Forming device

Abstract

In order to appropriately transport a workpiece, the present invention is provided with a movable frame 51, a first arm 52 swingably supported by the movable frame, a second arm 53 swingably supported by the tip of the first arm, a holding part 54 capable of holding the workpiece supported by the second arm, a first swing mechanism 55 for imparting a swinging action to the first arm, a second swing mechanism 56 for imparting a swinging action to the second arm, a rotation mechanism 57 for imparting a rotating action to the second arm, and a movement mechanism for imparting a moving action in at least one direction to the movable frame.

Description

[Technical Field]

[0001] The present invention relates to a molding apparatus. [Background technology]

[0002] The press device as a molding device receives a billet as a molding object from a supply device, and an intermediate device is installed around the mold for placing the billet at an initial position of a transfer feeder. On the other hand, the area around the mold is a harsh environment that is prone to contamination due to the supply of mold release agents used in the mold, etc., so in order to prevent breakdowns and malfunctions, conventional relay devices have reduced the number of joints and adopted an arm mechanism that rotates the arm using two joints (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-174134 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conventional molding device described above has many restrictions on its operation due to the small number of joints in the relay device, and depending on the shape and dimensions of the workpiece, there are problems such as poor billet transport and the need to manually adjust the mounting position of the billet receiving table, which serves as the initial position of the transfer feeder.

[0005] An object of the present invention is to provide a molding apparatus that can stably transport a molding object. [Means for solving the problem]

[0006] The molding device according to the present invention comprises: A movable frame; a first arm swingably supported by the movable frame; a second arm swingably supported by the first arm; a holding portion capable of holding the molding object supported by the second arm; a first swing mechanism that applies a swinging motion to the first arm; a second swing mechanism that applies a swinging motion to the second arm; a movement mechanism that imparts a movement motion to the movable frame in at least one direction; Equipped with The first arm and the second arm swing the holding portion at two joints to move the molding object within one plane, the movable frame extends downward from the moving mechanism, The movement mechanism includes a first movement unit that moves the movable frame in a vertical direction; a second moving unit that moves the movable frame in a horizontal direction, A motor serving as a drive source for the first swing mechanism and a motor serving as a drive source for the second swing mechanism are arranged side by side at the end of the movable frame on the moving mechanism side, on both sides of the movable frame in the horizontal direction in which the second moving unit moves the movable frame. It is configured to: [Effects of the Invention]

[0007] According to the present invention, it is possible to stably transport the molding object. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a front view of the press device according to the embodiment. [Figure 2] FIG. 10 is a right side view of the relay device, with the moving mechanism not shown. [Figure 3] FIG. 4 is a cross-sectional view of a second arm. [Figure 4] FIG. 2 is a cross-sectional view taken along line UU in FIG. [Figure 5] FIG. 2 is a cross-sectional view taken along line VV in FIG. [Figure 6] FIG. 2 is a cross-sectional view taken along the line WW in FIG. [Figure 7] FIG. 2 is a block diagram showing a schematic control configuration of the press device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0010] [Configuration of molding equipment] Figure 1 is a front view of a press apparatus 1 as a molding apparatus according to this embodiment. As shown in Figure 1, the left-right direction of the paper surface corresponds to the left-right direction of the press apparatus 1, the up-down direction of the paper surface corresponds to the up-down direction of the apparatus 1, and the direction perpendicular to the paper surface corresponds to the front-to-rear direction of the apparatus 1. The right side of the paper surface is the right, and the front side of the paper surface is the front. As shown in this figure, the press device 1 is a forging press device that performs forging, and is equipped with a device main body 100, a supply device 30 for a billet B, which is the object to be formed, a transfer feeder 40, a relay device 50, and a control device 90. The main body 100 of the apparatus includes a bed 23, a plurality of uprights 22, a bolster 24, a slide 18, a receiving table 13 for the billet B, and a drive unit (not shown).

[0011] The bed 23 and the plurality of uprights 22 constitute a frame portion of the press apparatus 1. The bolster 24 is fixed onto the bed 23, and a plurality of lower molds 12 are fixed to the upper portion thereof. The slide 18 is supported by a guide (not shown) provided on the upright 22 so as to be capable of reciprocating motion with the vertical direction as the stroke direction. The same number of upper dies 11 as the lower dies 12 are fixed to the lower part of the slide 18. The upper dies 11 and the lower dies 12 form pairs corresponding to each other and are arranged in the left-right direction, with the pairs facing each other vertically. When the slide 18 rises, the upper dies 11 and the lower dies 12 move apart, and when the slide 18 descends, the upper dies 11 and the lower dies 12 come together, and the workpiece is forged between them. The upper dies 11 and the lower dies 12 are arranged so that the right-hand ones produce a finished product.

