Stretch rolling machine and stretch rolling process

Abstract

Stretch rolling machine (1), comprising: a pair of roller drive shafts (3; 5) which are provided to be rotatable on the main body (2) of the stretch rolling machine (1) and which are set in rotation by a drive device, a pair of rolling tools (4; 6), each provided on the pair of rolling drive shafts (3; 5) and on which several forming tools (4a1-4a4; 6a1; 6a4) are provided with a predetermined distance between them, and Conveyor units for conveying materials to be formed (m) to a position (P1) of receiving the materials to be formed (m), to positions (P2-P5) of forming with the multiple forming tools (F1-F3) on the pair of rolling tools (4; 6) and to a position (P6) of removing a formed article; the transport units comprise the following: a first robot (10) with a robot hand (25) moving along a first right-angled path of movement (50A) which includes a straight path of movement (51) during forming, connecting the positions corresponding to the positions (P2-P5) of forming with the multiple forming tools (4a1-4a4; 6a1; 6a4), and a first storage path (53) which is spaced on one side by a predetermined distance (L2) from the straight path of movement (51) during forming, and a second robot (30) with a robot hand (45) that moves along a second perpendicular path of movement (50B) which includes the straight path of movement (51) during forming, and a second storage path (53) which is spaced on the other side from the straight path of movement (51) during forming by a predetermined distance (L2); and wherein the first robot (10) and the second robot (30) are each controlled such that the robot hand (45) of the second robot (30) moves along the part of the second right-angled path of motion (50B) that is not the straight path of motion (51) when the robot hand (25) of the first robot (10) moves along the straight path of motion (51) when forming, and the robot hand (25) of the first robot (10) moves along the part of the first right-angled path of motion (50A) that is not the straight path of motion (51) when forming, when the robot hand (45) of the second robot (30) moves along the straight path of motion (51) when forming.

Description

[Area of ​​invention]

[0001] The present invention relates to a stretch rolling machine and a stretch rolling process in which tool forming is carried out on a material for forging using a pair of rolling tools. In particular, the present invention relates to a stretch rolling machine and a stretch rolling process in which materials to be formed are fed successively to a pair of rolling tools by two conveying units, and tool forming is carried out successively using the pair of rolling tools to improve productivity. [Background of the invention]

[0002] Regarding the manufacture of a forging as a metal part, a processing method is known in which a desired product is formed by a forging press, etc., after the material has previously been pre-formed into a desired shape. This pre-forming is also referred to as pre-forging, etc., and a stretching rolling machine (also referred to as a stretching roll) is known as a type of forging machine for carrying out such processing (see, for example, patent document 1).

[0003] Furthermore, robot hand technologies for a drawing roll are known that prevent the transmission of an impact to the robot hand, even when such an impact is exerted on a metal material during drawing in a drawing roll (see, for example, patent document 2). In such technologies, a robot hand is provided at the wrist of the robot's second arm, and an arrangement is disclosed in which the robot is of a jointed type having a first arm, a second arm, etc., and the robot control unit controls a movement of the robot hand. Furthermore, drawing roll technologies are known that require low costs without increasing the installation space, improve the cycle time by twofold, and allow for the efficient use of an expensive forging press (see, for example, patent document 3). [Technical documents of the state of the art][Patent documents] Patent document 1: Publication of examined patent application no. S52-8783 (JP, S52-8783, B) Patent document 2: Publication of the examined patent application No. H1-33262 (JP, H01-33262, B) Patent document 3: Publication of patent application no. H5-169176 (JP, H05-169176, A) Patent document 4: Publication of patent application no. 3435314 (JP, 3435314, B)

[0004] From EP 2 316 589 B1, a rolling machine for preforming a block-shaped, round, oval, or square metallic workpiece is known, as well as a method which involves moving a gripping element in the rolling direction by a robot. A clamped workpiece is inserted with its front end into the engagement between the rolls of a pair of rolls. Another robot with a gripping element for grasping the axial front end of the workpiece is located in the exit area of ​​a forging rolling machine, after the latter robot has been released by the former. The gripping element is moved by the robot in the rolling direction. The workpiece is inserted with its rear end into the roll engagement between the rolls.

[0005] From DE 10 2013 100 302 B4, a method for forging, in particular stretch forging, of metallic workpieces is known, which comprises the following process steps: a) in each forging step, longitudinal rolling of a workpiece between at least one tool segment pair of two tool segments, one of which is provided on a first roll and the other on a second roll, wherein the rolls are rotated in opposite directions about an associated axis of rotation and the workpiece is thereby moved between the tool segments in a feed direction resulting from the direction of rotation of the rolls; b) in a first feeding step, feeding a first workpiece to a first working side of the rolls; c) performing a first forging step according to feature a) with the first workpiece; d) in a first removal step, removing the first workpiece.e) in a second feeding step, feeding a second workpiece to a second working side of the rollers, f) performing a second forging step according to feature a) with the second workpiece, g) in a second removal step, removing the second workpiece, h) wherein the directions of rotation of the two rollers are set differently in the two forging steps, so that the feed direction of the first workpiece in the first forging step is opposite to the feed direction of the second workpiece in the second forging step. [Summary of the invention][Problems to be solved by the invention]

[0006] On the other hand, with regard to a stretching machine, there are many requirements for improving productivity. Although patent documents 1 and 2 disclose techniques for constructing stretching machines, they do not disclose any improvement in productivity through a stretching machine. Furthermore, although patent document 3 discloses techniques for constructing a robotic hand, it does not disclose any further improvement in productivity through a stretching machine.Although patent document 4 discloses techniques for a stretching roll with regard to improving cycle time, these techniques require two sets of rolls, that is, two sets of parts for performing roll profiling, such as a first roll with a first manipulator grip and a second roll with a second manipulator grip, and only provide a doubling of the cycle time compared to a previous stretching roll machine with a single set of rolls. Thus, many aspects still need improvement.

[0007] This means that there are problems of reduced productivity insofar as the stretching and rolling process is not carried out in the stage where the billets are rotated and pushed out by the first slide and are gripped by the first manipulator gripper, in the stage where the billet is rotated and pushed out by the second slide and is gripped by the first manipulator gripper, or in the stage of conveying by a first or second conveying device, or the like. Furthermore, the techniques of patent document 4 require a first and a second set of rollers, which are expensive and cause problems such as economic issues and maintenance problems if no forming is carried out.

