CN1895810A - Device for clamping and operating workpiced when volume forming - Google Patents
Device for clamping and operating workpiced when volume forming Download PDFInfo
- Publication number
- CN1895810A CN1895810A CNA2006101056936A CN200610105693A CN1895810A CN 1895810 A CN1895810 A CN 1895810A CN A2006101056936 A CNA2006101056936 A CN A2006101056936A CN 200610105693 A CN200610105693 A CN 200610105693A CN 1895810 A CN1895810 A CN 1895810A
- Authority
- CN
- China
- Prior art keywords
- jig arm
- workpiece
- multinomial
- clamping
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Forging (AREA)
- Manipulator (AREA)
Abstract
Device for holding and manipulating workpieces during forging, which can be coupled to a transport system and has a gripper mechanism that can be adjusted to be either pliable.
Description
Technical field
The present invention relates to a kind of device that is used for when bulk forming clamping and operation workpiece, this device can be connected on the transfer system that is provided for transmitting, and wherein the clamping device of this device but both can be adjusted to also can being adjusted to of springing fixing, this operating means is to be used to have forging process that the workpiece of automation transmits.
Background technology
The taking-up of the workpiece of inserting and forging of blank is finished by manipulator or robot usually in the forging process of automation.Wherein during forging process blank with position suitable be maintained in the counterdie.For operating means different requirements has been proposed for this reason.For example can forge the workpiece in the forging die with high relatively speed by a hammer.Because this workpiece is forged on about 1200 ℃ temperature, owing to the reason of heat usually need molding apace from this forging die.Shaping for workpiece need accurately be located the position in forging die.
Because tup at full speed impacts on workpiece, will suffer alteration of form on how much so high dynamic force and workpiece will occur at shaping.In order to compensate the alteration of form of workpiece, clamp or operating means must servo-actuateds.This also is applicable to moving both vertically that the hammer installed on common separating vibration ground occurs when impacting.
Because above-mentioned requirements, the respective configuration of workpiece grip mechanism can not be finished and need thus to the operation of workpiece by robot popular on the market.
DE 100 60 709 A1 solve this task like this, and promptly jig arm selectively is adjusted to that can make a concession or fixing.Secured adjusted bar causes stationary state in the mode of locking, and a bulk, lasting flexible flexible piece is used as elasticity and connects.Jig arm during the translatory movement of workpiece by locking and forging during the secured adjusted bar with inoperative.Forging the vibration, pulling force and the pressure that impact and occur will be absorbed by the piece spare of flexibility.
The shortcoming of this scheme is, what comprise controlled cylinder form is used to that to clamp the as ready kinoplaszm amount of device of operation big.Clamp operating means in addition and arranged in this wise, so that all vibrations that occur when forging all act on this pincers operating means.
Another shortcoming is high thermogenetic by forging process, and this high heat effect is on the lasting flexible material of piece spare and can not guarantee lasting function.Another shortcoming is that this scheme can not realize that the rotation that clamps maybe can not obtain the reliability of work when pincers rotate.Rotation for some forging process pincers is essential.
In addition disadvantageously, but on lasting flexible flexible piece the degree of springing can not be conditioned.When wrought product kept bonding with forging die in short-term when being raised, clamping device no longer can be worked reliably by pneumatic linear actuator in addition.
In EP 10 48 372 B1, disclose a kind of conveyer that is used to shift workpiece, be particularly useful for the bulk forming machine.Wherein said clamping device is made up of two jaws, and they act on a clamping force on the workpiece.Its operation is undertaken by a servomotor, and this motor is connected with jaw formation effect by lead screw gear and tension board.The clamping force of jaw action on workpiece can be controlled by this servo drive with being defined.Can realize thus: the workpiece in clamping device can be released, and makes workpiece no longer by clamping regularly, and only is to be directed in vertical direction.This for example may be favourable during forming process.