[0012] The drive unit is configured to move the slide 18 forward and backward, and includes a motor as a drive source, a flywheel, a clutch brake, a reducer, a crank mechanism, etc. The rotation of the motor is converted into up and down motion by the crank mechanism and applied to the slide 18. If a servo motor is used as the drive motor, the flywheel and clutch brake are not required.

[0013] The receiving table 13 is installed at the initial position of the transfer feeder 40, that is, at the lower left of the entrance to a conductive section 14 in the frame section of the press device 1 where a plurality of upper dies 11 and lower dies 12 are lined up. The receiving stand 13 is a cup-shaped container into which the billet B can be inserted from above. The receiving stand 13 may be provided with a structure that allows the height and the position in the front-rear and left-right directions to be manually adjusted.

[0014] The transfer feeder 40 transports the billet B from the receiving table 13, which is the initial position of the billet B, to the lower die 12 located on the far left (upstream side), and also transports the billet B (the object being molded as molding progresses) on each lower die 12 to the lower die 12 one position to the right (downstream side). The transfer feeder 40 includes a pair of feed rods 41 arranged along the left-right direction, and each feed rod 41 is provided with a plurality of gripping claws (not shown). The gripping claws extend from the pair of feed rods 41 so as to face each other. The left-right spacing between the gripping claws matches the spacing between the plurality of lower dies 12. Each feed rod 41 has one more gripping claw than the lower dies 12. For example, if there are five lower dies 12, there will be six gripping claws.

[0015] The transfer feeder 40 operates a pair of feed rods 41 in the following order: (1) clamp by approach → (2) lift (raise) → (3) advance (forward) → (4) down (lower) → (5) unclamp (release) → (6) return (return), thereby transporting the billet B from the receiving table 13 to the lower die 12 and transporting the molded object on each lower die 12 one step to the right (downstream).

[0016] The supply device 30 for the billets B has a slope 31 that slopes diagonally downward to the right, and supplies the billets B one by one to a transfer position 32 set at the right end of the slope 31. The slope 31 has a sliding groove formed therein for the billet B. For example, when hot forging is performed, the billet B, which has been heated to a predetermined temperature by a heating device, is supplied to the upper end of the slope 31. When cold forging is performed, the billet B, which has not been heated and is at room temperature, is supplied to the upper end of the slope 31. In either case, the billet B slides to the transfer position 32. A gate mechanism 33 is provided in front of the transfer position 32 to regulate the passage of the billet B so that only one billet B remains at the transfer position 32. A stopper (not shown) is provided at the transfer position 32 to prevent the billet B from sliding, and the billet B stopped by the stopper can be taken out to the right by the relay device 50. The end of the slope 31 on the transfer position 32 side can be swung about a fulcrum 34, and the transfer position 32 can be swung downward from the state shown in Fig. 1. This is because when a gripping tool 54 (described later) of the relay device 50 that has received the billet B at the transfer position 32 swings to the right, a stopper or the like of the transfer position 32 can be retracted downward to prevent interference.

[0017] [Repeater] FIG. 2 is a right side view of the relay device 50 as seen from the right, with a moving mechanism (described later) not shown. The relay device 50 relays and transports the billet B from the supply device 30 to the receiving table 13 which is the initial position of the transfer feeder 40. As shown in Figures 1 and 2, the relay device 50 is attached to the upper wall surface of the entrance, which is the left end of the conductive section 14 in which multiple upper dies 11 and lower dies 12 are lined up, in the frame section of the press machine 1. The relay device 50 includes a movable frame 51, a first arm 52 supported by the movable frame 51 so as to be swingable about a first joint axis 521, a second arm 53 supported at the swing end of the first arm 52 so as to be swingable about a second joint axis 531, a gripping tool 54 serving as a holder for the billet B and supported on the second arm 53 so as to be rotatable about an axis perpendicular to the second joint axis 531, a first swinging mechanism 55 that imparts a swinging motion to the first arm 52, a second swinging mechanism 56 that imparts a swinging motion to the second arm 53, a rotation mechanism 57 that imparts a rotating motion to the gripping tool 54, a gripping drive unit 61 that imparts a gripping motion to the gripping tool 54, and a moving mechanism that imparts a moving motion to the movable frame 51. The moving mechanism is composed of first to third moving units 58, 59, and 60.