[0008] The present invention serves to solve the above-mentioned problems, whereby the following tasks are solved.

[0009] An object of the present invention is to provide a stretch rolling machine and a stretch rolling process in which two conveying units are provided which correspond to a pair of rolling tools, materials for forging are fed one after the other to a pair of rolling tools with the two conveying units and forming with tools using the pair of rolling tools is carried out sequentially to improve productivity.

[0010] Another object of the present invention is to provide a stretch rolling machine and a stretch rolling process in which interference between the robot hands is prevented in the case in which two transport units are provided which correspond to a pair of rolling tools. [Means of solving the problems]

[0011] The present invention provides the following features for solving the above-mentioned problems.

[0012] The stretch rolling machine according to the first aspect of the invention comprises the following: a pair of roller drive shafts designed to be rotatable on the body of the stretch rolling machine, and which are set in rotation by a drive device, a pair of rolling tools, each provided on the pair of rolling drive shafts, and on which several forming tools are provided for forming with a predetermined distance between them, and Conveyor units for conveying materials to be formed into a position for receiving the materials to be formed, positions for forming with the multiple forming tools on the pair of rolling tools and into a position for removing a formed article; the transport units comprise the following: a first robot with a robot hand that moves along a first right-angled path of movement, which includes a straight path of movement during forming, connecting the positions corresponding to the positions of forming with the multiple forming tools, and a first storage path that is arranged on one side at a predetermined distance from the straight path of movement during forming, and a second robot with a robotic hand that moves along a second perpendicular path of motion, which includes the straight path of motion during forming, and a second storage path that is arranged on the other side at a predetermined distance from the straight path of motion during forming; and wherein the first robot and the second robot are each controlled such that the robot hand of the second robot moves along the part of the second right-angled path of motion that is not the straight path of motion during shaping, when the robot hand of the first robot moves along the straight path of motion during shaping, and the robot hand of the first robot moves along the part of the first right-angled path of motion that is not the straight path of motion during shaping, when the robot hand of the second robot moves along the straight path of motion during shaping.

[0013] The stretch rolling machine according to the second aspect of the invention is such that, in the first aspect, the position for receiving the materials to be formed and the position for removing the formed article are arranged in the extension of the path of movement during forming.

[0014] The stretch rolling machine according to the third aspect of the invention is such that, in any one of the first to second aspects, the first robot and the second robot are each articulated robots.

[0015] The stretch rolling machine according to the fourth aspect of the invention is such that, in the third aspect, both the first robot and the second robot comprise a rotary base that is fixed to the machine body and that can perform a rotary movement, several arms that are connected one behind the other in such a way that they can perform a pivoting movement or a rotary movement relative to each other, wherein one end of the arms arranged one behind the other is connected to the rotary base for performing a pivoting movement, and a robot hand that has a part for grasping a material to be formed and is connected to the other end of the arms arranged one behind the other.

[0016] The stretch rolling machine according to the fifth aspect of the invention is such that in any of the first to fourth aspects, one of the first robot and the second robot is a floor type and the other is a hanging type.

[0017] The stretch rolling machine according to the sixth aspect of the invention is such that, in any of the first to fourth aspects, the first robot and the second robot are of a floor type, arranged in their respective positions at different heights.

[0018] The stretch rolling machine according to the seventh aspect of the invention is such that, in any of the first to sixth aspects, the robot hand of the first robot moves from the receiving position to the position for forming with tools of the first stage when the robot hand of the second robot moves from the position for forming the last stage to the discharge position, and the robot hand of the second robot moves from the receiving position to the position for forming with tools of the first stage when the robot hand of the first robot moves from the position for forming the last stage to the discharge position.

[0019] The stretch rolling process according to the eighth aspect of the invention comprises the following, using a stretch rolling machine: a pair of roller drive shafts designed to be rotatable on the body of the stretch rolling machine, and which are set in rotation by a drive device, a pair of rolling tools, each provided on the pair of rolling drive shafts, and on which several forming tools are provided for forming with a predetermined distance between them, and Conveyor units for conveying materials to be formed into a position for receiving the materials to be formed, into forming positions with the multiple forming tools on the pair of rolling tools and into a position for removing a formed article, wherein the conveying unit comprises the following: a first robot with a robot hand moving along a first right-angled path of movement, which includes a straight path of movement during forming, connecting the positions corresponding to the positions of forming with the multiple forming tools, and a first storage path arranged on one side at a predetermined distance from the straight path of movement during forming, and a second robot with a robot hand moving along a second right-angled path of movement, which includes the straight path of movement during forming, and a second storage path arranged on the other side at a predetermined distance from the straight path of movement during forming; wherein the robot hand of the second robot moves along the part of the second right-angled path of motion that is not the path of motion during shaping, when the robot hand of the first robot moves along the path of motion during shaping, the robot hand of the first robot moves along the part of the first right-angled path of motion that is not the path of motion during shaping, when the robot hand of the second robot moves along the path of motion during shaping, and Either the first robot or the second robot can perform the shaping with the pair of rolling tools.

[0020] The stretch rolling process according to the ninth aspect of the invention is such that, in the eighth aspect, the robot hand of the first robot moves from the pickup position to the position for forming with tools of the first stage when the robot hand of the second robot moves from the position for forming the last stage to the discharge position, and The robot hand of the second robot moves from the pickup position to the position for forming with first-stage tools when the robot hand of the first robot moves from the position for forming the last stage to the delivery position. [Advantageous effects of the invention]

[0021] In the stretch rolling machine according to the present invention, the forming of materials to be formed, which are gripped by a first conveying unit (the first robot) or a second conveying unit (the second robot), can be carried out sequentially with a pair of rolling tools while the pair of tools is continuously kept in rotation, thereby improving productivity. For example, as the robot hand of the first robot (or the second robot) moves from a position for picking up materials to be formed to a position of the first stage of forming with tools (for example, a first-stage position), the robot hand of the second robot (or the first robot) moves from a position of forming with tools of the last stage (for example, the fourth-stage position) to a position for removing a formed article.This prevents the robot hands of the first robot and the second robot from interfering with each other, and allows shaping to be carried out with a pair of tools one after the other.

[0022] In this stretch forming machine, two robots are set in rotation. This eliminates downtime associated with conventional stretch forming machines, eliminating the time required for feeding materials to be formed and for removing formed items. Furthermore, this machine is designed so that the two robot arms are positioned individually in the upper and lower positions to prevent mutual interference, thus enabling the rotation of two conveying units. This results in improved productivity for the stretch forming machine.

