Patent Grant
10029298
The present invention relates to a bar material transfer method and a conveyor.
On a manufacturing floor, transferring of a workpiece from one device to another device is performed, and for the transfer of a workpiece, a conveyor including gripping means (specifically, a robot hand of a high speed multi-jointed robot) has been widely used. For example, in Patent Document 1 (FIG. 4), a conveyor grips a bar material serving as a workpiece held by holding means of one device with its gripping means, thereby receiving the bar material from the holding means, and conveys the received bar material to a predetermined positioning hole in the other device, and inserts the bar material from its one end part into the predetermined positioning hole, thereby transferring the bar material to the other device. In accordance with this, even if the other end part side of the bar material is processed by the one device, the other device is capable of holding the one end part side of the bar material without exerting an influence on the process.
Meanwhile, in the case where such transfer of a bar material is performed, the other end part side to the utmost extent of the bar material may be gripped as much as possible by the holding means of the one device in order to bring one end part side of the bar material to protrude to the outside from the holding means as much as possible in consideration of handling of a bar material with a short entire length (an entire length in a shaft center extending direction) in some cases. In accordance with this, the gripping means of the conveyor is capable of gripping the one end part side of the bar material, and the bar material can be received from the holding means.
Patent Document
Japanese Published Unexamined Patent Application No. 2002-273539 (FIG. 4)
However, there are bar materials which are fairly short in entire length. In a case where such a bar material is used, even if the holding means holds a bar material, and the gripping means of the conveyor grips one end part side of the bar material, to receive the bar material from the holding means as described above, a protruded length of the bar material (the one end part side of the bar material) from the gripping means of the conveyor to the outside may decrease in some cases. In such a case, an insertion margin of the bar material for a predetermined positioning hole is short, and even if an attempt is made to insert the bar material from its one end part into the predetermined positioning hole in the other device, there is a fear that the insertion is not accurately performed.
The present invention has been made in view of the problem in the above-described conventional art. A first object of the present invention is to provide a bar material transfer method of, even in the case where an entire length of a bar material serving as a workpiece is short, accurately inserting the bar material from its one end part into a predetermined positioning hole.
A second object of the present invention is to provide a conveyor which is used for implementation of the above-described bar material transfer method.
In order to achieve the aforementioned first object, in the present invention (the invention according to a first aspect),
a bar material transfer method in which a conveyor including gripping means is prepared, the method for gripping a bar material held by holding means on one end part side of the bar material more than a portion held by the holding means with the gripping means of the conveyor, to receive the bar material from the holding means, and conveying the received bar material to a predetermined positioning hole, to insert the bar material from the one end part of the bar material into the predetermined positioning hole, the method includes the processes of
using one gripping means in the conveyor at the time of receiving the bar material from the holding means,
gripping the portion, which has been held by the holding means, of the bar material with another gripping means which is different from the one gripping means in the conveyor after receiving the bar material, and before inserting the bar material from the one end part of the bar material into the predetermined positioning hole, and
releasing the gripping of the bar material by the one gripping means at the time of inserting the bar material from the one end part of the bar material into the predetermined positioning hole. Preferred embodiments according to this first aspect are as described in second to sixth aspects, and a thirteenth aspect.
In order to achieve the aforementioned second object, in the present invention (the invention according to a seventh aspect),
a conveyor which includes gripping means having a pair of grippers which is capable of expanding and contracting, the conveyor grips a bar material held by holding means on one end part side of the bar material more than a portion held by the holding means with the pair of grippers of the gripping means, to receive the bar material from the holding means, and conveys the received bar material to a predetermined positioning hole, to insert the bar material from the one end part of the bar material into the predetermined positioning hole, the conveyor in which,
first and second gripping means are included so as to be installed adjacent to one another as the gripping means,
respective pairs of grippers in the first and second gripping means are disposed so as to be the same in expanding and contracting direction of the respective pairs of grippers, and face one another,
the first gripping means is set to grip the bar material on the one end part side of the bar material more than a portion held by the holding means when the pair of grippers of the first gripping means receives the bar material from the holding means, and to release the gripping of the bar material when the bar material is inserted from the one end part of the bar material into the predetermined positioning hole, and
the second gripping means is set to grip the portion, which has been held by the holding means, of the bar material after the pair of grippers of the second gripping means receives the bar material, and before the bar material is inserted from the one end part of the bar material into the predetermined positioning hole. Preferred embodiments according to this seventh aspect are as described in eighth to twelfth aspects, and on and after a fourteenth aspect.
