JPH08174134A - Billet feeder - Google Patents

Abstract

PURPOSE: To freely change a transportational locus, to evade interference with peripheral equipment and to directly transport billets to a die, not to a billet delivering place by possessing two degrees of freedom for rocking to a 1st and 2nd joints at the tip of a fixed frame of a billet feeder. CONSTITUTION: This device has the fixed frame 1, 1st arm 2 which is attached so as to be freely rocked around the axis 10 of a 1st joint at the tip of the fixed frame 1 and 2nd arm 3 which is attached so as to be freely rocked around the axis 20 of a 2nd joint at the tip of this 1st arm 2. A clamp 4 for clamping billets which is attached to the 2nd arm 3 so as to be freely rotatable around an axis which is orthogonally crossed with the axis 20 of the 2nd joint, 1st arm 2 and 2nd arm 3 are respectively provided with rocking mechanisms. The rocking mechanisms for the 1st and 2nd arms 2, 3 consist of rocking force transmitting mechanisms with which the driving forces of respective 1st motor 6 and 2nd motor 7 are converted into rocking forces which are transmitted.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a billet feeder. More specifically, the present invention relates to a billet supply device that conveys a billet from a receiving position (chute) to a delivery position (press machine).

[0002]

2. Description of the Related Art There are several types of billet feeders according to the purpose. For example, Japanese Patent Publication No. 17622/1985 and Japanese Utility Model Publication No.
63-21946 and Japanese Utility Model Laid-Open No. 4-113137 are available. Of the above, the billet feeder of Japanese Patent Publication No. 60-17622 (hereinafter referred to as a conventional example) will be described with reference to FIG.

This conventional example has a casing 102, and a quadrilateral link 103 is rotatably supported in the casing 102. One lever 104, which is the link side of this quadrilateral link 103, is designated by reference numeral 105, and the other lever 106 is designated by reference numeral 107.
It is rotatably supported in the casing 102 at the position indicated by. The free end of levers 104 and 106 has a pivot point
Chuck 108 is pivotally attached at 109 and 110 as one side of the quadrilateral link. The casing 102 is fixed to the machine frame 112 of the die forging casting press and constitutes the fixed link side of the quadrilateral link. This casing 102
Are arranged height-adjustably on the machine frame 112 by means of pins 114, 115 and slots 116, 117. The movable link sides of the quadrilateral link 103, the levers 104, 106 and the chuck 108, are moved by a crank drive 118. The crank drive device 118 has a rotating crank arm 119, and the crank arm 119 is driven by a motor 120. The chuck 108 is provided with a mechanism for opening and closing the chuck members 135 and 136.
It is equipped with a mechanism for rotating 108 by 90 °.

When the crank drive device 118 rotates 180 °, the movement of the quadrilateral link 103 causes the chuck 108 to move to the receiving position 127 shown by the phantom line, where it grips the billet b. The receiving position 127 is inclined at 45 °, and the billet b can be gripped by the chuck 108 only at this angle. In addition, the crank drive 118 is 180
When rotated, the chuck 108 conveys the billet b to the delivery position. Although not explicitly shown in this prior art publication,
This delivery position does not interfere with the chuck members 135 and 136, and the billet b is usually provided with a notch in the center and a pedestal on both sides so that the billet b can be placed horizontally. Then, the billet b placed at the delivery position 125 (so-called O process) is formed by another means and the mold 126 (so-called I process).
Process) and die forging there.

[0005]

However, the above conventional example has the following problems. Since the chuck 108 is moved by the quadrilateral link 103, its transportation locus is constant and the transportation pattern cannot be changed. For this reason, it may be impossible to avoid interference with the equipment (die holder or bed hard plate) of the destination (for example, die forging press), and the installation is restricted. Transport height can be adjusted by pins 114 and 115 and slots 116 and 11
However, even in this case, it is only possible to move the transfer path in parallel, and it is not possible to individually adjust the heights of the delivery point and the receiving point.
Further, the resetting of the height requires a fine adjustment, which is troublesome. The billet is received at the receiving position 127, but since the position and posture of the chuck 108 that has moved to the receiving position 127 are constant, the billet can be received only at the receiving angle inclined at 45 °, for example. Therefore, it cannot cope with changes in the structure, position, angle, etc. of the receiving place. The chuck 108 has a structure in which two chuck members 135 and 136 sandwich a billet b from above and below, and since one chuck member 136 is always located below the billet b, the billet b is directly placed on the mold. Cannot be transported. Therefore, the billet must first be sent to the delivery position (so-called O process), which is inefficient.

