CN108112241A - Forging roll and roll forging method - Google Patents
Forging roll and roll forging method Download PDFInfo
- Publication number
- CN108112241A CN108112241A CN201680037122.5A CN201680037122A CN108112241A CN 108112241 A CN108112241 A CN 108112241A CN 201680037122 A CN201680037122 A CN 201680037122A CN 108112241 A CN108112241 A CN 108112241A
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- China
- Prior art keywords
- robot
- manipulator
- shaping
- mobile route
- route
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21H—MAKING PARTICULAR METAL OBJECTS BY ROLLING, e.g. SCREWS, WHEELS, RINGS, BARRELS, BALLS
- B21H1/00—Making articles shaped as bodies of revolution
- B21H1/22—Making articles shaped as bodies of revolution characterised by use of rolls having circumferentially varying profile ; Die-rolling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21H—MAKING PARTICULAR METAL OBJECTS BY ROLLING, e.g. SCREWS, WHEELS, RINGS, BARRELS, BALLS
- B21H9/00—Feeding arrangements for rolling machines or apparatus manufacturing articles dealt with in this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/02—Special design or construction
- B21J9/025—Special design or construction with rolling or wobbling dies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Forging (AREA)
Abstract
The forging roll of the present invention includes：A pair of of roller die (4) and (6), it is arranged on through driver on a pair of rolls drive shaft (3) rotated and (5), and multiple finishing dies (4a1 to 4a4 is respectively formed on the pair of roller die (4) and (6)；6a1 to 6a4)；And carrier units, for by material carrying to be formed to die forming position, receive position and load-out location.The carrier units include：First robot (10), the manipulator (25) of the first rectangle mobile route (50A) movement of route (52) is turned on the mobile route (51) along in including straight shaping and first, mobile route (51) connection each position corresponding with the shaping position with the multiple finishing die in straight shaping, first turns on route (52) is spaced apart predetermined amount (L1) on the one side of mobile route (51) in straight shaping with mobile route (51) in straight shaping；And second robot (30), the manipulator (45) of the second rectangle mobile route (50B) movement of route (53) is turned on the mobile route (51) along in including straight shaping and second, second turns on route (53) is spaced apart predetermined amount (L2) on the opposite side of mobile route (51) in straight shaping with mobile route (51) in straight shaping.Present invention acquisition is a kind of wherein alternately to a pair of of roller die and to be consecutively carried out the forging roll of die forming and roll forging method using two carrier units by feed material to be formed.
Description
Technical field
The present invention relates to a kind of the formed in mould forging roll of forged material execution and roll forging method are treated using a pair of of roller die.
More particularly, utilize two carrier units that material to be formed is succeedingly fed to a pair of of roller die and is made the present invention relates to a kind of
Die forming is consecutively carried out with the pair of roller die to put forward large-duty forging roll and roll forging method.
Background technology
On the production of the forging as metal parts, it is known that one kind is pre-formed as required shape in advance in material
The method of work of required product is formed after shape by forging press etc..Such preforming also referred to as blocking etc., and people are
It is a kind of forging machine for being used to perform such work to know forging roll (also referred to as forged roll) (for example, with reference to patent document 1).
In addition, it is known for the technology of the manipulator of forged roll, wherein even if during carrying out roll forging in forged roll
Metal material is applied and is impacted, such impact can also be prevented to be passed to manipulator (for example, with reference to patent document 2).Herein
In class technology, manipulator is provided in the wrist of the second arm of robot, and a kind of open wherein machine artificially has the
The articulated type of one arm, the second arm etc. and the construction moved by robot control unit's control machinery hand.It is furthermore, it is necessary to low
Cost is without increasing installation space, circulation time is shortened to half and enabling what expensive forging press was efficiently utilized
Forged roll technology is known (for example, with reference to patent document 3).
[prior art literature]
[patent document]
Patent document 1：The publication of unexamined patent application the S52-8783rd (JP, S52-8783, B)
Patent document 2：The publication of unexamined patent application the H1-33262nd (JP, H01-33262, B)
Patent document 3：Patent application publication case the H5-169176th (JP, H05-169176, A)
Patent document 4：Patent application publication case No. 3435314 (JP, 3435314, B)
The content of the invention
[problem to be solved by the invention]
On the other hand, on forging roll, to improve productivity, there are a large amount of requirements.However, although patent document 1 and 2 is public
The constructing technology of forging roll is opened, but these patent documents do not disclose the raising of the productivity of forging roll.In addition, although patent is literary
The constructing technology of 3 open manipulators is offered, but does not disclose further improving for the productivity of forging roll.In addition, although patent is literary
It offers 4 open purposes and is the technology for shortening the forged roll of circulation time, but the technology needs two composition set rollers (that is, for holding
The molding part of row roller, such as the first roller with the first fixture and the second roller with the second fixture) and with being formed with one
The existing forging roll of set roller is compared to still only realization will shorten half circulation time.Therefore, many problems are still to be improved.
That is, there are problems that reducing productivity due to not performing roll forging in following steps：Wherein first
The step of blank in the case of being rotated is released and blank is made to be grasped by the first fixture by push rod is wherein rotated in the second push rod
In the case of blank is released and the step of blank is made to be grasped by the first fixture, it is outwards defeated by the first outside conveyer or second
The step of machine is sent to be fed out, etc..In addition, the technology of patent document 4 needs the first complete roller and the second complete roller, this is high
It is expensive and bring such as economic problems, do not performing shaping when preservation problem the problem of.
The present invention is made to solve problem mentioned above, so as to fulfill following target.
Two carrier units corresponding with a pair of of roller die are provided with it is an object of the present invention to provide one kind, utilize described two
A carrier units by material to be forged be succeedingly fed to a pair of of roller die and using the pair of roller die be consecutively carried out mold into
Shape is to put forward large-duty forging roll and roll forging method.
Wherein the feelings of two carrier units corresponding with a pair of of roller die are being set it is another object of the present invention to provide a kind of
The forging roll disturbed between each manipulator and roll forging method are prevented under condition.
[technical means to solve problem]
The present invention provides following characteristics to realize target mentioned above.
