DE102004015675A1 - Handling device for handling a workpiece during a forming process - Google Patents

Abstract

The handling device according to the invention for handling a workpiece during a forming process, in particular a forging process, comprises DOLLAR A a) at least one gripping device (3) with at least two gripping elements (30, 31) movable relative to one another for gripping the workpiece (10), DOLLAR A b) at least one transport device (16) for transporting the gripping device or at least one carrier device (4) to which the gripping device is attached or can be fastened, DOLLAR A c) at least one rotary drive (8) for rotating the gripping device about an axis of rotation running through the gripping device and / or for rotating at least one of the gripping elements about an axis of rotation running through the gripping element, DOLLAR A d) wherein the gripping device or the at least one carrier device, to which the gripping device is fastened or can be fastened, on the one hand and the transport device on the other hand flex in a flexible state with one another l are connected and in a rigid state, at least in one spatial direction and / or in each rotational position of the gripping device and / or the gripping element or elements, are essentially rigidly connected to one another or are placed rigidly to one another.

Description

The The invention relates to a handling device for handling a workpiece during a forming process.

The DE 42 20 796 A1 discloses a handling device for holding a forged part during the forging process, in which a running gear carries a gripper device via a cuff, which has a clamp that detects the forged part during the forging process. The cuff has a hydraulic chamber and can be brought into a flexible state and a rigid state by changing the internal pressure in the hydraulic chamber via a control valve.

Out DE 100 60 709 A1 Another handling device for handling a forged part during the forging process is known, in which an elongated gripper is mounted on one end on a carrier device and on the other hand has a gripping device with a clamp, between whose two jaws the forged part or workpiece can be held. A pliers lever of the clamping pliers carrying one of the pliers jaws is arranged to run in a fixed manner in the longitudinal direction of the gripper, while a pliers lever carrying the other pliers jaw can be brought by means of a pliers actuating device by swiveling from an open position to a closed position in order to clamp the workpiece between the pliers jaws, or vice versa from the closed position to the open position for releasing the workpiece. A gripper arm of the gripper connects to the clamping pliers and to this gripper arm a block piece made of an elastically deformable material. The resilient or flexible block piece is connected on its side facing away from the gripper arm to an arm area which can be pivoted up and down by means of a first electric motor and can be raised and lowered by means of a second electric motor. These movements are synchronized by a control device. The handling device can be designed as a manipulator or as a robot.

By the flexibility of the block piece is the gripper arm, the clamping pliers and the pliers actuation device comprehensive front area of this known gripper opposite the rear area with the arm area and the drive motors flexible or pivotable, the block piece as an ax joint or Serves pivot bearing. Now when the gripper puts a forging on Hinge of a blacksmith's hammer and the batter on it workpiece proposes, can This creates vibrations or shocks that affect the clamping pliers and transfer the gripper, in the elastic block piece muted and be intercepted so that the drives are relieved. This enables one Automation of the forging process that is still in practice performed by people which is the workpiece hold in the forging hammer.

In this out DE 100 60 709 A1 Known handling device is also provided for handling the workpiece before or after the actual forming process in the forging hammer, in particular for moving towards the forging hammer or away from the forging hammer, which bridges the elastic block piece and a rigid connection between the gripper arm and the arm area on the two sides of the block piece facing each other. The rigid actuating rod has a pin which engages in a hollow of the gripper arm from below. When the rigid actuating rod is in engagement with the gripper arm, the arm region and the gripper arm are coaxially aligned with one another along the longitudinal direction of the gripper. The rigid actuating rod is held in its position by the dead weight of the front parts, in particular the clamping tongs, the tongs actuating device and the gripper arm, and an essentially horizontal rigid position of the entire gripper is ensured during transport of the gripped workpiece.

To the Solve this The rigid position becomes when the workpiece is placed on the die of the forging hammer the rear arm area raised up so that ex under one Angle to the longitudinal direction the front gripper area is directed with the pliers and the block piece accordingly deformed or bent. This will fix the rigid actuator rod loosened on the gripper arm, because the cone from the cavity is pivoted out and then the rigid rod is no longer with the front gripper arm is connected. With the rigid adjustment rod released now the block piece its Function as a damping element for impact shocks and vibrations due to its compliance. To the gripper again to put it rigidly, the back arm area is simply down again lowered in a coaxial position to the front arm and the rigid adjusting rod fixed on the front gripper arm again by pushing the pin back in the cave intervenes.

The movement of this known handling robot according to DE 100 60 709 A1 essentially consists of a horizontal and vertical movement by means of the second electric motor. The swiveling movement by means of the first motor before the actual forging process with the workpiece lying on it only serves to loosen or fix the rigid actuating rod. The workpiece is thus always held in a position in which its top and bottom always run horizontally and only translationally moved horizontally or vertically. A rotation of the workpiece is not described.