In view of the above-mentioned circumstances, the present invention can freely change the transfer path to avoid interference with peripheral equipment, can freely select the transfer height and the billet receiving posture, and can transfer the billet. Not only (O process)
An object of the present invention is to provide a billet supply device that can be directly conveyed to a mold (process I).

[0007]

A billet feeding device (claim 1) of the present invention is a device for feeding a billet from a billet chute to a press machine, which comprises a fixed frame and a first joint at the tip of the fixed frame. A first arm swingably mounted around an axis, a second arm swingably mounted around a second joint shaft at the tip of the first arm, and the second joint shaft with respect to the second arm. And a clamp for grabbing a billet, which is rotatably mounted around an axis orthogonal to the first arm, a swing mechanism of the first arm, a swing mechanism of the second arm, and a rotation mechanism of the clamp. Is characterized by. In the billet feeder of the present invention (claim 2), the swing mechanism of the first arm transmits the swing force of the first motor and the driving force of the first motor converted into the swing force of the first arm for transmission. The second arm swing mechanism comprises a second motor and a swing force transmission mechanism for converting the driving force of the second motor into the swing force of the second arm for conversion. Both the motor and the second motor are preferably attached to the fixed frame. As the above-mentioned swing force transmission mechanism (claim 3), the swing force transmission mechanism between the first motor and the first arm is a gear directly connected to the speed reducer connected to the first motor, and the first arm of the first arm. A gear train consisting of a gear that is integral with a boss around one joint axis and a gear that connects the boss to each other. A swinging force transmission mechanism between a second motor and a second arm is used in a speed reducer directly coupled to the second motor. Directly connected gears,
A gear integrated with the boss around the second joint axis of the second arm,
It is preferable that the gear train is composed of gears that connect the two. The clamp (claim 4) comprises a clamp cylinder rotatable around the longitudinal axis of the second arm inserted into the second arm, and a clamp mechanism opened and closed by the clamp cylinder. A pinion is attached to the outer circumference, and a rack that meshes with the pinion is the second
It is preferable to provide an actuator that is swingably supported on the arm side and drives the rack. The clamp claw (claim 5) of the clamp is fixed to the front surface of the clamp cylinder, and a fulcrum pin is provided at a position offset from the billet gripping position on the extension line of the clamp cylinder in the direction orthogonal to the extension line. A fixed bracket, an outer claw whose middle portion is pivotally supported by the fulcrum pin, an inner claw whose upper end is pivotally supported by the fulcrum pin, and a connection between the upper end of the outer claw and the clamp cylinder rod. It is preferable that the push-pull link includes a push-pull link and a connecting link that connects a middle portion of the push-pull link and a lower end of the inner claw.

[0008]

In the billet feeding device of the present invention (claim 1),
Since the first joint and the second joint have two degrees of freedom of swinging, the movement path of the clamp is free in the plane between the movement path of the first joint at the tip of the first arm and the movement path of the clamp in the most extended state. Can be selected. Therefore, it is easy to avoid interference with peripheral devices, and the applicable range is widened. In addition, the conveyance height can be adjusted independently of the receiving point, and the billet and the clamp at the receiving position can have a high degree of freedom in posture and angle. Further, by setting the movement locus so as to exceed the delivery point of the press machine, it becomes possible to directly feed the billet onto the first die, that is, to carry it to the so-called I step. In the billet supply device according to claim 2,
Since the first and second motors are attached to the fixed frame and are distant from the clamp, it is difficult to receive radiant heat from the billet, and it is easy to avoid damage due to heat. In the billet feeder according to the third aspect, since the swinging force of the first and second arms is transmitted by the gear train, it is possible to increase the transmission force and reduce the influence of radiant heat. Since the clamp according to claim 4 has a simple structure in which a cylindrical clamp cylinder is rotatably incorporated, the dynamic inertia during rotation is small, and the pinion is mounted on the outer periphery of the clamp cylinder. The rotation mechanism is simple due to the structure that makes good use of, and the tip structure is simple and lightweight. Therefore, the controllability can be improved by reducing the rotational moment acting on the joint or the like on the root side. According to the clamp of claim 5,
Since the link mechanism of the clamp claws is concentrated on one side on the extension line of the clamp axis passing through the billet gripping device, the clamp claws do not interfere when the billet is placed on the mold. Therefore, in combination with the high degree of freedom of the clamp swing trajectory, it is possible to carry not only the O process but also the I process in which the billet is directly placed on the first mold.