The shortcoming of this scheme is that the impact load that acts on the jaw by forging process directly is delivered on the functional unit of clamping device.As the file of quoting as proof in this paper beginning, also there is shortcoming aspect property reversed that clamps or the fixedly adhesion of wrought product in forging die in the case.
Summary of the invention
Set out by prior art, task of the present invention is, proposes a kind of operating means that is used for workpiece when bulk forming, and it also can guarantee the high-stability at the load of forging process because its structure both can guarantee high functional reliability.
According to the present invention, a kind of device that is used for when bulk forming clamping and operation workpiece has been proposed, this device can be connected on the transfer system that is provided for transmitting, and wherein the clamping device of this device but both can be adjusted to also can being adjusted to of springing fixing, wherein, the stationary state of these jig arm can pass through the immigration realization of at least one type spare (Profilelement) along at least one contact-making surface.Provided the further configuration favourable and that meet the requirements of this device in the measure below.
Core idea of the present invention is, two or more jig arm of holding workpiece during the translatory movement of operating means by form fit ground locking and during forging process, only be operated by spring force.
The locking of the form fit during transmitting realizes that by sliding component these sliding components can move along the correspondingly configured face of jig arm.These sliding components are driven by shifting out and moving into of the piston rod of a cylinder.This cylinder is preferably pneumatically operated, but also can be thought of as hydraulic pressure or Motor Drive.In order to guarantee that jig arm fixes workpiece, keep shifting out and sliding component is in jig arm and matches at translatory movement drive device.In case workpiece reaches its shaping position, jig arm will be retracted and discharge to sliding component.The position of workpiece temporarily can not change thus, because jig arm is fixed workpiece by spring force now.Because being subjected to the position of an impulse form, forming process, fixing workpiece change.Because by the spring force clamping, jig arm can be followed the motion of workpiece to workpiece in forming process by jig arm.After shaping, jig arm and workpiece again automatically return movement to the home position.Before the transmission of the good workpiece that is shaped began again, sliding component matched with jig arm again.Singly be high acceleration and the dynamic force that spring force is not enough to bear conveyer.Have only sliding component to be engaged on the surface of jig arm, the rigidity that " workpiece-jig arm-sliding component-operating means " system of being somebody's turn to do just becomes enough is so that bear above-mentioned load.
Advantageously, opening of these jig arm can be realized by the immigration of at least one type spare along at least one contact-making surface.
Advantageously, the springing of these jig arm can realize by at least one spring respectively that described spring acts on these jig arm in their turning cylinder.
Advantageously, the spring force that acts on the spring on these jig arm can be conditioned.
Advantageously, described type spare can be configured to roller.
Advantageously, when moving into or shifting out, these type spares can drive by the lead-screw driving device of servo-electric.
Advantageously, when moving into or shifting out, these type spares can drive by linear motor.
In order to put down or to discharge workpiece, jig arm is opened by two other immigration of opening sliding component, and these open the opposition side that sliding component closed sliding component above-mentioned relatively and that be used for closure acts on jig arm.Each is driven the sliding component that is used to open by a cylinder.In the case, a drive unit pneumatic, hydraulic pressure or electric motor operated also is fine.
Advantageously, such power can be controlled and can be conditioned, and makes workpiece by the jig arm clamping by this power.
Advantageously, these jig arm are being opened and motion when closed can be controlled and can be conditioned.
This operating means is fixed on the robots arm in an advantageous manner, so that make workpiece insert forging press, workpiece is taken out by forging press or make workpiece take out and be input to another processing stage by a forging press level.Also can be to this conversion ground, this operating means also can be integrated in traditional transfer system with continuous clamper rail.The operating means that is proposed also selectively is equipped with a forging die spraying system or a cooling and blowning installation is housed, and its function is expanded once more.
The operations according to the instant invention device is with particularly advantageous mode configuration in this wise structurally, and promptly in order to operate the workpiece of different geometric configurations, jig arm or clamping part can be mounted to local the replacing greatly.
Another advantage of operations according to the instant invention device is, because its structural configurations, can rotate 180 ° and can not make functional reliability impaired.