The object of the invention is now to enable more complex movements of the workpiece during the forming process, in particular before a forming step or between two forming steps. In particular, a rotation of the workpiece is to be made possible. In addition, that should preferably be done DE 100 60 709 A1 known handling device to be developed accordingly.

This Object is according to the invention solved with the features of claim 1.

• a) wenigstens eine Greifeinrichtung mit wenigstens zwei relativ zueinander bewegbaren Greifelementen zum Greifen des Werkstücks,
• b) wenigstens eine Transporteinrichtung (oder: Bewegungseinrichtung) zum Transportieren (oder: Bewegen) der Greifeinrichtung oder wenigstens einer Trägereinrichtung, an der die Greifeinrichtung befestigt oder befestigbar ist,
• c) wenigstens einen Rotationsantrieb zum Drehen der Greifeinrichtung um eine durch die Greifeinrichtung verlaufende Drehachse und/oder zum Drehen wenigstens eines der Greifelemente um eine durch das Greifelement verlaufende Drehachse,
• d) wobei die Greifeinrichtung oder die wenigstens eine Trägereinrichtung, an der die Greifeinrichtung befestigt oder befestigbar ist, einerseits und die Transporteinrichtung andererseits in einem flexiblen Zustand miteinander flexibel verbunden sind und in einem starren Zustand, zumindest in einer Raumrichtung und/oder in jeder Drehstellung der Greifeinrichtung und/oder des oder der Greifelemente, im Wesentlichen miteinander starr verbunden sind oder zueinander starr gestellt sind.

The handling device for handling a workpiece during a forming process, in particular a forging process, comprises

• a) at least one gripping device with at least two gripping elements movable relative to one another for gripping the workpiece,
• b) at least one transport device (or: movement device) for transporting (or: moving) the gripping device or at least one carrier device to which the gripping device is attached or can be attached,
• c) at least one rotary drive for rotating the gripping device about an axis of rotation running through the gripping device and / or for rotating at least one of the gripping elements about an axis of rotation running through the gripping element,
• d) wherein the gripping device or the at least one carrier device to which the gripping device is fastened or can be fastened, on the one hand, and the transport device, on the other hand, are flexibly connected to one another in a flexible state and in a rigid state, at least in one spatial direction and / or in any rotational position of the Gripping device and / or the gripping element or elements, are essentially rigidly connected to one another or are positioned rigidly to one another.

The according to the invention provided rotatability or pivotability of the gripping means, namely the Gripping device as a whole and / or the gripping elements enables one Handling the gripped workpieces with greater degrees of freedom, in particular rotating or swiveling the gripped workpieces, preferably about their own or through the workpieces running axes of rotation, for example for material distribution while forging. The flexible connection of gripping device and / or support means and transport device in the flexible state at least the time partial absorption or damping of bumps or Vibrations that occur during the forming process from the workpiece in the forming machine transfer the gripping device be, and thus the protection of the transport facility from this mechanical loads. The rigid connection or position of Gripping device and / or carrier device and transport device in the rigid state is, however, when handling of the workpiece during transport or when turning or swiveling before or after forming steps used.

advantageous Refinements and developments of the handling device and a method for forming a workpiece using a handling device according to the invention resulting from the claims dependent on claim 1.

In a first embodiment for realizing the flexible state and the rigid state of the position or connection of the gripping device and / or carrier device and transport device, at least one, in particular by, in particular hydraulic, application of different internal pressures, a flexible or rigidly adjustable connecting element between the gripping device and / or Carrier device and transport device are provided, for example a cuff according to the aforementioned DE 42 20 796 A1 ,

In a second, preferred embodiment for realizing the flexible state and the rigid state, at least one flexible element is provided between the gripping device and / or carrier device and transport device, generally a (permanently) elastic element via which the gripping device and / or carrier device and transport device flexible state are almost exclusively connected to each other. In the rigid state, the flexible element is or is bridged by at least one support device (or: a bypass is produced), the gripping device and / or carrier device and transport device are essentially supported against one another or against one another and thereby bring about their desired rigid position. For this embodiment, for example, a production device of the type mentioned at the outset DE 100 60 709 A1 be used.

Generally, the or each rotary drive includes at least one electric drive motor. The drive motor is preferably a servo motor or a similar continuously controllable motor for setting any angle (between) position. As a result, the angle of rotation position is known at all times and it can be during a trans latorischen moving the handling device this can be rotated simultaneously and the handling speed can be increased. Otherwise, a rotation angle or stop detection device is provided which detects a stop at the intended rotation angle (end) position and passes it on to the control of the handling device. This is particularly advantageous if a pneumatic or hydraulic rotary drive is provided.

