molding, the billet B can be stably conveyed around the mold in a harsh environment where stains are likely to occur. ..

The moving mechanism has a first moving unit 58 that moves the movable frame 51 in the vertical direction, a second moving unit 59 that moves the movable frame 51 in the front-rear direction, and a third moving unit 60 that moves the movable frame 51 in the left-right direction. Therefore, it is possible to properly adjust the position of the gripping tool 54 in each direction and the trajectory at the time of movement.

Further, since the molding apparatus 1 has a supply device 30 including a slope 31 for supplying the billet B to the delivery position 32 to the gripping tool 54, it is possible to cope with the continuous supply of the billet B to the apparatus main body 100. The molding work can be performed efficiently.

[others]
Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.
For example, in the above embodiment, the configuration in which the slide 18 reciprocates in the vertical direction is exemplified, but the present invention is not limited to the press device in which the slide 18 reciprocates in the vertical direction.
Further, in the above embodiment, the forging press device is exemplified as the molding device, but the present invention is not limited to this. For example, the present invention can be applied to any molding device that requires a relay device for transporting an object to be molded from one position to another.

Further, the moving mechanism of the relay device 50 may be configured to have any one or two of the first moving unit 58, the second moving unit 59, and the third moving unit 60.
Further, the holding portion of the relay device 50 does not have to be configured to grip the billet B like the gripping tool 54. For example, a tool for hooking or adsorbing the billet B may be used as the holding portion.

Other details shown in the above embodiment can be appropriately changed without departing from the spirit of the invention.

The present invention has industrial applicability for molding equipment.

1 Press equipment (molding equipment)
11 Upper mold 12 Lower mold 13 Receiving base 14 Conducting part 18 Slide 30 Supply device 31 Slope 32 Delivery position 40 Transfer feeder 50 Relay device 51 Movable frame 52 1st arm 53 2nd arm 54 Gripping tool (holding part)
55 1st rocking mechanism 551 1st rocking motor 56 2nd rocking mechanism 561 2nd rocking motor 57 Rotating mechanism 58 1st moving part 59 2nd moving part 60 3rd moving part 61 Grip drive part 90 Control device 100 Equipment body B billet (object to be molded)

Claims

Movable frame and
A first arm swingably supported by the movable frame,
A second arm swingably supported by the first arm,
A holding portion that can hold the object to be molded supported by the second arm,
A first swing mechanism that imparts a swing motion to the first arm,
A second swing mechanism that imparts a swing motion to the second arm,
A moving mechanism that imparts a moving motion to the movable frame in at least one direction,
A molding device equipped with.
The holding portion is rotatably supported by the second arm about an axis along the longitudinal direction of the second arm.
The molding apparatus according to claim 1, further comprising a rotation mechanism for imparting a rotation operation to the holding portion.
The molding apparatus according to claim 1 or 2, wherein the movable frame is arranged above the holding portion.
The molding apparatus according to any one of claims 1 to 3, wherein the moving mechanism has a first moving portion for moving the movable frame in the vertical direction.
The molding apparatus according to any one of claims 1 to 4, wherein the moving mechanism has a second moving portion for moving the movable frame in the horizontal direction.
The molding apparatus according to claim 5, wherein the moving mechanism has a third moving portion that moves the movable frame in a horizontal direction orthogonal to the moving direction of the second moving portion.
The molding apparatus according to any one of claims 1 to 6, further comprising a device for supplying the object to be molded, which comprises a slope for supplying the object to be molded to the delivery position to the holding portion.
The molding apparatus according to any one of claims 1 to 7, which performs press molding.