JP2000197936A - Transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To exactly transfer a dice to a prescribed position without any error in the axial center of a work held by fingers in a transfer device installed attached to a working device such as a forging press and used for automatic transfer of the work among plural processes. SOLUTION: In a transfer device to hold a work by a pair of fingers and transfer it to a prescribed place, a pair of feed bars 2 are equipped in parallel to each other across a direction of transfer of the work and each of the feed bars 2 is equipped with fingers 25 for holding the work, and at the same time, pneumatic cylinders to energize the fingers 25 in the direction of clamping and restoring springs 30 to energize the fingers in the direction adverse to the energizing force of the pneumatic cylinders are provided. Several sets of fingers 25 for holding a work and pneumatic cylinders for energizing the fingers 25 in the direction of clamps are provided in parallel at intervals, and among the plural fingers 25 one or plural pneumatic pressure circuits capable of making energizing timing slide against the others in the direction of clamping direction are preferably provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device attached to a processing device such as a forging press and used for automatically transporting a work between a plurality of processes.

[0002]

2. Description of the Related Art For example, in a hot forging press provided with a transfer device, a plurality of press dies corresponding to the required number of processes are arranged in series at predetermined intervals, and the processing is completed in each process. The work is automatically transferred to the next process by a transfer device and set in a press die for the process.

In the transfer apparatus, a pair of left and right beams (feed bars) is provided so as to sandwich a row of press dies arranged in series along the work transfer direction. A plurality of fingers are attached at predetermined intervals corresponding to the respective press dies. Then, the work is sequentially conveyed to the next step while repeating the following operation. Work clamp-ascending-advance-descend-work release (unclamp)-return (hereinafter, repeated).

The transfer device must transfer the work accurately at the arrangement pitch of the molding dies and on the center line in the transfer direction. Therefore, not only the operation of the transfer device, but also the work of the finger for clamping the work is required. High precision is required for the operation of the clamp and the work unclamping. For this reason, various devices have conventionally been devised to improve the accuracy of this type of transfer device.

[0005] As a transfer device designed so as to accurately convey a work, for example, Japanese Utility Model Publication No. 7-156
Japanese Patent Application Laid-open No. 18 (Japanese Patent Application Publication No. 1) and Japanese Patent Application Laid-Open No. 6-114474 (Japanese Patent Application Publication No. 2) are known. Among these, the apparatus described in Japanese Patent Application Laid-Open Publication No. H11-15064 discloses a method in which a movable finger having a general structure is attached to one of a pair of feed bars (beams) provided along a work transfer direction, and the other beam is provided. , A fixed finger having a built-in inner finger is attached, and the work can be accurately positioned at the center of the mold. Further, in the apparatus described in Japanese Patent Laid-Open Publication No. H08-209, a finger (the same type as the movable finger) that can move forward and backward with respect to the work is attached to one of the feed bars (beams), and the other beam is attached to the work. By attaching a finger provided with an urging means capable of generating and eliminating an urging force for urging toward the workpiece, the work can be prevented from being displaced from a predetermined processing position (center of the mold).

[0006]

In the apparatus described in the above publication, a beam is clamped by attaching a movable finger to one beam and a fixed finger containing an inner finger to the other beam. In operation, the inner finger of the fixed finger is immersed, and the tip of the fixed finger (the part that holds the work)
Abuts the workpiece, so that the workpiece can be accurately positioned at the center of the mold.When the workpiece is unclamped, the inner finger protrudes due to the repulsive force of the spring, and the center of the workpiece is cooperated with the movable finger spring. The position is not shifted.

However, it is necessary that the tip of the fixed finger (the portion in contact with the work) is always at a fixed position, and that the distance from the center of the mold to the tip of the fixed finger is constant. In addition, since the distance (distance) from the center of the mold to the tip of the fixed finger of the station (first step, second step,...) Of each step is different, a fixed finger corresponding to each station is required. further,
When the work is changed, the fixed finger and the movable finger corresponding to the work must be changed.Therefore, in the case of a forging press for high-mix low-volume production, the change work becomes complicated. is there.