[0009]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is an operation explanatory view of a billet supply device according to an embodiment of the present invention. 2 is a front sectional view of the billet feeding device, FIG. 3 is a view taken in the direction of arrow III in FIG. 2, and FIG. 4 is a view taken in the direction of arrow IV in FIG.

In FIG. 1, A is a billet feeder, which is attached to a fixed frame 1, a first arm 2 swinging at its tip, a second arm 3 swinging at its tip, and a tip thereof. And a clamp 4. Fixed frame 1
Is fixed to an appropriate place such as a support 60 of the press P via a mounting frame 5.

Details of the billet feeder A will be described below with reference to FIGS. Fixed frame 1 is the right frame
11 and the left frame 12 are integrally formed by welding. A first motor 6 for driving the first arm is attached to the right frame portion 11, and a second motor 7 for driving the second arm is attached to the left frame portion 12. A support shaft 8 is attached to the tips of the right frame portion 11 and the left frame portion 12, and a support shaft 9 of a small diameter is concentrically inserted into the support shaft 8 so as to rotate freely. The head part is the left frame part
It projects to the 12 side. With this support shaft 8 and support shaft 9,
A first joint shaft 10 is configured.

The first arm 2 comprises a right arm 21 and a left arm 22. The boss portion 21a of the right arm 21 is rotatably fitted to the outer periphery of the support shaft 8 and has a gear 16. On the other hand, the base end of the left arm 22 is fixed to the support shaft 9. With the above-described configuration, the first arm 2 has the first joint shaft.
It is swingable around 10. A reducer 13 is connected to the output shaft of the first motor 6, and a gear 14 is connected to the output shaft of the reducer 13. The gear 14 meshes with a gear 15 that is axially supported by a support shaft 17 attached to the fixed frame 1,
This gear meshes with the gear 16 of the boss portion of the first arm 2. From this gear train 14, 15, 16 the first motor 6
Is transmitted, and the first arm 2 swings.

A second arm 3 is attached to the tip of the first arm 2 so as to be swingable about a second joint shaft 20, and a gear 28 is fixed to the second arm 3. .
The output shaft of the second motor 7 is connected to the speed reducer 23, and the output shaft of the speed reducer 23 is connected to the gear 24. The gear 24 includes a gear 25 pivotally supported by the support shaft 17, a gear 26 rotatably supported on the outer periphery of the support shaft 8, and the first arm 2
The gear 27, which is rotatably supported by a support shaft 29 attached to the intermediate portion of the gear, and the gear 28, which is fixed to the second arm 3, are in mesh with each other in order, and the gear train 24, 25, 26, 27, 28 makes the second gear. The rotational force of the motor 7 is transmitted, and the second arm 3 swings.

As described above, in this embodiment, since the arm swinging force is transmitted by the gear train, it is possible to transmit a large force. A clamp 4 is attached to the tip of the second arm 3 so that the claw opens and closes and rotates about a central axis 30 orthogonal to the second joint axis 20, as will be described later. It has become. With the above configuration, as shown in FIG. 1, the first arm 2 swings at the tip of the fixed frame 1, the second arm 3 swings at the tip of the first arm 2, and the billet b can be transported. it can. In addition, the first motor 6 and the second motor 7 are fixed to the fixed frame 1
The radiant heat from the billet 6 gripped by the clamp 4 is less likely to be received by mounting it at the position farthest from the clamp 4.