[0018] The movable frame 51 is attached to the upper wall surface of the entrance of the conductive section 14 via a movement mechanism, and is supported by first to third movement sections 58, 59, 60 that constitute the movement mechanism so as to be movable in the up / down, left / right, front / rear directions. The movable frame 51 has a support plate 511 supported by the movement mechanism, and a hollow body section 512 extending downward from the support plate 511. The base end of the first arm 52 is swingably supported at the extending end (lower end) of the body section 512 by a first joint shaft 521 that is parallel to the front-rear direction (horizontal direction).

[0019] The swing end of the first arm 52 swings mainly in the left-right direction by the first joint shaft 521. Furthermore, like the body part 512 of the movable frame 51, the first arm 52 is also hollow inside. A second arm 53 is swingably supported at the extending end (lower end) of the first arm 52 by a second joint shaft 531 that is parallel to the front-rear direction (horizontal direction).

[0020] The second arm 53 has a base end (upper end) swingably supported by a second joint shaft 531, and a swing end (lower end) swings mainly in the left-right direction. The second arm 53 is hollow like the first arm 52, and stores a part of the configuration of the grip drive unit 61 inside.

[0021] As shown in FIG. 2, the first swing mechanism 55 includes a first swing motor 551, a reducer 552, a driving gear 553, a transmission gear 554, and a driven gear 555. The first swing motor 551 is fixedly mounted on the outside of the rear surface of the body part 512 of the movable frame 51 with its output shaft facing in the front-to-rear direction. The output shaft of the first swing motor 551 is connected to a reducer 552 arranged inside the body part 512.

[0022] The reducer 552 is fixedly mounted on the inside of the rear surface of the body part 512 of the movable frame 51, with its input and output shafts oriented parallel to the front-to-rear direction. A main driving gear 553 made of a spur gear is attached to the output shaft of the reducer 552. The main driving gear 553 is given reduced rotation around an axis along the front-rear direction by the reducer 552. The main driving gear 553 is also meshed with a transmission gear 554 arranged below it.

[0023] The transmission gear 554 is made of a spur gear and is rotatably supported by a support shaft 556 that is fixedly mounted inside the body portion 512 and is parallel to the front-rear direction. The transmission gear 554 is also in mesh with a driven gear 555 that is disposed below the transmission gear 554. The driven gear 555 is made of a spur gear, and is rotatably supported by the first joint shaft 521. The driven gear 555 is integrally connected to the base end of the first arm 52.

[0024] With the above configuration, in the first swing mechanism 55, the driving force of the first swing motor 551 causes the main gear 553 to rotate at a reduced speed via the reducer 552. Furthermore, a rotational force is transmitted from the main gear 553 to the driven gear 555 via the transmission gear 554, and the swing end (lower end) of the first arm 52 swings together with the driven gear 555.

[0025] As shown in FIG. 2, the second swing mechanism 56 has a second swing motor 561, a reducer 562, a main driving gear 563, first to third transmission gears 564 to 566, and a driven gear 567. The second swing motor 561 is fixedly mounted on the outside of the front surface of the body part 512 of the movable frame 51 with its output shaft facing in the front-rear direction. The output shaft of the second swing motor 561 is connected to a reducer 562 arranged inside the body part 512.

[0026] The reducer 562 is fixedly mounted on the inside of the front surface of the body part 512 of the movable frame 51, with its input and output shafts oriented parallel to the front-rear direction. A main driving gear 563 made of a spur gear is attached to the output shaft of the reducer 562. The main driving gear 563 is given reduced rotation around an axis along the front-rear direction by the reducer 562. The main driving gear 563 is in mesh with a first transmission gear 564 disposed below it.

[0027] The first transmission gear 564 is made of a spur gear and is rotatably supported by a support shaft 556 inside the body portion 512. The first transmission gear 564 is in mesh with a second transmission gear 565 disposed below it. The second transmission gear 565 is made of a spur gear and is rotatably supported by the first joint shaft 521 inside the body portion 512. The second transmission gear 565 meshes with a third transmission gear 566 that is disposed at an intermediate position of the first arm 52. The third transmission gear 566 is a spur gear and is rotatably supported by a support shaft 568 that is provided parallel to the front-rear direction and is located inside the front wall of the first arm 52 at a longitudinally intermediate position of the first arm 52. The third transmission gear 566 is in mesh with a driven gear 567 that is located at the swing end of the first arm 52.