On the other hand, the device disclosed in the above publication 2 is conceptually the same as the device disclosed in the above publication 1, and the inner fingers of the fixed fingers are biased not by a spring but by an electromagnet and a permanent magnet. are doing. By energizing the electromagnet, a repulsive force is generated for the permanent magnet fixed to the rod, and the pressure holds the work between the fingers. At this time, since the work is elastically supported by the characteristics of the magnet, it is possible to cope with a change in the work size.

However, in this apparatus, a support means for supporting the finger so as to be able to move forward and backward with respect to the work is provided on one of the feed bars. However, this means is not clear, and a known spring is provided inside. It is not clear how to set the repulsive force of the magnet and the spring force if it is understood that the magnet can move forward and backward.
In other words, the center position of the work is not guaranteed (the position where the repulsive force of the magnet and the spring force are balanced) is not guaranteed. Even if it is set for one type of work, if the outer diameter of the work changes, the repulsive force of the magnet is reduced. The inconvenience of having to deal with changing the weight (outer diameter, height) of the work or resetting the work is inevitable, and there is a problem that the operating rate must be reduced.

When this is applied to a forging press,
A new issue is adaptability to the forging work environment. That is, there is a possibility that the excited portion of the magnet may not operate due to the influence of dust and the release agent. In addition to the magnet, the action of the urging force can be performed and canceled by an actuator, but such a phenomenon does not occur unless the actuator is an oil pressure actuator. In this case, since the hydraulic cylinder must be extended and retracted, the number of pipes and joints increases, and the danger of a forging work environment, that is, a fire or the like at a high temperature, is inevitable against oil leakage from pipe parts.

Further, the publication discloses that the urging force acting on the rod is eliminated, and when the workpiece separates from the finger, the workpiece is not pushed out by the rod and deviates from a predetermined processing position. (0021) Since the urging force of the magnet is released by the power cut, no force is applied to the rod when the work separates from the finger, and it is necessary to re-energize the work here, which makes the control complicated. Become

[0012]

SUMMARY OF THE INVENTION The present invention is to solve the above-mentioned problems in the conventional transfer apparatus, and employs the following configuration. That is, in the transfer device according to the present invention, in a transfer device in which a workpiece is sandwiched between a pair of fingers and transported to a predetermined position, a pair of feed bars are provided in parallel with each other in the transport direction of the workpiece. Has a pneumatic cylinder for urging the fingers in the clamping direction and a return spring for urging the fingers in a direction opposite to the urging force of the pneumatic cylinder. It is characterized by.

In the transfer apparatus of the present invention, two feed bars are opposed to each other in a direction parallel to the direction in which the work flows (the direction in which the work proceeds), and fingers are attached to the feed bar by the pneumatic pressure with respect to the work. The finger is projected in the direction of clamping clamped by the cylinder, and the finger is returned by a spring when the clamp is released (unclamped). This spring is provided on the feed bar so as to provide a reaction force against the operation of the pneumatic cylinder in the clamping direction. The feed bar is movable in the direction of approaching / separating from the work, and when the feed bar is moved in the direction of clamping the work (work clamp direction), the pneumatic cylinder is turned on to clamp the work from both sides. It is preferable to keep it. At the time of work clamping, the pneumatic cylinder advances by overcoming the reaction force of the spring. In this case, by keeping the capabilities of the pneumatic cylinder and the spring the same on both sides of the work, the clamping force on one side and the clamping force on the opposite side are balanced, and the pressing forces from both sides are balanced. The work is transported in a state in which the center is at the center of the mold without any deviation of the center.

After the work is conveyed to the next step, when the feed bar releases the work, the pressure in the clamping direction of the pneumatic cylinder may be released. Then, since the finger returns to the original position by the reaction force of the spring, the center of the work does not become out of order.

