DE102004015675B4 - Handling device for handling a workpiece during a forming process - Google Patents

Abstract

Handling device (2) 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 (30, 31) movable relative to one another for gripping the workpiece (10), b) at least one transport device (16) for transporting the gripping device (3) or at least one support device (4) to which the gripping device (3) is fastened or fastened, c) at least one rotary drive (8) for rotating the gripping device (3) about one by the gripping device (3) extending axis of rotation (R) and / or for rotating at least one of the gripping elements about a by the gripping element (30, 31) extending axis of rotation, d) wherein the gripping device (3) or the at least one support means (4) on which Gripping device (3) is fastened or fastened, on the one hand and the transport device (16) on the other hand in a flexible state flexibly connected together are in a rigid state, at least in one spatial direction and / or in each rotational position of the gripping device (3) and / or the one or more gripping elements (30, 31) are substantially rigidly connected to each other or are rigidly connected to each other, e) wherein the gripping device (3) or the carrier device (4) on the one hand and the transport device (16) on the other hand via at least one flexible element (7, 71 to 74) are interconnected and in the flexible state only via the flexible element (7, 71 to 74) are connected and in the rigid state via at least one support means (5) while bridging the flexible element (7) substantially against each other or against each other, f) wherein the at least one rotary drive (8) for rotating the gripping device (3) the side of the flexible element (7, 71 to 74) facing away from the gripping device (3) and / or the carrier device (4) and between the flexible element (7, 71 to 74) and the transport device (16) is arranged, and g) wherein the gripping device (3) and / or the carrier device (4) in the supported state is supported in a support bearing (54) of the support device (5).

Description

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 forging during the forging process, in which a chassis carries a gripper device via a collar, which has a forging the gripping part detecting clamping forceps. The sleeve has a hydraulic chamber and can be selectively brought into a compliant state and a rigid state by changing the internal pressure in the hydraulic chamber via a control valve.

Out DE 100 60 709 A1 a further handling device for handling a forged part in the forging process is known, in which an elongated gripper is mounted at one end to a support means and the other end a gripping device with a pair of pliers, between the two jaws the forged part or workpiece can be held. A pliers jaws supporting the pliers jaws of the clamping pliers is arranged stationary in the longitudinal direction of the gripper, while a plier jaw carrying the pliers jaw can be brought by means of a pliers jaw by pivoting from an open position to a closed position to clamp the workpiece between the jaws, or vice versa from the closed position to the open position for releasing the workpiece. To the clamping forceps, a gripper arm of the gripper connects and to this gripper arm a block piece of an elastically deformable material. The yielding or flexible block piece is connected at its side facing away from the gripper arm side with an arm portion which can pivot 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 controller. The handling device can be designed as a manipulator or as a robot.

Due to the flexibility of the block piece, the front portion of this known gripper, comprising the gripper arm, gripping pliers and tong actuator, is flexible or pivotable with respect to the rear portion with the arm portion and the drive motors, with the block piece serving as a kind of hinge or pivot bearing. Now, when the gripper places a forging workpiece on a die of a forging hammer and the striker strikes the workpiece, vibrations or shocks generated thereon, which are transmitted to the gripper and the gripper, can be damped and trapped in the elastic block piece, so that the drives be relieved. This allows automation of the forging process, which in practice is still performed by people holding the workpiece in the forging hammer.

At this off DE 100 60 709 A1 known handling device is further provided for handling the workpiece before or after the actual forming process in the forging hammer, in particular for movement to the forging hammer or away from the forging hammer, a Starrstellstange, which bridges the elastic block piece and a rigid connection between the gripper arm and the arm portion at the two mutually applied sides of the block piece manufactures. The Starrstellstange has a pin which engages in a cavity of the gripper arm from below. When the rigidizing rod is engaged with the gripper arm, the arm portion and the gripper arm are coaxially aligned along the longitudinal direction of the gripper. Due to the weight of the front parts, in particular the clamping pliers, the forceps actuator and the gripper arm, the Starrstellstange is held in position and ensures a substantially horizontal rigid position of the entire gripper during transport of the gripped workpiece.