Forging roll according to a first aspect of the present invention includes：
A pair of rolls drive shaft is configured to rotate on the body of the forging roll, and the driving carried out by driver
The pair of roller drive shaft is rotated,
A pair of of roller die is separately positioned in the pair of roller drive shaft, and multiple shapings is formed on the pair of roller die
Mould, have between the multiple finishing die predetermined space and
Carrier units, for by material carrying to be formed to the reception position of the material to be formed, the pair of roller die
The upper shaping position with the multiple finishing die and formed product load-out location；
Wherein described carrier units include：
There is mobile route and the first the first rectangle for turning on route along in including straight shaping to move for first robot
The manipulator of dynamic route movement, mobile route connection and the shaping with the multiple finishing die in the straight shaping
The corresponding each position in position, described first turn on route in the straight shaping on the one side of mobile route with it is described straight
Shaping in mobile route be spaced apart predetermined amount and
Second robot turns on the second square of route with the mobile route along in including the straight shaping and second
Shape mobile route movement manipulator, described second turn on route in the straight shaping on the opposite side of mobile route with
Mobile route is spaced apart predetermined amount in the straight shaping；And
Wherein described first robot and second robot are controlled such that respectively when first robot
The manipulator along mobile route in the straight shaping move when, the manipulator of second robot is along institute
The movement of the part in addition to mobile route in the straight shaping of the second rectangle mobile route is stated, and when second machine
The manipulator of people along mobile route in the straight shaping move when, the manipulator edge of first robot
The movement of the part in addition to mobile route in the straight shaping of the first rectangle mobile route.
Forging roll according to a second aspect of the present invention：In the first aspect, the reception position of the material to be formed
And the formed product load-out location is arranged in the shaping in the extension of mobile route.
Forging roll according to a third aspect of the present invention：In any one of first aspect to second aspect, described first
Robot and second robot are respectively radial type robot.
Forging roll according to a fourth aspect of the present invention：In a third aspect, first robot and second machine
Each of people includes：Rotating base fixed to machine body and can carry out rotation movement；Multiple arms are connected by series connection
It connects to carry out swinging mobile relative to each other or rotates movement, and the one end for the arm connected is connected to the rotating base
So as to carry out swing movement；And manipulator, there is material grip portion to be formed and be connected to the arm of series connection
The other end.
Forging roll according to a fifth aspect of the present invention：In any one of first aspect to fourth aspect, described first
One of robot and second robot are landing humanoid robots, and another one is suspension humanoid robot.
Forging roll according to a sixth aspect of the present invention：In any one of first aspect to fourth aspect, described first
Robot and second robot are provided in the landing humanoid robot on its respective position with different height.
Forging roll according to a seventh aspect of the present invention：In any one of first aspect to the 6th aspect, when described the
When the manipulator of two robots is moved to load-out location from shaping final step position, the machine of first robot
Tool hand is moved to die forming first step position from position is received, and when the manipulator of first robot is from shaping
When final step position is moved to load-out location, the manipulator of second robot from receive position be moved to mold into
Shape first step position.
Roll forging method according to a eighth aspect of the present invention：Using including following forging roll：
A pair of rolls drive shaft is configured to rotate on the body of the forging roll, and the driving carried out by driver
The pair of roller drive shaft is rotated,
A pair of of roller die is separately positioned in the pair of roller drive shaft, and is provided with to shape on the pair of roller die
Multiple finishing dies, have between the multiple finishing die predetermined space and
Carrier units, for by material carrying to be formed to the reception position of the material to be formed, the pair of roller die
The upper shaping position with the multiple finishing die and formed product load-out location,
The carrier units include：
There is mobile route and the first the first rectangle for turning on route along in including straight shaping to move for first robot
The manipulator of dynamic route movement, mobile route connection and the shaping with the multiple finishing die in the straight shaping
The corresponding each position in position, described first turn on route in the straight shaping on the one side of mobile route with it is described straight
Shaping in mobile route be spaced apart predetermined amount；And second robot, have and moved along in including the straight shaping
Route and second turn on route the movement of the second rectangle mobile route manipulator, described second turns on route described straight
In shaping predetermined amount is spaced apart with mobile route in the straight shaping on the opposite side of mobile route；
Wherein when the manipulator of first robot is moved along mobile route in the shaping, described second
The manipulator of robot is moved along the part in addition to mobile route in the shaping of the second rectangle mobile route
It is dynamic,
When the manipulator of second robot is moved along mobile route in the shaping, first machine
The manipulator of people is moved along the part in addition to mobile route in the shaping of the first rectangle mobile route, and
Any one in first robot and second robot can be performed into using the pair of roller die
Shape.
Roll forging method according to a ninth aspect of the present invention：In eighth aspect, when the machinery of second robot
When hand is moved to load-out location from shaping final step position, the manipulator of first robot is moved from position is received
To die forming first step position, and
When the manipulator of first robot is moved to load-out location from shaping final step position, described the
The manipulator of two robots is moved to die forming first step position from position is received.
[advantageous effects of the invention]
Forging roll according to the present invention can be connect while a pair of of roller die is made to keep continuous rotation using the pair of mold
Even the material to be formed by the first carrier units (the first robot) or the second carrier units (the second robot) grasping is held
Row shaping, therefore improve productivity.For example, when the manipulator of the first robot (or second robot) is from material to be formed
When reception position is moved to the first die forming step location (for example, first step position), the second robot (or the first machine
People) manipulator be moved to formed product load-out location from final die forming step location (for example, four steps position).
So, it can prevent the first robot and the manipulator of the second robot from disturbing each other, and can continuously utilize a pair
Mold performs shaping.
For such forging roll, Liang Ge robots operated in turn.Therefore, carry out feed material operation to be formed time and
The time for setting out formed product is not the loss time now, but these are the loss time in traditional forging roll.This
Outside, such forging roll has and is constructed as below：Two manipulators be separately arranged in upper position and lower position to avoid
It is disturbed between it, hence two carrier units being capable of operated in turn.Therefore, it can be achieved that improving the production of forging roll
Rate.
Although in addition, needing two groups of roller dies in traditional forging roll to improve productivity, such forging roll is not
Need two groups of roller dies, enabling when realizing the reduction of Mold Making expense, the reduction of mold shelf space, die change operation
Between reduction etc..Therefore, huge economic advantages can be obtained.
Roll forging method in the forging roll is wherein to perform roll forging (profit by controlling Liang Ge robots as follows
Be formed with a pair of of roller die) roll forging method：When the manipulator of a robot is moved along mobile route in shaping, separately
The manipulator of one robot turns on route along first or second turns on route and move.Therefore, the manipulator of Liang Ge robots is not
Can be interfering with each other, and shaping is performed by the way that material to be formed is succeedingly fed to a pair of of roller die, therefore realize and improve life
Yield.
Description of the drawings
Fig. 1 is the front view for the embodiment for showing forging roll according to the present invention.
Fig. 2 is the plan view of forging roll.
Fig. 3 is the front view of the manipulator in forging roll, wherein a part for the manipulator is shown with section.
