DD226726A3 - GRIPPER HEAD FOR MANIPULATORS ON TUBING MACHINES - Google Patents
GRIPPER HEAD FOR MANIPULATORS ON TUBING MACHINES Download PDFInfo
- Publication number
- DD226726A3 DD226726A3 DD24753583A DD24753583A DD226726A3 DD 226726 A3 DD226726 A3 DD 226726A3 DD 24753583 A DD24753583 A DD 24753583A DD 24753583 A DD24753583 A DD 24753583A DD 226726 A3 DD226726 A3 DD 226726A3
- Authority
- DD
- German Democratic Republic
- Prior art keywords
- manipulator
- slide
- workpiece
- manipulators
- compression
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Forging (AREA)
Abstract
Die Erfindung bezieht sich auf den Einsatz von Manipulatoren an Stauchmaschinen. Ziel der Erfindung ist eine hohe Betriebssicherheit bei der Anwendung von Manipulatoren mit begrenzter Belastbarkeit. Aufgabe der Erfindung ist ein Greifer mit einem Lageausgleich zwischen Werkstueck und Manipulator und der Anzeige von Verklemmungen zwischen Werkstueck und Stauchgesenk. Das Wesen der Erfindung besteht darin, dass zwischen Greiferbacken und Aufnahmeflansch des Manipulators angeordnete Schub- und Kreuzfuehrung einen Lageausgleich ermoeglichen, der parallel zur vorgegebenen Arbeitsachse erfolgt und ueber eine zweidimensionale Anzeige Verklemmungen zwischen Werkstueck und Stauchgesenk signalisiert. Anwendungsgebiet der Erfindung ist die Umformtechnik. Fig. 1The invention relates to the use of manipulators on compression machines. The aim of the invention is a high reliability in the application of manipulators with limited capacity. The object of the invention is a gripper with a positional balance between workpiece and manipulator and the display of jamming between workpiece and upsetting die. The essence of the invention is that between gripper jaws and receiving flange of the manipulator arranged thrust and Kreuzfuehrung allow a position compensation, which is parallel to the predetermined working axis and signals via a two-dimensional display jamming between workpiece and upsetting die. Field of application of the invention is the forming technique. Fig. 1
Description
-3- 247 535-3- 247 535
Der Vertikalschieber 18 enthält durch Druckfeder 21 und Anschlagbolzen 22 einen Ausgleich für die Masse des Werkstückes und der vorderen Greiferteile, während die Druckfeder 23 und der Anschlagbolzen24 dessen Ausgangsstellung beschreiben.The vertical slide 18 contains by compression spring 21 and stop pin 22 a compensation for the mass of the workpiece and the front gripper parts, while the compression spring 23 and the Anschlagbolzen24 describe its initial position.
In den Kreuzschieber 17 ist eine Raste 25 eingearbeitet, in die eine im Horizontalschieber 14 gelagerte Kugel 26 eingreift. Eine Übertragungsstange mit Arm 27 wirkt auf einen Endlagenschalter 28.In the cross slide 17, a detent 25 is incorporated, in which a mounted in the horizontal slide 14 ball 26 engages. A transmission rod with arm 27 acts on a limit switch 28th
Der Manipulator bewegt den Greiferkopf mit eingespanntem Werkstück in die Arbeitsposition der Stauchmaschine.The manipulator moves the gripper head with clamped workpiece in the working position of the compression machine.
Unter der Wirkung der Klemmbacke der Stauchmaschine wird das Werkstück in das Stauchgesenk gedrückt.Under the action of the jaw of the compression machine, the workpiece is pressed into the upsetting die.
Der horizontale und vertikale Lageausgleich schützt dabei den Manipulator vor Überlastung durch die hohen Stauchkräfte.The horizontal and vertical position compensation protects the manipulator from being overloaded by the high compression forces.
