| 摘要 |
PURPOSE:To make the loss in time nil and to improve the efficiency in forging by executing the operation of a forging machine simultaneously with positioning and tripping of a bar steel to a die by a robot. CONSTITUTION:The positioning of X, Y, B axes of a robot, the neutral holding of the chuck mechanism of the robot and the output of the operation command of a forging machine are simultaneously performed. And when the positioning timing to the die of the bar steel can be confirmed by the forging machine, whether the completion in positioning the robot is proper or not is decided and the operation of the forging machine is continued if proper. If the timing in positioning could not be confirmed in opposition the confirmation of the positioning timing is effected once again. In the case of deciding the positioning completion after the confirmation of the positioning timing not proper the operation of the forging machine is stopped on the way. In case of succeeding the operation whether an operation pulse command, i.e., the relation to the front dead center is proper or not is decided and if proper the chuck mechanism of the robot is subjected to a close operation after executing the forging and the bar steel is taken out of the die.
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