JPH071268Y2 - Manipulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a manipulator useful for supplying a forging material to, for example, a forging press, and more particularly to a manipulator which holds a material between molds while gripping the material during a forging operation. Regarding manipulators that can be placed.

(Prior Art) A manipulator used for inserting and removing a material from above into a forging press or the like is a conventional manipulator in which a pair of gripping claws and a shaft for opening and closing are housed in a cylindrical body that moves in and out of the manipulator body. There is known a structure in which the claw is automatically opened via a link mechanism or the like by lowering the cylinder, and the claw is closed when the cylinder is raised to detach the material. ing. The manipulator body is lowered while the forging material is gripped by the gripping claws, the material is inserted and released between the molds, and after the molding is completed, the material is gripped again and taken out from between the molds.

(Problems to be solved by the invention) The above-mentioned conventional manipulator is capable of automatically attaching / detaching / inserting materials.
Although it can be taken out, it is not designed to hold the material as it is during the forging operation. In order to prevent the material from misaligning or falling during molding, when attempting to grip the upper end of the material during stamping with a conventional manipulator, horizontal thinning causes the material to move in a direction perpendicular to the stamping direction. Stretching occurs in the axial direction (vertical direction), and this exerts an unreasonable force on the material restraining part by the manipulator, causing damage to the manipulator and die, bending of the material, and lateral bulging deformation. There was a problem. Especially when molding with a large amount of reduction, the vertical elongation of the material is also large,
The manipulator cannot hold the material during stamping because excessive force is applied to the manipulator.

If the manipulator holds the material during stamping, for example, when the center of the manipulator and the center of the press are misaligned during assembly, or the dies differ in stroke amount due to the influence of air in the hydraulic fluid. When there is a difference in speed or speed, the center of the die and the center of the material may deviate from each other, and this displacement causes the material to receive a bending load and cause unnecessary deformation. . Further, there is a risk that the manipulator and the mold are damaged by this load.

The present invention provides a manipulator capable of performing a forging operation while gripping a material by absorbing a lateral load due to a lateral displacement between the center of the manipulator and the center of the mold in horizontal punching and forming in the manipulator body. To provide.

Another object of the present invention is to provide a manipulator capable of effectively absorbing the vertical load of the material due to reduction molding in the manipulator body in addition to absorbing the lateral load.

(Means for Solving the Problems) A manipulator according to the present invention is a manipulator in which a molding material is inserted and held from above between molding dies which are horizontally opposed to each other, and a cylindrical shape having a material gripping claw pivotally attached to a lower end thereof. An arm is held in the manipulator inner frame so as to be tiltable in the mold operating direction, and a restoring spring for restoring the arm to a neutral position in the mold operating direction is provided between the arm and the inner frame. It is a thing.

(Embodiment) Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a partially cutaway perspective view of a manipulator according to an embodiment of the present invention with an outer frame removed, and FIG. 2 is a longitudinal sectional view of the embodiment of the present invention in a material holding state.
In the manipulator of this embodiment, a manipulator inner frame 2, a cylindrical arm 3, a movable shaft 4, and a vertical movement device 5 such as a screw mechanism, which will be described later, are housed in an outer frame 1 (FIG. 2), and a horizontal striking device is provided. It is installed above the die of the forging press. A hydraulic motor 6 for vertical movement is attached to the side portion of the outer frame 1 of the manipulator, and a feed screw shaft 7 of a vertical movement device 5 is pivotally supported on the upper and lower end plates of the outer frame 1 to move vertically with the feed screw shaft 7. The hydraulic motor 6 for use is connected by a belt 8. Reference numeral 9 is a vertical movement nut screwed to the feed screw shaft 7. The vertical movement nut 9 is the outer frame 1.
It is fixed to the outer portion of the inner frame 2 of the manipulator body portion housed inside. A rotary shaft 11 is rotatably supported inside the upper part of the inner frame 2, and the upper end of the rotary shaft 11 and a material rotating motor 12 (FIG. 1) held by the inner frame 2 are connected by a transmission chain 13. There is. An AC servomotor is preferably used as the material rotating motor 12. An internal gear 14 is formed at the lower end of the rotary shaft 11, and the internal gear 14 and the coupling gear part 16 with a crowning at the upper end of the movable shaft 4 having a piston function below the internal gear 14 mesh with each other. The movable shaft 4 has a piston portion 17 in the middle thereof and is inserted into a cylindrical arm 3 described later.