Advantageously, this operating means also can be a position of having rotated, for example turn on 90 ° the position and work reliably.
Description of drawings
By obtaining other details of the present invention and advantage by the described embodiment of accompanying drawing.
Accompanying drawing is represented:
Fig. 1: have a side view of the operating means of open jig arm,
Fig. 2: on delivering position, have a side view of the operating means of closed jig arm,
Fig. 3 a: side view that on shaping position, has the operating means of closed jig arm.
The specific embodiment
Fig. 1 is illustrated in the operating means 1 in the deployed position.By being clear that its structural configurations here.Two jig arm 2,3 can be bearing in the device body 6 on the turning cylinder 4,5 rotationally.Be provided with torsionspring 7,8 in turning cylinder 4,5, these torsionsprings connect with device body 6 and jig arm 2,3 formation effects.Can work the effect of closing jig arm 2,3 at the spring force of answering land used to regulate specially.The rear portion of this operating means 1, in the part of unshowned robot here, externally have two pneumatically-operated cylinders 9,10 in the zone, they can make sliding component 13,14 move in the horizontal direction by piston rod 11,12.These sliding components 13,14 connect with orbital plane 15,16 formation effects, and these orbital planes are positioned at the rearward end of jig arm 2,3.If now the piston rod 11,12 of cylinder 9,10 is shifted out by the direction along arrow 17, then sliding component 13,14 motion in this wise on the orbital plane 15,16 of jig arm 2,3 makes jig arm 2,3 rotate along the rotation direction of arrow 18,19 moving axis 4,5 that rotates.Therefore the spring force ground of jig arm 2,3 opposing torsionsprings 7,8 opens.If piston rod 11,12 is fully shifted out with sliding component 13,14 and jig arm 2,3 is fully opened, then obtain the state shown in Fig. 1.
If workpiece 20 should be by jig arm 2,3 hold assembly 21,22 grippings in other words now, then the piston rod 11,12 of cylinder 9,10 is retracted against the direction of arrow 17 together with sliding component 13,14 and is reached in its home position because the spring force of torsionspring 7,8 makes jig arm 2,3 closures.In addition, a piston rod 23 that is arranged on middle pneumatic linear actuator 24 is shifting out and is making thus sliding component 25,26 to move on same direction on the direction of arrow 17.Be locked in the closure state by the roll extrusion of sliding component 25,26 on orbital plane 27,28 with making jig arm 2,3 form fit.This state as shown in Figure 2.In this state, workpiece 20 is sent in the form class (Umformstufe) or from become form class and sends out.
Fig. 3 is illustrated in the state of this operating means 1 of shaping.Jig arm 2,3 is because the spring force of torsionspring 7,8 is closed and workpiece 20 in clamping.In this state, additionally the sliding component 25,26 of fixing clamp arm 2,3 returns and mismatches with orbital plane 27,28 when transmitting.Impact or a motion if stand one now at shaping workpiece 20, the jig arm in closure state 2 then, but 3 antagonistic spring power follow the motion of workpiece 20.Then on jig arm 2,3, produce a reseting torque by spring force.In order for example to mention workpiece 20 from a forging die, sliding component 25,26 is placed in again with orbital plane 27,28 and cooperates.
The present invention is not limited on the illustrated and described embodiment.It is also included within the further configuration that all those skilled in the art can make in the scope of the present invention design.For example for locking and release jig arm, can use the sliding component of the wedge shape functional unit with corresponding counterpart shown in replacing.Also can consider other range of geometrical variations.The operations according to the instant invention device also selectively is equipped with the jig arm more than two.