In accordance with the present invention (the invention according to the first aspect), the one gripping means in the conveyor is used at the time of receiving the bar material from the holding means, and the portion, which has been held by the holding means, of the bar material is gripped with another gripping means which is different from the one gripping means in the conveyor after receiving the bar material, and before inserting the bar material from the one end part of the bar material into the predetermined positioning hole, and gripping of the bar material by the one gripping means is released at the time of inserting the bar material from the one end part of the bar material into the predetermined positioning hole. Therefore, it is possible to move the bar material by the conveyor including the other gripping means, and on the other hand, it is possible to newly secure the portion, which has been gripped by the one gripping means, of the bar material as an insertion margin (increase an insertion margin) on the one end part side of the bar material, thereby it is possible to accurately insert the one end part side of the bar material into the predetermined positioning hole by inserting the insertion margin into the predetermined positioning hole. For this reason, it is possible to provide a bar material transfer method of, even in the case where an entire length of the bar material serving as a workpiece is short, accurately inserting the bar material from its one end part into a predetermined positioning hole.
In accordance with the invention according to a second aspect, the gripping of the bar material by the other gripping means, and the release of the gripping of the bar material by the one gripping means are performed during conveyance of the bar material. Therefore, the time for gripping of the bar material by the other gripping means, and the time for release of gripping of the bar material by the one gripping means are incorporated into the time for conveyance of the bar material, and there is no need to specially secure the time for gripping of the bar material by the other gripping means, and the time for release of gripping of the bar material by the one gripping means. For this reason, it is possible to rapidly perform transfer of the bar material.
In accordance with the invention according to a third aspect, a hole extending downward is prepared as the predetermined positioning hole, and at the time of inserting the bar material from the one end part of the bar material into the predetermined positioning hole, when the portion, which has been gripped by the one gripping means, of the bar material is inserted into the positioning hole, the gripping of the bar material by the other gripping means is released. Therefore, it is possible to reliably exert a guiding function of the bar material by the predetermined positioning hole by utilizing the portion which has been gripped by the one gripping means as an insertion margin, and thereafter, release of gripping by the other gripping means is performed, thereby it is possible to insert the bar material into the predetermined positioning hole by utilizing its own weight of the bar material and the guiding function by the predetermined positioning hole (inner circumferential surface). For this reason, it is possible to reliably perform insertion of the bar material into the predetermined positioning hole, and it is possible to rapidly perform transfer of the bar material on the basis of early release of gripping by the other gripping means.
In accordance with the invention according to a fourth aspect, a bar-like material for valve formation is used as the bar material, electrodes which grip the bar material, to apply electric current between the electrodes and the bar material ends are used as the holding means, and a holding hole in the forging press main body which holds one end part side of the bar material, to form the other end part of the bar material as a head portion of a valve is used as the predetermined positioning hole. Therefore, even in the case where a primary formed workpiece formed by the upsetter (a bar material whose heated end (the other end part side) is bulge-formed) is short, at the time of transferring the primary formed workpiece from the upsetter to the forging press main body, it is possible to accurately insert the one end part side of the primary formed workpiece into the insertion hole of the forging press main body.
