JPH06218478A - Heat resisting device - Google Patents

Abstract

PURPOSE:To provide a heat resisting device, by which the holding precision and the positional detecting precision of a work can be improved by approaching a heat source and a functional member such as an end effector as much as possible. CONSTITUTION:Gap 115 is provided between a first thermal isolation plate 110 and a second thermal isolation plate 111 and a heat insulating layer 116 alternately laminated with an embossed heat insulating film 113 and a flat plate-like heat insulating film 114 is formed between a base plate 112 and the second thermal isolation plate 111. Further, an air guide tube 117 is provided in the gap 115 penetrating through the heat insulating layer 116 from the base plate 112. A heat shield body is constituted so that the first thermal isolation plate 110 and the second thermal isolation plate 111 are cooled by blowing the forced draft into the air guide tube 117 from plural air feeding pores 118 of the air guide tube 117 to the gap 115.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a heat resistance device applied to hot forming work of titanium material parts such as aircraft.

[0002]

2. Description of the Related Art FIG. 5 and FIG. 6 are conceptual views of a hot press forming operation of titanium parts for aircraft according to the prior art, although they are not known.

In the figure, a heated work 9 is placed on a hot plate 8 on a shuttle 10 extended from a hot forming press 1. This is a wrist shaft at the tip of a robot arm 6 of a robot 7. The end effector 3 mounted on the base 4 performs sensing and handling work required for hot forming.
Here, the heat shield plates 2, 5, 5'are heat shield plates for the robot wrist axis, the robot arm, and the robot body, respectively.

The work 9 will now be described with reference to FIG. In the figure, the hot-formed part is a titanium part 20.
4 is a lower mold 208 in which a component positioning pin 203 is screwed and the pin 203 is fixedly attached to a base 209.
And is positioned in the component positioning hole 203 '. The lateral pressing die 206 uses the handling hole 205 to attach the titanium component 204 to the lower die 208 when the lower die 208 is attached.
Is moved away from. The upper die 200 is provided with a positioning hole 202, which is inserted into the upper die positioning pin 207 provided on the base 209 to determine the position of the upper die. The upper die 200 is provided with a relief hole 211 for the positioning pin 203 of the titanium component 204. The grip hole 201 and the sensing hole 210 will be separately described in the section of the embodiment of the present invention.

As will be described later in detail, in the prior art, the work shown in FIG. 7 is made multi-functional by the concept of separating the drive unit such as the drive motor 13 from the high temperature unit as shown in FIG.
Since it is impossible to make the stand into an end effector from the viewpoint of the weight capacity of the industrial robot, as shown in FIG. 6, the end effector 3, 3 ′, 3 ″ is replaced with the wrist shaft 4 of the robot 7 for replacing the end effector. A detachable device is installed and used in exchange.

FIGS. 8, 9 and 10 are prior art end effectors. Here, the detailed description will be given with reference to FIG. 8, and only the schematic description will be given with reference to FIGS. 9 and 10.

FIG. 8 shows an upper die 200 of the work shown in FIG.
Is the end effector 3 for handling. In the figure, reference numeral 11 is a detachable device with respect to the wrist axis of the robot. A housing 12 is attached to the attaching / detaching device, and a rail 18 for direct-acting bearing is arranged on the bottom surface of the housing.
A direct-acting bearing ring 17 for supporting the bracket 14 is disposed on the bracket 8, and an inner wall 21 is welded to the bracket 14. The slide bush 26 slides in the lateral direction (horizontal direction) on the bar 37 on the bracket base 36 attached to the inner side of the inner wall 21.
A transmission bar 30 that slides up and down is arranged by the slide bush 25. The transmission bar 30 is the upper die 20.
The movement of the sensing edge 32 (up and down, left and right in the figure) for detecting the current position of the end portion of 0 is referred to as the slide bush 2
It is transmitted to the sensor 32 ′ via the manifold 23 by being supported by 5, 26.

Since the upper mold 200 is heated to 700 ° C., the water supply pipe 38 and the drain pipe 22 are connected to the manifold 23 welded to the upper end of the transmission bar 30, and the water supply pipe 34 is connected to the manifold 23. Are welded together and forced water cooling is performed. On the other hand, the gripper 31 for handling the upper die 200 is coupled to the gripper support 29, and the gripper support 29 is connected to the inner wall 21 so that the driving force of the drive motor 13, the feed screw 16 and the feed nut 15 is received and the upper die is received. The gripping operation of 200 is performed.