[0023] While conventional stretch rolling machines required two sets of rolling tools to improve productivity, this stretch rolling machine does not require two sets of rolling tools, thus reducing costs for manufacturing tooling, tool maintenance space, tool changeover time, and the like. Therefore, significant economic benefits can be achieved.

[0024] The stretch rolling process on the stretch rolling machine is one in which stretch rolling (shaping with a pair of rolling tools) is carried out by controlling the two robots in such a way that when the robot hand of one robot moves along the forming path, the robot hand of the other robot moves along a first or second storage path. Thus, the robot hands of the two robots do not interfere with each other, and forming is carried out by sequentially feeding the materials to be formed to a pair of rolling tools, thereby ensuring improved productivity. [Brief description of the drawings] Fig. Figure 1 is a front view showing an embodiment of a stretch rolling machine according to the present invention. Fig. Figure 2 is a top view of the stretch rolling machine. Fig. Figure 3 is a front view of the robot hand in the stretch rolling machine, showing part of the robot hand in section. Fig. Figure 4 is a side view of the robot hand. Fig. Figure 5 is an explanatory view that schematically shows the rolling tools in the stretch rolling machine. Fig. Figure 6 is an explanatory view showing the paths for the movement of the robot hands of the first robot and the second robot. Fig. Figure 7 is an explanatory view of the process, showing the relationship between the first robot, the second robot, and the stretch rolling machine. Fig. Figure 8 is an explanatory view 1 that schematically shows the positional relationship between the first robot and the second robot. Fig. Figure 9 is an explanatory view 2 that schematically shows the positional relationship between the first robot and the second robot. Fig. Figure 10 is an explanatory view 3 that schematically shows the positional relationship between the first robot and the second robot. Fig. Figure 11 is an explanatory view 4 that schematically shows the positional relationship between the first robot and the second robot. [Arrangements for carrying out the invention]

[0025] Arrangements for the implementation of the stretch rolling machine and the stretch rolling process according to the present invention are explained below.

[0026] Fig. Figure 1 is a front view showing an embodiment of a stretch rolling machine according to the present invention. Fig. 2 is a top view of the stretch rolling machine, Fig. Figure 3 is a front view of the robot hand in the stretch rolling machine, showing part of the robot hand in section. Fig. 4 is a side view of the robot hand, Fig. Figure 5 is an explanatory view that schematically shows the rolling tools in the stretch rolling machine. Fig. Figure 6 is an explanatory view showing the paths for the movement of the robot hands of the first robot and the second robot, and Fig. Figure 7 is an explanatory view of the process, showing the relationship between the first robot, the second robot, and the stretch rolling machine.

[0027] Fig. Figure 8 is an explanatory view 1 that schematically shows the positional relationship between the first robot and the second robot. Fig. Figure 9 is an explanatory view 2 that schematically shows the positional relationship between the first robot and the second robot. Fig. Figure 10 is an explanatory view 3 that schematically shows the positional relationship between the first robot and the second robot, and Fig. Figure 11 is an explanatory view 4 that schematically shows the positional relationship between the first robot and the second robot. Main body of a stretch rolling machine

[0028] The construction of a stretch rolling machine 1 is described with reference to the Fig. 1, Fig. 2, Fig. 3, Fig. 4 to Fig. 5 explained. The stretch rolling machine 1 consists of a main body 2 of the stretch rolling machine, a first robot 10 as a first conveying unit, a second robot 30 as a second conveying unit or the like.

[0029] A first roll drive shaft 3 and a second roll drive shaft 5 are rotatably mounted on the main body 2 of the stretch rolling machine. The first roll drive shaft 3 and the second roll drive shaft 5 are arranged to form a paired assembly, with their axes running parallel to each other. Both ends of the first roll drive shaft 3 are held on the main body 2 by a bearing (not shown). Likewise, both ends of the second roll drive shaft 5 are also held on the main body 2 by a bearing (not shown). The first roll drive shaft 3 is driven to rotate by an output transmitted from a servo motor SM via a transmission mechanism (not shown). The second roll drive shaft 5 is driven to rotate by an output transmitted from a servo motor (not shown, but similar to the one used for the first roll drive shaft 3) via a transmission mechanism (not shown).In other words, the first roller drive axis 3 and the second roller drive axis 5, which are constructed as a pair consisting of an upper and lower axis, are each driven by a pair of servomotors SM for rotary drive.

[0030] Here, the first roller drive axis 3 and the second roller drive axis 5 are generally controlled so that they are rotated and stopped simultaneously. Furthermore, the first roller drive axis 3 and the second roller drive axis 5 are generally controlled so that they rotate in opposite directions (direction R and direction R'). Fig. 5) and are rotated at the same rate. A first rolling tool 4 is detachably attached to the outer circumferential surface of the first roll drive shaft 3, and a second rolling tool 6 is detachably attached to the outer circumferential surface of the second roll drive shaft 5.

[0031] The first rolling tool 4 has several forming tools 4a, which are designed with a specific distance between them for carrying out the forming process with tools by stretch rolling (forming with a pair of rolling tools). The second rolling tool 6 has several forming tools 6a, which are designed with a specific distance between them for carrying out the stretch rolling process. Transport units

[0032] As in the Fig. 1 and Fig. As shown in Figure 2, a first conveying unit and a second conveying unit are provided for feeding materials m to be formed to the forming tools 4a and 6a, which perform forming with tools, and for removing articles formed with a desired configuration in front of the main body 2 of the stretch rolling machine. The first conveying unit is a first robot 10, which is referred to as an articulated robot, and the second conveying unit is a second robot 30, which is also referred to as an articulated robot. Although the first robot 10 and the second robot 30 are well known in the art as articulated robots that enable three-dimensional movement of robotic hands, a brief explanation of the arrangement is given here for better understanding of the present arrangement. First robot

[0033] The first robot 10 is a suspended robot, which is suspended from a suspension base 7. The suspension base 7 is designed as a base body for suspension such that an upper plate 73 is attached to the upper ends of three vertically extending columns 72, which are mounted on a base plate 71.