If the workpiece is grasped by the pneumatic cylinder, the timing of starting the clamping of the pneumatic cylinder of each finger can be shifted when the feed bar is in the workpiece clamping step. That is, a pneumatic circuit is provided which can shift the biasing timing of one or more of the plurality of fingers in the clamping direction to that of the other fingers, and feeds a pneumatic circuit to a pneumatic cylinder of a specific finger. By supplying pneumatic pressure in the direction in which the bar grips the workpiece during the lift process, the lift amount of the workpiece gripped by the finger can be set arbitrarily. For this reason, for example, in the material supply step of the forging press, at the drop position (P00) where the billet is inserted from the chute, the amount of rise of the material is limited by the chute. The billet was supplied by a separate pusher up to the press receiving position P0. However, by configuring as described above, the amount of rise of the material can be reduced. It is also possible to convey to a position, and it is possible to omit the pusher.

Furthermore, since the finger is returned to the original position by the reaction force of the spring at the time of unclamping, the number of parts can be reduced by using the unclamping solenoid valve common to the finger device in each step. If a plurality of fingers are attached to a common plate and the common plate can be attached to and detached from the feed bar, if the fingers have to be replaced due to a change in the dimensions of the material or workpiece, the fingers can be combined. It is convenient because it can be attached to and detached from the feed bar, and can be replaced. It is also convenient for the maintenance of the finger device.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The drawings following FIG. 1 exemplify an embodiment of a transfer device provided in a forging press device F. The transfer device 1 has a press arranged along a conveying direction. A pair of feed bars (beams) 2, 2 are provided on both sides of the mold in parallel with each other, and a plurality of finger devices 5,... Corresponding to each press mold M,. They are attached at predetermined intervals. The feed bars 2, 2 to which the finger devices are attached are reciprocated by the driving device D along the arrangement line of the press die, and transport the material or the work to the position of each die. The feed bars 2 and 2 can move up and down within a predetermined range and move in directions approaching and separating from each other.

The forging press F shown in the illustrated example is composed of P1 to P
Five forging steps up to 5 are provided, and a press die M is installed in each of these steps. A receiving position P0 for receiving a billet as a processing material is provided before the first forging process P1, and a pickup position P00 for a material fed by a chute from a heating furnace is provided on the front side of this position. Have been. The raw material supplied to the position P00 is transported to a receiving position P0 of the forging press device by a separate transfer device, and from there, is sequentially transported to a die position in each process by the transfer device 1 for processing.

A common plate 10 is attached to each of the pair of feed bars 2 and 2 on the surface facing the mold. As shown in FIG. 6, the common plate 10 is an elongated plate body provided with a plurality of (for example, five) support plate mounting portions 10a,.
A U-shaped groove 10b for attaching to the feed bar 2 is provided in the interval of 10a. In addition, the mounting portion 10
a has three through holes 10 corresponding to the holes of the support plate described later.
c, 10d, and 10d are provided. The common plate 10 is provided with fixing bolts 12 fixed to a clamp cylinder 11 provided on the feed bar 2.
Are fixed to the feed bar by fitting the cylinders 0b,... And contracting the clamp cylinder 11, and the attachment / detachment operation is simple.

The support plate 15 of the finger device 5 is provided on the mounting portion 10a of the common plate 10
Attach with 4, ... A center hole 16 is provided at the center of each support plate 15 so as to overlap the through hole 10c of the common plate 10, and guide holes 17 and 17 are provided at both sides of the center hole so as to overlap the through holes 10d. . A finger support rod 18 coaxially arranged with a piston rod 20a of a finger cylinder 20 provided on the feed bar 2 is slidably fitted in the center hole 16. 16a is a finger support rod 18
This is a bush that smoothly guides the movement of the vehicle. Guide rods 19 are slidably fitted in the guide holes 17.

The finger support rod 18 and the guide rod 1
A finger base 22 having a hook-shaped cross section is attached to the tip of each of the fingers 9 and 19, and a finger (chuck) 25 is fixed to the finger base with bolts 24 and 24. In the illustrated example, the finger 25 is formed as a plate having a concave portion 25a with which the work is engaged at the distal end, but may be formed in an appropriate shape according to the shape of the work.

An inward flange 17a is formed at the distal end of the guide hole 17 provided in the support plate 15, and a large-diameter base 19a of the guide rod 19 fitted in the inward flange 17a and the inward flange 17a. A spring 30 is interposed on the outer peripheral portion of the guide rod 19 between them. Therefore, when the guide rod 19 moves outward (toward the mold), the spring 30 is compressed, and a reaction force is generated in the retreating direction. The strength of the spring 30 is equal for each of the pair of finger devices 5 and 5 facing each other across the mold. The strength of the finger cylinder 20 is also equal for each of the finger devices facing each other.