[0028] The driven gear 567 is made of a spur gear and is rotatably supported by the second joint shaft 531. The driven gear 567 is also integrally connected to the base end of the second arm 53.

[0029] With the above configuration, in the second swing mechanism 56, the main gear 563 is rotated at a reduced speed via the reducer 562 by driving the second swing motor 561. Furthermore, a rotational force is transmitted from the main gear 563 to the driven gear 567 via the first to third transmission gears 564 to 566, and the swing end (lower end) of the second arm 53 swings together with the driven gear 567.

[0030] Fig. 3 is a cross-sectional view of the second arm 53. Fig. 3 shows the second arm 53 in a position where its longitudinal direction is aligned with the vertical direction, and also shows the gripping tool 54 in its initial position (the orientation in Figs. 1 to 3) caused by the rotation mechanism 57. In the explanation based on Fig. 3, the positions and directions of the respective parts will be explained on the assumption that the second arm 53, gripping tool 54, rotation mechanism 57, and gripping drive unit 61 are in the positions shown in the figure. As shown in the figure, a gripping tool 54 is provided at the swing end of the second arm 53 so as to extend radially outward in the swing direction.

[0031] The gripping tool 54 has a cylindrical main body 545 provided at the swing end of the second arm 53 so as to be rotatable concentrically with the second arm 53 . A pair of elbow-shaped gripping arms 543 and 544 each holding a pair of gripping claws 541 and 542 are provided on the swing end side of the main body 545. The gripping arms 543, 544 have one end rotatably supported by the same pivot shaft along the left-right direction at the swinging end of the main body 545. The gripping claws 541, 542 are fixedly mounted facing each other at the swinging end of the gripping arms 543, 544. The pair of gripping arms 543, 544 can move the pair of gripping claws 541, 542 toward and away from each other by rotating in opposite directions.

[0032] The pair of gripping claws 541, 542 have recesses facing each other. When the pair of gripping arms 543, 544 move in the gripping direction (approaching direction), the recesses of the gripping claws 541, 542 can grip the billet B. Note that the recesses of the gripping claws 541, 542 are all uniformly recessed along the left-right direction when in the initial position set by the rotation mechanism 57. Therefore, in this state, the gripping tool 54 is suitable for gripping a billet B whose longitudinal direction is aligned along the left-right direction.

[0033] As shown in Figure 3, the gripping drive unit 61 has a gripping air cylinder 611 arranged concentrically within the cylindrical second arm 53, a piston 612 that moves back and forth in the longitudinal direction of the second arm 53, a piston rod 613 located at the center of the second arm 53, link members 614, 615 that connect the piston rod 613 to the pair of gripping arms 543, 544, and a gripping air cylinder opening / closing valve 616 (see Figure 7).

[0034] The gripping air cylinder 611 is supported inside the second arm 53 so as to be rotatable around an axis along the longitudinal direction of the second arm 53 . The piston 612 is housed in the gripping air cylinder 611 and moves to one side or the other in the longitudinal direction of the second arm 53 by the air pressure supplied by the gripping air cylinder opening / closing valve 616 .

[0035] The piston rod 613 is fixed in a state where it penetrates the center of the piston 612, and one end thereof extends into the main body 545 of the gripping tool 54. One end of the piston rod 613 is connected to one end of each of link members 614, 615. One ends of these link members 614, 615 are connected to one end of the piston rod 613 so as to be rotatable around an axis along the left-right direction. The other end of each link member 614, 615 is connected to an intermediate portion (for example, an elbow-shaped corner) of the pair of gripping arms 543, 544. In this case as well, the other end of each link member 614, 615 is connected to the respective gripping arms 543, 544 so as to be rotatable about an axis along the left-right direction.

[0036] With the above-described configuration, when the piston 612 moves downward within the gripping air cylinder 611, the piston rod 613 also moves downward, and via the link members 614, 615, the pair of gripping arms 543, 544 rotate so as to be pushed downward, and the pair of gripping claws 541, 542 perform gripping. Furthermore, when the piston 612 moves upward within the gripping air cylinder 611, the piston rod 613 also moves upward, and via the link members 614, 615, the pair of gripping arms 543, 544 rotate so as to be pulled upward, causing the pair of gripping claws 541, 542 to move apart and release.