On the other hand, to the gripper support 29, cooling water is supplied from a manifold 39 to a water supply pipe 35 via a water supply pipe 40 to cool the inner peripheral wall of the gripper support 29 with water, and then through a drain port 28 and a drain pipe 24. The gripper 31 and the gripper support 29 are forcedly cooled by being drained to the manifold 39. A heat shield plate 19 and a water pipe 20 are provided to protect the functional parts such as the slide bushes 25 and 26 and the sensor 32 '.

FIG. 9 shows an end effector 3'for gripping and handling the component positioning pin 203 mounted on the titanium component 204 in the work of FIG. Specifically, it is gripped by the grip 62 in FIG. 9, and when releasing the titanium component, the pressing rod 59 is pressed by the cylinder rod 65 of the cylinder 66. The grip 62 is attached to a transmission bar 64, and the transmission bar 64 is connected to an RCC (REMOTECENTER COMPLIANCE) 58 having a compliance and a slide 57 slidably supported from an inner wall 67 by a slide bush 56. There is.

When the grip 62 collides with an obstacle in the vertical direction, the slide 57 rises and the sensor 69 detects this.
To detect. Next, the water cooling wall 61 has an inner wall 67 and a transmission bar 64.
And is cooled by water supplied from the water pipe 55 to the drain port 68 via the water supply pipe 60. The inner wall 67 has a heat shield plate 54 and a water pipe 55 against heat, and is connected to the bracket 52 '.
Semi-fixed positioning is performed by the feed nut 52 and the feed screw 53 connected to 2 '. Further, the attach / detach device 50, the housing 51, and the manifold 63 have the same concept as described in FIG.

FIG. 10 is a side pressing die 20 in the work of FIG.
6 is an end effector 3 ″ for handling by inserting the lateral pushing tip 77 of this drawing into the handling hole 205 of No. 6. The pushing cylinder 76 to which the lateral pushing tip 77 is bolted.
Is cooled by the water supplied from the manifold 78 to the water supply pipe 75, and the water pipe 74 and the heat shield cylinder 73 provide thermal protection to the parts arranged above the pressing cylinder 76. The detachable device 70, the housing 71, and the manifold 72 have the same concept as in FIG.

[0013]

When performing hot press forming by attaching an end effector to the tip wrist axis of an industrial robot, the basic concept of the prior art is, for example, as shown in FIG.
In order to reduce the radiant heat transfer from the hot work (upper die 200) or the hot plate 8 of FIG. 5 that contacts the functional parts such as the drive motor 13 to the hot work, the distance between the housing 12 and the gripper 31 as shown in FIG. It has a structure that allows you to play with charcoal fire with fire chopsticks for as long as possible. Therefore, they have the following fatal issues. The problem will be described below with reference to FIG. 8 as a specific example.

In the concrete example of FIG. 8, the dimension from the bottom surface of the housing 12 to the gripper 31 is 400 mm. Corresponding to this 400 melimeter, the supporting interval of the bracket 14 by the linear motion bearing 17 is required to be about 120 mm (400 × 1/3) in order to provide the minimum rigidity, and this causes the rattling (runout) of the gripper 31 part. Although it is held down, a high-precision upper mold 200 by the gripper 31
Is difficult to grip, and the inner wall 21 corresponding to the above chopsticks also needs to be thicker from the rigidity-imparting surface simply in response to the support interval of the bracket 14 by the linear bearing 17 and the gripping of the small upper mold 200 is consequently blocked. There is a drawback in that the hot plates 19 cannot be gripped due to interference from one another.

Further, in the die position sensing mechanism of the upper die 200, since the backlash of the slide bushes 25 and 26 is amplified, it is difficult to detect the position with high accuracy.

The next issue is the cycle time of the hot forming operation. As described above, in FIG. 8, since the bearing intervals between the inner wall 21 and the linear motion bearing 17 are increased to give rigidity, the end effector itself becomes large, and the end effectors of FIGS. Putting it into a functional type is the payload of industrial robots (about 100 kilograms)
Of the hot-forming press (the plane size of the hot plate in FIG. 5 is 1200 × 1200 mm). Therefore, as shown in FIG. 6, the robot 7 must replace the end effectors 3, 3 ′, 3 ″ in accordance with the hot press molding operation sequence, and this replacement time lengthens the cycle time.