Next, the operation of the transfer device 1 will be described. First, a raw material (a billet) supplied from a heating furnace to a drop position P00 in FIG. 1 through a supply device such as a chute S is conveyed to a forging press receiving position P0 by a transfer device (for example, a pusher) not shown. This material is transferred to the first step P1 by the receiving finger device 5 (A), and the mold M1 of the first step is used.
Is set to At the same time, the work processed by the mold M1 in the first step is carried to the position of the mold M2 in the second step P2, and the work processed in the second step P2 is similarly moved to the third step.
In the process P3, the work in the third process P3 is carried to the fourth process P4, and is set in the mold M in each process. In addition,
The work processed in the fifth step P5, which is the final step, is sent out as a product.

The operation of the feed bars 2, 2 and the finger devices 5,... At this time is as follows. First, a pair of feed bars are moved by a predetermined amount in a direction approaching each other, that is, in a direction approaching the work while being lowered at the start end position of the movement range, and the fingers 25, 25 clamp the work (material). This clamping is performed by clamping the work (material) from both sides by extending the clamp cylinders 20, 20 of the finger devices facing each other across the transfer line by the same distance against the elasticity of the springs 30, 30. . The finger cylinders of the finger devices on both sides of the work have the same strength, and the springs have the same urging force.

The work or the material is clamped by the feed bars 2, 2 and the fingers 25, 25 as described above. In this case, as shown in FIG. , 2 approach and stop near the work (W) as shown in FIG. 2 (b), and then the fingers 25, 25 move forward to pinch the work as shown in FIG. 2 (c). It is preferable to keep it. The movement limit (G) of the feed bar can be set as appropriate. It is preferable that the sensor detects that the feed bars 2 and 2 have reached the movement limit (G), and that the movement of the finger is started based on a detection signal of the sensor.

When the fingers 25, 25 clamp the work, the feed bars 2, 2 rise by a predetermined distance, move in the transport direction (the right side in FIG. 1) by one pitch of the mold arrangement, and then lower by a predetermined distance. I do. As a result, the work held by the finger device is correctly set at the processing position of the mold M in each step.

Next, when the supply of air to the finger cylinder 20 is switched and the cylinder 20 contracts, the finger 25 retreats by the urging force of the spring 30, and the feed bars 2 on both sides move away from the work. I do. For this reason, both fingers that grasp the work simultaneously separate from the work and release the work.
The feed bar rises again while leaving the work in the mold, and returns to the original position. Then, the forging press operates to process the work in the mold. When the processing is completed, the transfer device repeats the same operation as described above.

In the transfer device 1, when the finger device grips the workpiece, the feed bars approach each other, and the rod 18 pushed by the finger cylinder 20 moves forward against the urging force of the spring 30, and Of the workpiece from both sides. When releasing the work, the finger cylinder 20 contracts and the rod 18 retreats due to the elasticity of the spring 30, so that no force is generated in the direction of pushing the work. For this reason, there is no displacement of the work, and correct machining is performed.

The circuit of the pneumatic cylinder (finger cylinder) of the finger device is configured as shown in FIGS. 9 and 10 are basic pneumatic circuit diagrams for simultaneously driving the finger devices in the respective steps P0 to P5.
Pneumatic cylinders V0 to V5 corresponding to the respective steps 0 to P5 are provided, and these pneumatic cylinders drive respective fingers. When grasping (clamping) the work with the fingers, the solenoid valves S0 to S5 are excited (ON)
When unclamping the workpiece, the solenoid valves S0
S5 is demagnetized (OFF). The state shown in FIG. 9 represents a stopped state of the apparatus, and since both solenoid valves are OFF,
The finger 25 is pushed back by the spring 30, and is in the unclamped state shown in FIG.

