DE1527354A1 - Process for the synchronous control of forging manipulator and forging press - Google Patents

Description

Fatent description

Process for the synchronous control of forging manipulator and forging press

The modern high-speed forging press requires a manipulator that allows its possible stroke sequence to be exploited. The previously known large forging manipulators are designed so that the individual movements, such as lifting, turning, and advancing, in the axial direction of the forging, either by a manipulator operator or by the press operator can be controlled to move the forging into the appropriate position. This method only allows a number of strokes of the press per unit of time, which depends on the responsiveness of the operator and the installed drive power and brakes of the manipulator will. The entire manipulator mass would have to be used for travel in the axial direction with a press stroke rate of 80 strokes / min Accelerated and braked in less than 0.5 seconds to cover a distance of 100 - 300 mm.

A small synchronously controlled test manipulator was based on this knowledge with hose lines Pressure oil supplied so that only the actual drive J

elements, such as oil motors and cylinders, were installed on the manipulator cart. The longitudinal movement of the manipulator was carried out by means of a rack and pinion, the rack being attached to the carriage.

The advantages of a synchronous control of forging press and manipulator with preselectable distances are

1. A substantial increase in the speed of work and thus a saving of thermal energy by porting one or two rewarming.

2. A considerable reduction in weaving times thanks to the port case of the direct measurement on the red-hot forging.

90982 2/0095 bad ORIGINAL

• - 2 -

A full economic potential of Ausiiutziing-stroke rate of a modern high-speed forging press is hardly possible with the "far lDekanntenM8.niptilato.ren AU3 ^r said Sründ'en.

V, a significantly higher working speed is achieved by the invented Nanipul atorsteuer oht. is explained in more detail using the example Fi *? vv 1. -. _....: The axial pincer movement wi rd designed so that the · _f manipulator carriage 1 with a controlled average G-eschwindigkeit during a Purchgfvngea .hrt?. , and ^ .the pliers shaft "2 makes a relative movement to this, which represents the change in length as a result of the stretching for the duration of the pressing . is deformation of the Schmieäestü'ckes · '*' of the double-acting hydraulic cylinder to move freely, 'to this' to achieve the valves of the cylinders 3 of the press via hydroelektrische.Druckschalter must, - Removing ¹ achieved by the increase in pressure in the press cylinder when ''"■'pressing process, be brought into a position,. ,, which a. - ■ free drainage or specialist eyes of the hydraulic fluid ^; for both movements the cylinder 3 is allowed to ...; ■ During the, idle lift of the press, the: pliers shank _: backs the preselected feed rate ;; the accelerated and decelerated piece These are just a _hating: - a passage only the mass of the forceps shank 2, ■ -.:- and its drive 3 and the chuck 6 and the tool; means .daß- während-... Part of the entire Fanipula ^ .ormassev

In order to carry out such a control, the path of the manipulator carriage 1 and of the pliers shaft 2 is digitally recorded in such a way that digital path sensors 8 and. '9 in Figure 2 a pulse is emitted per millimeter. ":"'

038 22/0 03 5 '■ -

These impulses are made up of digital building blocks built counter 10 counted. The top. 8 and 9 coming impulses are taking into account the direction of movement added in the counter 1Q and set the absolute clamp travel represent. "

The: mean car speed is determined in such a way that that with springs press stroke the time is recorded. The ouotient

he feed, ie stroke ..

Stroke time - the last press stroke

forms the pulse variable of the speed control loop of the fanipulator car drive.

The calculation of the control deviation as a result of different Press life and speed fluctuation of the manipulator carriage drive happens as follows:

The feed movement takes place during the idle stroke of the press by a preselected amount. Era end of this movement will the position of the pliers shaft to the Hanipulatorwagen as a the path deviation; analog voltage tap at a post j | runningTootentiometer recorded to determine whether the G-eschpeople of the manipulator carriage was correct. Possibly becomes from the ouotient

v / e ^ difference '■

Time of the previous press stroke

the control deviation and thus the manipulated variable is determined, the for the. The next stroke is effective. Should the whole, the Z at p; axially available Be passed through the stroke without a pressing process taking place,

; 909822/0096

- 4 - BATHROOM

so is by anEnÄsc & aite / a? the Mani ^ tilairorwageEaii— .- · ■ drove switched off.- It also takes place, for {fen-case ₇ -that; -type of a 'w ^ e choseniT. Place a. Paragraph * - to be forged. ■. . ...-., ... .... .-.