Fig. 4 is the side view of manipulator.
Fig. 5 is the explanatory for schematically showing the roller die in forging roll.
Fig. 6 is the explanatory of the mobile route for the manipulator for showing the first robot and the second robot.
Fig. 7 is the operating instruction view for showing the relation between the first robot, the second robot and forging roll.
Fig. 8 is the explanatory 1 for schematically showing the position relationship between the first robot and the second robot.
Fig. 9 is the explanatory 2 for schematically showing the position relationship between the first robot and the second robot.
Figure 10 is the explanatory 3 for schematically showing the position relationship between the first robot and the second robot.
Figure 11 is the explanatory 4 for schematically showing the position relationship between the first robot and the second robot.
Specific embodiment
It is explained below to be used to implement forging roll according to the present invention and the construction of roll forging method.
Fig. 1 is the front view for the embodiment for showing forging roll according to the present invention, and Fig. 2 is the plan view of forging roll, and Fig. 3 is
The front view of manipulator in forging roll, wherein a part for the manipulator is shown with section, Fig. 4 is the side view of manipulator
Figure, Fig. 5 is the explanatory for schematically showing the roller die in forging roll, and Fig. 6 is to show the first robot and the second machine
The explanatory of the mobile route of the manipulator of device people, and Fig. 7 is shown between the first robot, the second robot and forging roll
Relation operating instruction view.
Fig. 8 is the explanatory 1 for schematically showing the position relationship between the first robot and the second robot, figure
9 be the explanatory 2 for schematically showing the position relationship between the first robot and the second robot, and Figure 10 is schematic
Ground shows the explanatory 3 of the position relationship between the first robot and the second robot, and Figure 11 is to schematically show
The explanatory 4 of position relationship between first robot and the second robot.
The main body of forging roll
The construction of forging roll 1 will be explained referring to figs. 1 to Fig. 5.Forging roll 1 by the main body 2 of forging roll, as the first carrying
The compositions such as the first robot 10 of unit, the second robot 30 as the second carrier units.
First roller drive shaft 3 and the second roller drive shaft 5 are rotatably retained in the main body 2 of forging roll.First roller
3 and second roller drive shaft 5 of drive shaft is arranged to form twin type construction, wherein the first roller drive shaft 3 drives with the second roller
The axis of axis 5 is parallel to each other.The both ends of first roller drive shaft 3 are held on the body 2 by bearing (not shown).It is similar
Ground, the both ends of the second roller drive shaft 5 are held on the body 2 also by bearing (not shown).First roller drive shaft 3 by from
Servo motor SM is driven into rotation via the output that drive gear mechanism (not shown) is transmitted.Second roller drive shaft 5
By from servo motor (being not shown in figure, but similar with the servo motor for the first roller drive shaft 3) via driving cog turbine
Structure (not shown) transmission output and be driven into rotation.In other words, the first roller drive shaft 3 and the second roller drive shaft 5
(being configured to a pair of of upper axis and lower part axis) is configured to be driven into rotation respectively by a pair of of servo motor SM.
Herein, the first roller drive shaft 3 and the second roller drive shaft 5 usually are controlled so as to rotate and stop simultaneously.In addition, first
3 and second roller drive shaft 5 of roller drive shaft is usually controlled so as to (direction R and direction R ' shown in Fig. 5) in mutually opposite directions
And it is rotated with the identical speed of rotation.First roller die 4 is removably fixed on the outer circumference surface of the first roller drive shaft 3,
And second roller die 6 be removably fixed on the outer circumference surface of the second roller drive shaft 5.
First roller die 4 is formed with multiple finishing die 4a, has a certain distance between the multiple finishing die 4a, for passing through
Roll forging performs die forming (being formed using a pair of of roller die).Second roller die 6 is formed with multiple finishing die 6a, the multiple
There is a certain distance, for performing roll forging between finishing die 6a.
Carrier units
As shown in Figures 1 and 2, the first carrier units and the second carrying list are provided in the front of the main body 2 of forging roll
Member, first carrier units and the second carrier units are used to material m to be formed being fed to finishing die 4a and 6a, perform mold
The product for shaping and being configured needed for being formed to have is set out.First carrier units are known as the first of radial type robot
Robot 10, and the second carrier units are known as the second robot 30 of radial type robot.Although the first robot 10 and
Second robot 30 is well-known in the art as manipulator is enable to carry out three-dimensional mobile radial type robot
, but briefly to construction will make explanations that the explanation to such construction is more readily understood herein.
First robot
First robot 10 is configured to the suspension humanoid robot being suspended on suspension pedestal 7.As suspension pedestal sheet
Body, suspension pedestal 7 are constructed such that upper board 73 is fixed in the upper end of three columns 72, and three columns 72 are fixed respectively
On base board 71 and extend vertically.
The robot base 11 of first robot 10 is fixed to the bottom side of upper board 73.In robot base 11 and first
The first rotating mechanism 12 is provided between rotating base 13.First rotating base 13 is compared with robot base 11 around axis C1
(on the direction of arrow theta 1) carries out rotation movement, and is oriented in required turned position.The first rotating base 13 with
The first swing mechanism 14 is provided between first arm 15.First arm 15 compared with the first rotating base 13 around axis C2 (
On the direction of arrow theta 2) swing movement is carried out, and be oriented in required swing position.In the first arm 15 and the second arm
The second swing mechanism 16 is provided between 17.Second arm 17 compared with the first arm 15 around axis C3 on the direction of arrow theta 3
Swing movement is carried out, and is oriented in required swing position.
The second rotating mechanism 18 is provided between the second arm 17 and the 3rd arm 19.3rd arm 19 is compared with second
Around axis, (C4 carries out rotation movement to arm 17 (on the direction of arrow theta 4), and is oriented in required turned position.
The 3rd swing mechanism 20 is provided between three arms 19 and the 4th arm 21.4th arm 21 is compared with the 3rd arm 19 around axis
C5 carries out swing movement on the direction of arrow theta 5, and is oriented in required swing position.Manipulator 25 is attached to the 4th
Arm 21.In the first robot 10, the first rotating mechanism 12, the second rotating mechanism 18, the first swing mechanism 14, second are swung
Mechanism 16, the 3rd swing mechanism 20 etc. are controlled by the first Robert controller (not shown), first robot control
Control equipment controls the driving and positioning of servo motor (not shown).