To release this rigidity, when the workpiece is placed on the die of the forge, the rearward portion of the arm is raised upward so that it is directed at an angle to the longitudinal direction of the forward gripper portion with the gripper and the block piece deforms or bends accordingly. As a result, the fixation of the Starrstellstange is solved on the gripper arm, since the pin is pivoted out of the cavity and the Starrstellstange is then no longer connected to the front gripper arm. When dissolved Starrstellstange now the block piece can fulfill its function as a damping element for the impact shocks and vibrations due to its compliance. To re-set the gripper, the rear arm portion is simply lowered back into a coaxial position with the front arm and the rigid rod is again fixed to the front gripper arm by re-engaging the pin in the cavity.

The movement of this known handling robot according to DE 100 60 709 A1 is essentially composed of a horizontal and vertical movement by means of the second electric motor. The pivoting movement by means of the first motor before the actual forging process with resting workpiece serves only to solve or fix the Starrstellstange. The workpiece is thus always held in a position in which its top and bottom are always horizontal, and only translationally moved horizontally or vertically. A rotation of the workpiece is not described.

JP H08-90 133A further discloses a forging manipulator having a rotatable gripping means for gripping forgings. The gripping device can be connected together in a flexible and in a rigid state together with a moving element and a transport device.

The invention is based on the object 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, preferably from the DE 100 60 709 A1 known handling device be further developed accordingly.

This object is achieved according to the invention 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: moving device) for transporting (or moving) the gripper device or at least one carrier device to which the gripper device is fastened or attachable,
• c) at least one rotary drive for rotating the gripping device about an axis of rotation extending through the gripping device and / or for rotating at least one of the gripping elements about an axis of rotation extending through the gripping element,
• d) wherein the gripping device or the at least one carrier device to which the gripping device is attached or fastened, on the one hand and the transport device on the other hand are flexibly connected to each other in a flexible state and in a rigid state, at least in one spatial direction and / or in each rotational position of Gripping device and / or the one or more of the gripping elements are substantially rigidly connected to each other or are mutually rigid.

The provided according to the invention rotation or pivoting of the gripping means, namely the gripping device and / or the gripping elements, allows handling of the gripped workpieces with greater degrees of freedom, in particular a rotation or pivoting of the gripped workpieces, preferably to their own or extending through the workpieces Rotary axes, for example for material pre-distribution during forging. The flexible connection of gripping device and / or carrier device and transport device in the flexible state causes the at least partial absorption or damping of shocks or vibrations that are transmitted during the forming process from the workpiece in the forming machine to the gripping device, and thus the protection of the transport device against these mechanical loads , The rigid connection or position of gripping device and / or carrier device and transport device in the rigid state, however, is used during handling of the workpiece during transport or during rotation or pivoting before or after forming steps.

Advantageous embodiments and further developments of the handling device and a method for forming a workpiece using a handling device according to the invention will become apparent from the dependent claims of claim 1.

In a first embodiment for realizing the flexible state and the rigid state of the position or connection of gripping device and / or carrier device and transport device is at least one, in particular by, in particular hydraulic, loading with different internal pressures, flexible or rigid stellbares connecting element between gripping device and / or Carrier device and transport device provided, for example, a sleeve 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 the gripping device and / or carrier device and transport device in the flexible state virtually exclusively interconnected. In the rigid state, the flexible element is or is bridged (or: a bypass is produced) by at least one support device, the gripping device and / or carrier device and transport device are substantially supported against one another or against one another, thereby bringing about their desired rigidification. For this embodiment, for example, a Starrstellungseinrichtung the manner of the opening genanten DE 100 60 709 A1 be used.

In general, the or each rotary drive comprises at least one electric drive motor. The drive motor is preferably a servomotor or a similar continuous controllable motor for setting any angle (between) position. As a result, the rotational angle position is known at any time and it can be simultaneously rotated during a translational movement of the handling device 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 in providing a pneumatic or hydraulic rotary drive.

The one or more rotary drive (s) for rotating the gripping device as a whole is or are arranged in a particularly advantageous embodiment on the side facing away from the gripping device and / or the carrier device side of the flexible element or connecting element, in particular between the flexible element or connecting element and the transport device , This embodiment also decouples the rotary drive from the forming strokes. It is then preferably used the flexible element or connecting element for transmitting the torque of the rotary drive to the gripping device out, so practically as a rotary joint. For this purpose, an output shaft of the drive motor can be rotatably connected via a flange with the flexible element or connecting element. Alternatively, however, it is also possible to provide a flexible shaft for transmitting the rotation from the rotary drive to the gripping device.