The or the Rotationsantxieb (e) for rotating the gripping device as a whole is or are in a particularly advantageous embodiment on the one facing away from the gripping device and / or the carrier device Side of the flexible element or connecting element arranged, in particular between the flexible element or connecting element and the transport device. This embodiment also decouples the rotary drive from the forming blows. It will then preferably be that flexible element or connecting element also for transfer the torque of the rotary drive is used towards the gripping device, so practically as a rotary coupling. An output shaft of the Drive motor via a flange with the flexible element or connecting element be rotationally connected. Alternatively, a flexible one can be used Transfer shaft the rotation from the rotary drive to the gripping device is provided his.

Further can in an alternative embodiment the rotary drive for rotating the gripping device also on the side of the flexible element facing away from the transport device or Connecting element, so on the same side as the gripping device and / or their carrier device, be arranged, in particular between the flexible element or connecting element and gripping device and / or carrier device.

The support means is usually as with the gripping device when turning the gripping device co-rotating, ie non-rotatable with the gripping device connected.

In a particularly advantageous embodiment of the handling device the gripping device and / or carrier device in the supported state in a support camp the support device supported preferably this support bearing the support device a pivot bearing for the gripping device and / or carrier device forms in which the gripping device and / or carrier device when rotating the gripping device rotates or is rotatable. The gripping device is thus easily rotatable even in the supported state. The support camp and the gripping device and / or carrier device have in particular essentially cylindrical contact or bearing surfaces. The carrier device preferably has a carrier wave, those in the prop, especially in the support camp, supportable is.

In a special embodiment at least one locking device is provided, which in the rigid state, the at least one support device with the gripping device or the carrier device and / or the transport device locked (or: couples) and in the flexible state releases again or not locked. The locking device is preferably on the support bearing the support device arranged and preferably forms together with the support bearing a circumferential limitation and / or Storage facility for the gripping device or the carrier device, so that it cannot fall out even when rotated through 360 °.

The Gripping device generally has an actuating device for moving of the gripping elements to each other. The actuator is special stored in or on a support part of the carrier device, the preferably between the carrier wave and the flexible element is arranged. Furthermore, the gripping device has in a preferred embodiment, for example after a pair of pliers, at least two pivotable to each other in a pivot bearing Gripping levers, each of which carries at least one gripping element. one the two gripping levers are now preferably directly connected to the carrier device connected and the other gripping lever coupled to the actuating device. The actuator swivels the second gripping lever in relation to the first gripping lever the swivel bearing.

The support means is preferably on the transport device and / or on the drive housing of the Rotary drive attached.

The Gripping elements of the gripping device can generally be rotated passively stored, in particular self-adjusting, stops for limitation the pivoting movement can be provided. By pivoting the gripping jaws can twist, deform or jump Ends of the workpiece when forming, especially when bending, at least partially compensated become. Also for rotating the gripping elements of the gripping device one each In a special embodiment, the axis of rotation can be at least one or a rotary drive can be provided in each case.

In one embodiment, the rotary movement of the gripping device and / or of the gripping element or elements is limited to a predetermined angular range, in particular by means of corresponding limiting means, stops or the like or the control of the drives. This predetermined angular range is generally at least 90 °, in particular 45 ° to both sides from a starting position, and preferably at least 180 °, in particular 90 ° to both sides from a starting position.

It full rotation is also possible, for example μm 360 ° or even several or any number of rounds. This embodiment is preferably combined with the embodiment of a closing device for the Support means, so the carrier device or the gripping device during full rotation supported or remain enclosed and cannot or cannot fall out.

The Rotatability of the gripping means (gripping device and / or gripping elements) in the handling device according to the invention allows now the automation of a process for forming a workpiece, at which the workpiece must be rotated in one process step, for example in combination a bending step with an actual forging step, flattening, at Pre- and finished forging and / or forging in different Engravings.

• a) Bereitstellen wenigstens eines Werkstücks,
• b) Greifen des Werkstücks, Transport des Werkstücks zu einer Umformmaschine sowie Positionieren des Werkstücks in eine vorgegebene Umformposition (in der Umformmaschine) mittels wenigstens eines Handhabungsgeräts gemäß der Erfindung,
• c) Umformen des Werkstücks in wenigstens einem Umformschritt in der Umformmaschine,
• d) Drehen oder Schwenken des Werkstücks vor oder nach einem Umformschritt oder zwischen zwei Umformschritten mittels des Handhabungsgeräts durch Drehen von dessen Greifeinrichtung und/oder dessen Greifelement(en), vorzugsweise auch den weiteren Verfahrenschritt
• e) Transport des umgeformten Werkstücks mittels des wenigstens einen Handhabungsgeräts zu einer Werkstückablage (oder: Aufnahmebereich für die umgeformten Werktücke).