Next, the details of the second arm 3 and the clamp 4 will be described. 5 is a cross-sectional view of a main part of the second arm 3 and a side view of the clamp 4 in a clamped state, FIG. 6 is a plan view of the clamp 4 in an unclamped state, and FIG. 7 is a side view of the clamp 4 in an unclamped state.

As shown in FIG. 5, the second arm 3 is a substantially cylindrical member, and a cylindrical cavity 31 is concentric with the central axis 30 of the second arm 3.
Is formed, and the cylindrical cylinder tube 51 of the clamp cylinder 50 is inserted therein. This cylinder tube 51 is supported by bearings 52, 52 at the front and rear,
It can rotate smoothly. A pinion 53 is fixed to the outer periphery of the end of the cylinder tube 51.
It meshes with a sliding rack 54 at the rear end of the second arm 3. The rack 54 is an actuator such as an air cylinder or a hydraulic cylinder, and slides in a direction orthogonal to the central axis 30, thereby rotating the pinion 53 and rotating the clamp cylinder 50. That is, as shown in FIG. 10, the rack 54 has a piston shape, and rack teeth 54a are formed on one side surface thereof, and the pinion 53 meshes with the rack teeth 54a. Piston-shaped rack
54 is accommodated in a cylinder-shaped compartment 65. When pressure oil (or air) is supplied to the oil chamber 65a, the rack 54 moves in one direction, and when pressure oil (or air) is supplied to the oil chamber 65b, the rack 54 is moved. It moves in the other direction to rotate the pinion 53 forward and backward. The relationship between the rack 54 and the pinion 53 may be such that the rack 54 is replaced by a worm and the pinion 53 is replaced by a worm wheel.

The clamp cylinder 50 is a piston inserted in a cylinder chamber 55 with the cylinder tube 51.
56 is an air cylinder or hydraulic cylinder consisting of rods 57 and 58 of both rod types. A cover 59 is fixed to the head of the cylinder tube 51.

As shown in FIGS. 5 and 6, the clamp cylinder
Two fixing brackets 41, 41 constituting the clamp 4 are fixed to the cover 59 of the 50. This fixed bracket
A fulcrum pin 42 is attached to the tip of 41, and the position of the fulcrum pin 42 is deviated from the gripping position of the billet b located on the extension line of the central axis 30 of the clamp cylinder 50 in a direction substantially orthogonal to the gripping position. is there. The middle portion of the outer claw 43 is pivotally supported by the fulcrum pin 42, and the upper end of the inner claw 44 is also pivotally supported. A push-pull link 46 is connected between the upper end of the outer claw 43 and the tip bracket 45 of the rod 57 of the clamp cylinder 50. The push-pull link 46 has an intermediate portion and the inner claw.
A connecting link 47 is connected to the lower end of 44. The connecting pin 48 of the tip bracket 45 is fixed to the fixed bracket 41.
The slide is guided by a long hole 49 formed at the base of the.

The clamp 4 in FIG. 5 is in a state of clamping the billet b, but as shown in FIG. 7, when the rod 57 of the clamp cylinder 50 is pulled, the push / pull link 46 is pulled in the direction of arrow a, Along with this, the outer claw 43 pivots in the direction of arrow c and opens, while the push-pull link 46 moves in the direction of arrow a to pull the connecting link 47 in the direction of arrow d, whereby the inner claw 44 moves in the direction of arrow e. It will rotate to open and unclamp.

In each of the clamped and unclamped states, the outer claw 43 and the inner claw 44 are located on both sides and the upper surface in the side view of the billet b, but the lower surface (see FIG. 5).
It is not located on the left side, on the lower side in FIG. 7), so that when the billet b is placed on the first die of the press machine, the claws 43 and 44 do not interfere with the die and directly The billet 6 can be transported and placed, and can be transported to the process I.