In accordance with the invention according to a fifth aspect, the one gripping means and the other gripping means are provided so as to be installed adjacent to one another as first and second gripping means in one conveyor, and the first gripping means and the second gripping means each include a pair of grippers which is capable of expanding and contracting, and the both pairs of grippers are disposed so as to be the same in expanding and contracting direction of the both pairs of grippers, and face one another. Therefore, it is possible to accurately perform transfer of the bar material by a single conveyor, and it is possible to suppress an increase in equipment and conveyors to the minimum extent possible.
In accordance with the invention according to a sixth aspect, the one gripping means and the other gripping means are separately provided in different conveyors. Therefore, it is possible to concretely and accurately perform transfer of the bar material by use of the two conveyors.
In accordance with the invention according to a seventh aspect, a conveyor including gripping means having a pair of grippers which is capable of expanding and contracting, the conveyor grips a bar material held by holding means on one end part side of the bar material more than a portion held by the holding means with the pair of grippers of the gripping means, to receive the bar material from the holding means, and conveys the received bar material to a predetermined positioning hole, to insert the bar material from the one end part of the bar material into the predetermined positioning hole, the conveyor in which first and second gripping means are included so as to be installed adjacent to one another as the gripping means, respective pairs of grippers in the first and second gripping means are disposed so as to be the same in expanding and contracting direction of the respective pairs of grippers, and face one another, the first gripping means is set to grip the bar material on the one end part side of the bar material more than a portion held by the holding means when the pair of grippers of the first gripping means receives the bar material from the holding means, and to release the gripping of the bar material when the bar material is inserted from the one end part of the bar material into the predetermined positioning hole, and the second gripping means is set to grip the portion, which has been held by the holding means, of the bar material after the pair of grippers of the second gripping means receives the bar material, and before the bar material is inserted from the one end part of the bar material into the predetermined positioning hole. Therefore, by use of the conveyor, it is possible to implement the bar material transfer method according to the first aspect, and it is possible to provide a conveyor which is used for implementation of the bar material transfer method according to the first aspect.
In accordance with the invention according to an eighth aspect, the conveyor includes first and second gripper adjusting means for respectively adjusting expanding and contracting motions of the respective pairs of grippers in the first and second gripping means, receiving timing detection means for detecting a receiving timing of the bar material from the holding means, first gripping detection means for detecting that the first gripping means grips the bar material on the one end part side of the bar material more than the portion held by the holding means, second gripping detection means for detecting that the second gripping means grips the portion, which has been held by the holding means, of the bar material, control means for controlling the first gripper adjusting means to grip the one end part side of the bar material more than the portion which is held by the holding means, of the bar material held by the holding means with the first gripping means in order to start conveying the bar material to the predetermined positioning hole when it is judged as a receiving timing of the bar material from the holding means on the basis of a detection result of the receiving timing detection means, and controlling the second gripper adjusting means to grip the portion, which has been held by the holding means, of the bar material with the second gripping means when it is judged that the first gripping means has gripped the bar material to receive the bar material from the holding means on the basis of a detection result of the first gripping detection means, and further controlling the first gripper adjusting means to release the gripping of the bar material by the first gripping means in order to insert the bar material from the one end part of the bar material into the predetermined positioning hole when it is judged that the second gripping means has gripped the bar material on the basis of a detection result of the second gripping detection means. Therefore, it is possible to provide the specific conveyor in which implementation of the bar material transfer method according to the first aspect is automated.
In accordance with the invention according to a ninth aspect, the conveyor includes positional information detection means for detecting positional information on the first and second gripping means, and the control means is set so as to perform gripping the portion, which has been held by the holding means, of the bar material with the second gripping means, and releasing the gripping of the bar material by the first gripping means between a first predetermined position at which the bar material is spaced at a predetermined distance from the holding means and a second predetermined position before the bar material reaches the predetermined positioning hole on the basis of a detection result of the positional information detection means. Therefore, it is possible to reliably perform switching of gripping the bar material from the first gripping means to the second gripping means without interference with the surrounding devices.