While eating, is- d; e; ar "\ r © n, dem .SasgeTisicibaft-2 ■? ■ .--- · ._ infolje ^: äer Eectang a% sol" + e "path covered naofc -

Open the: Tares- Ϊ1 im der 7rrhleT ^r t2 ^ g & xPhlt -, - d ^ r. as a starting value c! ie; Ecrhl length d% s> - WeaifesiraQkea elBgegeiaen. wiir-- - äe _:. ..The barrel / raw length ratd ^ Hiaf.s; mumieriieir Eecirweg 'will -. _. . ■ ftjriJlenfend in äem VZffe ^ er \.? ZvytJieT ' 1? m $, t the: afesölirten "way. de ?? · Fe-nipTi ^ ctors Tergliefien .. A JIBereiri: B:; tiirmning both -.; value © is" the F "riterx-am .fftr the: T-lö -ßfcemäe «. .TJaiiiit- is.the *" r ^ ^T f ejp.iteft; ^ o ^ e ^ hen ,. des ^ «de: des ⁷ !» wrcH ^ ans indirectly to grasp ... . . - .. _% .. ... ... -. , .

Another VeriaesserTing of the ¹ . HanipOOiatören toeiannter,. ,;. Design type; should through 'das: - naefefol £ that €. ßeseiirie-toefie Terfab3r * en can be reached:; · ■ _, ...... ',, ........ ,, -

Zv. Beginning of one :; jedsn BüreJi ^ sngeiS will: m \. der Sehmiede: - .., ._-. presserrs-teTwr-mg; dier IFerf ßmcaics | iafe; iaiä the Beerh: ^; ssin ^ e - ^ presented Iz ¹ Z ^ FSV vie ^_difes:; er l> eii-e? i values? stelli7: the Ges: apthufe-. ·. der? resse ^: dar.

"· 3EV required Zangenhitb of Jianipulators is you" älfte ^T

J ^r Tjbes. Through a. Coaster will this ^r mrt? ϊ 1 dem Zancenschsfthii ^ payer as 8ol3wert e ^ ngefeber. the topi eißitslen ¹ ^! efnvfrehmeT ' aOfe ^ eftenen Tmmilfse nxt the SO Π "' he t nber tune, the ^ vtb ^^ enxar des- Zangenseh-8-ftes ap-n ^ et, while the press upper saddle is only half of the ^"r e ^ it zurue3cgelegt · hatv of course, the '■ TTj'biTesehvj'indigkeit MNSs τοη tongs shank in" ?, ranipulator pale ^(roi sem,?. "Opp lifting of ^ is the shaft 1 by two gJeichl na £ regulated TJubzylindeir 4 IMD 5 allows a -hibsteiiening 'nachgebeiade', that in de '^ b ~ s ° forth beira ^ nth Fani - nioht is present in the latter case the Yer2a is * ~.

309822/0095 - -, ■ —- ■ ..

- 5 - - ^Bm

- 5 ■ '-

^{1 of} the workpiece to half the penetration depth "during pressing, a resilient suspension of the pliers shaft" taken into account. "-Tiamit. Is only an IC ^-5 O-pen of the pliers shaft around the rear -lu.fh änsping possible This het under TJm stood en ζην " ^ olge, da !? bein "" ec ^ ohTtii eden the workpiece with every ¹ Vf over by p ^ ne "M a""