Second robot 30 is landing humanoid robot.The robot base 31 of second robot 30, which is fixed on, is placed on ground
In the upper side of base board on plate.The first rotating mechanism is provided between 31 and first rotating base 33 of robot base
32.First rotating base 33 (on the direction of arrow theta 11) carries out rotation movement compared with robot base 31 around axis C11,
And it is oriented in required turned position.The first swing mechanism is provided between the first rotating mechanism 33 and the first arm 35
34.First arm 35 carries out swing movement around axis C12 compared with the first rotating base 33 on the direction of arrow theta 12, and by
It is positioned in required swing position.The second swing mechanism 36 is provided between the first arm 35 and the second arm 37.Second
Arm 37 carries out swing movement around C13 compared with the first arm 35 on the direction of arrow theta 13, and is oriented in required pendulum
Dynamic position.
The second rotating mechanism 38 is provided between the second arm 37 and the 3rd arm 39.3rd arm 39 is compared with second
Arm 37 carries out rotation movement around axis C14 (on the direction of arrow theta 14), and is oriented in required turned position.
The 3rd swing mechanism 40 is provided between 3rd arm 39 and the 4th arm 41.4th arm 41 is compared with the 3rd arm 39 around axis
Line C15 carries out swing movement on the direction of arrow theta 15, and is oriented in required swing position.Manipulator 45 is attached to
4th arm 41.In the second robot 30, the first rotating mechanism 32, the second rotating mechanism 38, the first swing mechanism 34, second
Swing mechanism 36, the 3rd swing mechanism 40 etc. are controlled by the second Robert controller (not shown), second machine
People's control device controls the driving and positioning of servo motor (not shown).
Manipulator
The manipulator 45 of 25 and second robot 30 of manipulator of the first robot 10 will be explained with reference to Fig. 3 and Fig. 4.This
Place, manipulator 25 have same structure with manipulator 45.Therefore, will make explanations by taking manipulator 25 as an example to construction.
In manipulator 25, manipulator base (referred to below as at hand seat) 253 is attached to the 4th arm 21 or the 4th hand
Arm 41.Manipulator rotation axis (referred to below as hand rotation axis) 254 is configured to rotatably prop up by bearing 255,255
Support is at hand seat 253.A pair of of grasping pawl 251,251 of grasping material m to be formed is provided at the front side of hand axis 254.
Manipulator folding driving unit (referred to below as hand-drive unit) 252 is provided in the rear side of hand axis 254.In hand-drive list
Connecting rod (not shown) is provided between member 252 and the pair of grasping pawl 251,251 and for by the connection of hand folding
Dynamic device (not shown).Hand-drive unit 252 makes the connecting rod on the at hand length direction of seat 253 (parallel to Fig. 3
Shown axis C6) it moves back and forth.For the reciprocating movement of the connecting rod to be converted by the linkage of hand folding
Grasp the folding movement of pawl 251,251.
In other words, the pair of grasping pawl 251,251 is by being used for the linkage by hand folding and in hand-drive
Opening and closing movement is performed under the operation of unit 252.Clamp springs (not shown) is used to that connecting rod to be made to be retracted backward so that described
A pair of grasping pawl 251,251 carries out closure movement.Cylinder body 252a is provided in hand-drive unit 252, for being supplied
Connecting rod is pushed ahead against clamp springs during compression fluid (for example, oil under pressure).Cylinder body 252a make connecting rod carry out to
Being pushed forward can be by being used to make the linkage of hand folding the pair of grasping pawl 251,251 to carry out opening shifting into movement
It is dynamic.When stopping supplying compression fluid to cylinder body 252a, the power that clamp springs are stored using it makes connecting rod retract backward.Folder
Hold spring move backward connecting rod can be by being used to making the linkage of hand folding the pair of grasping pawl 251,251
Carry out closure movement.Hand-drive unit 252 makes the forward movement of connecting rod progress and moves backward and can move test section by folding
252b is divided to detect.Including being used for such folding mechanism by the manipulator of the linkage of hand folding, connecting rod etc. at this
It is well-known in technology, therefore no longer makes an explanation herein to other details.
For the servo motor 261 that is rotated and positioned to manipulator (referred to below as the servo horse of rotation axis
Up to) at hand seat 253 are attached to, so that hand rotation axis 254 is rotated around axis C6 (on direction of arrow theta 6 shown in Fig. 3).With
Toothed belt wheel-odontoid belt mechanism is provided between the output shaft of the servo motor 261 of rotation axis and hand rotation axis 254.
That is, a toothed belt wheel is attached to the output shaft of the servo motor 261 for rotation axis, and another toothed belt wheel
262 attachings rotation axis 254 in one's hands.Odontoid belt into round be sleeved on a toothed belt wheel and another toothed belt wheel 262 with
Around one toothed belt wheel and another toothed belt wheel 262.For the servo motor 261 and odontoid belt of rotation axis
Wheel-odontoid belt mechanism forms manipulator rotation and positioning unit (referred to below as hand rotary unit) 26.It is being provided with hand rotation
In the case of turning unit, for example, hand rotation axis 254 can be made along 90 degree of mode is rotated around the direction of axis C6 to perform roll forging
(being formed using a pair of of roller die).Herein, the tooth form skin can be replaced by another transmission mechanism (such as gear mechanism)
Belt wheel-odontoid belt mechanism.
A pair of of roller die
The shaping work (roll forging) carried out using a pair of of roller die 4,6 will be explained with reference to Fig. 5, Fig. 6.In such forging roll
In, manipulator 25 and manipulator 45 are moved respectively along the route shown in Fig. 6.On the other hand, in forging roll 1, respectively,
It is formed on first roller die 4 there are four finishing die 4a (4a1,4a2,4a3 and 4a4), and there are four finishing dies for formation on the second roller die 6
6a (6a1,6a2,6a3 and 6a4).Finishing die 4a and finishing die 6a forms paired finishing die.Specifically, finishing die 4a1 with
Finishing die 6a1 form the first finishing die F1, finishing die 4a2 and finishing die 6a2 form the second finishing die F2, finishing die 4a3 and into
Shape mould 6a3 forms the 3rd finishing die F3, and finishing die 4a4 and finishing die 6a4 forms the 4th finishing die F (referring to Fig. 5).
With correspondingly, the first robot 10 and the second robot 30 make manipulator 25 and manipulator 45 move respectively above
To first step position P2 corresponding with the first finishing die F1, second step position P3 corresponding with the second finishing die F2, with the
Three finishing die F3 corresponding third step position P4 and four steps position P5 corresponding with the 4th finishing die F4.For example,
Forging roll 1 in the P2 of first step position using include the finishing die F1 of finishing die 4a1 and finishing die 6a1 by material to be formed into
Shape is required shape.In other words, rotated in the first roller die 4 along the rotation of direction R shown in Fig. 5 and the second roller die 6 along direction R '
In the case of the material m to be formed that is grasped by the pair of grasping pawl 251,251 that is separately positioned on manipulator 25,45 is held
Row roll forging works (being formed using a pair of of mold).