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

As a rule, the carrier device is designed as rotating with the gripping device during rotation of the gripping device, that is to say in a rotationally fixed manner to the gripping device.

In a particularly advantageous embodiment of the handling device, the gripping device and / or support device is supported in the supported state in a support bearing of the support device, wherein preferably this support bearing of the support means forms a pivot bearing for the gripping device and / or support means in which the gripping device and / or support device Turning the gripper rotates or is rotatable. The gripping device is thereby freely rotatable in a simple manner, even in the supported state. The support bearing and the gripping device and / or support device in particular have substantially cylindrical contact or bearing surfaces. The carrier device preferably has a carrier shaft, which can be supported in the support device, in particular in the support bearing.

In a particular embodiment, at least one locking device is provided which, in the rigid state, locks (or: couples) the at least one support device with the gripping device or the carrier device and / or the transport device and releases it again in the flexible state or does not lock it. The locking device is preferably arranged on the support bearing of the support means and preferably forms together with the support bearing a circumferential limiting and / or storage device for the gripping device or the support means, so that they can not fall out even with a rotation of 360 °.

The gripping device generally has an actuating device for moving the gripper elements relative to one another. The actuating device is mounted in particular in or on a supporting part of the carrier device, which is preferably arranged between the carrier shaft and the flexible element. Further, the gripping device in a preferred embodiment, for example in the manner of a pair of pliers, at least two gripping levers pivotable relative to one another in a pivot bearing, each of which carries at least one gripping element. One of the two gripping levers is now preferably connected directly to the carrier device and the other gripping lever is coupled to the actuating device. The actuator pivots the second gripping lever relative to the first gripping lever in the pivot bearing.

The support device is preferably fastened to the transport device and / or to the drive housing of the rotary drive.

The gripping elements of the gripping device are generally passively rotatably mounted, in particular self-adjusting, wherein stops for limiting the pivoting movement can be provided. By the pivoting of the gripping jaws, twisting, deforming or swerving of the ends of the workpiece during forming, in particular during bending, can be at least partially compensated. Also for rotating the gripping elements of the gripping device about an associated axis of rotation can be provided in a particular embodiment, at least one or in each case a rotary drive.

In one embodiment, the rotational 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 activation of the drives. This predetermined angular range is generally at least 90 °, in particular 45 ° to either side of a starting position, and preferably at least 180 °, in particular 90 ° to both sides of a starting position.

But it is also a full rotation possible, for example, 360 ° or even several or any number of rounds. This embodiment is preferably combined with the embodiment of a closure device for the support device, so that the support device or the gripping device remain supported or enclosed during the full rotation and can not fall out.

The rotatability of the gripping means (gripping device and / or gripping elements) in the handling device according to the invention now enables the automation of a method for forming a workpiece, in which the workpiece must be rotated in one process step, for example, when combining a bending step with an actual forging step, Plätten, during pre-and 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) turning or pivoting of the workpiece before or after a forming step or between two forming steps by means of the handling device by rotating its gripping device and / or its gripping element (s), preferably also the further process step
• e) transport of the formed workpiece by means of the at least one handling device to a workpiece tray (or: receiving area for the formed work piece).

For the rotational or pivoting movement of the workpiece is in many cases a pivot angle of at least 90 °, in particular at least 180 ° or at least 360 °, selected and / or stepless or quasi-continuous rotation and / or a setting in virtually any rotational position. A rotational or pivoting angle of about 90 ° is often chosen to bend the workpiece in one direction and to change in an orthogonal direction in its cross section and / or to achieve a material predistribution for better adaptation to a forging engraving.

In a particularly advantageous embodiment, the workpiece is held during the forming or the forming step of the at least one handling device according to the invention, preferably of at least two handling devices according to the invention at different ends. This bouncing of the workpiece when hitting the forming tool can be avoided and the workpiece can be kept in its forming position.

A preferred application is the handling device in a forming process with a forging hammer or a screw press as a forming machine, although of course other forming machines are possible such as hydraulic presses.

The invention will be explained below with reference to exemplary embodiments. Reference is made to the drawing, in whose

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

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

3 a cross section through the handling device according to 1 in the section plane designated 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 superimposed elastic elements in a section
are each shown schematically. Corresponding sizes and parts are in the 1 to 4 provided with corresponding reference numerals.