The cylindrical arm 3 penetrates through the inner frame 2 and extends downward. Further, as clearly shown in FIG. 2, a flange portion 18 projecting outward is provided at a substantially middle portion thereof, and the lower surface of the flange portion 18 is formed inside. It is placed on the lower end plate 2a of the frame 2. Cylindrical arm 3
The upper portion is a cylinder portion 19 that accommodates the piston portion 17 of the movable shaft 4, and pressurized air is supplied to the upper chamber of the cylinder portion 19 from the port 20, whereby the movable shaft 4 is attached to the tubular arm 3. In contrast, it is pushed down. A return spring 21 for returning the shaft 4 upward is provided between the upper end of the cylindrical arm 3 and the flange portion 4a above the movable shaft 4. Further, between the upper surface of the flange portion 18 of the tubular arm 3 and the inner wall protruding portion of the inner frame 2, a pressing spring 22 for absorbing material elongation is attached. With this structure, the cylindrical arm 3 can move upward with respect to the inner frame 2 against the spring force of the pressing spring 22.

Referring to FIG. 2 and FIG. 4, the lower end plate 2a of the inner frame 2
Further, a cylindrical portion 2b concentric with the cylindrical arm 3 is formed so as to surround the arm and a ring body 15 described later. Cylindrical part
As shown in FIG. 4, 2b has a pair of overhanging portions 2c facing each other at right angles to the direction of movement of the mold (direction of arrow A). Similarly, opposite bosses 15 projecting in the direction perpendicular to the mold operating direction
A ring body 15 having a is attached to the cylindrical arm 3 via a metal bearing 28 as clearly shown in FIG. The cylindrical arm 3 is allowed to slide between the ring body 15 and the metal bearing 28 to move upward and rotate.
A total of four screw rods 29, two of which face each other, are loosely inserted in the opposing overhanging portions 2c of the cylindrical portion 2b of the inner frame 2, and the tips of the screw rods 29 are respectively screwed into the boss portions 15a of the ring body 15. . Each threaded rod 2
An adjusting nut 31 and a spring bearing 32 are mounted on the outer end portion of 9, and a restoring coil spring 30 is mounted between the spring bearing 32 and the cylindrical portion 2b. These four restoring coil springs 30 are adjusted by adjusting nuts 31 so as to apply equal spring forces to the cylindrical portion 2b. As described above, the tubular arm 3 is only mounted on the inner frame 2 by the flange portion 18 of the tubular arm 3 and is not fixed thereto. It can tilt in the same direction with 18 points as fulcrums. When the lateral force is released, the cylindrical arm 3 is returned to the neutral position by the spring force of the restoring coil spring 30.

A cross member 23, which is divided into four legs, is fixed to the lower end of the movable shaft 4, as shown in FIG.
The upper end of the gripping claw 25 is pivotally attached to the upper end of the gripping claw 25 via a pair of links 24 intersecting in an X shape in a front view (FIG. 2). The gripping claw 25 extends downward from the cylindrical arm 3 and a middle portion thereof is pivotally attached to the cylindrical arm 3 by a pin 26. As clearly shown in FIGS. 2 and 3, the opposite leg 23b of the other set of the cross member 23 is sandwiched by four guide pieces 27 fixed to the inner corner of the tubular arm 3. , By this cross member 2
3. Therefore, the vertical movement of the movable shaft 4 is guided, and the tubular arm 3 pivotally supporting the gripping claw 25 also rotates together with the rotating shaft 11 and the movable shaft 4 rotating as a unit.

The manipulator outer frame 1 is placed on a horizontal rail (not shown), and can be horizontally moved in and out of a horizontal position die (not shown) integrally with the hydraulic motor 6 for vertical movement and the above-mentioned structure inside the outer frame. Moreover, the vertical cylinder (not shown) enables vertical movement.

By removing the pressurized air from the cylinder portion 19 of the tubular arm 3, the movable shaft 4 rises with respect to the tubular arm 3 by the action of the return spring 21 as described above (the inner surface gear 14 of the rotary shaft 11 and the movable shaft). 4 Sliding with the gear part 16). This rise of the movable shaft 4 causes X
The gripping claw 25 opens the lower end of the claw about the pin 26 as a fulcrum via the circular link 24, and the movable shaft 4 descends with respect to the cylindrical arm 3 against the return spring 21 by supplying pressurized air to the cylinder portion 19. 2 (state shown in FIG. 2), the X-shaped link 24 is folded and the lower end of the grip claw 25 is closed.
Desorption.