In accordance with the invention according to a tenth aspect, the control means is set so as to stop when it is judged that at least one of gripping the portion, which has been held by the holding means, with the second gripping means, and releasing the gripping of the bar material by the first gripping means is not performed even if the bar material reaches the second predetermined position on the basis of detection results of the first and second gripping detection means and the positional information detection means. Therefore, it is possible to prevent progression to an abnormal state in advance.
In accordance with the invention according to an eleventh aspect, the predetermined positioning hole is set to vertically extend, and the control means is set, when it is judged that the bar material has reached the predetermined positioning hole on the basis of a detection result of the positional information detection means, so as to insert the portion of the bar material which has been held by the first gripping means into the predetermined positioning hole, and stop moving, and to thereafter release the gripping of the bar material by the second gripping means. Therefore, it is possible to provide the conveyor which implements the transfer method according to the third aspect.
In accordance with the invention according to a twelfth aspect, a space between the pair of grippers of the first gripping means and the pair of grippers of the second gripping means is narrowed in a front end side space as compared with a rear end side space between the both pairs of grippers in the direction in which the first and second gripping means are installed adjacent to one another. Therefore, taking gripping of a short bar material by the pair of grippers of the first gripping means and the pair of grippers of the second gripping means into account, it is possible to improve the degree of freedom of attachment of the pair of grippers of the first gripping means and the pair of grippers of the second gripping means with respect to the conveyor.
In accordance with the invention according to a thirteenth aspect, a robot hand or a robot having a robot hand is used as the conveyor. Therefore, it is possible to use an optimum conveyor as the conveyor at the time of accurately inserting the bar material serving as a workpiece which is short in entire length from its one end part into the predetermined positioning hole.
In accordance with the invention according to a fourteenth aspect, the conveyor is composed of a robot hand or a robot having a robot hand. Therefore, it is possible to compose the conveyor by use of an optimum one in order to accurately insert the bar material serving as a workpiece which is short in entire length from its one end part into the predetermined positioning hole.
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
The aforementioned bar material charging device 40A (40B) includes a bar material feeding route 42 as shown in
The aforementioned bar material feeding device 30A (30B) includes a chuck 36 for bar material feeding as shown in
The aforementioned upsetter 20A (20B) has a role of forming the round bar material W into a primary formed workpiece W1 (bar material) formed into a shape that one end part side is a stem part W11 and the other end part side is bulging (the bulging portion is denoted by symbol W12) as shown in
In addition, symbol 24a denotes an elevator rod of the pressurizing device 24 which supports the workpiece W from the lower side.
The aforementioned forging press main body 10 has a role of secondarily forming the primary formed workpiece W1 formed in the upsetter 20A (20B) as shown in
The aforementioned high speed multi-jointed robot 60A (60B) has a role of conveying the primary formed workpiece W1 formed in the upsetter 20A (20B) to the forging press main body 10, to insert the primary formed workpiece W1 into the through hole 12 in the lower mold 11 as shown in
As shown in
In this case, the first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1) in the first and second chuck devices 64A and 65A (64B and 65B) are, as shown in
With respect to the first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1), in a standard position state (in the state of
Moreover, in the present embodiment, as shown in
The high speed multi jointed robot 60A (60B) described above is, as shown in
In this valve forging automation line 1, as shown in
In this valve forging automation line 1, at the time of conveying the primary formed workpiece W1 to the forging press main body 10 from the upsetter 20A (20B), a transfer method according to the present embodiment is used. That transfer method will be described on the basis of
In the upsetter 20A (20B), at the time of forming a relatively short round bar material W serving as a workpiece into a primary formed workpiece W1, as shown in
In this presupposed state, when application of electric current (heating) is stopped by considering that the round bar material W serving as a workpiece is formed into the primary formed workpiece W1, and the formation is completed in the upsetter 20A (20B), the first pair of claw parts 64A1 (64B1) grips a stem part lower portion W11b on the side lower than the holding portion W11a of the stem part W11 of the primary formed workpiece W1 held by the electrode chucks 22 and 22 (the portion on the one end part side of the round bar material W).