[0034] A robot base 11 of the first robot 10 is attached to the underside of the upper plate 73. A first rotary mechanism 12 is provided between the robot base 11 and a first rotary base 13. The first rotary base 13 rotates about the axis C1 (in the direction of arrow θ1) relative to the robot base 11 and is positioned in a desired rotational position. A first pivoting mechanism 14 is provided between the first rotary base 13 and a first arm 15. The first arm 15 pivots about the axis C2 (in the direction of arrow θ2) relative to the first rotary base 13 and is positioned in a desired pivoting position. A second pivoting mechanism 16 is provided between the first arm 15 and a second arm 17.The second arm 17 executes your pivoting movement around the axis C3 with respect to the first arm 15 in the direction of arrow θ3 and is positioned so that it is in a desired pivoting position.

[0035] A second rotary mechanism 18 is provided between the second arm 17 and a third arm 19. The third arm 19 rotates about axis C4 (in the direction of arrow θ4) relative to the second arm 17 and is positioned in a desired rotational position. A third pivoting mechanism 20 is provided between the third arm 19 and a fourth arm 21. The fourth arm 21 pivots about axis C5 in the direction of arrow θ5 relative to the third arm 19 and is positioned in a desired pivotal position. A robot hand 25 is attached to the fourth arm 21.In the first robot 10, the first rotary mechanism 12, the second rotary mechanism 18, the first swivel mechanism 14, the second swivel mechanism 16, the third swivel mechanism 20 or the like are controlled by a first robot control device (not shown) which controls the drive and positioning of servomotors (not shown).

[0036] The second robot 30 is a floor-type robot. The robot base 31 of the second robot 30 is attached to the floor at the top of the base plate. A first rotary mechanism 32 is provided between the robot base 31 and a first rotary base 33. The first rotary base 33 rotates about the axis C11 (in the direction of arrow θ11) relative to the robot base 31 and is positioned in a desired rotational position. A first pivoting mechanism 34 is provided between the first rotary mechanism 33 and a first arm 35. The first arm 35 pivots about the axis C12 in the direction of arrow θ12 relative to the first rotary base 33 and is positioned in a desired pivoting position. A second pivoting mechanism 36 is provided between the first arm 35 and a second arm 37.The second arm 37 performs a pivoting movement around the C13 in the direction of arrow θ13 with respect to the first arm 35 and is positioned so that it is in a desired pivoting position.

[0037] A second rotary mechanism 38 is provided between the second arm 37 and a third arm 39. The third arm 39 performs a rotary movement about the axis C14 (in the direction of arrow θ14) relative to the second arm 37 and is positioned so that it is in a desired rotary position. A third pivoting mechanism 40 is provided between the third arm 39 and a fourth arm 41. The fourth arm 41 performs a pivoting movement about the axis C15 in the direction of arrow θ15 relative to the third arm 39 and is positioned so that it is in a desired pivoting position. A robot hand 45 is attached to the fourth arm 41.In the second robot 30, the first rotary mechanism 32, the second rotary mechanism 38, the first swivel mechanism 34, the second swivel mechanism 36, the third swivel mechanism 40 or the like are controlled by a second robot control device (not shown) which controls the drive and positioning of servomotors (not shown). robot hand

[0038] The robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 are described with reference to the Fig. 3 and Fig. Section 4 explains that robot hand 25 and robot hand 45 have the same structure. Therefore, the arrangement of robot hand 25 will be explained as an example.

[0039] In the robot hand 25, a robot hand base (referred to below as a hand base) 253 is attached to the fourth arm 21 or the fourth arm 41. A robot hand rotary axis (referred to below as a hand rotary axis) 254 is provided to be rotatably supported in the hand base 253 by bearings 255, 255. A pair of gripping claws 251, 251 is provided on the front of the hand axis 254 for grasping a material m to be formed. A drive unit for opening and closing the robot hand (referred to below as a hand drive unit) 252 is provided behind the hand axis 254. Connecting rods (not shown) and linkages (not shown) for opening and closing the hand are provided between the hand drive unit 252 and the pair of gripping claws 251, 251. The hand drive unit 252 causes a back-and-forth movement of the connecting rods in the longitudinal direction of the hand base 253 (parallel to the axis C6 in Fig. 3) The linkages for opening and closing the hand convert the back-and-forth movement of the connecting rods into an opening and closing movement of the gripping claws 251, 251.

[0040] In other words, when the hand drive unit 252 is operated, the pair of gripping claws 251, 251 performs an opening-closing operation via the linkages for opening and closing the hand. A clamping spring (not shown) retracts the connecting rods to effect a closing movement of the pair of gripping claws 251, 251. A cylinder 252a is provided in the hand drive unit 252 for the forward movement of the connecting rod against the clamping spring when pressurized fluid (for example, pressurized oil) is supplied. The forward movement of the connecting rod by the cylinder 252a causes the pair of gripping claws 251, 251 to perform an opening movement via the linkages for opening and closing the hand. After the supply of pressurized fluid to the cylinder 252a has ceased, the clamping spring retracts the connecting rod with its stored force.The backward movement of the connecting rod by the clamping spring causes the pair of gripping claws 251, 251 to execute a closing movement via the linkage for opening and closing the hand. The forward and backward movement of the connecting rod by the hand drive unit 252 can be detected by a part 252b to detect an opening and closing movement. Such an opening and closing mechanism of the robot hand, comprising linkage for opening and closing the hand, connecting rods, or the like, is well known in engineering, which is why a further explanation of the details is omitted here.

[0041] A servomotor 261 for rotating and positioning the robot hand (referred to below as a servomotor for the rotary axis) for rotating the hand rotary axis 254 about the axis C6 (in the direction of arrow θ6 in Fig. 3) is attached to the hand base 253. A mechanism consisting of a toothed pulley and toothed belt is provided between the output shaft of the servomotor 261 for the rotary axis and the hand rotary axis 254. That is, one toothed pulley is attached to the output shaft of the servomotor 261 for the rotary axis, and the other toothed pulley 262 is attached to the hand rotary axis 254. A toothed belt is placed over the one toothed pulley and the other toothed pulley 262 so that it surrounds them. A unit for rotating and positioning the robot hand (referred to below as a hand rotary unit) 26 consists of the servomotor 261 for the rotary axis and the mechanism consisting of a toothed pulley and toothed belt. With the hand rotary unit provided, stretching rolls (molds with a pair of rolling tools) can be performed such that the hand rotary axis 254 rotates its direction about the axis C6 by, for example, 90 degrees.Here, the mechanism consisting of a toothed disc and toothed belt can be replaced by a different transmission mechanism, such as a gear mechanism. A pair of rolling tools