These first finishing dies F1, the second finishing die F2, the 3rd finishing die F3 and the 4th finishing die F4 are substantially as got off
It uses.Using the first finishing die F1 in first step position P2, material m to be formed is squeezed.Using in second step position
The second finishing die F2 of P3 is put, makes to be revolved around axis C6 by the material m to be formed that finishing die F1 is squeezed by hand rotary unit 26
After turning 90 degrees, corrective forming is performed to the broadening part for being extruded material.Utilize in third step position P4
Three finishing die F3 squeeze material to be formed making material m to be formed by hand rotary unit 26 after axis C6 reversely rotates 90 degree
Expect m.Using the 4th finishing die F4 in four steps position P5, the broadening to the material m to be formed squeezed by finishing die F3
Part performs corrective forming, therefore forms final formed product, and the product has in thin concave surface and convex surface and essence
The net shape of upper circular cross section.
Roll forging method
The roll forging method carried out using forging roll 1 will be explained with reference to Fig. 6 to Figure 11.First roller die 4 and the second roller die 6 with
Predetermined speed rotation.In addition, the rotation of the first roller drive shaft 3 and the second roller drive shaft 5 is controlled by servo motor SM, and the
The rotation position of one roller drive shaft 3 and the second roller drive shaft 5 is synchronous.
As shown in Figure 6, formed the first mobile route 50A so that the manipulator 25 of the first robot 10 move and according to
Sequence occupies following position：Material m to be formed receives position (receiving position of a material m to be
Shaped) P1 (referred to below as receiving position), for being added from feed material unit (not shown) to be formed reception
Heat to set point of temperature material m to be formed；First step position P2；Second step position P3；Third step position P4；4th step
Rapid position P5；Formed product load-out location (position for carrying out the shaped article) P6,
Unit 8 (referred to below as load-out location) is set out for formed product to be set out formed product；Swung out position
(position for turning aside)P7；And material to be formed receives front position (position before
Receiving a material to be shaped) P8 (referred to below as receiving front position).First step position P2,
Two step location P3, third step position P4 and four steps position P5 are configured to a line, and are formed for material to be formed
Mobile route (route for movement in shaping) 51 in the shaping that material m is formed.It receives position P1 and sets out
Position P6 is set in the extension of mobile route 51 in formation.That is, manipulator 25 is along with including mobile route
Frame shape (closed loop) form the first mobile route 50A movement, the first mobile route 50A include comprising first step position P2,
Second step position P3, third step position P4 and four steps position P5 and wherein receive position P1 to load-out location P6 from
Head is configured in the shaping of a line mobile route 51 and further includes first to turn on route 52 to tail, and first, which turns on route 52, exists
(for example, in shown construction, in lower side) is spaced with mobile route 51 in shaping on the one side of mobile route 51 in shaping
Open preset distance.
The second mobile route 50B is formed, so that the manipulator 45 of the second robot 30 is moved and sequentially occupied with bottom
It puts：Receive position P1, first step position P2, second step position P3, third step position P4, four steps position P5, load
Out position P6, swung out position P17 and material to be formed receive front position P18 (referred to below as receiving front position).That is,
Manipulator 45 is moved along the second mobile route 50B with frame shape (closed loop) form including mobile route, the second movement road
Line 50B include comprising first step position P2, second step position P3, third step position P4, four steps position P5 and its
Middle reception position P1 to load-out location P6 is configured in the shaping of a line mobile route 51 and further includes second from the beginning to the end
Turn on route 53, second turns on route 53 in formation on the opposite side of mobile route 51 (for example, in shown construction, upper
On portion side) with shaping in mobile route 51 be spaced apart preset distance.
The first robot 10 and the second robot 30 movement will be explained, so as to by these movements and the master of forging roll 1
Movement on the side of body 2 connects.On the side of the main body 2 of forging roll 1, the first roller drive shaft 3 and the second roller drive shaft 5 with
Provide speed rotation.It will be explained further with reference to " the mobile and operational flowchart " shown in Fig. 7 to make.
The manipulator 25 of first robot 10 is moved to four steps position P5 from third step position P4.At this point, second
The manipulator 45 of robot 30 is moved to reception position P1 from front position P18 is received (referring to Fig. 9).It is had been moved in manipulator 25
After the P5 of four steps position, the first robot 10 performs shaping using the 4th finishing die F4.Second robot 30 is receiving
Material m to be formed is received from feed material unit to be formed in the P1 of position, wherein manipulator grasps the material.(step S1)
The manipulator 45 for having received the second robot 30 of material m to be formed is moved to first step from position P1 is received
Position P2.At this point, the manipulator 25 of the first robot 10 is moved to load-out location P6 from four steps position P5, discharge to having become
Formed product is simultaneously transferred to formed product and sets out unit 8 by the grasping of shape product.The first step is had been moved in manipulator 45
After rapid position P2, the second robot 30 the material m to be formed grasped by manipulator 45 is performed using the first finishing die F1 into
Shape.(step S2)
The manipulator 45 of second robot 30 is moved to second step position P3 from first step position P2.At this point, first
The manipulator 25 of robot 10 is moved to swung out position P7 from load-out location P6.Second step position is had been moved in manipulator 45
After P3, the second robot 30 performs shaping using the second finishing die F2 to the material m to be formed grasped by manipulator 45.(step
Rapid S3)
The manipulator 45 of second robot 30 is moved to third step position P4 from second step position P3.At this point, first
The manipulator 25 of robot 10 is moved to from swung out position P7 and receives front position P8 (referring to Figure 10).It is had been moved in manipulator 45
After the P4 of third step position, the material to be formed grasped by manipulator 45 is held using the 3rd finishing die F3 by the second robot 30
Row shaping.(step S4)
The manipulator 45 of second robot 30 is moved to four steps position P5 from third step position P4.At this point, first
The manipulator 25 of robot 10 is moved to reception position P1 from front position P8 is received (referring to Figure 11).It is had been moved in manipulator 45
After the P5 of four steps position, the second robot 30 is using the 4th finishing die F4 to the material m to be formed that is grasped by manipulator 45
Perform shaping.The manipulator 25 of first robot 10 receives material m to be formed from feed material unit to be formed.(step S5)
The manipulator 45 of second robot 30 is moved to load-out location P6 from four steps position P5.At this point, the first machine
The manipulator 25 of people 10 is moved to first step position P2 from position P1 is received.First step position is had been moved in manipulator 25
After P2, the first robot 10 performs shaping using the first finishing die F1 to the material m to be formed grasped by manipulator 25.Second
Robot 30, which discharges the grasping of manipulator 45 in load-out location P6 and formed product is handed over to formed product, sets out list
Member 8.(step S6)
The manipulator 25 of first robot 10 is moved to second step position P3 from first step position P2.At this point, second
The manipulator 45 of robot 30 is moved to swung out position P17 from load-out location P6.Step location P3 is had been moved in manipulator 25
Afterwards, the first robot 10 performs shaping using the second finishing die F2 to the material m to be formed grasped by manipulator 25.(step
S7)
The manipulator 25 of first robot 10 is moved to third step position P4 from second step position P3.At this point, second
The manipulator 45 of robot 30 is moved to from swung out position P17 and receives position P18 (referring to Fig. 8).It is had been moved in manipulator 25
After the P4 of third step position, the first robot 10 is using the 3rd finishing die F3 to the material m to be formed that is grasped by manipulator 25
Perform shaping.(step S8)
Back to step S1, recycling finishing die treats the shaping operation of moulding material progress.