When the operation of the transfer apparatus is started, the solenoid valve SB is turned on to start from the unclamped state. When the operation is started, the beam (feed bar) of the transfer device moves toward the clamping direction, that is, toward the work, and stops near the outer diameter (movement limit) of the work (billet) as shown in FIG. 7B. I do. When the solenoid valves S0 to S5 are excited by the operation signal at this time,
Since the pneumatic pressure is supplied to the rear side of the pistons of the pneumatic cylinders V0 to V5, the piston moves forward, and the fingers 25 clamp the work as shown in FIG.

During operation, pneumatic pressure is supplied to the front and rear sides of the piston of the pneumatic cylinder V. However, since the working area of pneumatic pressure on the rear side is large by the cross-sectional area of the piston, the piston moves forward. It is.

When the finger clamps the work, the feed bar rises with the finger device, and then feeds,
It moves to the lower limit by the lowering operation. When the signals at this time demagnetize the solenoid valves S0 to S5, the force holding the work becomes zero. Then, the finger retreats by the reaction force of the spring 30 (the pneumatic cylinder also retreats because the electromagnetic valve SB remains ON), and the work is released.
The state shown in FIG. 7B is changed to the state shown in FIG. 7C, and the work is released and placed on the lower mold.

Next, FIGS. 11 and 12 illustrate an embodiment different from the above. In this example, steps P3P4P
The five fingers make the same common movement as above, with P0,
The clamping operation of the fingers P1 and P2 is independent. The reason why the movements of the fingers P0, P1, and P2 are independent from each other is that there is an operation in which a workpiece needs to be inserted into the lower mold in the case of rough driving in the initial process (the type of product). Depending on the molding process P4, P5
In some cases, the work is inserted into the mold.

For example, if the billet in the process P0 is gripped in the middle of the process of raising the feed bar, the amount of raising and lowering of the feed bar is the same as in other processes. 13, and can be inserted into the concave portion (shown by g) of the lower mold as shown in FIG. 13, so that accurate positioning and fall prevention can be achieved.

In this case, as shown in FIGS.
Solenoid valves S0, S1, S corresponding to steps P0, P1, P2
2 are separately provided so that the clamp timing can be set individually. As for the unclamping, the unclamping corresponding to each process can be performed by demagnetizing the solenoid valves S0, S1, S2, S3 to S5 respectively. FIG. 12 shows a state where clamping is performed in steps P3, P4, and P5. From this state, the solenoid valves S0, S1, and S2 are excited during the lift (feed bar rise). At the time of descending, the solenoid valves S0, S1, S2, S3,.
The declamping of S5 results in an unclamped state.

FIG. 8 shows a main part of the material receiving section. As can be seen from the figure, the billet, which is a material, is dropped and supplied from a heating furnace or the like (not shown) by a chute S, and the distance D _s between the lower end of the chute S for supplying the billet and the material W0.
Is too large, the material dropped from the chute may fall over, so that it cannot be increased. For this reason, the material cannot be grasped by the finger device which moves up and down in the same manner as the other processes P1 to P5, and a transfer device (pusher) T as shown in the figure is provided to move the material from the P00 position to the P0 position. The raw material transferred to the P0 position is gripped by a finger device and sent to the first step P1 and subsequent steps.

However, the provision of the above pusher complicates the structure and is uneconomical. Therefore, it is preferable to omit this if possible. To solve this,
A finger device may be provided in the P00 process to delay the timing of gripping the billet with the finger and set the billet rising amount to h, and send the billet to the P0 process without buffering the chute.

FIGS. 14 and 15 are circuit diagrams in the case where a finger device for gripping and sending the billet to the P0 process is provided in the P00 process. FIG. 14 shows a stopped state. As shown in FIG. 14, in addition to the above embodiment, the process P0
A pneumatic cylinder V00 for zero and a solenoid valve S00 are provided. FIG. 15 shows a state in which the billet is clamped in the middle of the ascent of the feed bar in the P00 process (clamped first in P0 to P5), transported from the ascending limit, and the billet is unclamped in the middle of the descent. Is shown. Thereafter, if the solenoid valve SB is demagnetized, all the workpieces are opened and placed on the lower mold.