[0037] As shown in FIG. 3, the rotation mechanism 57 has a gear 571 provided on the outer periphery of the upper end of the gripping air cylinder 611, a rack member 572 that meshes with the gear 571, a rotation air cylinder 573 that moves the rack member 572 back and forth in its longitudinal direction, and a rotation air cylinder on-off valve 574 (see FIG. 7).

[0038] The gear 571 is formed concentrically with the second arm 53 and the gripping air cylinder 611 . The rack member 572 is supported at the upper end of the second arm 53 so as to be slidable in the front-rear direction. The rotary air cylinder 573 has a piston rod (not shown) facing in the front-rear direction, and the tip of the piston rod is connected to the rack member 572 .

[0039] With the above-described configuration, when the piston of the rotation air cylinder 573 of the gripping drive unit 61 moves in the forward direction, the rack member 572 slides in the same direction, rotating the gripping air cylinder 611 via the gear 571. The gripping air cylinder 611 is connected to the main body 545 of the gripping tool 54, and the entire gripping tool 54 rotates together with the gripping air cylinder 611. The piston stroke of the rotation air cylinder 573 is set to a length that enables the gripping air cylinder 611 to rotate by just 90°. As a result, for example, by driving the rotation air cylinder 573, the gripping tool 54, which is in the initial position in FIG. 3, can be changed to a position rotated by 90° around the longitudinal direction of the second arm 53 as an axis.

[0040] It should be noted that a configuration of a motor and a spur gear that can arbitrarily control the amount of rotation angle may be adopted instead of the configuration of the rotation air cylinder 573 and the rack member 572. In this case, it becomes possible to rotate the gripping tool 54 to any angle, not just between two 90° positions.

[0041] FIG. 4 is a cross-sectional view taken along line UU in FIG. 1, showing the first moving part 58 of the moving mechanism as viewed from the left. The first moving section 58 has a base body 581 supported by the second moving section 59, guide rails 582 fixedly supported at both the front and rear ends on the left surface of the base body 581, slide blocks 583 slidably arranged along each guide rail 582, a first moving motor 584 attached to the left surface of the base body 581, a ball screw shaft 585 connected to the output shaft of the first moving motor 584, a ball nut 586 threaded onto the ball screw shaft 585, and a bearing 587 rotatably supporting the ball screw shaft 585.

[0042] The base body 581 is a flat plate that is parallel in the up-down and front-rear directions. The base body 581 is supported by the second moving part 59. The guide rails 582 and the ball screw shaft 585 are supported on the left surface of the base body 581 and oriented in the vertical direction. Each slide block 583 and ball nut 586 is attached to the right surface of the support plate 511 of the movable frame 51 . The rotation amount of the first movement motor 584 can be controlled arbitrarily.

[0043] With the above configuration, when the first movement motor 584 is driven, the ball nut 586 moves up and down due to the rotation of the ball screw shaft 585, and the position of the movable frame 51 can be adjusted by any amount in the vertical direction.

[0044] FIG. 5 is a cross-sectional view taken along line VV in FIG. 1, showing the second moving part 59 of the moving mechanism as viewed from the left. The second moving section 59 has a base body 591 supported by the third moving section 60, guide rails 592 fixedly supported at both the upper and lower ends on the left surface of the base body 591, slide blocks 593 slidably arranged along each guide rail 592, a second moving motor 594 attached to the left surface of the base body 591, a ball screw shaft 595 connected to the output shaft of the second moving motor 594, a ball nut 596 threaded onto the ball screw shaft 595, and a bearing 597 rotatably supporting the ball screw shaft 595.

[0045] The base body 591 is a structure in which a vertical plate parallel to the up-down and front-rear directions and a horizontal plate parallel to the front-rear and left-right directions are connected together. The upper surface of the horizontal plate is supported by the third moving part 60.

[0046] Each guide rail 592 and ball screw shaft 595 is supported on the left surface of the vertical plate of the base body 591, facing in the front-rear direction. Each slide block 593 and ball nut 596 is attached to the right surface of the base body 581 of the first moving section 58. The rotation amount of the second movement motor 594 can be controlled arbitrarily.

[0047] With the above-described configuration, when the second movement motor 594 is driven, the ball nut 596 moves in the forward / backward direction due to the rotation of the ball screw shaft 595, and the position of the movable frame 51 can be adjusted in the forward / backward direction by any amount via the first movement unit 58.