Herein, although so that receiving position P1, first step position P2, second step position P3, third step position
P4, four steps position P5 and load-out location P6 set example in a row to having made foregoing explanation on the construction of Fig. 6, but
Position P1 and load-out location P6 is received to may be not necessarily provided in shaping in the extension of mobile route 51.For example, receive
Position P1 and/or load-out location P6 may be provided at first and turn on route or second turn on route.In addition, receive position P1 and/
Or load-out location 8P6 may be provided in shaping mobile route and first and turn on route or second turn between route.
In other words, it can be achieved that being constructed as below：The manipulator of 25 and second robot 30 of manipulator of first robot 10
45 will not perform shaping simultaneously, and the shaping operation of both is coexisted in first step position P2, second step position P3,
In the shaping extended on three step location P4 and four steps position P5 in mobile route 51.
For such forging roll 1, the pair of roller die 4 and 6 for being respectively fixed to the pair of roller drive shaft 3 and 5 can be made
Consistently rotate, and make the first robot 10 and the second robot 30 succeedingly operated in turn with utilize the pair of roller die 4 and 6
Perform shaping work (roll forging).Therefore, for such forging roll 1, the shaping carried out using the pair of roller die 4 and 6 is not existed
It receives material m to be formed and stops when transferring formed product, therefore realize the raising of productivity.For example, when the first machine
When the manipulator 25 (or manipulator 45 of the second robot 30) of device people 10 is in reception position P1, the machinery of the second robot 30
Hand 45 (or manipulator 25 of the first robot 10) is in four steps position P5.In addition, when the manipulator of the first robot 10
When 25 (or manipulators 45 of the second robot 30) are in load-out location P6, the manipulator 45 of the second robot 30 (or the first machine
The manipulator 25 of device people 10) it is in first step position P2.So, 25 and second machine of manipulator of the first robot 10
The manipulator 45 of people 30 is not interfering with each other, and is formed always using roller die 4 and roller die 6, so as to improve production
Rate.
In addition, the first robot 10 and the second robot 30 are controlled such that when 25 edge of manipulator of the first robot 10
Mobile route 51 in the shaping of the first mobile route 50A to move and from first step position P2 to four steps position P5's
When shaping work is performed in position, the manipulator 45 of the second robot 30, which is removed along in the second mobile route 50B in shaping, to be moved
Outside route 51 including second turn on route 53 including mobile route movement.On the other hand, the first robot 10 and the second machine
Device people 30 is controlled such that manipulator 45 when the second robot 30 along mobile route in the shaping of the second mobile route 50B
51 move and when performing shaping work into the position of four steps position P5 from first step position P2, the first robot 10
Manipulator 25 along in the first mobile route 50A in addition to mobile route 51 in shaping including first turns on route 52
Mobile route moves.The first of first robot 10 turns on 52 and second route of route and the second of the second robot 30 turns on road
Line 53 is configured to be respectively relative to mobile route 51 in shaping and is spaced apart preset distance (as shown in the figure) up or down.
First turns on route 52 and second turns on the preset distance of mobile route 51 in route 53 and shaping and will such as be divided into
It is fixed.As shown in Figure 6, respectively, it is L1 to turn on the distance of mobile route 51 into shaping of route 52 from first, and from second turn
The distance of mobile route 51 into shaping of open-circuit line 53 is L2.If maximum half of the manipulator 25 and 45 of the first robot 10 and 30
Footpath is respectively R1 and R2.For avoid turned on along first the manipulator 25 of the first robot 10 that route 52 moves with along into
It is disturbed in shape between the manipulator 45 of the second manipulator 45 of the second robot 30 that mobile route 51 moves, distance L1 must
It must a certain amount D1 bigger than R1+R2.This certain amount D1, which is determined to be, can safely avoid disturbing between two manipulators.
In addition, being moved to the manipulator 25 of wherein the first robot 10 along mobile route in shaping 51 and the second robot
30 manipulator 45 along second turn on the situation that route 53 moves carry out it is similar consider, and distance L2 must it is bigger than R1+R2 certain
One amount D2.The amount of tolerance limit D1 and D2 can be taken as substantially the same.By setting on such as from turning on route 52,53 into shaping
Distance L1, L2 of mobile route 51 is disturbed to avoid between two manipulators, the manipulator 25 of the first robot 10 with
The manipulator 45 of second robot 30 can be moved in the case where not disturbing each other.
It is explained above to avoid sending out between the manipulator 45 of 25 and second robot 30 of manipulator of the first robot 10
The necessity of raw interference.In addition, on Liang Ge radial types robot, it is necessary to avoid occurring between the arm of Liang Ge robots dry
It disturbs.To realize such purpose, on the first robot 10 and the second robot 30 for articulated type, two radial type machines are formed
The mobile needs of the arm of people are controlled by, to avoid disturbing each other.It that is, should be by the mobile status of mechanical arm
(for example, the swing angle or rotational angle of arm, sequential etc. of such movement) is set to meet artificially performs roll forging in machine
And the movement related with roll forging and avoid occurring to disturb this requirement between each manipulator during the operation that carries out.