As described above, when the first pair of claw parts 64A1 (64B1) grips the stem part lower portion 11b of the stem part W11 of the primary formed workpiece W1, the electrode chucks 22 and 22 release the gripping of the primary formed workpiece W1, and according to this, the high speed multi jointed robot 60A (60B) starts to convey the primary formed workpiece W1 toward the forging press main body 10 through the motions of the robot main body 61, the arms 62a and 62b, and the robot hand 62c on the basis of information that the teaching has been undertaken in advance. When this conveyance of the primary formed workpiece W1 is performed, during that conveyance, as shown in
When the first pair of claw parts 64A1 (64B1) releases the gripping of the stem part lower portion W11b of the primary formed workpiece W1, as shown in
On the other hand, in an existing single hand type composed of only the first pair of claw parts 64A1 (64B1), in the case where the round bar material W serving as a workpiece is short, after the round bar material W is formed into the primary formed workpiece W1 by the upsetter 20A (20B), the single hand type grips the stem part lower portion W11b on the side lower than the holding portion W11a held by the electrode chucks 22, of the primary formed workpiece W1 with the pair of claw parts 64A1 (64B1), thereby it is possible to convey the primary formed workpiece W1 (refer to
An example of control by the controller unit U at the time of transferring a workpiece from the upsetter 20A (20B) to the forging press main body 10 will be described in detail on the basis of a time chart shown in
First, in S1, it is judged whether or not the heating in the upsetter 20A (20B) is terminated because of the completion of primary formation of the round bar material W. As long as the heating in the upsetter 20A (20B) is not terminated, the judgment is repeated. On the other hand, when it is YES in S1, in S2, a control signal for causing the first pair of claw parts 64A1 (64B1) to perform gripping is output to the first adjusting valve 64A3 (64B3). In accordance with this, the first pair of claw parts 64A1 (64B1) grips the stem part lower portion W11b (one end part side portion of the round bar material W) on the side lower than the stem part holding portion W11a of the primary formed workpiece W1 (bar material) which is held by the electrode chucks 22 and 22 in the upsetter 20A (20B) (refer to
Next, in S3, the first timer is set (time TC1=0), and in the following S4, 1 is added to the time TC1, to start counting the time TC1. Then, in the following S5, it is judged whether or not the time TC1 has reached a predetermined time TC10, and when it is judged as NO, the process is returned to S4, to continue counting the time. On the other hand, when it is judged as YES in S5, it is considered that the time TC1 has reached the predetermined time TC10, and in S6, a holding release signal is output to the drive adjusting unit 80 for the electrode chucks 22. In accordance with this, the electrode chucks 22 and 22 release the holding of the primary formed workpiece W1. At this time, because the first pair of claw parts 64A1 (64B1) has already gripped the round bar material W as described above, even if the electrode chucks 22 release the holding of the primary formed workpiece W1, the primary formed workpiece W1 does not drop in any case.
When a holding release signal is output to the drive adjusting unit 80 for the electrode chucks 22 and 22, in S7, it is judged whether or not the electrode chucks 22 and 22 have actually released the holding of the primary formed workpiece W1. When it is judged as No in S7, the process is returned to S6, the processing in S6 and the judgment in S7 are repeated. On the other hand, when it is judged as YES in S7, in S8, driving of the robot main body 61, the arms 62a and 62b, and the robot hand 62c of the high speed multi-jointed robot 60A (60B) is started, and the high speed multi-jointed robot 60A (60B) performs a recorded moving operation that the teaching has been undertaken for the high speed multi-jointed robot 60A (60B). In accordance with this, a movement such as transfer of the primary formed workpiece W1 (a movement of the robot hand 62c) is started. In this case, the movement of the primary formed workpiece W1 is performed on the basis of the moving operation of the robot hand 62c which holds the primary formed workpiece W1. Meanwhile, the moving operation of the robot hand 62c includes not only the moving operation of the robot hand 62c itself, but also the moving operation of the robot hand 62c on the basis of motions of the robot main body 61 and the arms.
