Bar material transfer method and conveyor

Abstract

[Object] 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 one end thereof into a predetermined positioning hole. [Solving Means] At the time of receiving a primary formed workpiece W 1 from electrode chucks 22 , a chuck device 64 A ( 64 B) in a robot hand 62 c is used, and after receiving the primary formed workpiece W 1 , and before inserting the primary formed workpiece W 1 from a stem part W 11 thereof into an insertion hole 12 in a forging press main body 10 , a holding portion W 11 a held by the electrode chucks 22 of the primary formed workpiece W 1 is gripped by a chuck device 65 A ( 65 B) different from the chuck device 64 A ( 64 B), to release the gripping of the primary formed workpiece W 1 by the chuck device 64 A ( 64 B). In accordance with this, it is possible to insert the holding portion W 11 a held by the electrode chucks 22 on the side of the stem part W 11 of the primary formed workpiece W 1 into the insertion hole 12.

1 . A conveyor comprising 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 wherein
 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.   
     
     
         2 . The conveyor according to  claim 1  comprising:
 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. 
 
     
     
         3 . The conveyor according to  claim 2  comprising
 positional information detection means for detecting positional information on the first and second gripping means, the conveyor wherein 
 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 movement information detection means. 
 
     
     
         4 . The conveyor according to  claim 3 , wherein
 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 movement information detection means.   
     
     
         5 . The conveyer according to  claim 3 , wherein
 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 movement information detection means, so as to stop moving, and insert the portion of the bar material which has been held by the first gripping means into the predetermined positioning hole, and to thereafter release the gripping of the bar material by the second gripping means.   
     
     
         6 . The conveyer according to  claim 4 , wherein
 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 movement information detection means, so as to stop moving, and insert the portion of the bar material which has been held by the first gripping means into the predetermined positioning hole, and to thereafter release the gripping of the bar material by the second gripping means.   
     
     
         7 . The conveyor according to  claim 1 , wherein
 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.   
     
     
         8 . The conveyor according to  claim 2 , wherein
 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.   
     
     
         9 . The conveyor according to  claim 3 , wherein
 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.   
     
     
         10 . The conveyor according to  claim 4 , wherein
 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.   
     
     
         11 . The conveyor according to  claim 1  is composed of a robot hand or a robot having a robot hand. 
     
     
         12 . The conveyor according to  claim 2  is composed of a robot hand or a robot having a robot hand. 
     
     
         13 . The conveyor according to  claim 3  is composed of a robot hand or a robot having a robot hand. 
     
     
         14 . The conveyor according to  claim 4  is composed of a robot hand or a robot having a robot hand.