[0048] FIG. 6 is a cross-sectional view taken along the line WW in FIG. 1, showing the third moving section 60 of the moving mechanism as viewed from above. The third moving section 60 has a base body 601 supported on the frame section of the press device 1, guide rails 602 fixedly supported at both the front and rear ends of the underside of the base body 601, slide blocks 603 slidably arranged along each guide rail 602, a third moving motor 604 attached to the underside of the base body 601, a ball screw shaft 605 connected to the output shaft of the third moving motor 604, a ball nut 606 threaded onto the ball screw shaft 605, and a bearing 607 rotatably supporting the ball screw shaft 605.

[0049] The base body 601 is a structure in which a vertical plate parallel to the up-down and front-rear directions and a horizontal plate parallel to the front-rear and left-right directions are connected together. The right surface of the vertical plate is fixedly attached to the upper wall surface of the inlet of the conductive part 14 in the frame part of the press machine 1. The base body 601 supports the entire relay device 50 .

[0050] Each guide rail 602 and ball screw shaft 605 is oriented in the left-right direction and supported on the lower surface of the horizontal plate of the base body 601 . Each slide block 603 and ball nut 606 is attached to the upper surface of the horizontal plate of the base body 591 of the second moving section 59. The rotation amount of the third movement motor 604 can be arbitrarily controlled.

[0051] With the above-described configuration, when the third movement motor 604 is driven, the ball nut 606 moves left and right due to the rotation of the ball screw shaft 605, and the position of the movable frame 51 can be adjusted by any amount of movement in the left and right direction via the first movement unit 58 and the second movement unit 59.

[0052] [Outline of press device control configuration] FIG. 7 is a block diagram showing a schematic control configuration of the press device 1. As shown in this figure, the press machine 1 is equipped with a control device 90 that controls the operation of the entire machine. The control device 90 includes an input unit 91 , a display unit 94 , a storage unit 92 , and a control unit 93 . The input unit 91 is an input interface such as a keyboard or mouse used by the user of the press device 1. Settings relating to operational control of the device main body 100 can be made from this input unit 91. The display unit 94 is provided with a display and displays various information on the display. The storage unit 92 is a memory that stores a control program 95 and setting data for controlling the operation of the device main body 100, and also functions as a work area. The control program 95 is executed by the control unit 93. The control unit 93 controls each part of the press machine 1 based on a control program 95 . In this embodiment, the operational control that the control unit 93 performs on the relay device 50 will be mainly described.

[0053] The control unit 93 controls the first swing motor 551, second swing motor 561, gripping air cylinder opening / closing valve 616, rotation air cylinder opening / closing valve 574, first movement motor 584, second movement motor 594, and third movement motor 604 of the relay device 50 described above.

[0054] The basic operation of the relay device 50 based on the operational control of the control unit 93 will be described with reference to FIG. (1) The first swing motor 551 is driven to swing the first arm 52 clockwise (leftward), and the gripping tool 54 is moved to the delivery position 32 of the supply device 30. As mentioned above, the slope 31 of the supply device 30 has an end on the transfer position 32 side that can swing up and down around the fulcrum 34, so the end on the transfer position 32 side is first set in a downward retracted position (dashed line in Figure 1) and then the gripping tool 54 of the first arm 52 moves to the transfer position 32 side, after which the end of the slope 31 on the transfer position 32 side is moved upward to make it possible to transfer the billet B (solid line in Figure 1). (2) The gripping air cylinder 611 is operated by controlling the gripping air cylinder opening / closing valve 616, causing the pair of gripping arms 543, 544 of the gripping tool 54 to rotate, and causing the pair of gripping claws 541, 542 to grip the billet B at the transfer position. (3) The end of the slope 31 of the supply device 30 on the transfer position 32 side is made swingable downward around the fulcrum 34, and the end on the transfer position 32 side is retracted downward so as not to interfere with the first arm 52 (dotted line in Figure 1). (4) The first swing motor 551 is driven to swing the first arm 52 counterclockwise (to the right) to move the gripping tool 54 above the receiving table 13. If necessary, the second swing motor 561 is driven to swing the second arm 53 to adjust the orientation of the billet B so that the billet B faces up or down. Furthermore, if necessary, the rotation air cylinder 573 is operated by controlling the rotation air cylinder on-off valve 574 to rotate the gripping tool 54 around the longitudinal direction of the second arm 53 . (5) The gripping air cylinder 611 is operated by controlling the gripping air cylinder opening / closing valve 616, causing the pair of gripping arms 543, 544 of the gripping tool 54 to rotate, releasing the billet B gripped by the pair of gripping claws 541, 542 and dropping it onto the receiving table 13 below. As a result, the billet B slides into the receiving table 13 and is set in the initial position of the transfer feeder 40. (6) Thereafter, the transfer feeder 40 transports the billet B to the lower die 12, and the slide 18 of the device body 100 descends to perform press forming.