There are a handling device (or: manipulator, robot) with 2 , a gripping device (or: Tongs) with 3 , a carrier wave (or: transmission shaft) with 4 , a support device (or: Starrstellungseinrichtung) with 5 , a carrying part with 6 , a flexible 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: die) of a blacksmith's hammer with 12 , an upper tool of the forge with 13 and a transport device with 16 designated.

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

For pivoting the gripping lever 33 opposite the gripping lever 32 is an actuator 11 provided 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 actuating device 11 is in a pivot bearing 14 about a pivot axis D pivotally on a in cross-section ( 3 and 4 ) U-shaped holding part 61 of the supporting part 6 stored to, in conjunction with the movement in the attack camp 35 when shortening or lengthening the lifting cylinder of the actuator 11 , the opening or closing of the gripping device 3 by moving the gripping lever 33 to enable.

The carrying part 6 further comprises an intermediate part 60 on which the holding part 61 is mounted and that via the carrier shaft 4 with the gripping lever 32 the gripping device 3 connected is. The gripping lever 32 , the carrier wave 4 and the intermediate part 60 are arranged one behind the other (or coaxially) along an axis M and rigid or stationary with respect to each other, but rotatable about the axis M, are connected together 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 support means for the gripping device 3 and their actuator 11 ,

At the of the carrier wave 4 opposite side of the intermediate part 60 of the supporting part 6 is the flexible element 7 attached, which in turn on the other side with the rotary actuator (or: rotary drive) 8th connected is. To connect the flexible element 7 with the intermediate part 60 and the rotary actuator 8th each is a flange 67 respectively. 87 intended. The flexible element 7 exists in 1 and 2 made of an elastic material, preferably an elastomer, and is at least substantially solid. The rotary actuator 8th is with the joint 9 on the of the flexible element 7 facing away rigidly or stationarily connected.

The rotary actuator 8th and the joint 9 are arranged along a second axis N, preferably concentric 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 , the 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 , pivoted to each other. The axis M of the front unit and N of the rear unit are thus by deformation of the flexible element 7 tilted or twisted 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 extend coaxially, while in 2 a position is shown, is pivoted at the axis N by an angle α upwards relative to the axis M. In 1 the axes M and N are substantially horizontal, that is arranged perpendicular to the gravitational force G. However, the axes M and N can also be arranged with an inclination to the gravitational force 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 to each other in a by the angle α upwardly deformed or bent state.

The support device 5 is rod-like or designed in the manner of a linkage and comprises a longitudinal connecting rod 53 , at which a transversely extending first fastening part 51 for connecting the connecting rod 53 with the rotary actuator 8th and further behind a transversely extending second fastening part 52 for connecting the connecting rod 53 with the joint 9 and in the front area a transverse to the connecting rod 53 upwardly projecting fixing part or supporting part 50 for fixing or supporting the carrier shaft 4 are arranged. The support part 50 has a convex notch than the carrier shaft 4 adapted support bearing (or: a shaft seat) 54 on, in which the carrier wave 4 can be inserted or inserted.

Im in 1 shown state in which the axes M and N are coaxial with each other, now passes the connecting rod 53 parallel to these axes M and N and the support member 50 supports the carrier wave 4 and thus the gripping device connected to it 3 in his support camp 54 from. This is a supported or rigid connection between the front unit of the handling device 2 on the one hand and the rear unit of the handling device 2 made the flexible element 7 bridged. The support device 5 So it's almost a mechanical bypass or a mechanical bypass over the flexible element 7 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 the gravity G and the horizontal direction. In principle, the gripping device would be 3 of course still bendable upwards, as the bearing seat through the support bearing 54 the carrier wave 4 supported only down. However, the rigid connection only by the 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 supporting part 6 non-rotatable with the flexible element 7 connected. On the far side is the flexible element 7 non-rotatably with a drive flange 87 the rotary drive 8th connected. The drive flange 87 is with an output shaft in the drive housing 80 the rotary drive 8th arranged drive motor connected and relative to the drive housing 80 about the rotation axis R of the rotary drive 8th rotatable.

The rotary motion via the rotary drive 8th can be limited to a certain angle range or be practicable over the full 360 ° and over several revolutions or revolutions. The rotation is preferably carried out, for example by means of a servomotor, steplessly or else, for example by means of a stepping motor, in small steps. The accuracy is at least 1 °, usually at least 0.1 °.