When a movement of the robot hand 62c is started to start moving the primary formed workpiece W1, in S9, it is judged whether or not the robot hand 62c (the first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1) passes through a first predetermined position on the recorded moving operation route. This first predetermined position is spaced at a predetermined distance from the upsetter 20A (20B), and is set as the limit of a position at which, even if the first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1) make opening and closing motions, those do not interfere with the upsetter 20A (20B) and the other devices. When it is judged as NO in S9, the judgment is repeated. On the other hand, when it is judged as YES in S9, in S10, a control signal for causing the second pair of claw parts 65A1 (65B1) to perform gripping is output to the second adjusting valve 65A3 (65B3). In accordance with this, the second pair of claw parts 65A1 (65B1) grips the holding portion W11a which has been held until now by the electrode chucks 22 and 22 in the upsetter 20A (20B), of the stem part W11 of the primary formed workpiece W1 (refer to
When the control signal for causing the second pair of claw parts 65A1 (65B1) to perform gripping is output to the second adjusting valve 65A3 (65B3) in S10, the second timer is set (time TC2=0) in S11, and in S12, it is judged whether or not the robot hand 62c (the first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1)) has not yet reached a second predetermined position on the recorded moving operation route. This second predetermined position is spaced at a predetermined distance from the forging press main body 10, and is set as the limit of a position at which, even if the first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1) make opening and closing motions, those (including the primary formed workpiece W1 as well) do not interfere with the forging press main body 10 and the other devices. When it is judged as YES in S12, it is considered that an interference problem is not caused with respect to the first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1), after the time TC2 is counted in the state in which the robot hand 62c moves (S13), the process proceeds to the following S14. On the other hand, when it is judged as NO in S12, that is, when it is judged that the robot hand 62c has reached the second predetermined position, it is considered that an interference problem is caused with respect to the first and second pairs of claw parts 65A1 and the like due to the following movement, and in S15, the movement of the robot hand 62c (the robot main body 61, the arms 62a and 62b) is stopped, and in S13, the time TC2 is counted in the state in which the robot hand 62c is stopped.
In the following S14, it is judged whether or not the time TC2 has reached a predetermined time TC20. When it is judged as NO in S14, the process is returned to S12, and a series of processings (S12 to S14, and S15) is repeated. On the other hand, when it is judged as YES in S14, in S16, a control signal for causing the first pair of claw parts 64A1 (64B1) to release the gripping is output to the first adjusting valve 64A3 (64B3). In accordance with this, the first pair of claw parts 64A1 (64B1) releases the gripping of the primary formed workpiece W1. At this time, because the second pair of claw parts 65A1 (65B1) is gripping the stem part W11 of the primary formed workpiece W1, the primary formed workpiece W1 does not drop in any case, and further, because of the release of the gripping by the first pair of claw parts 64A1 (64B1), the stem part lower portion W11b of the primary formed workpiece W1 is released, so as to secure an insertion margin.
In S16, when the control signal for causing the first pair of claw parts 64A1 (64B1) to release the gripping is output to the first adjusting valve 64A3 (64B3), in S17, it is judged whether or not the robot hand 62c (the first and second pairs of claw parts 64A1 and 65A1, and the primary formed work W1) has not yet reached the second predetermined position. When it is judged as YES in S17, it is considered that an interference problem is not caused with respect to the first and second pairs of claw parts 64A1 and 65A1, etc., and in the state in which the robot hand 62c moves, in the following S18, it is judged whether or not the first pair of claw parts 64A1 (64B1) has released the gripping. On the other hand, when it is judged as NO in S17, in S19, it is judged whether or not the movement of the robot hand 62c is stopped. When the robot hand 62c has not yet been stopped, in S20, the process proceeds to S18 after the movement of the robot hand 62c is stopped, and in the case where it is judged by the judgment in S19 that the robot hand 62c has been already stopped, the process directly proceeds to S17.