The forming process according to the invention comprises the process steps

• a) providing at least one workpiece,
• b) gripping the workpiece, transporting the workpiece to a forming machine and positioning the workpiece in a predetermined forming position (in the forming machine) by means of at least one handling device according to the invention,
• c) forming the workpiece in at least one forming step in the forming machine,
• d) rotating or swiveling the workpiece before or after a shaping step or between two shaping steps by means of the handling device by rotating its gripping device and / or its gripping element (s), preferably also the further method step
• e) Transporting the formed workpiece by means of the at least one handling device to a workpiece holder (or: receiving area for the formed workpieces).

For the rotary or swiveling movement of the workpiece will in many cases a pivot angle of at least 90 °, in particular at least 180 ° or at least 360 °, chosen and / or a stepless or quasi-stepless rotation and / or adjustment in practically any rotational position. A rotation or swivel angle of about 90 ° often chosen around the workpiece bend in one direction and in a direction orthogonal to it change in its cross section to be able to and / or a material pre-distribution for better adaptation to one Achieve blacksmith engraving.

In a particularly advantageous embodiment, the workpiece during the Forming or the forming step of the at least one handling device according to the invention recorded, preferably by at least two handling devices according to the invention at different ends. This can cause the workpiece to bounce when Impact of the forming tool can be avoided and the workpiece in its Forming position are held.

A the handling device is preferably used in a forming process with a forging hammer or a screw press as a forming machine, even if of course other forming machines are also possible are like hydraulic presses.

The In the following, the invention is further explained with the aid of exemplary embodiments. there reference is made to the drawing, in the

1 a handling device with an open gripping device before gripping a workpiece in a side view,

2 the handling device according 1 with a workpiece gripped in the closed gripping device and placed in a forming machine in a side view,

3 a cross section through the handling device according 1 in the section plane labeled III-III,

4 a cut according to 3 with pivoted gripping device or actuating device

5 an embodiment with two juxtaposed elastic elements in a section and

6 an embodiment with two elastic elements arranged one above the other in one section
are each shown schematically. Corresponding sizes and parts are in the 1 to 4 provided with corresponding reference numerals.

There is a handling device (or: manipulator, robot) with 2 , a gripping device (or: gripping pliers) with 3 , a carrier wave (or: transmission wave) with 4 , a support device (or: rigid position device) with 5 , a carrying part with 6 , a fle xible element with 7 , a rotary drive with 8th , a joint with 9 , a workpiece with 10 , an actuating device for opening and closing the gripping device 3 With 11 , a lower tool (or: joint) of a forging hammer with 12 , an upper tool of the forging hammer with 13 and a transport device with 16 designated.

The gripping device 3 includes two gripping levers (or: pliers levers) 32 and 33 mutually about a pivot axis E in a pivot bearing 34 are pivotable for opening and closing the gripping device 3 , On each of the gripping levers 32 and 33 is an associated gripping jaw (or: gripping element, pliers jaw) 30 respectively. 31 arranged. The 1 shows the gripping device 3 in the open state in which the gripping device 3 with gripping jaws spaced far apart 30 and 31 from the transport device 16 on a workpiece 10 is moved in the direction of the arrow shown.

For swiveling the gripping lever 33 opposite the gripping lever 32 is an actuator 11 provided that in an attack camp 35 on the gripping lever 33 attacks and, for example by means of a lifting cylinder or other drive, the gripping lever 33 around the pivot bearing 34 rotates. The actuator 11 is in a swivel bearing 14 pivotable about a pivot axis D on a cross-section ( 3 and 4 ) U-shaped holding part 61 of the support part 6 stored to, in conjunction with the movement in the attack camp 35 if the actuating device's stroke cylinder is shortened or lengthened 11 , opening or closing the gripping device 3 by moving the gripping lever 33 to enable.