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

That with the connecting flange 67 connected carrying part 6 turns now together with the holding part 61 held actuator 11 With.

The rotational movement also transmits over 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 and the support device 50 according to 1 an embodiment of a pivoting movement.

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

In 4 is now the front unit of the handling device 2 pivoted or rotated by a pivot angle β to the right in a clockwise direction. The carrier wave 4 rotates about the axis of rotation R in their support bearing 54 the support device 5 , The central axis C of the front unit, in particular of the support member 6 and the actuator 11 is now about the pivot angle β with respect to the center axis B of the support means 5 pivoted. Likewise, the gripping device 3 pivoted relative to the original center 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 relative to the original center axis B. This allows a workpiece 10 to turn the corresponding swivel angle β.

In an embodiment not shown, it is also possible, the support bearing 54 closed, for example langloch- or O-shaped form and thereby falling out of the carrier shaft 4 as well as a turn to allow 360 °. In particular, a locking or locking can be provided, which is automatically triggered. In addition, the support device 5 be driven in all versions, in particular motor, pneumatic or hydraulic, so be independent of the gravitational force G controllable.

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

In the 5 and 6 two embodiments are shown in which two flexible elements are provided.

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

In 6 on the other hand are two flexible elements 73 and 74 arranged in a direction or plane parallel to the gravitational force G one above the other, above and below the axis of rotation M. The distance between the flexible elements 73 and 74 is denoted by 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 material of the flexible elements 71 to 74 The bending force counteracting force or the counteracting torque can be adjusted in wide ranges. In 5 and 6 is a bending direction B1 in a horizontal and a bending direction B2 in a vertical in each case based on the gravitational force G drawn.

In the embodiment or the rotational position according to 5 a bend in the bending direction B2 is easier than in the bending direction B1, that of the flexible elements 71 and 72 Applied opposing torque so smaller in the bending direction B2 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 rotational position according to 6 with superimposed flexible elements 73 and 74 on the other hand, the bending in the bending direction B1 is easier than in the bending direction B2. The position according to 6 goes out of the position according to 5 for example, by rotation through 90 °.

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

Advantageously, for example, the use of a cylindrical solid or hollowed body made of an elastic polymer material, such as a vulcanized natural rubber or other elastomer, on whose front sides in each case a cylindrical plate made of metal, such as 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 From the two end plates and the polymer body is preferably carried out via screw, but can also be done via solid compounds 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 elastomeric body is loadable both in terms of axial compressive stress as well as a radial shear stress and a combined compressive and shear stress depending on the installation. The shape of the elastomeric body may of course deviate from the cylindrical shape and, for example, 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 detected by a conveyor belt or other, in particular stationary workpiece supply. The gripping device 3 is in this position in its vertical starting position, ie the center 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 placed there in the forming position for forming. It is about the support device 5 the handling device 2 kept in a rigid state.

2 shows the workpiece 10 in laid condition on the lower die 12 a blacksmith's hammer. By lifting the rear unit of the handling device 2 , So tilting the central axis N of rotary drive 8th and joint 9 by the inclination angle α with respect to the central axis M of the front unit of the handling device 2 around the flexible element 7 , becomes the support device 5 out of engagement with the carrier shaft 4 brought as the support device 5 with the rotary drive 8th and the joint 9 along the axis N remains aligned and thus the support member 50 enough of the carrier wave 4 away. In the tilting movement by the angle α serves the die 12 over the workpiece 10 as an abutment.

Now beat the beater or hammer with the upper tool 13 of the forging hammer in the direction of impact A on the workpiece 10 , The impact movement creates significant impact and vibration loads that are generated by the workpiece 10 on the gripping device 3 and the entire handling device 2 be transmitted. The elastic element 7 However, now largely decouples these shocks or vibration of the transport device 16 and the rotary drive 8th so that these drive devices are protected from overloading. 2 shows the gripping device 3 when forging in the vertical position.