In S18, when it is judged that the first pair of claw parts 64A1 (64B1) has not released the gripping, the process is returned to S16, and a series of processings (S16 to S20) is repeated. On the other hand, when it is judged as YES in S18, it is judged that the first pair of claw parts 64A1 (64B1) has released the gripping, and in S21, it is judged whether or not the robot hand 62c has been stopped. When it is judged as YES in S21, because the robot hand 62c has been stopped, in S22, the robot hand 62c again starts moving. In the following S23, it is judged whether or not the stem part W11 of the primary formed workpiece W1 is inserted from the upper side into the insertion hole 12 of the lower mold 11 in the forging press main body 10 on the basis of the movement of the robot hand 62c. On the other hand, when it is judged as NO in S21, the process directly proceeds to S23.
In S23, when it is judged as NO, its judgment processing is repeated. On the other hand, when it is judged as YES in S23, in S24, the movement of the robot hand 62c is stopped, and in the following S25, a control signal for causing the second pair of claw parts 65A1 (65B1) to release the gripping is output to the second adjusting valve 65A3 (65B3), and the second pair of claw parts 65A1 (65B1) releases the gripping of the primary formed workpiece W1. In accordance with this, the primary formed workpiece W1 drops due to its own weight, and the stem part W11 of the primary formed workpiece W1 is inserted into the insertion hole 12 so as to be guided by the inner wall of the insertion hole 12 in the forging press main body 10.
In the following S26, it is judged whether the second pair of claw parts 65A1 (65B1) has actually released the gripping. When it is judged as NO in S26, the process is returned to S25, to wait for that the second pair of claw parts 65A1 (65B1) releases the gripping. On the other hand, when it is judged as YES in S26, in S27, it is considered that the transfer of the primary formed workpiece W1 to the forging press main body 10 is terminated, and the robot hand 62c proceeds to the following process.
The embodiment has been described above. Meanwhile, the present invention includes the following modes.
(I) The present invention is used for, not only transfer in valve forging, but also other uses.
(II) The both first and second pairs of claw parts 64A1 and 65A1 (64B1 and 65B1) are not provided for one robot hand, and a pair of claw parts is provided for each of two robots, and transfer of a primary formed workpiece serving as a workpiece (conveyance from the upsetter 20A (20B) to the forging press main body 10) is performed by use of the two robots.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2013/059092 | 3/27/2013 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2014/155580 | 10/2/2014 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 6346982 | Yasuda et al. | Feb 2002 | B1 |
| 8074431 | Pierson | Dec 2011 | B1 |
| 20050247166 | Sasaki | Nov 2005 | A1 |
| 20110265311 | Kondo | Nov 2011 | A1 |
| Number | Date | Country |
|---|---|---|
| 63-74547 | Apr 1988 | JP |
| 4-244393 | Sep 1992 | JP |
| 2002-248542 | Sep 2002 | JP |
| 2002-273539 | Sep 2002 | JP |
| 2002273539 | Sep 2002 | JP |
| Entry |
|---|
| Machine Translation of JP 2002 273539. |
| International Search Report dated Jul. 2, 2013, issued in corresponding application No. PCT/JP2013/059092. |
| Written Opinion of the International Searching Authority dated Jul. 2, 2013, issued in corresponding application No. PCT/JP2013/059092. |
| Office Action dated Apr. 18, 2017 issued in U.S. Appl. No. 15/349,439. |
| Number | Date | Country | |
|---|---|---|---|
| 20150266084 A1 | Sep 2015 | US |