Next, with reference to FIGS. 1 and 8 to 9, the operation of conveying the billet b according to this embodiment will be described. In addition,
In FIG. 1, P is a press machine and P1 is a first mold. The second and subsequent molds are connected to the right side of the figure. The upper part of the first die P1 corresponds to the step I. P2
Is a die holder, and P3 is a bed hard plate.
Further, S is a chute, which is a device in the left direction in the drawing, which receives the heated billet b sent from an induction heater (not shown) and delivers it to the billet supply device. Although this chute S may be a known one, for example, one having a configuration as shown in FIGS. That is,
61 is a billet pedestal, 62 is a stopper, and the billet pedestal 61 is rotatable on a rotating shaft 63. In the figure, the reference sign f is the direction in which the billet b is sent, and the reference sign g is the approach direction of the clamp 4 of the billet supply device A. FIG. 8 shows a state in which the billet b has been sent to the billet holder 61.

Now, returning to FIG. 1, the carrying operation will be described.
It is as follows. The clamp 4 enters the chute S (see FIG. 8). The clamp 4 grips the billet b. The billet cradle 61 of the chute S is reversed and retracted (see FIG. 9). Rotate the clamp 4 90 ° to change the billet b from the vertical feeding position to the horizontal feeding position. However, when the billet b is vertically placed on the first die and the press is struck in the vertically placed state, this reversing operation is not performed. That is, the vertical feed is performed as it is. The first and second motors 6 and 7 start driving in synchronization with the timing of the entire press to swing the first arm 2 and the second arm. This starts the transportation. By controlling the first and second motors 6 and 7,
The swing angle of the second arm 3 is appropriately changed while swinging the first arm 2. By doing so, the press P
The billet b can be transported while avoiding interference with the bed hard plate P3 and the die holder P2. FIG.
, The movement locus of the tip of the clamp 4 is as indicated by k4, and the movement locus of the tip of the first arm 2 is as indicated by k2. However, the conveyance locus of the billet b is free from the swing angle of the second arm 3 with respect to the first arm 2. By selecting
It can be freely taken in the space between 2 and k4. This is an advantage of having two degrees of freedom of rotation about the first joint axis 10 and rotation about the second joint axis 20. In the vicinity of the upper side of the first mold P1, by combining the counterclockwise rotation of the first arm 2 and the clockwise rotation of the second arm 3, it is possible to move forward substantially horizontally as a combined trajectory. When reaching the top of the first die P1, the billet b is rotated by the clockwise rotation of the first arm 2 and / or the second arm 3.
On the first die P1 from above, and when the descent is completed, the first die is
-Stop the second motors 6 and 7. Then, the clamp 4 is unclamped by the clamp cylinder 50. With this, the above-mentioned movement enables the direct transfer to the process I. After confirming the unclamping, the first and second motors 6 and 7 are activated again to return the first and second arms 2 and 3 to their original positions. This completes one cycle of billet transportation.

Next, another embodiment of the present invention will be described. In the above-described embodiment, the first arm 2 and the second arm 3 are swung by using the gear train, but instead, the timing belt is wound around the reduction gear side (motor side) gear and the arm base side gear. Alternatively, any oscillating force transmission means may be adopted, such as a configuration in which worm wheels are respectively coupled to the output shaft of the reduction gear and the root of the arm, the worms are meshed with each worm wheel, and both worms are coupled by a shaft. The structure using the timing belt has an advantage in terms of control that eliminates backlash as seen in the gear train, and the structure using the worm has an advantage in that it is less bulky than the gear train.

Further, the embodiment shown in FIG. 1 is an embodiment in which it is directly conveyed to the I step, but it is a type in which it is conveyed to the 0 step, that is, the billet b is conveyed to the delivery point before the first die P1. It can also be configured to do so. in this case,
The mounting frame 5 may be replaced with a thick one, or a spacer having an appropriate thickness may be inserted between the column 60 or the like and the mounting frame 5 to move the entire billet feeder A to the left side in the drawing.