Depending on the workpiece 10 and the desired forming process, however, may be required in many forming processes, the workpiece 10 before laying on the die 12 to turn, in particular one through the workpiece 10 extending axis, for example, its longitudinal axis. This is the workpiece 10 from the gripping device 3 gripped and in the supported state, ie when engaged in the carrier shaft 4 located support device 5 , the gripping device becomes 3 with the gripped workpiece 10 rotated by the desired pivot angle β. Then, the rotated or swiveled workpiece 10 again on a die or another die area of the die 12 put it on and again with the upper tool 13 or another tool. Such two- or multi-stage forming processes occur, for example, during bending of a workpiece for material pre-distribution in a first forging or forging step and during subsequent flat forming or forging (cross-sectional change).

LIST OF REFERENCE NUMBERS

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

die

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

67

connection flange

71, 72

flexible element

73, 74

flexible element

80

drive housing

87

drive flange

M

front axle

N

rear axle

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 (30)

Handling device ( 2 ) 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 ( 30 . 31 ) for gripping the workpiece ( 10 b) at least one transport device ( 16 ) for transporting the gripping device ( 3 ) or at least one carrier device ( 4 ), at which the gripping device ( 3 ) is fastened or fastened, c) at least one rotary drive ( 8th ) for rotating the gripping device ( 3 ) by one by the gripping device ( 3 ) extending axis of rotation (R) and / or for rotating at least one of the gripping elements about one by the gripping element ( 30 . 31 ) extending axis of rotation, d) wherein the gripping device ( 3 ) or the at least one carrier device ( 4 ), at which the gripping device ( 3 ) is fastened or fastened, on the one hand and the transport device ( 16 ) are flexibly connected to each other in a flexible state and in a rigid state, at least in one spatial direction and / or in each rotational position of the gripping device ( 3 ) and / or the one or more gripping elements ( 30 . 31 ), are substantially rigidly connected to each other or are rigidly connected to each other, e) the gripping device ( 3 ) or the carrier device ( 4 ) on the one hand and the transport device ( 16 ) on the other hand via at least one flexible element ( 7 . 71 to 74 ) are interconnected and in the flexible state only via the flexible element ( 7 . 71 to 74 ) and in the rigid state via at least one support device ( 5 ) while bridging the flexible element ( 7 ) are substantially supported against each other or against each other, f) wherein the at least one rotary drive ( 8th ) for rotating the gripping device ( 3 ) on the gripper device ( 3 ) and / or the carrier device ( 4 ) facing away from the flexible element ( 7 . 71 to 74 ) and between the flexible element ( 7 . 71 to 74 ) and the transport device ( 16 ) and g) the gripping device ( 3 ) and / or the carrier device ( 4 ) in the supported state in a support bearing ( 54 ) of the support device ( 5 ) is supported. Handling device according to claim 1, wherein the flexible element, the torque of the rotary drive ( 8th ) for rotating the gripping device ( 3 ) transmits. Handling device according to one or more of the preceding claims, in which at least one rotary drive ( 8th ) comprises at least one electric drive motor, in particular a servomotor. Handling device according to claim 3, wherein an output shaft of the drive motor via a flange with the flexible element ( 7 . 71 to 74 ) is rotatably connected. Handling device according to one or more of the preceding claims, in which at least one rotary drive ( 8th ) comprises at least one hydraulic drive and / or at least one pneumatic drive. Handling device according to one or more of the preceding claims, in which the support device ( 4 ) with the gripping device ( 3 ) when turning the gripping device ( 3 ) co-rotated. Handling device according to one of the preceding claims, in which the support bearing ( 54 ) of the support device ( 5 ) a pivot bearing for the gripping device ( 3 ) and / or the carrier device ( 4 ), in which the gripping device ( 3 ) and / or the carrier device ( 4 ) when turning the gripping device ( 3 ) is rotating or rotatable. Handling device according to Claim 7, in which the support bearing ( 54 ) has a substantially cylindrical inner surface and the gripping device ( 3 ) and / or the carrier device ( 4 ) at least in the in the support camp ( 54 ) engaging outer region has a cylindrical outer surface. Handling device according to one or more of the preceding claims, in which the carrier device is a carrier shaft ( 4 ), which in the support device ( 5 ), in particular in the support bearing ( 54 ), is supportable. Handling device according to one or more of the preceding claims, in which the gripping device ( 3 ) an actuating device ( 11 ) for moving the gripping elements ( 30 . 