[0055] In the above (1), if the gripping tool 54 cannot be properly positioned at the transfer position 32 of the supply device 30 by the swinging movement of the first arm 52 and the second arm 53 alone, the position of the gripping tool 54 is adjusted by driving any or all of the first to third movement motors 584 to 604 of the first to third movement units 58 to 60. The first to third moving parts 58 to 60 may be driven before the swinging motion of the first arm 52 or the second arm 53 starts, during the swinging motion, or after the swinging motion. Furthermore, if it is appropriate to drive the first to third moving parts 58 to 60 before, during, or after the swinging motion of the first arm 52 or second arm 53, they are driven at that timing.

[0056] In the above (3), instead of the retraction operation of the end of the slope 31 of the supply device 30 on the transfer position 32 side, or in parallel with the retraction operation of the end of the slope 31 of the supply device 30 on the transfer position 32 side, an operation may be performed to lift up the grasped billet B by driving any or all of the first to third moving parts 58 to 60. When the first to third moving parts 58-60 are driven in parallel with the retraction operation of the end of the slope 31 of the supply device 30 on the transfer position 32 side, the driving of the first to third moving parts 58-60 may be performed before the start of the retraction operation of the end of the slope 31 of the supply device 30 on the transfer position 32 side, during the swinging operation, or after the swinging operation. Furthermore, if it is appropriate to drive the first to third moving parts 58 to 60 before the start of the retraction operation of the end of the slope 31 of the supply device 30 on the transfer position 32 side, during the swinging operation, or after the swinging operation, they are driven at that timing.

[0057] In the above (4), if the gripping tool 54 cannot be properly positioned above the receiving table 13 by the swinging movement of the first arm 52 and the second arm 53 alone, the position of the gripping tool 54 is adjusted by driving any or all of the first to third moving motors 584 to 604 of the first to third moving units 58 to 60. The first to third moving parts 58 to 60 may be driven before the swinging motion of the first arm 52 or the second arm 53 starts, during the swinging motion, or after the swinging motion. Furthermore, if it is appropriate to drive the first to third moving parts 58 to 60 before, during, or after the swinging motion of the first arm 52 or second arm 53, they are driven at that timing.

[0058] In the above (1), (3), and (4), each operation is adjusted appropriately according to the change in the dimensions and shape of billet B. When it becomes necessary to adjust the position or posture for proper operation, any or all of the first to third movement motors 584 to 604 of the first to third movement units 58 to 60 are driven to perform the adjustment. The first to third moving sections 58 to 60 may be driven before, during, or after each basic operation. Furthermore, if it is appropriate to drive the first to third moving parts 58 to 60 before the start of each basic operation, during the swinging operation, or after the swinging operation, they are driven at that timing.

[0059] [Technical effect of this embodiment] As described above, the press device 1 is equipped with a movement mechanism in which the relay device 50 imparts a movement motion to the movable frame 51, thereby reducing restrictions on the gripping position of the billet B, the position at which the grip is released, and the movement trajectory, making it possible to more appropriately move and transport the billet B. This allows billets B of various shapes and sizes to be transported to the receiving table 13 in a proper and stable manner. When transporting billets B of a wide variety of shapes and sizes, manual position adjustment of the receiving table 13 is no longer necessary, and the workload can be reduced.

[0060] Furthermore, since the moving mechanism of the relay device 50 is configured to impart a moving motion to the movable frame 51, the moving mechanism can be disposed on the installation position side of the relay device 50, and is thus disposed away from the gripping tool 54 of the relay device 50. Therefore, the moving mechanism is not disposed in a harsh environment where contamination occurs due to mold release agent or the like around the mold, and therefore malfunctions and breakdowns of the moving mechanism can be reduced, making it possible to transport the billet B more stably.