The support part 6 further comprises an intermediate part 60 on which the holding part 61 is mounted and that over the carrier shaft 4 with the gripping lever 32 the gripping device 3 connected is. The gripping lever 32 who have favourited Carrier Wave 4 and the intermediate part 60 are arranged one behind the other along an axis M (or: coaxially) and are rigid or fixed to one another, but rotatable about the axis M, connected to one another and form together with the holding part 61 and the actuator 11 a front unit of the handling device 2 , The carrier wave 4 as well as the carrying part 6 with the intermediate part 60 and the holding part 61 together form a carrier device for the gripping device 3 and their actuating device 11 ,

On the of the carrier wave 4 opposite side of the intermediate part 60 of the support part 6 is the flexible element 7 attached, which in turn on the other side with the rotary drive (or: rotary drive) 8th connected is. For connecting the flexible element 7 with the intermediate part 60 and the swivel drive 8th is a flange 67 respectively. 87 intended. The flexible element 7 consists of 1 and 2 made of an elastic material, preferably an elastomer, and is at least largely solid. The swivel drive 8th is with the joint 9 on that of the flexible element 7 opposite side rigidly or fixedly connected.

The swivel drive 8th and the joint 9 are arranged along a second axis N, preferably concentrically to this axis N, and form a rear unit of the handling device 2 , In the flexible element 7 are now the front unit of the handling device 2 , namely the gripping device 3 who have favourited Carrier Wave 4 and the carrying part 6 and the actuator 11 , on the one hand and the rear unit of the handling device 2 , namely the rotary actuator 8th and the joint 9 as well as the transport device 16 , pivotable to each other. The axis M of the front unit and N of the rear unit are due to the deformation of the flexible element 7 tiltable or rotatable against each other. 1 shows the two units on both sides of the flexible element 7 in a position in which the two axes M and N coincide or run coaxially, while in 2 a position is shown in which the axis N is pivoted upward by an angle α relative to the axis M. In 1 the axes M and N are arranged essentially horizontally, ie perpendicular to gravity G. The axes M and N can also be arranged at an inclination to gravity G. While in 1 the flexible element 7 is in a substantially undeformed straight state, it is in 2 by the changed position of the axes M and N in relation to one another in a state deformed or bent by the angle α.

The support device 5 is in the form of a rod or in the manner of a rod and comprises a longitudinal connecting rod 53 , on which a transversely upward first fastening part 51 for connecting the connecting rod 53 with the rotary actuator 8th and further back a second fastening part running transversely upwards 52 for connecting the connecting rod 53 with the joint 9 as well as in the front area across the connecting rod 53 upwardly projecting fixing part or support part 50 for fixing or supporting the carrier shaft 4 are arranged. The support part 50 has a convex cut than to the carrier shaft 4 adapted support bearing (or: a shaft seat) 54 on which the carrier wave 4 can be inserted or inserted.

In in 1 shown state, in which the axes M and N run coaxially to one another, the connecting rod now runs 53 parallel to these axes M and N and the support part 50 supports the carrier wave 4 and thus the gripping device connected to it 3 in his support camp 54 from. This creates a supported or rigid connection between the front unit of the handling device 2 one on the side and the rear unit of the handling device 2 manufactured that the flexible element 7 bridged. The support device 5 thus virtually puts a mechanical bypass or a mechanical bypass over the flexible element 7 represents, and thus eliminates in the position according to 1 the flexibility of the handling device 2 in the flexible element 7 at least in the spatial direction of gravity G and in the downward lateral directions between gravity G and the horizontal direction. In principle, the gripping device would be 3 of course still bendable because the bearing seat is supported by the support bearing 54 the carrier wave 4 only supports down. However, the rigid connection is caused solely by gravity G or the weight of the parts of the handling device 2 maintained.

Via a connecting flange 67 is the intermediate part 60 of the support part 6 non-rotatable with the flexible element 7 connected. The flexible element is on the opposite side 7 non-rotatable with a drive flange 87 of the rotary drive 8th connected. The drive flange 87 is with an output shaft of one in the drive housing 80 of the rotary drive 8th arranged drive motor connected and relative to the drive housing 80 about the axis of rotation R of the rotary drive 8th rotatable.

The rotary movement via the rotary drive 8th can be restricted to a certain angular range or can also be carried out over the full 360 ° and over several revolutions or revolutions. The rotation is preferably carried out continuously, for example by means of a servo motor, or else in small steps, for example by means of a stepper motor. The accuracy is at least 1 °, usually at least 0.1 °.

A rotary movement of the rotary drive 8th is transmitted via the drive flange 87 on the flexible element 7 that the rotational movement or the torque on the connecting flange 67 transfers. The material and design of the flexible element 7 must therefore be designed so that torque transmission is possible. The modulus of elasticity of the elastomer must therefore not be chosen too high and a comparatively massive design is advantageous.

The one with the connecting flange 65 connected support part 6 now rotates together with that in the holding part 61 held actuator 11 With.

The rotary movement is also transmitted via the carrier shaft 4 on the entire gripping device 3 ,

3 and 4 show in a sectional view through the lifting cylinder of the actuator 11 and the carrier wave 4 as well as the support device 50 according to 1 an embodiment for a pivoting movement.