[0042] The forming process with a pair of rolling tools 4, 6 (stretching rolls) is carried out with reference to the Fig. 5 and Fig. 6 explained. In this stretch rolling machine, robot hand 25 and robot hand 45 move along the respective in Fig. 6 tracks shown. In contrast, in the stretch rolling machine 1, the first rolling tool 4 has four forming tools 4a (4a1, 4a2, 4a3 and 4a4) formed on it, and the second rolling tool 6 has four forming tools 6a (6a1, 6a2, 6a3 and 6a4) formed on it. The forming tools 4a and the forming tools 6a form pairs of forming tools. In particular, forming tool 4a1 and forming tool 6a1 form first forming tools F1, forming tool 4a2 and forming tool 6a2 form second forming tools F2, forming tool 4a3 and forming tools 6a3 form third forming tools F3, and forming tool 4a4 and forming tool 6a4 form fourth forming tools F1 (see Fig. 5).

[0043] Accordingly, the first robot 10 and the second robot 30 cause the robot hand 25 and the robot hand 45 to move to a position P2 of the first stage, corresponding to the first forming tools F1, to a position P3 of the second stage, corresponding to the second forming tools F2, to a position P4 of the third stage, corresponding to the third forming tools F3, and to a position P5 of the fourth stage, corresponding to the fourth forming tools F4, respectively. For example, the stretch rolling machine 1 forms the material to be formed into a desired shape at position P2 of the first stage using the forming tools F1, which comprise the forming tool 4a1 and the forming tool 6a1. In other words, the stretch rolling operation (forming with a pair of tools) is performed on the material m to be formed, which is gripped by the pair of gripping claws 251, 251 provided on the robot hands 25 and 45, respectively, with the first rolling tool 4 being inserted into the Fig. 5 is rotated in the direction R shown and the second rolling tool 6 is rotated in the direction R'.

[0044] These first forming tools F1, second forming tools F2, third forming tools F3, and fourth forming tools F4 are generally used as follows. With the first forming tools F1 in position P2 of the first stage, the material m to be formed is pressed. With the second forming tools F2 in position P3 of the second stage, a corrective forming is performed on the widened part of the material m to be formed, which is pressed by the forming tools F1, after the pressed material is rotated 90 degrees about the axis C6 using the hand-operated rotary unit 26. With the third forming tools F3 in position P4 of the third stage, the material m to be formed is rotated and pressed in the opposite direction by 90 degrees about the axis C6 using the hand-operated rotary unit 26.With the fourth forming tools F4 in position P5 of the fourth stage, a correction forming is carried out on the widened part of the material m to be formed, which is pressed with the forming tools F3, thereby forming a final-formed article which has a final shape with a thin concavity and convexity together with an essentially circular cross-section. Stretch rolling process

[0045] A stretch rolling process using the stretch rolling machine 1 is described with reference to the Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10 to Fig. 11 explained. The first rolling tool 4 and the second rolling tool 6 are rotated at a predetermined rotational frequency. Furthermore, the rotation of the first roll drive axis 3 and the second roll drive axis 5 is controlled by a servomotor SM, and their rotational positions are synchronized.

[0046] As in Fig. As shown in Figure 6, a first motion path 50A is designed such that the robot hand 25 of the first robot 10 moves to successively assume the following positions: a position for picking up a material m to be formed P1 (referred to below as a picking-up position) for picking up a material m to be formed which has been heated to a predetermined temperature by the unit for feeding materials to be formed (not shown), a first-stage position P2, a second-stage position P3, a third-stage position P4, a fourth-stage position P5, a position for removing the formed article P6 for removing the formed article onto a unit 8 for removing the formed article (referred to below as a removal position), a position for depositing P7 and a position before picking up a material to be formed P8 (referred to below as a pre-pick-up position).Position P2 of the first stage, position P3 of the second stage, position P4 of the third stage, and position P5 of the fourth stage are arranged in a line and form a movement path during forming 51 for shaping the material m to be formed. The receiving position P1 and the discharge position P6 are arranged in the extension of the movement path during forming 51.This means that the robot hand 25 moves along the first motion path 50A with a box-shaped form (closed circuit), which contains the motion path, which includes the motion path during forming 51, which contains position P2 of the first stage, position P3 of the second stage, position P4 of the third stage and position P5 of the fourth stage and in which the receiving position P1 to the discharge position P6 are arranged in a line, and furthermore a first deposit path 52, which is arranged at a predetermined distance on one side (for example on the underside of the arrangement shown) from the motion path during forming 51.

[0047] A second movement path 50B is designed such that the robot hand 45 of the second robot 30 moves to successively assume the following positions: the pickup position P1, the first stage position P2, the second stage position P3, the third stage position P4, the fourth stage position P5, the discharge position P6, a deposit position P17 and a position before pickup of a material to be formed P18 (referred to below as a position before pickup).This means that the robot hand 45 moves along the second motion path 50B with a box-shaped form (closed circuit), which includes the motion path, which comprises the motion path during forming 51, the position P2 of the first stage, the position P3 of the second stage, the position P4 of the third stage and the position P5 of the fourth stage and in which the receiving position P1 to the discharge position P6 are arranged in a line, and furthermore a second deposit path 53, which is arranged at a predetermined distance on the other side (for example on the top of the arrangement shown) of the motion path during forming 51.

[0048] The movement of the first robot 10 and that of the second robot 30 are explained, relating them to the movement on the side of the main body 2 of the stretch rolling machine 1. On the side of the main body 2 of the stretch rolling machine 1, the first roll drive axis 3 and the second roll drive axis 5 are rotated at a specific rotational frequency. A further explanation follows with reference to the "motion and process flow diagram" which is presented in Fig. 7 is shown.