For such forging roll 1, the first robot 10 and the second robot 30 can be made using the pair of of constant rotation
Roller die 4 and 6 alternately performs shaping, therefore improves productivity.For example, when the manipulator 25 (or of the first robot 10
The manipulator 45 of two robots 30) from receive position P1 be moved to first step position P2 when, the manipulator of the second robot 30
45 (or manipulators 25 of the first robot 10) are moved to load-out location P6 from four steps position P5.So, the first machine
The manipulator 45 of 25 and second robot 30 of manipulator of device people 10 can move in the case of not interfering with each other, and always in profit
Shaping is performed with the pair of mold 4 and 6.
In addition, in such forging roll 1,10 and 30 operated in turn of Liang Ge robots.Therefore, feed material to be formed when
Between and set out the time (for traditional forging roll be loss time) of formed product for such forging roll 1
It is not the loss time.Such forging roll, which has, to be constructed as below：Two manipulators 25 and 45 be separately positioned on upper position and under
In portion position (as shown in the figure) and the interference between two manipulators 25 and 45 can be avoided so that Liang Ge robots can be achieved
10 and 30 operated in turn.Therefore, it can be achieved that the raising of the productivity of such forging roll.
In addition, although needing two groups of roller dies in traditional forging roll to improve productivity, such forging roll is not
Need two groups of roller dies.Therefore, such forging roll realize the reduction of Mold Making expense, the reduction of mold storing spatial area and
The shortening of die change time, this brings economic advantages.
For the forging roll 1 controlled in this way, circulation time can shorten and the temperature variation of material to be formed reduces,
Therefore the raising of product quality can be realized.In addition, for such forging roll 1, rotation can carry out in the same direction so that be applied
Loading carry direction be identical, therefore the service life of the product obtained by forging roll 1 with by wherein rotate be in one direction and
The product that the forging roll carried out in other direction the two obtains is compared and can improved.In addition, it is carried out using identical roller die continuous
Shaping, therefore shape variation can be restricted and the quality of product can be improved.
The roll forging method of the forging roll so that roll forging is by the way that Liang Ge robots is controlled to perform as follows：When one
The manipulator of a robot along mobile route in shaping move when, the manipulator of another robot moves road along in except shaping
The movement of the mobile route including first turns on route or second turns on route outside line.For such roll forging method, two
The manipulator 25 and 45 of robot alternately performs roll forging (being formed using a pair of of mold), by feed material to be formed to roller
Mould 4 and 6, and the manipulator will not be interfering with each other so that the raising of productivity can be achieved.
Although having explained the embodiment of the present invention above, unquestionable, the present invention is not limited only to these embodiments.
For example, carrier units can be can be along orthogonal coordinates humanoid robot that three axis directions move etc..That is, carrying
Unit can be can on three-dimensional the movement of control machinery hand carrier units.It is moved on the horizontal level for wherein removing
The outer construction that can be also moved on the direction orthogonal with horizontal plane, such carrier units can be configured to：When a manipulator
During in the position moved along mobile route in shaping from first step position to four steps position, another manipulator can quilt
It controls into mobile along the mobile route (first turn on route or second turn on route) in addition to mobile route in shaping and two
The mutual interference of manipulator can be avoided.In addition, articulated robot can be with another kind construction or with another
The robot of axis number, thus realize wherein can on three-dimensional the movement of control machinery hand construction.
In addition, although it is for a pair of rolls formed on each roller die there are four finishing die to the explanation of each embodiment above
The example of mould and make, but the pair of roller die can be formed with multiple molds (for example, two or six finishing dies) above
Roller die.In addition, although each embodiment is for wherein being made, can led to perform the example of shaping work by four steps
The step of crossing six steps or two steps or another number performs shaping work, as long as product can be formed.
In addition, although it is on including suspension humanoid robot (carrier units) and grounding machine to the explanation of each embodiment
The example of carrier units including people's (carrier units) and make, but be contemplated that wherein two grounding carrier units are arranged on
With difference in height for installing construction in the plane (floor) of described two grounding carrier units.For example, relatively
In for installing the first floor level of a carrier units, it can will dig specified amount downward below in the first floor level and obtain
The base plane of pit be considered as that the second floor level of another carrier units is installed, therefore another carrier units are installed
On mounting plane in pit.
[explanation of symbol]
1：Forging roll
2：Main body
3：First roller drive shaft
4：First roller die 5：Second roller drive shaft
6：Second roller die
7：Hang pedestal
8：Formed product sets out unit
10：First robot
11、31：Robot base
12、32：First rotating mechanism
13、33：First rotating base
14、34：First swing mechanism
15、35：First arm
16、36：Second swing mechanism
17、37：Second arm
18、38：Second rotating mechanism
19、39：3rd arm
20、40：3rd swing mechanism
21、41：4th arm
25、45：Manipulator
251、251：Grasp pawl
252：Manipulator folding driving unit
252a：Cylinder body
253：Manipulator base
254：Manipulator rotation axis
26：Manipulator rotates and positioning unit
261：Servo motor
30：Second robot
31：Second robot base
50A：First mobile route
50B：Second mobile route
51：Mobile route in shaping
52：First turns on route
53：Second turns on route
P1：Material m to be formed receives position
P2：First step position
P3：Second step position
P4：Third step position
P5：Four steps position
P6：Formed product load-out location
P7、P17：Swung out position
P8、P18：Material to be formed receives front position
Claims (9)
1. a kind of forging roll, which is characterized in that including：
A pair of rolls drive shaft is configured to rotate in the main body of the forging roll, and the driving carried out by driver
Rotate the pair of roller drive shaft；
A pair of of roller die is separately positioned in the pair of roller drive shaft, and multiple finishing dies is formed on the pair of roller die, institute
Stating has predetermined space between multiple finishing dies；
Carrier units, for will have in material carrying to be formed to the reception position of the material to be formed, the pair of roller die
There are the shaping position of the multiple finishing die and formed product load-out location；
Wherein described carrier units include：
There is mobile route and the first the first rectangle for turning on route along in including straight shaping to move road for first robot
The manipulator of line movement, mobile route connection and the shaping position with the multiple finishing die in the straight shaping
Corresponding each position, described first turn on route in the straight shaping on the one side of mobile route with it is described it is straight into
Mobile route is spaced apart predetermined amount in shape；And
There is mobile route and the second the second rectangle for turning on route along in including the straight shaping to move for second robot
The manipulator of dynamic route movement, described second turn on route in the straight shaping on the opposite side of mobile route with it is described
Mobile route is spaced apart predetermined amount in straight shaping, and
Wherein described first robot and second robot are controlled so as to the machinery when first robot respectively
Hand along mobile route in the straight shaping move when, the manipulator of second robot is along second square
The movement of the part in addition to mobile route in the straight shaping of shape mobile route, and work as the described of second robot
Manipulator along mobile route in the straight shaping move when, the manipulator of first robot is along described
The movement of the part in addition to mobile route in the straight shaping of one rectangle mobile route.