[0025]

According to the first aspect of the present invention, since the billet transportation locus can be freely set, it is easy to avoid interference with the press machine, and the billet can be directly transported to the first die, that is, the step I. Is possible. According to the invention of claim 2, the motor can be protected from being damaged by the radiant heat of the billet. According to the invention of claim 3, it is possible to transmit a large driving force by the gear and make it less susceptible to the influence of heat. According to the description of claim 4, it is possible to provide a device that achieves weight reduction and is less likely to put a load on the root side joint. According to the fifth aspect, when the clamp grips the billet, the claw does not project to the lower surface of the billet, so that the billet can be placed directly on the first mold.

[Brief description of drawings]

FIG. 1 is an operation explanatory view of a billet supply device A according to an embodiment of the present invention.

FIG. 2 is a front sectional view of a billet supply device.

FIG. 3 is a view on arrow III in FIG.

FIG. 4 is a view on arrow IV in FIG.

FIG. 5 is a sectional view of a main part of a second arm 3 and a clamp 4;
It is a side view showing the clamped state of.

FIG. 6 is a plan view of a clamp 4 in an unclamped state.

FIG. 7 is a side view of a clamp 4 in an unclamped state.

8 is a perspective view of a chute S. FIG.

FIG. 9 is an explanatory diagram of a retracting operation of the chute S.

FIG. 10 is an operation explanatory view of the rack 54 and the pinion 53.

11 is an explanatory diagram of Conventional Example I. FIG.

[Explanation of symbols]

1 Fixed frame 2 1st arm 3 2nd arm 4 Clamp 6 1st motor 7 2nd motor 10 1st joint shaft 20 2nd joint shaft 14,15,16 Gear train 24,25,26,27,
28 Gear train 50 Clamp cylinder 53 Pinion 54 Rack 43 Outer pawl 44 Inner pawl 46 Push-pull link 47 Connection link

Claims (5)

[Claims] 1. A device for supplying a billet from a billet chute to a pressing machine, comprising a fixed frame, a first arm swingably mounted around a first joint axis at the tip of the fixed frame, and the first frame. A second arm attached to the tip of the arm so as to be swingable around a second joint axis, and a billet rotatably attached to the second arm about an axis orthogonal to the second joint axis. And a swing mechanism of the first arm, a swing mechanism of the second arm, and a rotation mechanism of the clamp. 2. The swing mechanism of the first arm comprises a first motor and a swing force transmission mechanism for converting the driving force of the first motor into the swing force of the first arm and transmitting the swing force. The swinging mechanism of the arm includes a second motor and a swinging force transmission mechanism that converts the driving force of the second motor into the swinging force of the second arm for conversion, and the first motor and the second motor are either The billet feeding device according to claim 1, wherein the billet feeding device is also attached to the fixed frame. 3. A swinging force transmission mechanism between a first motor and a first arm is integrated with a gear directly connected to a speed reducer connected to the first motor and a boss around a first joint axis of the first arm. A gear train including gears and gears that connect the gears to each other;
An oscillating force transmission mechanism between the motor and the second arm connects a gear directly connected to the speed reducer connected to the second motor, a gear integrated with a boss around the second joint shaft of the second arm, and the gear between them. The billet supply device according to claim 2, wherein the billet supply device is a gear train including gears. 4. The outer periphery of the clamp cylinder, wherein the clamp comprises a clamp cylinder that is inserted into the second arm and is rotatable around a longitudinal axis of the second arm, and a clamp mechanism that is opened and closed by the clamp cylinder. The billet feeding apparatus according to claim 1, further comprising an actuator that drives the rack by mounting a pinion on the rack, slidably supporting a rack that meshes with the pinion on the second arm side. 5. Fixed to the front surface of the clamp cylinder,
A fixed bracket having a fulcrum pin at a position offset in a direction orthogonal to the extension line from the billet gripping position on the extension line of the axis of the clamp cylinder; and an outer pawl having an intermediate portion pivotally supported by the fulcrum pin, An inner claw whose upper end is pivotally supported by the fulcrum pin; a push-pull link connected between the upper end of the outer claw and the clamp cylinder rod; an intermediate portion of the push-pull link and a lower end of the inner claw. The billet supply device according to claim 4, characterized in that the billet supply device comprises a connection link for connecting the two.