3 shows the starting position, in which a central axis B of the support part 50 the support device 5 and a central axis C of the actuator 11 and the support part 6 coincide, the actuator 11 So seen in the direction of gravity G above the intermediate part 60 of the support part 6 is arranged.

In 4 the front unit of the handling device 2 is now pivoted or rotated clockwise by a pivot angle β to the right. The carrier wave 4 rotates around the axis of rotation R in its support bearing 54 the support device 5 , The central axis C of the front unit, in particular the support part 6 and the actuator 11 is now about the pivot angle β relative to the central axis B of the support device 5 pivoted. The gripping device is also 3 pivoted relative to the original central axis B by the same pivot angle β, ie the opening and closing movement of the two gripping levers 32 and 33 takes place along the central axis C and thus pivoted with respect to the original central axis B. This allows a workpiece to be machined 10 turn by the corresponding swivel angle β.

In an embodiment, not shown, it is also possible for the support bearing 54 closed, for example elongated or O-shaped and thereby falling out of the carrier shaft 4 as well as to enable 360 ° rotation. In particular, a latching or locking can also be provided, which can be triggered automatically. In addition, the support device 5 can also be driven in all versions, in particular by motor, pneumatically or hydraulically, that is to say can be controlled independently of gravity G.

Instead of a single massive flexible element 7 as in 1 and 2 it is also possible to connect several flexible elements in parallel to each other and / or in series. As a result, the flexibility can be set more precisely and, in particular, a different flexibility in different spatial directions can be set more easily.

In the 5 and 6 Two exemplary embodiments are shown, in each of which two flexible elements are provided.

In 5 are two essentially horizontal, that is, in a direction or plane perpendicular to gravity G, arranged flexible elements 71 and 72 arranged at a distance d1 left and right of the axis of rotation M.

In 6 are two flexible elements 73 and 74 arranged one above the other in a direction or plane parallel to gravity G, above and below the axis of rotation M. The distance between the flexible elements 73 and 74 is labeled d2. The flexible elements 71 to 74 in the 5 to 6 are drawn with a cylindrical cross-section, but can also have other cross-sections and designs.

About the distances d1 and d2 as well as the design and choice of materials for the flexible elements 71 to 74 the force counteracting a bend or the counteracting torque can be set in a wide range. In 5 and 6 a bending direction B1 is drawn in a horizontal and a bending direction B2 in a vertical, each with reference to the force of gravity G.

In the exemplary embodiment or the rotational position according to 5 a bend in the bend direction B2 is easier than in the bend direction B1, that of the flexible elements 71 and 72 applied opposite torque in the bending direction B2 is smaller than in the bending direction B1. The arrangement of the elements 71 and 72 according to 5 is preferably provided for the basic position, ie without rotation, of the handling device.

In the embodiment or rotary position according to 6 with flexible elements arranged one above the other 73 and 74 on the other hand, the bend in the bending direction B1 is easier than in the bending direction B2. The position according to G goes out of position according to 5 for example by rotating through 90 °.

It Arrangements are possible instead of two flexible elements many flexible elements possible, which can be optimized depending on the application.

It is advantageous, for example, to use a cylindrical, solid or hollow body made of an elastic polymer material, for example a vulcanized natural rubber or another elastomer, on the end faces of which a cylindrical plate made of metal, for example steel, is arranged as a flexible element 7 or 71 to 74 , The connection of the appropriately designed flexible element 7 or 71 . 72 . 73 . 74 the two end plates and the polymer body are preferably made via screw connections, but can also be made via fixed connections such as welding. The length, measured along the cylinder axis, of the flexible element 7 respectively. 71 to 74 is usually larger than its diameter. The radial elasticity is usually higher than the axial elasticity. The elastomer body can be loaded depending on the installation both with regard to an axial pressure load as well as a radial shear load and also a combined pressure and shear load. The shape of the elastomer body can of course differ from the cylindrical shape and, for example, can also be tapered in the middle.

The function of rotating the gripping device 3 when handling the workpiece 10 will be explained in more detail below.

In 1 becomes the workpiece 10 straight from the gripping device 3 captured by a conveyor belt or another, in particular stationary workpiece stock. The gripping device 3 is in this position in its vertical starting position, ie the central axes B and C according to 3 fall together. Now the workpiece is in the gripping device 3 held and by means of the transport device 16 , transported to the forming machine and brought there for forming in the forming position. Thereby, the support device 5 the handling device 2 kept rigid.