31 ) to each other. Handling device according to claim 10, in which the carrier device is a carrying part ( 6 ), in which the actuating device ( 11 ) is stored. Handling device according to claim 11 and claim 9, wherein the carrying part ( 6 ) of the carrier device between the carrier shaft ( 4 ) and the flexible element is arranged. Handling device according to one or more of the preceding claims, in which the gripping device ( 3 ) at least two in a pivot bearing ( 14 . 34 ) to each other pivotable gripping levers ( 32 . 33 ), each having at least one gripping element ( 30 . 31 ) wearing. Handling device according to claim 13 when dependent on claim 10 or one of the claims appended to claim 10, wherein one of the two gripping levers ( 32 . 33 ) directly with the carrier device ( 4 ) and the other gripping lever ( 32 . 33 ) with the actuating device ( 11 ) is coupled and from this with respect to the first gripping lever ( 32 . 33 ) in the pivot bearing ( 14 . 34 ) is pivotable. Handling device according to one or more of the preceding claims, in which the support device ( 5 ) at the transport device ( 16 ) is attached. Handling device according to one or more of the preceding claims, in which the support device ( 5 ) on the drive housing ( 80 ) of the rotary drive ( 8th ) is attached. Handling device according to one or more of the preceding claims with at least one rotary drive ( 8th ) for rotating the two gripping elements ( 30 . 31 ) of the gripping device ( 3 ) each have an associated axis of rotation (E). Handling device according to one or more of the preceding claims, in which at least one of the gripping elements ( 30 . 31 ) of the gripping device ( 3 ) in an associated pivot bearing ( 34 ) is rotatably mounted about a respective axis of rotation (E). Handling device according to one or more of the preceding claims, in which the rotational movement of the gripping device ( 3 ) and / or the gripping element (s) ( 30 . 31 ) is limited to a predetermined angular range. Handling device according to claim 19, wherein the predetermined angular range is at least 90 °, in particular at least 180 ° or at least 360 °. Handling device according to one of Claims 1 to 20, in which the rotational movement of the gripping device ( 3 ) and / or the gripping element (s) ( 30 . 31 ) comprises at least one or more full revolutions around the respective axis of rotation. Handling device according to one or more of the preceding claims, in which, during the rotational movement, the gripping device ( 3 ) and / or the one or more gripping element (s) is adjustable in a plurality of rotational positions or each rotational position and / or at the or each rotational drive ( 8th ) is continuously or in small steps controllable or controllable. Handling device according to one or more of the preceding claims, wherein at least one locking device is provided, which in the rigid state, the at least one support means ( 5 ) with the gripping device ( 3 ) or the carrier device ( 4 ) and / or the transport device ( 16 ) and not locked in the flexible state. Handling device according to Claim 23, in which the locking device on the support bearing ( 54 ) of the support device ( 5 ) is provided and preferably together with the support bearing ( 54 ) the gripping device ( 3 ) or the carrier device ( 4 ) surrounds or encloses in the corresponding area, so that falling out of the gripping device ( 3 ) and / or the carrier device ( 4 ) is prevented in each rotational position. Method for forming a workpiece in a forming machine, in which the workpiece ( 10 ) of at least one handling device ( 2 ) is handled according to one or more of claims 1 to 24. Method according to Claim 25, in which a) a workpiece ( 10 ), b) the workpiece ( 10 ) of at least one handling device ( 2 ) is taken to one or more of claims 1 to 23, is transported to a forming machine and is brought there in a predetermined deformation position, c) the workpiece ( 10 ) is formed in at least one forming step by means of the forming machine, d) wherein the workpiece ( 10 ) of the handling device ( 2 ) by turning its gripping device ( 3 ) and / or its gripping element (s) is rotated or pivoted before or after a forming step or between two forming steps. Method according to Claim 26, in which the workpiece ( 10 ) is formed in a forging hammer or a screw press as a forming machine. Method according to Claim 26 or 27, in which the workpiece ( 10 ) is rotated by a swivel angle (β) in a predetermined angular range of at least 90 °, in particular at least 180 ° or at least 360 °, and / or is rotatable about an arbitrary swivel angle. Method according to one of Claims 26 to 28, in which the workpiece ( 10 ) during the forming or the forming step of the at least one handling device ( 2 ) or preferably at least two handling devices ( 2 ) is held at different ends. Method according to one of claims 25 to 29, wherein the formed workpiece ( 10 ) of the at least one handling device ( 2 ) is transported to a workpiece tray.

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