" ^! ) ire yielding electro-hydraulic G] ej r> hl Aufsteuer leads the 'Xa ^ ^ en sch« ft iiijmer hori zontal dera lowering! " the

ft en X n sh ft r or zonl ea ske der

Sc '^. Mi e ^: deRtvickacVise after. "The"Receiverfahre-'r provides that "I

der Zangehsenä'ft soy / ohl horizontal, air Huch trm e ^ .n ^ be '■■■■■

Btinnte "^ ^v /? Rvke'i gene ^^ t, '•: ehobei' ¹ or P '^ lowers can work« "'] s wi.rd the stroke differences ^ of cylinders 4 and 5 /.u"" ^ lQ ^ O ^ .l ^ nf- P ₆ VrO] ₁₁₁ -IrT-l'ieran ^ ezofren. ''""".rd trailer when the block on the Tinte.rsattel the Rchmi the cylinder edepresse drnclceint-Jastet. 4 as" .rird "this O-puckäuderung" so auß.gewertet that fler cylinder 5 is fixed in its position and Cylinder 4 is brought into Hchwiinmstellun-5-. We? ' ^ t sinh mm when pressing the Z'an ^ e-nsonaft; so serves dj e Hf'bdi.ff erenz lam., the cylinder ^ s ^ Xpnp'B to the vnre ^ ·] pnde ^ri 7y1 i ^Ti d er 4'uaoh, until d "^; e '(T? b (Hfferenz e.vüvoffl.iche. '^ ist. ^T '] rst nac ^ "Reendiöiunf des PT-R ^ ror <? qTi" eR both cylinders were rotated to raise the Schmie- J

each piece is supplied in the same way.

"Jurch dl öse VerfahrenT ¹ i.?t the Vorawssetzun.i · ¹ , for ^ ine automatic. Rnati raw .and. Sj ^r nchrone control of the 'ianiriulator jn Ab- fcüf · ■".-J-VrJ t _v of .-der Hchmi edepresse c - ^^ eber -, - di.S "es-.?; est: attet, c \ - '<π Tjö <^ li, ohe ..'[ub.fol" e. der f'-resse for ei.n.en-: "Ourp] ^ an.o ;; v.sj.l""

.iv- ^ iv WÜ ^ -ht BADORIGiNAL

9 O 3 8 2 JrI Ο'Ό 9 "5

Claims (1)

Claims - ■ :. I Ji 7 JDh Claim 1: "." ■ V " Process for the synchronous control of forging press and Forge manipulator, characterized in that the · " Manipulator with one for the lifting time and the one for the forge? work, the desired feed is constantly moved at a regulated medium speed, while the pliers 2 with the forging, perform an -.-_ ':. ζ intermittent movement to the carriage and thus the position required for the next press stroke in a shorter time than the entire' manipulator is · causes the acceleration of the pliers with the forging to the carriage by a pulse, which is discharged from the ^press: 3, which engage on the shank of the chuck 2 and are mounted in the manipulator carriage: by by Vo rs chub cylinders reach, as soon as the upper saddle * is raised so far that the still undeformed part of the Sehmied-e-piece has enough space between the upper and lower saddle ·, and the braking process of the feed cylinder from the feed counter connected to the "Z alleviate" after reaching the desired feed length is triggered * and then the forging rait the pliers does not move to the press, * 'although the manipulator continues to move steadily. Claim 2: Method according to claim 1, characterized in that in the cycle of the press strokes the tongs and the forging through two lifting cylinders 4 and 5, which work together or individually, to the extent that the still undeformed Part of the forging over the lower saddle of the press 909822/0095 ^.? F ~ : - r j- .. ■ -. ■■ ..- ■■■ - 2 -: ■ M; nweg ^ © can be and around the deformation stroke. ; Be lowered, with the Aufwartsbe-movement by a triggered by the pulse triggered RückzugderPresse · _ is IIIrd $ .ze Ah downward movement by ⁷ · a pulse ,: the. irii ümlfeehriJu ^ fe the press movement sander press. .- the P ^ one-time claims j and 2, thereby, .- ■ -. that ^^ = the end of the forging indirectly; . Λ by sensing the.halibeEL.Einzelreckwege from the absolutert : -._.-. ■■■■ _ '. Zangeitmobile during the press and after doubling ... and ;. _J Ä ^ siiru03üiier _; fi; n, auf dieJRohlaiige des Sehmiede play. ■ ..- ■; "is determined by, dies-eis rMa-SS-. :. £ Etäiidig mit.dena-abs'öiuten ... <i & S: Maraipulatprs ^^ is compared in the difference counter 13., ., ', -. In both ways the press stopped and ...... again ¹ in initial position for the next. , Neuwied, January 14th »64 li / p. Blank page