Further, in order to replace the end effector, attachment / detachment mechanisms are required on both the robot wrist shaft side and the end effector. This includes attachment / detachment of cooling water, compressed air, strong electric current, and weak electric current. There is a change in contact resistance at the time of attachment and detachment, and there is a problem of entrapment of foreign matter, which significantly reduces the reliability of hot forming work by the robot.

[0018]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the structure of the present invention has a gap between a first heat shield plate and a second heat shield plate having a high reflectance and a base plate. Between the second heat shields, a heat insulating layer in which embossed heat insulating films and flat heat insulating films are alternately stacked is formed, and an air guide pipe is provided from the base plate to the air gap through the heat insulating layers. A heat shield body that cools the first heat shield plate and the second heat shield plate by blowing out the air pressure-fed to the air guide pipe from the air supply hole of the air guide pipe into a gap, and unitizing the heat shield body. , Removably attached to the outer periphery of the end effector.

[0019]

[Function] A cooling air flow of about 2 meters / second is applied to the air gap, and in addition to the base plate, 2 meters / second (light breeze)
The end effector was exposed to a radiant heat transfer and a convection heat transfer on a hot plate heated to 700 ° C. for a long time under the condition of being air-cooled to confirm heat resistance. Regarding the above heat resistance, the first heat shield plate is close to 100 mm of a 700 ° C. high temperature object, but the temperature is lowered to 200 ° C. on the heat insulating film side of the second heat shield plate, and the temperature rise of the base plate can be neglected. As a result, it is possible to dispose the functional parts constituting the end effector at a position close to a 700 ° C. high-temperature object up to about 100 mm.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1, 2, 3 and 4 show an embodiment of the present invention. FIG. 1 shows a single-function end effector shown in FIGS.
Due to the "fire chopsticks" concept, overcoming the drawbacks / problems that the multi-functionality, that is, the cycle time of hot forming work could not be shortened, the end effector body 80 shown in FIG. The sensing unit 81 and the upper die handler 82 shown in the figure, the end effector 3'of the prior art shown in FIG. 9 as the parts handler 83 shown in the figure, and the end effector 3 "of the prior art shown in FIG. It shows a state in which the push-type handler 84 is integrated and multifunctionalized, that is, the end effector main body 13 is connected to the wrist shaft 86 of the robot and the upper end portion of the end effector main body 13 has the wrist shaft 1 of the robot. It is thermally protected by the heat shield plate 86. It should be noted that 70 seconds was required in the prior art due to the multifunctional end effector. Cycle time between molding operation is 4
It will be reduced to 0% for 40 seconds. Also, its total weight is 8
It is as light as 0 kg.

The feature of this embodiment is that the end effector main body 13 is originally composed of the member number 81, by the heat shields 87, 88, 89, 90, 91 (other than 92 in FIG. 2).
The units 82, 84 and 83 are shielded and insulated. FIG. 3 is a detailed view of part A of FIG. In this figure, a heat shield 90 is a hot plate of a hot press and pins 93, 94, 95, 96 and a cylinder 97, a sensor 9 from a work.
By suppressing the radiant heat transfer and the convective heat transfer to the 8 etc., the pins 93, 94, 95, 96, the pneumatic cylinder 97, the sensor 98, etc. can be moved from a 700 ° C. high temperature object located in the grip 99 in this figure. It can operate at a close range of only 150 mm.

FIG. 3 shows the upper die handler 82 shown in FIG. 1, which is a slide 102 slidably supported by a slide bush 101 arranged on the inner peripheral wall of the housing 100.
And the grip links 103, 104 are supported with the pin 93 as the center of rotation, and the grip links 103, 1
The kettle lid 105 is fastened to the lower end of the kettle with a nut 106, and the kettle 106 is welded to the kettle lid 105. The upper mold 200 of FIG.
A grip 99 for gripping the grip hole 201 is attached.

By storing water in the hollow portion of the kettle 106, the kettle 106 is cooled by latent heat of vaporization of water. On the other hand, the grip links 103, 10
4, links 107 and 108 are connected via pins 94 and 96, and to these links 107 and 108, cylinder rods 109 of pneumatic cylinders 97 arranged on the slide 102 are connected via pins 95, respectively. The grip 9 is held by the vertical movement of the cylinder rod 109.
It enables 9,99 gripping movements.