The reference number table
1 operating means
2,3 jig arm
4,5 turning cylinders
6 device bodies
7,8 torsionsprings
9,10 pneumatic linear actuators
11,12 piston rods
13,14 sliding components
15,16 orbital planes
17 direction arrows
18,19 direction arrows
20 workpiece
21,22 hold assemblies
23 piston rods
24 pneumatic linear actuators
25,26 sliding components
27,28 orbital planes
Claims (14)
1. the device that is used for when bulk forming clamping and operation workpiece, this device can be connected on the transfer system that is provided for transmitting, and wherein the clamping device of this device but both can be adjusted to also can being adjusted to of springing fixing, it is characterized in that: these jig arm (2,3) stationary state can pass through at least one type spare (25,26) immigration along at least one contact-making surface (27,28) realizes.
2. according to the device of claim 1, it is characterized in that: opening of these jig arm (2,3) can be passed through the immigration realization of at least one type spare (13,14) along at least one contact-making surface (15,16).
3. according to the device of claim 1 or 2, it is characterized in that: the springing of these jig arm (2,3) can respectively realize that by at least one spring (7,8) described spring acts on these jig arm (2,3) in their turning cylinder (4,5).
4. according to the device of claim 3, it is characterized in that: the spring force that acts on the spring (7,8) on these jig arm (2,3) can be conditioned.
5. according to one or multinomial device in the claim 1 to 4, it is characterized in that: described type spare (13,14,25,26) can be configured to roller.
6. according to one or multinomial device in the claim 1 to 5, it is characterized in that: when moving into or shifting out, these type spares (13,14,25,26) can drive by pneumatic linear actuator.
7. according to one or multinomial device in the claim 1 to 5, it is characterized in that: when moving into or shifting out, these type spares (13,14,25,26) can drive by hydraulic cylinder.
8. according to one or multinomial device in the claim 1 to 5, it is characterized in that: when moving into or shifting out, these type spares (13,14,25,26) can drive by the lead-screw driving device of servo-electric.
9. according to one or multinomial device in the claim 1 to 5, it is characterized in that: when moving into or shifting out, these type spares (13,14,25,26) can drive by linear motor.
10. according to one or multinomial device in the claim 1 to 9, it is characterized in that: such power can be controlled and can be conditioned, and makes workpiece (20) by jig arm (2,3) clamping by this power.
11. according to one or multinomial device in the claim 1 to 10, it is characterized in that: these jig arm (2,3) are being opened and motion when closed can be controlled and can be conditioned.
12. according to one or multinomial device in the claim 1 to 11, it is characterized in that: these jig arm (2,3) can specifically be changed at workpiece.
13. according to one or multinomial device in the claim 1 to 12, it is characterized in that: the hold assembly (21,22) of these jig arm (2,3) can specifically be changed at workpiece.
14. according to one or multinomial device in the claim 1 to 13, it is characterized in that: this operating means (1) also can be a position of having rotated, for example turn on 90 ° the position and work reliably.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE200510033767 DE102005033767A1 (en) | 2005-07-15 | 2005-07-15 | Device for manipulating workpieces during forging, with a gripper mechanism that can be adjusted to be either pliable or rigid, comprises rollers that advance along contact surfaces to put gripper arms in the rigid position |
| DE102005033767.8 | 2005-07-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1895810A true CN1895810A (en) | 2007-01-17 |
| CN100574927C CN100574927C (en) | 2009-12-30 |
Family