With the above-described structure, first, the entire manipulator outer frame 1 is moved to a position away from the mold, the material 10 is gripped by the grip claws 25, and the vertical movement hydraulic motor 6 is used to move the vertical movement device 5 at the mold upper position. The inner frame 2 and the cylindrical arm 3 are lowered to insert the material 10 between the molds. While holding the material 10 with the gripping claw 25, the side portion of the material is subjected to reduction molding by the mold, and the movable shaft 4 and thus the gripping claw 25 is rotated about the movable shaft axis by a predetermined angle by the material rotating motor 12 via the rotating shaft 11. The material 10 is rotated, and the other side of the material 10 is subjected to reduction molding again. By this side reduction molding, the material 10 is stretched in the axial direction, and an upward axial force is applied to the cylindrical arm 3 via the gripping claw 25. However, even if such an axial force is applied, the cylindrical arm 3 compresses the pressing spring 22 on the upper surface of the flange portion 18 and moves upward, and absorbs the axial force action due to the upward extension of the material 10.
Although the movable shaft 4 moves upward integrally with the gripping claw 25 and the tubular arm 3 as they move upward, the crowned gear portion 16 at the upper end of the movable shaft 4 slides axially with respect to the inner gear 14. Therefore, the movable shaft 4 is not affected by the axial force due to the elongation of the material. In addition, when the material 10 is gripped by the gripping claw 25, a stroke amount difference or a velocity difference between the left and right dies is caused for some reason and the center of the material is deviated from the center of the left and right dies. If there is a deviation between the center of the press and the center of the assembly during assembly, the material itself is bent, or the material is bent during molding, the cylindrical arm 3 is inserted through the grip claw 25.
A lateral force acts on the cylindrical arm 3 due to this lateral force, which causes the restoring spring 30 to be biased and tilt in that direction, whereby the lateral force is absorbed, and the deformation of the material and its restraint, Damage is prevented. The movable shaft 4 also tilts integrally with the tilting of the tubular arm 3, but the gear portion 16 at the upper end of the movable shaft 4
Since the outer part of the shaft has an arcuate shape with a middle height in the axial direction, it can oscillate with respect to the inner gear 14 of the rotating shaft 11, and when tilted, the movable shaft 4 and other internal structures of the tubular arm cannot be forced. It does not take. When the lateral force is released, the restoring spring 30 restores the original position. After the completion of molding, the inner frame 2 is lifted by the hydraulic motor 6 for vertical movement to remove the material 10 from between the molds, and further the outer frame 1 is lifted and horizontally moved to bleed the air in the cylinder 19 at a predetermined position, and the material is removed. Grab 10 and release from claw 25.

(Effect of the Invention) As described above, according to the present invention, the axial pushing force of the hand portion of the manipulator due to the axial elongation deformation of the material and the lateral force due to the displacement of the lateral force direction are absorbed inside the manipulator. Therefore, even if horizontal forging is performed while the material is held by the manipulator, the manipulator and the die are not damaged, and the bending deformation and the bulging deformation of the material can be prevented. Further, since the material can be accurately positioned during molding, there is an effect that any side position of the material can be accurately molded.

[Brief description of drawings]

1 is a partially cutaway perspective view of a manipulator according to an embodiment of the present invention with an outer frame removed, FIG. 2 is a front sectional view of the embodiment of the present invention, and FIG. 3 is a line III-III of FIG. FIG. 4 is an enlarged transverse sectional view taken along the line IV-IV in FIG. 1 ... Outer frame, 2 ... Inner frame, 2b ... Cylindrical part, 3 ... Cylindrical arm, 4 ... Movable shaft, 10 ... Material, 11 ... Rotating shaft, 15 ...
… Ring body, 18 …… Flange part, 22 …… Pressing spring, 25
...... Material gripping claw, 30 ...... Restoration coil spring.

Claims (2)

[Scope of utility model registration request] 1. A manipulator in which a molding material is inserted and held from above between molding dies which are horizontally opposed to each other, and a cylindrical arm having a material gripping claw pivotally attached to a lower end thereof can be tilted in a mold operating direction. A manipulator is held in the manipulator inner frame so that a restoring spring for restoring the arm to a neutral position in the mold operating direction is provided between the arm and the inner frame. 2. In a manipulator in which a molding material is inserted and held from above between molding dies which are opposed to each other in a horizontal direction, a cylindrical arm having a material gripping claw pivotally attached to its lower end can be tilted in the mold operating direction. Further, the manipulator is held by the inner frame so as to be movable upward with respect to the inner frame, and the restoring spring is provided between the arm and the inner frame at a neutral position in the mold operating direction so as to connect the arm to the restoring spring.
Further, the manipulator is characterized in that a flange portion is formed to project from the arm, a lower surface of the flange portion is supported by the inner frame, and a pressing spring is mounted between the upper surface of the flange portion and the inner frame.