As described above, since the transfer device 1 is configured to grip the work with the pneumatic cylinder, the operation (pneumatic operation of the pneumatic cylinder) in the work clamping process in the operation cycle of the feed bar 2 is performed. enter)
Can be shifted. For example, the actual lift amount of the work can be arbitrarily set by issuing a command for the feed bar to grip the work during the ascent process. For this reason, conventionally, the raw material supplied by the chute from the heating furnace to the drop position P00 was supplied to the forging press receiving process P0 by a separate pusher, but if this transfer device is used, any height can be obtained. , The billet can be grasped directly, so that the billet can be directly grasped at the lower end of the chute and transported to the receiving step P0.

[0040]

As is apparent from the above description, the transfer device of the present invention uses a pneumatic cylinder to grasp a work from both sides, and at the same time, moves a finger in a direction opposite to the work grasp direction of the pneumatic cylinder. Since the biasing spring is provided, the finger retreats and the work is released by the action of the spring just by switching the air to the pneumatic cylinder, so that the work is not displaced. In addition, it is possible to shift the timing of operating the pneumatic cylinder for driving each finger device, so that it is possible to appropriately set the elevating amount of the work in each process. .

[Brief description of the drawings]

FIG. 1 is a plan view illustrating an embodiment of a transfer device of the present invention.

FIG. 2 is a front view thereof.

FIG. 3 is a plan sectional view of a main part.

FIG. 4 is a front view of the main part.

FIG. 5 is a side view of the finger device.

FIG. 6 is a plan view (a) and a front view (b) of a common plate.

FIG. 7 is an explanatory diagram of movement of a finger and a feed bar.

FIG. 8 is an explanatory diagram of a chute installation unit.

FIG. 9 is a pneumatic circuit diagram for a finger cylinder.

FIG. 10 is a pneumatic circuit diagram for a finger cylinder.

FIG. 11 is a pneumatic circuit diagram for a finger cylinder.

FIG. 12 is a pneumatic circuit diagram for a finger cylinder.

FIG. 13 is an explanatory diagram of an example in which a concave portion is provided in a lower mold.

FIG. 14 is a pneumatic circuit diagram for a finger cylinder.

FIG. 15 is a pneumatic circuit diagram for a finger cylinder.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transfer apparatus 2 Feed bar 5 Finger apparatus 10 Common plate 15 Finger base 20 Finger cylinder 25 Finger 30 Spring F Forging press M Press type S Chute

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) B30B 13/00 B30B 13/00 M

Claims (5)

[Claims] In a transfer device for holding a work between a pair of fingers and transferring the work to a predetermined position, a pair of feed bars are provided in parallel with each other in a transfer direction of the work, and each feed bar has a work holding member. And a pneumatic cylinder for urging the finger in the clamping direction and a return spring for urging the finger in a direction opposite to the urging force of the pneumatic cylinder. apparatus. 2. The transfer apparatus according to claim 1, wherein a detachable common plate is provided on a pair of feed bars provided across the work conveyance direction, and a plurality of fingers are attached to the common plate. 3. A plurality of pairs of feed bars provided with a pair of feed bars provided therebetween with a plurality of pairs of work holding fingers and a plurality of pneumatic cylinders for urging the fingers in a clamping direction. The transfer device according to claim 1, further comprising a pneumatic circuit that can shift one or more of the plurality of fingers in the direction of the bias in the clamping direction from the other. 4. A pneumatic circuit for supplying pneumatic pressure for driving a finger to a pneumatic cylinder, a plurality of solenoid valves for supplying pneumatic pressure in a clamp direction are separately provided, and the pneumatic cylinder is moved in a clamp release direction. The transfer device according to any one of claims 1 to 3, wherein a driven electromagnetic valve is provided commonly to the plurality of fingers. 5. A pair of feed bars movable in a direction of approaching / separating from a workpiece are provided in parallel with each other with respect to a transport direction of the workpiece, and a finger for clamping the workpiece and a finger are clamped on each feed bar. And a pneumatic cylinder that urges the finger in the direction, sets the movement limit of the feed bar near the outer periphery of the work, and drives the finger in the clamping direction after the feed bar reaches the movement limit. The transfer device according to claim 1, wherein the transfer device is provided.