FIG. 4 is a detailed cross section of the heat shield body (each unit in FIG. 2). As shown in the figure, a gap 1 is formed between the first heat shield plate 110 and the second heat shield plate 111 having high reflectance.
15, the base plate 112 and the second heat shield plate 1 are provided.
Insulating layer 1 in which embossed insulating films 113 and flat insulating films 114 are alternately laminated between 11
16 is formed, an air guide pipe 117 is provided from the base plate 112 through the heat insulating layer 116 to the space 115, and the air pressure-fed to the air guide pipe 117 is supplied from the plurality of air supply holes 118 of the air guide pipe to the space 115. To the first heat shield plate 1 while being discharged to the first heat shield plate and exhausted from the pores 119 provided in the first heat shield plate.
10. A heat shield body for cooling the second heat shield plate 111 is configured. The heat shield is unitized as shown in FIG. 2 and is detachably attached to the outer peripheral portion of the end effector body 80 as shown in FIG. In addition, 119 in FIG. 4 is an air supply pipe connected to the air guide pipe 117 via the connector 120, and is connected to a cooling air pressure supply means such as a compressor (not shown). 2, 121 is a stopper plate, 122a is a through hole for a sensing unit, 122b is a through hole for an upper die handler, 122c is a through hole for a lateral push die handler, 122
d is a through hole for the component handler.

The first and second heat shield plates 110 and 111 and the base plate 112 are made of stainless sheet material having a reflectance of about 80% and a plate thickness of 0.5 mm.
Further, the heat insulating film 113 is a film obtained by vapor-depositing aluminum on a polyimide resin film (plate thickness: 1 mm) having a heat resistance life of 250 ° C. for 8 years and further embossing it to increase the amount of air in the heat insulating air layer. Next, the heat-insulating film 114 is a polyimide resin film (board thickness of 0.05 mm) having a heat resistance life equivalent to that of the heat-insulating film. It should be noted that in FIG. 4, the gaps 115 are spaced by 5 millimeters, and in this embodiment, the air supply pipe 119 is used.
The compressed air pressure supplied to is about 5 kg / cm ² .

[0026]

As described above, according to the present invention, since the light weight heat shield body thermally protects each functional member such as the end effector, the functional member can be used near the heat source. In the prior art, the distance between the heat source and the functional member such as the end effector, which required a separation distance of 400 mm, can be shortened to 100 mm, which is 1/4. As a result, the low-precision gripping of the workpiece and the low-precision position detection task by the “fire chopstick concept” in the prior art, especially in terms of accuracy, the detection accuracy of the prior art is about ± 2 mm, but ± 0.05 mm. It was improved to about millimeter.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention.

FIG. 2 is an exploded view of the heat shield body in FIG.

FIG. 3 is a detailed view of part A of FIG.

FIG. 4 is a detailed cross-sectional view of the heat shield body of FIG.

FIG. 5 is a conceptual view (side view) of using an end effector according to a conventional technique.

FIG. 6 is a plan view of FIG.

FIG. 7 is a detailed view of the work in FIG.

8 is a view of an end effector for grasping the arrow portion of the upper die of FIG. 7 in the related art.

FIG. 9 is a view of an end effector for detaching and handling a pin of the titanium component of FIG. 7 according to the related art.

FIG. 10 is a view of an end effector for performing the lateral pushing type handling of FIG. 7 according to the related art. .

[Explanation of symbols]

 110 1st heat shield plate 111 2nd heat shield plate 112 base plate 113 heat insulation film 114 heat insulation film 115 air gap 116 heat insulation layer 117 air guide pipe 118 air supply hole 119 air supply pipe

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masuo Harada 10 Oemachi, Minato-ku, Nagoya, Aichi Mitsubishi Heavy Industries, Ltd. Nagoya Aerospace Systems Works

Claims (1)

[Claims] 1. A space is provided between the first heat shield plate and the second heat shield plate, and a plurality of heat insulating films are arranged between the base plate and the second heat shield plate to form a heat insulating layer, and A heat resistance device comprising an air guide pipe penetrating the heat insulating layer and the second heat shield plate from the base plate, and an air supply means capable of discharging cooling air from the air supply hole at the tip of the air guide pipe to the gap. .