2 shows the workpiece 10 when placed on the lower die 12 a forge hammer. By lifting the rear unit of the handling device 2 , ie inclination of the center axis N of the rotary drive 8th and joint 9 about the angle of inclination α with respect to the central axis M of the front unit of the handling device 2 around the flexible element 7 , the support device 5 from engagement with the carrier shaft 4 brought as the support device 5 with the rotary drive 8th and the joint 9 remains aligned along the axis N and thus the support part 50 away from the carrier wave 4 away. The joint serves for the inclination movement by the angle α 12 about the workpiece 10 as an abutment.

Now the hammer or hammer strikes with the upper tool 13 of the forging hammer in the direction of impact A on the workpiece 10 , The impact movement creates considerable shock and vibration loads on the workpiece 10 on the gripping device 3 and the entire handling device 2 be transmitted. The elastic element 7 However, this shock or vibration largely decouples from the transport device 16 and the rotary drive 8th , so that these drive devices are protected against overload. 2 shows the gripping device 3 during the forging process in the vertical position.

Depending on the workpiece 10 and the desired forming process, however, the workpiece may be required in many forming processes 10 before placing on the die 12 to rotate, especially one through the workpiece 10 ver running axis, for example its longitudinal axis. To do this, the workpiece 10 from the gripping device 3 seized and in the supported state, ie when engaged in the carrier shaft 4 support device 5 , the gripping device 3 with the gripped workpiece 10 rotated by the desired pivot angle β. Then the turned or swiveled workpiece 10 again on a die or another die area of the die 12 put on and again with the upper tool 13 or another tool. Such two- or more-stage forming processes occur, for example, when a workpiece is bent for material distribution in a first forging process or forging step and during the subsequent flat forming or forging (change in cross-section).

2

handling device

3

gripper

4

carrier wave

5

support means

6

supporting part

7

flexible element

8th

rotary drive

9

joint

10

workpiece

11

actuator

12

joint

13

Schlagbär

14

pivot bearing

15

lifting cylinder

16

transport means

30 31

jaw

32 33

gripping levers

34

pivot bearing

35

Angreiflager

50

supporting part

51 52

attachment portion

53

connecting rod

54

support bearings

60

intermediate part

61

holding part

65

connecting flange

71, 72

flexible element

73 74

flexible element

80

drive housing

87

drive flange

M

front axis

N

rear axis

A

impact direction

B C

axis

D e

swivel axis

F

swivel axis

G

gravity

R

axis of rotation

d1 d2

distance

B1, B2

bending direction

Claims (37)