Das Einleiten der Stauchkraft bewirkt eine axiale Verschiebung des Werkstückes im Stauchgesenk, was durch den Freiheitsgrad der Pinole ausgeglichen wird.The introduction of the compression force causes an axial displacement of the workpiece in the upsetting die, which is compensated by the degree of freedom of the quill.
Nach der Beendigung des Stauchvorganges öffnet das Stauchgesenk und gibt das Werkstück zur weiteren Handhabung frei.After completion of the upsetting process, the upsetting die opens and releases the workpiece for further handling.
Die gleichzeitig axial und horizontal wirkende zweidimensionale Stellungsanzeige gibt Signal, wenn der Horizontalschieber und die Pinole 12 die Ausgangsstellung wieder erreicht haben. Damit werden Überlastungen des Manipulators und Ausfälle der Stellmotoren bei im Gesenk klemmendem Werkstück vermieden.The simultaneously acting axially and horizontally two-dimensional position indicator gives signal when the horizontal slide and the sleeve 12 have reached the starting position again. This overloading of the manipulator and failures of the servomotors are avoided when clamping the workpiece in the die.
Der Lageausgleich erfolgt in allen Fällen parallel zur vorgegebenen Arbeitsachse und sichert damit die Qualität des Arbeitsprozesses.The position compensation always takes place parallel to the specified working axis and thus ensures the quality of the work process.
Claims (5)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DD24753583A DD226726A3 (en) | 1983-01-28 | 1983-01-28 | GRIPPER HEAD FOR MANIPULATORS ON TUBING MACHINES |
DE19833346160 DE3346160A1 (en) | 1983-01-28 | 1983-12-21 | Gripper head for manipulators on upsetting machines |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DD24753583A DD226726A3 (en) | 1983-01-28 | 1983-01-28 | GRIPPER HEAD FOR MANIPULATORS ON TUBING MACHINES |
Publications (1)
Publication Number | Publication Date |
---|---|
DD226726A3 true DD226726A3 (en) | 1985-08-28 |
Family
ID=5544634
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DD24753583A DD226726A3 (en) | 1983-01-28 | 1983-01-28 | GRIPPER HEAD FOR MANIPULATORS ON TUBING MACHINES |
Country Status (2)
Country | Link |
---|---|
DD (1) | DD226726A3 (en) |
DE (1) | DE3346160A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112537643A (en) * | 2020-12-08 | 2021-03-23 | 铭宇科技(娄底)有限公司 | Clamping device for transferring T-shaped goods |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2581914A1 (en) * | 1985-05-14 | 1986-11-21 | Renault | Component-gripping device for manipulating robot |
DE4008788A1 (en) * | 1990-03-19 | 1991-09-26 | Harald Weisz | TOLERANCE COMPENSATION DEVICE |
JP2719095B2 (en) * | 1993-06-30 | 1998-02-25 | 株式会社アマダメトレックス | Work supply and unloading device in bending machine |
CN101780517B (en) * | 2010-02-26 | 2011-08-31 | 华南理工大学 | Engine valve electric-upsetting hot-forging forming flexible manufacturing line |
CN108972603B (en) * | 2018-08-15 | 2021-11-02 | 清华大学 | Sliding base compensation type linear parallel clamping self-adaptive robot finger device |
CN111645085B (en) * | 2020-06-02 | 2021-05-11 | 台州精微顺自动化有限公司 | Walking chassis structure of intelligent service robot |
-
1983
- 1983-01-28 DD DD24753583A patent/DD226726A3/en not_active IP Right Cessation
- 1983-12-21 DE DE19833346160 patent/DE3346160A1/en not_active Withdrawn
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112537643A (en) * | 2020-12-08 | 2021-03-23 | 铭宇科技(娄底)有限公司 | Clamping device for transferring T-shaped goods |
Also Published As
Publication number | Publication date |
---|---|
DE3346160A1 (en) | 1984-08-02 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENJ | Ceased due to non-payment of renewal fee |