[0061] In particular, since the movable frame 51 is positioned above the gripping tool 54, the moving mechanism can be positioned further away from the harsh environment around the mold, and the effects of contamination from release agents, etc. can be reduced, making it possible to transport the billet B more stably. In addition, "the movable frame 51 is positioned above the gripping tool 54" means that when the moving mechanism is not operated, the upper end of the movable frame 51 will be above the upper end of the gripping tool 54 when the gripping tool 54 is moved to the top of its movable range.

[0062] Furthermore, when the relay device 50 is mounted on the press device 1 that performs press molding, it becomes possible to stably transport the billet B in the vicinity of the mold, which is a harsh environment where dirt is likely to occur.

[0063] The moving mechanism has a first moving unit 58 that moves the movable frame 51 in the vertical direction, a second moving unit 59 that moves the movable frame 51 in the front-to-back direction, and a third moving unit 60 that moves the movable frame 51 in the left-to-right direction, making it possible to properly adjust the position of the gripping tool 54 in each direction and the trajectory during movement.

[0064] In addition, the molding device 1 has a supply device 30 equipped with a slope 31 that supplies the billet B to the transfer position 32 to the holding tool 54, so that it can accommodate continuous supply of the billet B to the device main body 100, making it possible to perform molding operations efficiently.

[0065] [others] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. For example, in the above embodiment, the configuration in which the slide 18 reciprocates in the up and down direction is exemplified, but the present invention is not limited to a press device in which the slide 18 reciprocates in the up and down direction. In addition, although the above embodiment has been described with reference to a forging press as an example of a forming apparatus, the present invention is not limited to this, and can be applied to any forming apparatus that requires a relay device for transporting a formed object from one position to another.

[0066] The movement mechanism of the relay device 50 may be configured to have one or two of the first movement unit 58, the second movement unit 59, and the third movement unit 60. Furthermore, the holding portion of the relay device 50 does not have to be configured to hold the billet B like the holding tool 54. For example, a tool that hangs or sucks the billet B may be used as the holding portion.

[0067] In addition, the details shown in the above embodiment can be modified as appropriate without departing from the spirit of the invention. [Industrial Applicability]

[0068] The present invention has industrial applicability to molding devices. [Explanation of symbols]

[0069] 1 Press equipment (forming equipment) 11 Upper mold 12 Lower mold 13 Cradle 14 Conductive part 18 slides 30 Feeding device 31 Slope 32 Delivery location 40 Transfer Feeder 50 Relay Device 51 Movable Frame 52 First Arm 53 Second Arm 54 Grasping tool (holding part) 55 First swing mechanism 551 First swing motor 56 Second swing mechanism 561 Second swing motor 57 Rotation mechanism 58 First Mobile Section 59 Second Mobile Section 60 Third Mobile Section 61 Gripping drive unit 90 Control device 100 Device body B Billet (molded object)

Claims

1. A movable frame; a first arm swingably supported by the movable frame; a second arm swingably supported by the first arm; a holding portion capable of holding the molding object supported by the second arm; a first swing mechanism that applies a swinging motion to the first arm; a second swing mechanism that applies a swinging motion to the second arm; a movement mechanism that imparts a movement motion to the movable frame in at least one direction; Equipped with The first arm and the second arm swing the holding portion at two joints to move the molding object within one plane, the movable frame extends downward from the moving mechanism, the movement mechanism includes a first movement unit that moves the movable frame in a vertical direction and a second movement unit that moves the movable frame in a horizontal direction; A molding device in which a motor that serves as the drive source for the first oscillating mechanism and a motor that serves as the drive source for the second oscillating mechanism are arranged side by side at the end of the movable frame on the moving mechanism side, on both sides of the movable frame in the horizontal direction in which the second moving unit moves the movable frame.

2. The first moving portion includes a base body and a plurality of guide rails fixedly supported on the base body; a slide block slidably provided along the guide rail and attached to the movable frame, The molding apparatus of claim 1 .

3. the holding portion is supported by the second arm so as to be rotatable around an axis along a longitudinal direction of the second arm, A rotation mechanism is provided to apply a rotational motion to the holding portion. The molding apparatus according to claim 1 or 2.

4. The movable frame is disposed above the holding portion. The molding apparatus according to any one of claims 1 to 3.

5. a molding material supply device having a slope for supplying the molding material to a transfer position to the holding part; The molding apparatus according to any one of claims 1 to 4.

6. The molding apparatus according to any one of claims 1 to 5, which performs press molding.

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