Handling device for handling a workpiece during a forming process, in particular a forging process, comprising a) at least one gripping device ( 3 ) with at least two gripping elements movable relative to each other ( 30 . 31 ) for gripping the workpiece ( 10 ), b) at least one transport device ( 16 ) for transporting the gripping device or at least one carrier device ( 4 ), to which the gripping device is attached or can be attached, c) at least one rotary drive ( 8th ) for rotating the gripping device about an axis of rotation running through the gripping device and / or for rotating at least one of the gripping elements about an axis of rotation running through the gripping element, d) the gripping device or the at least one carrier device to which the gripping device is attached or can be attached, on the one hand and the transport device, on the other hand, are flexibly connected to one another in a flexible state and are essentially rigidly connected to one another or are set rigidly to one another in a rigid state, at least in one spatial direction and / or in each rotational position of the gripping device and / or the gripping element or elements. handling device according to claim 1, wherein the gripping device or the carrier device on the one hand and the transport device on the other hand at least a connecting element are connected to each other, which in the flexible State is flexible and is rigid in the rigid state. handling device according to claim 2, wherein the connecting element by, in particular hydraulic, loading with different internal pressures flexible or is rigidly adjustable or set. Handling device according to Claim 1, in which the gripping device or the carrier device on the one hand and the transport device on the other hand via at least one flexible element ( 7 . 71 to 74 ) are connected to one another and in the flexible state are only connected via the flexible element and in the rigid state are supported essentially against one another or against one another via at least one supporting device by bridging the flexible element. handling device according to one or more of claims 2 to 4, in which at least a rotary drive for rotating the gripping device on the facing away from the gripping device and / or the carrier device Side of the connecting element or the flexible element arranged is. Handling device according to claim 5, wherein the connecting element or the flexible element transmits the torque of the rotary drive for rotating the gripping device. handling device according to claim 5 or claim 6, wherein the rotary drive for Rotate the gripping device between the flexible element or Connection element and the transport device is arranged. handling device according to one or more of claims 2 to 4, wherein the rotary drive to turn the gripping device on the by the transport device opposite side of the flexible element or connecting element is arranged. handling device according to one or more of the preceding claims, the at least one rotary drive has at least one electrical one Drive motor, in particular a servo motor. handling device according to claim 9 in relation to one of the claims 2 to 8, in which an output shaft of the drive motor via a flange connected to the flexible element or connecting element in a rotationally fixed manner is. handling device according to one or more of the preceding claims, the at least one rotary drive has at least one hydraulic one Drive and / or comprises at least one pneumatic drive. handling device according to one or more of the preceding claims, which the carrier device co-rotates with the gripping device when rotating the gripping device. handling device according to claim 4 or one or more of the referring back to claim 4 Expectations, in which the gripping device and / or the carrier device in the supported state in a support camp the support device supported is. handling device according to claim 13 and claim 12, wherein the support bearing of the support device a pivot bearing for forms the gripping device and / or the carrier device in which the gripping device and / or the carrier device when rotating the gripping device rotates or is rotatable. handling device of claim 13 or claim 14, wherein the support bearing has a substantially cylindrical inner surface and the gripping device and / or the carrier device at least in that in the support camp engaging outdoor area has a cylindrical outer surface. handling device according to claim 4 or one or more of the referring back to claim 4 Expectations, in which the carrier device a carrier wave has, which in the support device, especially in the support camp, supportable is. handling device according to one or more of the preceding claims, which the gripping device an actuator for moving the gripping elements to each other. handling device The claim 17, wherein the carrier means has a supporting part in which the actuating device is mounted is. handling device according to claim 18 and according to claim 16, wherein the Txageteil the support means between the carrier wave and the flexible element or connecting element is arranged. handling device according to one or more of the preceding claims, which the gripping device at least two to each other in a pivot bearing has pivotable gripping levers, each of which has at least one Gripping element carries. handling device according to claim 20 in relation to claim 17 or one of the claims referring back to claim 17, one of the two gripping levers directly with the carrier device is connected and the other gripping lever with the actuating device is coupled and in relation to the first gripping lever in the pivot bearing is pivotable. handling device according to claim 4 or one or more of the referring back to claim 4 Expectations, in which the support device is attached to the transport device. handling device according to claim 4 or one or more of the referring back to claim 4 Expectations, in which the support device on the drive housing of the rotary drive is attached. handling device according to one or more of the preceding claims at least one rotary drive for rotating the two gripping elements the gripping device about an associated axis of rotation. handling device according to one or more of the preceding claims, the at least one of the gripping elements of the gripping device in one associated Pivots around an associated one Axis of rotation is rotatably mounted. handling device according to one or more of the preceding claims, which the rotational movement of the gripping device and / or the or Gripping element) is limited to a predetermined angular range. handling device of claim 26, wherein the predetermined angular range at least 90 °, in particular at least 180 ° or at least 360 °, is. handling device according to one of the claims 1 to 25, in which the rotary movement of the gripping device and / or of the gripping element (s) at least one or more full ones rounds around the respective axis of rotation. handling device according to one or more of the preceding claims, which during the rotary movement the gripping device and / or that or the gripping elements) in a variety of rotational positions or each Rotational position is or are adjustable and / or at which the or each rotary drive can be controlled continuously or in small steps or is adjustable. handling device according to claim 4 or one or more of the referring back to claim 4 Expectations, in which at least one locking device is provided, in the rigid state the at least one support device with the gripping device or the carrier device and / or the Transport device locked and not in the flexible state locked. handling device of claim 30 and claim 12, wherein the locking means on support bearings the support device is provided and preferably together with the support bearing the gripping device or the carrier device surrounds or encloses in the corresponding area so that falling out of the gripping device and / or the carrier device is prevented in any rotational position. Process for forming a workpiece in a Forming machine, in which the workpiece by at least one handling device after a or more of the claims 1 to 31 is handled. 33. The method of claim 32, wherein a) a workpiece provided, b) the workpiece from at least one handling device after one or more of the claims 1 to 31 is taken, is transported to a forming machine and is brought into a predetermined forming position there, c) the workpiece formed in at least one forming step by means of the forming machine becomes, d) being the workpiece from the handling device Turning its gripping device and / or its gripping elements) before or after a forming step or between two forming steps is rotated or pivoted. The method of claim 33, wherein the workpiece in one Forging hammer or a screw press formed as a forming machine becomes. The method of claim 33 or 34, wherein the workpiece around a swivel angle in a predetermined angular range of at least 90 °, in particular at least 180 ° or at least 360 °, is rotated and / or rotatable by any pivot angle is. Method according to one of claims 32 to 35, wherein the workpiece while the shaping or the shaping step of the at least one handling device or preferably of at least two handling devices at different ends is held. Method according to one of claims 32 to 36, wherein the formed workpiece from the at least one handling device to a workpiece storage is transported.