[0049] The robot hand 25 of the first robot 10 moves from position P4 of the third stage to position P5 of the fourth stage. At this time, the robot hand 45 of the second robot 30 moves from the position before recording P18 to the recording position P1 (see Fig. 9) The first robot 10 performs the forming process using the fourth forming tools F4, after the robot hand 25 has moved to position P5 of the fourth stage. The second robot 30 picks up the material m to be formed from the material feeder unit in the pick-up position P1, with the robot hand grasping the material. (Stage S1)

[0050] The robot hand 45 of the second robot 30, which has picked up the material m to be formed, moves from the picking position P1 to position P2 of the first stage. At this point, the robot hand 25 of the first robot 10 moves from position P5 of the fourth stage to the discharge position P6, releases the grip on the formed article, and transfers it to unit 8 for discharge. The second robot 30 performs the forming of the material m, gripped by the robot hand 45, using the first forming tools F1, after the robot hand 45 has moved to position P2 of the first stage. (Stage S2)

[0051] The robot hand 45 of the second robot 30 moves from position P2 of the first stage to position P3 of the second stage. At this time, the robot hand 25 of the first robot 10 moves from the discharge position P6 to the placement position P7. The second robot 30 then shapes the material m, which has been grasped by the robot hand 45, using the second forming tools F2, after the robot hand 45 has moved to position P3 of the second stage. (Stage S3)

[0052] The robot hand 45 of the second robot 30 moves from position P3 of the second stage to position P4 of the third stage. At this time, the robot hand 25 of the first robot 10 moves from the placement position P7 to the pre-pickup position P8 (see Fig. 10) The second robot 30 shapes the material to be formed, which is grasped by the robot hand 45, using the third forming tools F3, after the robot hand 45 has moved to position P4 of the third stage. (Stage S4)

[0053] The robot hand 45 of the second robot 30 moves from position P4 of the third stage to position P5 of the fourth stage. At this time, the robot hand 25 of the first robot 10 moves from the position before recording P8 to the recording position P1 (see Fig. 11) The second robot 30 shapes the material m to be formed, which is grasped by the robot hand 45, using the fourth forming tools F4, after the robot hand 45 has moved to position P5 of the fourth stage. The robot hand 25 of the first robot 10 picks up the material m to be formed from the material feeder unit. (Stage S5)

[0054] The robot hand 45 of the second robot 30 moves from position P5 of the fourth stage to the discharge position P6. At the same time, the robot hand 25 of the first robot 10 moves from the pickup position P1 to position P2 of the first stage. After the robot hand 25 has moved to position P2 of the first stage, the first robot 10 shapes the material m, which is grasped by the robot hand 25, using the first forming tools F1. The second robot 30 releases the grip of the robot hand 45 and transfers the formed item to unit 8 for discharge at the discharge position P6. (Stage S6)

[0055] The robot hand 25 of the first robot 10 moves from position P2 of the first stage to position P3 of the second stage. At the same time, the robot hand 45 of the second robot 30 moves from the discharge position P6 to the deposit position P17. After the robot hand 25 has moved to position P3 of the stage, the first robot 10 shapes the material m, which is grasped by the robot hand 25, using the second forming tools F2. (Stage S7)

[0056] The robot hand 25 of the first robot 10 moves from position P3 of the second stage to position P4 of the third stage. At this time, the robot hand 45 of the second robot 30 moves from the placement position P17 to the pick-up position P18 (see Fig. 8) The first robot 10 shapes the material m to be formed, which is grasped by the robot hand 25, using the third forming tools F3, after the robot hand 25 has moved to position P4 of the third stage. (Stage S8)

[0057] Referring again to level S1, the process of shaping with the shaping tools is repeated on the materials to be shaped.

[0058] Although the above explanation of the order refers to Fig. 6. With such an example, where the receiving position P1, the first stage position P2, the second stage position P3, the third stage position P4, the fourth stage position P5, and the discharge position P6 are arranged in a line, the receiving position P1 and the discharge position P6 do not necessarily have to be arranged in the extension of the movement path during forming 51. For example, the receiving position P1 and / or the discharge position P6 can be arranged on the first or second depositing lane. Furthermore, the receiving position P1 and / or the discharge position P6 can be arranged midway between the movement path during forming and the first or second depositing lane.

[0059] In other words, it may be possible for such a setup that the robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 do not simultaneously perform the forming that is present side by side on the movement path during forming 51, which extends over position P2 of the first stage, position P3 of the second stage, position P4 of the third stage and position P5 of the fourth stage.

[0060] In this stretch rolling machine 1, the pair of roll tools 4 and 6, which are attached to the pair of roll drive shafts 3 and 5 respectively, are driven to constant rotation, and the first robot 10 and the second robot 30 are set into rotation sequentially to perform forming work (stretch rolling) with the pair of roll tools 4 and 6. Consequently, in this stretch rolling machine 1, during forming with the pair of roll tools 4 and 6, the material m to be formed is continuously picked up and the formed article is transferred, thereby improving productivity. For example, if the robot hand 25 of the first robot 10 (or the robot hand 45 of the second robot 30) is in the picking position P1, the robot hand 45 of the second robot 30 (or the robot hand 25 of the first robot 10) is in position P5 of the fourth stage.Furthermore, if the robot hand 25 of the first robot 10 (or the robot hand 45 of the second robot 30) is in the discharge position P6, the robot hand 45 of the second robot 30 (or the robot hand 25 of the first robot 10) is in position P2 of the first stage. In this way, the robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 do not interfere with each other and at no time with the forming process using the rolling tool 4 and the rolling tool 6, thus allowing for an improvement in productivity.

[0061] Furthermore, the first robot 10 and the second robot 30 are controlled such that the robot hand 45 of the second robot 30 moves along the movement path which contains the second storage path 53, except for the movement path during the forming 51 of the second movement path 50B, when the robot hand 45 of the first robot 10 moves along the movement path during the forming 51 of the first movement path 50A and performs the forming work in the positions from position P2 of the first stage to position P5 of the fourth stage.On the other hand, the first robot 10 and the second robot 30 are controlled such that the robot hand 25 of the first robot 10 moves along the path of motion that includes the first storage lane 52, except for the path of motion during forming 51 of the first path of motion 50A, when the robot hand 45 of the second robot 30 moves along the path of motion during forming 51 of the second path of motion 50B and performs forming work in the positions from position P2 of the first stage to position P5 of the fourth stage. The first storage lane 52 for the first robot 10 and the second lane and the second storage lane 53 for the second robot 30 are arranged such that they are each positioned a predetermined distance above or below (as shown) the path of motion during forming 51.