2. forging roll according to claim 1,
The reception position of wherein described material to be formed and the formed product load-out location are arranged in the shaping
In the extension of mobile route.
3. forging roll according to any one of claim 1 to 2,
Wherein described first robot and second robot are respectively radial type robot.
4. forging roll according to claim 3,
Each of wherein described first robot and second robot include：
Rotating base fixed to the machine body and can carry out rotation movement；
Multiple arms are connected in series to carry out swinging movement relative to each other or rotate movement, and the arm connected
One end is connected to the rotating base so as to carrying out rotation movement；And
Manipulator has material grip portion to be formed and is connected to the other end of the arm of series connection.
5. forging roll according to any one of claim 1 to 4,
One of wherein described first robot and second robot are landing humanoid robots, and another one is mounted model
Robot.
6. forging roll according to any one of claim 1 to 4,
Wherein described first robot and second robot are provided on its respective position with different height
Land humanoid robot.
7. forging roll according to any one of claim 1 to 6,
Wherein when the manipulator of second robot is moved to the load-out location from the shaping final step position
When, the manipulator of first robot is moved to the die forming first step position from the reception position, and
When the manipulator of first robot is moved to the load-out location from the shaping final step position, institute
The manipulator for stating the second robot is moved to the die forming first step position from the reception position.
8. a kind of roll forging method carried out using forging roll, the forging roll are included：
A pair of rolls drive shaft is configured to rotate in the main body of the forging roll, and the driving carried out by driver
Rotate the pair of roller drive shaft；
A pair of of roller die is separately positioned in the pair of roller drive shaft, and multiple finishing dies is formed on the pair of roller die, institute
Stating has predetermined space between multiple finishing dies；And
Carrier units, for will have in material carrying to be formed to the reception position of the material to be formed, the pair of roller die
There are the shaping position of the multiple finishing die and formed product load-out location,
The carrier units include：
There is mobile route and the first the first rectangle for turning on route along in including straight shaping to move road for first robot
The manipulator of line movement, mobile route connection and the shaping position with the multiple finishing die in the straight shaping
Corresponding each position, described first turn on route in the straight shaping on the one side of mobile route with it is described it is straight into
Mobile route is spaced apart predetermined amount in shape；And
There is mobile route and the second the second rectangle for turning on route along in including the straight shaping to move for second robot
The manipulator of dynamic route movement, described second turn on route in the straight shaping on the opposite side of mobile route with it is described
Mobile route is spaced apart predetermined amount in straight shaping；
The roll forging method, which is characterized in that when the manipulator of first robot moves road along in the shaping
When line moves, the manipulator of second robot is moved along removing in the shaping for the second rectangle mobile route
Part movement outside route,
When the manipulator of second robot is moved along mobile route in the shaping, first robot
The manipulator is moved along the part in addition to mobile route in the shaping of the first rectangle mobile route, and
Any one in first robot and second robot can perform shaping using the pair of roller die.
9. roll forging method according to claim 8,
Wherein when the manipulator of second robot is moved to the load-out location from the shaping final step position
When, the manipulator of first robot is moved to the die forming first step position from the reception position, and
When the manipulator of first robot is moved to the load-out location from the shaping final step position, institute
The manipulator for stating the second robot is moved to the die forming first step position from the reception position.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-124642 | 2015-06-22 | ||
| JP2015124642A JP6588743B2 (en) | 2015-06-22 | 2015-06-22 | Roll forging machine and its roll forging method |
| PCT/EP2016/063544 WO2016207016A1 (en) | 2015-06-22 | 2016-06-14 | Roll forging machine and roll forging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108112241A true CN108112241A (en) | 2018-06-01 |
| CN108112241B CN108112241B (en) | 2019-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680037122.5A Active CN108112241B (en) | 2015-06-22 | 2016-06-14 | roll forging machine and roll forging method |
Country Status (6)
| Country | Link |
|---|---|
| JP (2) | JP6588743B2 (en) |
| KR (1) | KR102037889B1 (en) |
| CN (1) | CN108112241B (en) |
| CZ (1) | CZ308188B6 (en) |
| DE (1) | DE112016002792T5 (en) |
| WO (1) | WO2016207016A1 (en) |
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| CN110102689A (en) * | 2019-06-15 | 2019-08-09 | 淄博宏杰自动化设备有限公司 | A kind of 90 degree of rotating mechanisms of forging roll |
| CN114585459A (en) * | 2019-09-11 | 2022-06-03 | Sms集团有限公司 | Roll forging apparatus and roll forging method |
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| DE102017116570B4 (en) | 2017-03-22 | 2019-01-17 | Sms Group Gmbh | Stretching and stretching mill |
| CN110722003B (en) * | 2018-07-17 | 2024-11-22 | 韩静涛 | A composite forging and rolling metal tube forming machine |
| KR102232173B1 (en) * | 2019-08-19 | 2021-03-26 | 주식회사 포메탈 | Method for plasticizing aluminum materials automatically using robots and forging rolls |
| CN118321477B (en) * | 2024-06-13 | 2024-08-27 | 山西天宝集团有限公司 | Intelligent processing table for forging wind power generation flange and processing method thereof |
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- 2015-06-22 JP JP2015124642A patent/JP6588743B2/en active Active
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2016
- 2016-06-14 DE DE112016002792.3T patent/DE112016002792T5/en active Pending
- 2016-06-14 KR KR1020187002042A patent/KR102037889B1/en active IP Right Grant
- 2016-06-14 WO PCT/EP2016/063544 patent/WO2016207016A1/en active Application Filing
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110102689A (en) * | 2019-06-15 | 2019-08-09 | 淄博宏杰自动化设备有限公司 | A kind of 90 degree of rotating mechanisms of forging roll |
| CN114585459A (en) * | 2019-09-11 | 2022-06-03 | Sms集团有限公司 | Roll forging apparatus and roll forging method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2017006947A (en) | 2017-01-12 |
| CZ201818A3 (en) | 2018-03-14 |
| JP6588743B2 (en) | 2019-10-09 |
| KR20180021099A (en) | 2018-02-28 |
| DE112016002792T5 (en) | 2018-06-28 |
| CZ308188B6 (en) | 2020-02-12 |
| WO2016207016A1 (en) | 2016-12-29 |
| JP2018528862A (en) | 2018-10-04 |
| CN108112241B (en) | 2019-12-17 |
| KR102037889B1 (en) | 2019-10-29 |
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