ID=37563564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200610105693A Expired - Fee Related CN100574927C (en) | 2005-07-15 | 2006-07-14 | The device that is used for when bulk forming clamping and operation workpiece |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN100574927C (en) |
| DE (1) | DE102005033767A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273498A (en) * | 2013-06-09 | 2013-09-04 | 沈阳工业大学 | Rigidity variable flexible mechanical arm |
| CN103567351A (en) * | 2012-08-02 | 2014-02-12 | 苏州久工自动化科技有限公司 | High-temperature-resistant parallel clamp holder |
| CN104723351A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Robot paw used for die forging manufacture |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN111375718A (en) * | 2020-03-09 | 2020-07-07 | 太原理工大学 | Intermediate support hydraulic device for forging |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102909287B (en) * | 2011-12-30 | 2015-07-22 | 郴州智造科技有限公司 | Pipe fitting clamping mechanism |
| CN102989974A (en) * | 2012-08-20 | 2013-03-27 | 苏州孚杰机械有限公司 | Forging tongs |
| CN102806562A (en) * | 2012-09-10 | 2012-12-05 | 江南现代工业研究院 | Manipulator for clamping workpiece |
| CN104826974B (en) * | 2015-06-02 | 2016-09-21 | 连云港杰瑞自动化有限公司 | A kind of flexibility and rigidity controlled switching paw |
| CN104985098B (en) * | 2015-07-25 | 2016-11-16 | 周盈裕 | A kind of mechanical hand for metal forging |
| CN105291124B (en) * | 2015-10-16 | 2018-02-23 | 天津远卓科技发展有限公司 | Bicycle transport platform handgrip mechanism |
| JP6657522B2 (en) * | 2016-10-27 | 2020-03-04 | 株式会社神戸製鋼所 | Gripping jig for forged manipulator |
| CN106272406A (en) * | 2016-11-04 | 2017-01-04 | 郑州莉迪亚医药科技有限公司 | A kind of detachable automated machine pawl |
| CN108339923A (en) * | 2018-02-01 | 2018-07-31 | 湖北三峡职业技术学院 | Manipulator for the automatic roll forging of connecting rod |
| CN109109010A (en) * | 2018-09-14 | 2019-01-01 | 迪瑞医疗科技股份有限公司 | A kind of container clamping control device and method |
| CN113560478B (en) * | 2021-08-10 | 2023-05-16 | 广水东日钢铁有限公司 | Steel material rudiment beating stability clamping mechanism for steel rolling smelting |
| CN114952794A (en) * | 2022-06-01 | 2022-08-30 | 娄底市中兴液压件有限公司 | Clamp carrying platform, clamp device and robot |
| CN116037842B (en) * | 2023-03-30 | 2023-05-30 | 北京德信友和科技有限公司 | Mechanical clamping jaw for operating tool in mechanical equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE392826B (en) * | 1974-06-07 | 1977-04-25 | Bofors Ab | DEVICE FOR APPLYING OR REMOVING A HEATED SUBJECT IN THE EVENT OF A HONOR |
| DE3631024A1 (en) * | 1986-09-09 | 1988-03-17 | Mannesmann Ag | ROBOT ARM |
| CN2038037U (en) * | 1988-11-10 | 1989-05-24 | 陈行麟 | Pendent-type forging operating machine |
| CN2097046U (en) * | 1991-06-20 | 1992-02-26 | 蒋志高 | Non-trunnion clamping head for forging pressure heating |
| DE19919434A1 (en) * | 1999-04-29 | 2000-11-02 | Schuler Pressen Gmbh & Co | Part transfer facility |
| DE10060709B4 (en) * | 2000-12-07 | 2004-12-02 | Langenstein & Schemann Gmbh | Handling device for holding a forged part during the forging process |
-
2005
- 2005-07-15 DE DE200510033767 patent/DE102005033767A1/en not_active Ceased
-
2006
- 2006-07-14 CN CN200610105693A patent/CN100574927C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103567351A (en) * | 2012-08-02 | 2014-02-12 | 苏州久工自动化科技有限公司 | High-temperature-resistant parallel clamp holder |
| CN103273498A (en) * | 2013-06-09 | 2013-09-04 | 沈阳工业大学 | Rigidity variable flexible mechanical arm |
| CN104723351A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Robot paw used for die forging manufacture |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN111375718A (en) * | 2020-03-09 | 2020-07-07 | 太原理工大学 | Intermediate support hydraulic device for forging |
| CN111375718B (en) * | 2020-03-09 | 2021-08-03 | 太原理工大学 | Intermediate support hydraulic device for forging |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102005033767A1 (en) | 2007-01-18 |
| CN100574927C (en) | 2009-12-30 |
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Granted publication date: 20091230 Termination date: 20140714 |
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| EXPY | Termination of patent right or utility model |