[0062] The predetermined distance of the first and second storage lanes 52 and 53 from the movement path during forming 51 is to be set as follows. As in Fig.As shown in Figure 6, the distance from the first storage path 52 to the movement path during forming 51 is L1, and the distance from the second storage path 53 to the movement path during forming 51 is L2. The maximum radii of the robot hands 25 and 45 of the first robot 10 and 30 are R1 and R2, respectively. To prevent mutual obstruction between the robot hand 25 of the first robot 10, which moves along the first storage path 52, and the robot hand 45 of the second robot 30, which moves along the movement path during forming 51, the distance L1 must be greater than R1 + R2 by a certain amount D1. This certain amount D1 is determined to reliably prevent mutual obstruction between the two robot hands.

[0063] The case in which the robot hand 25 of the first robot 10 moves along the movement path during forming 51 and the robot hand 45 of the second robot 30 moves along the second storage path 53 is further considered similar, and the distance L2 must be greater than R1+R2 by a certain amount D2. The extent of this span D1 and D2 can be assumed to be essentially equal. By adjusting the distance L1, L2 from the storage paths 52, 53 to the movement path during forming 51 to avoid mutual obstruction of the two robot hands as described above, the robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 can move without mutual obstruction.

[0064] The requirement to prevent mutual interference between the robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 is explained above. Considering the two articulated robots, it is further necessary to prevent mutual interference between the arms with which both robots are equipped. To this end, with regard to the articulated type of the first robot 10 and the second robot 30, the movement of the arms performed by both articulated robots must be controlled in such a way that they do not interfere with each other. That is, movement conditions of the robot arms, such as the swivel or rotation angles of the arms, the timing of such a movement, or the like, should be set to fulfill the requirement of preventing mutual interference between the robot arms during the operation of the robots to perform stretching rollers and the associated movement.

[0065] In this stretch rolling machine 1, the first robot 10 and the second robot 30 can alternately perform shaping with the pair of constantly rotating rolling tools 4 and 6, thereby improving productivity. For example, the robot hand 45 of the second robot 30 (or the robot hand 25 of the first robot 10) moves from position P5 of the fourth stage to the discharge position P6 when the robot hand 25 of the first robot 10 (or the robot hand 45 of the second robot 30) moves from the pickup position P1 to position P2 of the first stage. In this way, the robot hand 25 of the first robot 10 and the robot hand 45 of the second robot 30 can move without mutual interference and perform shaping with the pair of tools 4 and 6 at any time.

[0066] Furthermore, in these stretch forming machines 1, two robots 10 and 30 are set in rotation. Therefore, the time required to feed the materials to be formed and the time required to remove the formed articles, which were downtime in the conventional stretch forming machine, are not downtime in this stretch forming machine 1. This stretch forming machine has a design in which two robot hands 25 and 45 are arranged in an upper and lower position, respectively (as shown), and mutual obstruction between them can be avoided, thus enabling the two robots 10 and 30 to rotate. Therefore, an improvement in productivity can be achieved with this stretch forming machine.

[0067] While a conventional stretch rolling mill required two sets of rolling tools to improve productivity, this stretch rolling mill does not require two sets of rolling tools. Therefore, this stretch rolling mill enables a reduction in tool manufacturing costs, a reduction in the footprint required for tool storage, and a reduction in tool change time, resulting in economic benefits.

[0068] With this type of control system for the stretch rolling machine 1, the cycle time can be shortened and temperature fluctuations of the material being formed can be reduced, thereby improving product quality. Furthermore, rotation can occur in the same direction, ensuring that the direction of any applied load is consistent across this stretch rolling machine 1. This extends the product's service life compared to stretch rolling machines that rotate in both directions. Additionally, successive forming operations can be performed using identical rolling tools, thus minimizing changes in shape and further improving product quality.

[0069] The stretch rolling process using the stretch rolling machine is such that stretch rolling is carried out by controlling two robots in such a way that when the robot hand of one robot moves along the forming path, the robot hand of the other robot moves along the path containing the first or second storage lane, excluding the forming path. In this stretch rolling process, the robot hands 25 and 45 of both robots perform stretch rolling (forming with a pair of tools), with materials to be formed being fed alternately to the rolling tools 4 and 6 without mutual interference between the robot hands, thus achieving an improvement in productivity.

[0070] Although embodiments of the present invention have been described above, it is understood that the present invention is not limited to such embodiments. For example, the conveying unit can be a robot of the type with an orthogonal coordinate system or the like, which can move in three axis directions. That is to say, it can be such a conveying unit that can control a movement of the robot hand in three dimensional directions.In a setup where movement is possible not only in the horizontal plane but also in a direction orthogonal to the horizontal plane, such a transport unit can be designed so that, when one robot hand is in a position between the first and fourth stages during its movement path during the forming process, the other robot hand can be controlled to move along the movement path other than the forming path (either the first or second placement path), thus preventing mutual interference between the two robot hands. Furthermore, the articulated robot can have a different design or a different number of axes, enabling such a setup to control the movement of the robot hands in three dimensions.

[0071] Although the above description of embodiments was given for the example of a pair of rolling tools with four forming tools formed on each rolling tool, the pair of rolling tools can also be one on which several tools (for example, two or six forming tools) are formed. Although the embodiments were given for the example in which forming work was carried out by four steps, forming work can also be carried out by six steps, or two steps, or any other number of steps if articles can be formed.

[0072] Although an explanation of the embodiments was given with regard to an example of conveying units comprising a suspended robot (a conveying unit) and a floor-type robot (a conveying unit), a configuration is also conceivable in which two floor-type conveying units are provided on their mounting levels (floors) with a height difference between them. With a first floor level for mounting one conveying unit, a lower level of a pit located a certain extent below the first floor level can be considered a second floor level for mounting the other conveying unit, with the other conveying unit being mounted in the level for mounting in the pit. [Explanation of reference symbols] 1 stretch rolling machine 2 Main bodies of the stretch rolling machine 3 first roller drive axle 4 first rolling tool 5 second roller drive axle 6 second rolling tool 7 Suspension base 8 Unit for the removal of the formed article 10 first robots 11, 31 Robot base 12, 32 first rotating mechanism 13, 33 first pivot point 14, 34 first pivoting mechanism 15, 35 first arm 16, 36 second swivel mechanism 17, 37 second arm 18, 38 second rotating mechanism 19, 39 third arm 20, 40 third swivel mechanism 21, 41 fourth arm 25, 45 robot hand 251, 251 pairs of gripping claws 252 Robot hand drive unit 252a Cylinder 253 Robot hand base 254 Robot hand rotary axis 26 Robot hand rotation and positioning unit 261 Servomotor 30 second robot 31 Base for second robot 50A first motion path 50B second movement path 51 Movement path during shaping 52 first storage lane 53 second storage lane P1 Position for picking up a material to be shaped P2 position of the first stage P3 position of the second stage P4 Position of the third stage P5 Position of the fourth stage P6 Position for ejecting a formed article P7, P17 Storage position P8, P18 Position before taking in a material to be shaped

Claims

[1] Stretch rolling machine (1), comprising: a pair of roller drive shafts (3; 5) which are provided to be rotatable on the main body (2) of the stretch rolling machine (1) and which are set in rotation by a drive device, a pair of rolling tools (4; 6), each provided on the pair of rolling drive shafts (3; 5) and on which several forming tools (4a1-4a4; 6a1; 6a4) are provided with a predetermined distance between them, and Conveyor units for conveying materials to be formed (m) to a position (P1) of receiving the materials to be formed (m), to positions (P2-P5) of forming with the multiple forming tools (F1-F3) on the pair of rolling tools (4; 6) and to a position (P6) of removing a formed article; the transport units comprise the following: a first robot (10) with a robot hand (25) moving along a first right-angled path of movement (50A) which includes a straight path of movement (51) during forming, connecting the positions corresponding to the positions (P2-P5) of forming with the multiple forming tools (4a1-4a4; 6a1; 6a4), and a first storage path (53) which is spaced on one side by a predetermined distance (L2) from the straight path of movement (51) during forming, and a second robot (30) with a robot hand (45) that moves along a second perpendicular path of movement (50B) which includes the straight path of movement (51) during forming, and a second storage path (53) which is spaced on the other side from the straight path of movement (51) during forming by a predetermined distance (L2); and wherein the first robot (10) and the second robot (30) are each controlled such that the robot hand (45) of the second robot (30) moves along the part of the second right-angled path of motion (50B) that is not the straight path of motion (51) when the robot hand (25) of the first robot (10) moves along the straight path of motion (51) when forming, and the robot hand (25) of the first robot (10) moves along the part of the first right-angled path of motion (50A) that is not the straight path of motion (51) when forming, when the robot hand (45) of the second robot (30) moves along the straight path of motion (51) when forming. [2] Stretch rolling machine according to claim 1, wherein the position (P1) for receiving the materials (m) to be formed and the position (P6) for removing the formed article are arranged in the extension of the path of movement (51) during forming. [3] Stretch rolling machine according to one of claims 1 to 2, wherein the first robot (10) and the second robot (30) are each articulated robots. [4] Stretch rolling machine according to claim 3, wherein both the first robot (10) and the second robot (30) comprise a rotary base (13; 33) which is fixed to the machine body and which can perform a rotary movement, several arms (15, 17, 19, 21; 35, 37, 39, 41) which are connected one after the other in such a way that they can perform a pivoting movement or a rotary movement with respect to each other, wherein one end of the arms arranged one after the other (15, 17, 19, 21; 35, 37, 39, 41) is connected to the rotary base for performing a rotary movement, and a robot hand (25; 45) which has a part for grasping a material (m) to be formed and is connected to the other end of the arms arranged one after the other (15, 17, 19, 21; 35, 37, 39, 41). [5] Stretch rolling machine according to one of claims 1 to 4, wherein one of the first robot (10) and the second robot (30) is a floor type and the other is a hanging type. [6] Stretch rolling machine according to any one of claims 1 to 4, wherein the first robot (10) and the second robot (30) are of a floor type, which are arranged in their respective positions at different heights. [7] Stretch rolling machine according to one of claims 1 to 6, wherein the robot hand (25) of the first robot (10) moves from the pickup position (P1) to the position (P2) for forming with tools of the first stage (F4) when the robot hand (45) of the second robot (30) moves from the position (P5) for forming the last stage to the discharge position (P6), and the robot hand (45) of the second robot (30) moves from the pickup position (P1) to the position (P2) for forming with tools of the first stage (F4) when the robot hand (25) of the first robot (10) moves from the position (P5) for forming the last stage to the discharge position (P6). [8] A stretch rolling process using a stretch rolling machine (1), comprising: a pair of roller drive shafts (3; 5) which are provided to be rotatable on the main body (2) of the stretch rolling machine (1) and which are set in rotation by a drive device, a pair of rolling tools (4; 6), each provided on the pair of rolling drive shafts (3; 5) and on which several forming tools (4a1-4a4; 6a1; 6a4) are provided for forming with a predetermined distance between them, and Conveyor units (8) for conveying materials (m) to be formed into a position (P1) for receiving the materials to be formed, into positions (P2-P5) of forming with the multiple forming tools (4a1-4a4; 6a1; 6a4) on the pair of rolling tools (4; 6) and into a position (P6) of discharging a formed article, the transport units (8) comprise the following: a first robot (10) with a robot hand (25) moving along a first right-angled path of movement (50A) which includes a straight path of movement (51) during forming, connecting the positions corresponding to the positions (P2-P5) of forming with the multiple forming tools (4a1-4a4; 6a1; 6a4), and a first storage path (52) which is spaced on one side by a predetermined amount from the straight path of movement (51) during forming, and a second robot (30) with a robot hand (45) moving along a second right-angled path of movement (50B) which includes the straight path of movement (51) during forming, and a second storage path (53) which is spaced on the other side by a predetermined amount from the straight path of movement (51) during forming; wherein the robot hand (25) of the second robot (30) moves along the part of the second right-angled path of motion (50B) that is not the path of motion during forming, when the robot hand (45) of the first robot (10) moves along the path of motion (51) during forming, the robot hand (25) of the first robot (10) moves along the part of the first right-angled path of motion (50A) that is not the path of motion during forming, when the robot hand (45) of the second robot (30) moves along the path of motion (51) during forming, and either the first robot (10) or the second robot (30) can perform shaping with the pair of rolling tools (4; 6). [9] Stretch rolling process according to claim 8, wherein the robot hand (25) of the first robot (10) moves from the pickup position (P1) to the position (P2) for forming with tools (4; 6) of the first stage, when the robot hand (45) of the second robot (30) moves from the position (P5) for forming the last stage to the discharge position (P6), and the robot hand (45) of the second robot (30) moves from the pickup position (P1) to the position (P2) for forming with tools (4; 6) of the first stage, when the robot hand (25) of the first robot (10) moves from the position (P5) for forming the last stage to the discharge position (P6).

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