DE202020100030U1 - Manipulation device for handling a workpiece to be formed by a forming tool - Google Patents

Abstract

Manipulation device for handling a workpiece (35) to be formed by a forming tool (43), the workpiece (35) expanding in at least one direction (21) during the forming due to the change in shape and having at least one handling section (26), which manipulation device is a base frame (12), characterized in that the manipulation device (1) also has a gripper (3) for connecting the gripper (3) to the handling section (26) of the workpiece (35) in a motion-locked manner in the expansion direction (21), that the gripper ( 3) is guided in a translatory manner with respect to the base frame (12) in the expansion direction (21) and that fixing means are provided with which the gripper (3) can be fixed with respect to the base frame (12).

Description

The invention relates to a manipulation device for handling a workpiece to be formed by a forming tool, the workpiece expanding in at least one direction during the forming due to the change in shape and having at least one handling section, which manipulation device comprises a base frame.

Robots are used as handling devices for the automated handling of workpieces. Workpieces can be picked up by a robot, inserted into a tool and then deposited elsewhere. For this purpose, a robot has a manipulation device with which a connection between the robot and the workpiece can be established. To move the workpiece in space, the manipulation device is connected to a robot arm. This enables movement in space in typically several degrees of freedom.

Another area of application for robots is the handling of workpieces as part of a forming process, such as a hammer forging process. A workpiece, for example a forming blank, is introduced into a forming tool by the robot, formed by one or more forming steps and then passed on to the next process step. When handling a workpiece in connection with a forming process in which the workpiece is held by the manipulation device, its expansion due to the change in shape transverse to the forming direction must be taken into account. This can vary from workpiece to workpiece. It must be avoided that the forces developed by the change in shape act on the mechanics associated with the robot, since otherwise the robot could be damaged or even destroyed. In addition, the main task of the robot with its manipulation device is the defined positioning of the workpiece, both in the die of the forming tool and in feeding it to downstream processing stations. For this reason, the position of the workpiece in space should be known to the robot or to the control unit associated with the robot. An example of a workpiece produced by hammer forging is a connecting rod for an internal combustion engine.

Robots are known from the prior art which, with a manipulation device formed by a base frame and connected to a robot arm, hold a workpiece in receptacles at two oppositely formed, opposite, end-side handling sections - also called handling ends. The handling sections themselves are not reshaped by the reshaping tool. As a result of the forming process, the workpiece expands in the direction of its two handling sections and thus also in the direction of the two receptacles of the robot base frame, so that the handling sections are moved away from one another by the expansion of the workpiece. In order to decouple the expansion of the workpiece from the robot during the forming process, the workpiece is only loosely held in the direction of expansion in the receptacles on both sides of the base frame. In this way, the handling sections of the workpiece gradually slide into the receptacles during the forming process. The base frame is typically cushioned with respect to the robot by one or more elastomer bearings. These then take up part of the expansion of the workpiece.

This prior art has disadvantages. On the one hand, the workpiece must be held on both sides. As a result, losses in the free manageability of the workpiece in space have to be accepted. On the other hand, the compulsory provision of a long, uniformly designed handling section in the direction of expansion is felt to be restrictive, which, however, is necessary so that it is always movable in the direction of expansion in the receptacle. It can also happen that, due to the size of the workpiece and the reshaping process to be carried out, the handling section also indirectly undergoes a certain reshaping. This can hinder free movement of the same in the receptacle of the base frame. If larger workpieces are to be formed, it is also necessary to use two robots to pick up a workpiece on both sides in order to be able to position it in a correspondingly large forming tool.

Against this background, it is the object of the present invention to propose a manipulation device with which a workpiece can be held and handled and with which in particular the disadvantages indicated above are overcome.

This object is achieved by a generic manipulation device mentioned at the outset, in which this also has a gripper for connecting the gripper to the handling section of the workpiece in a motion-locked manner in the expansion direction, in which the gripper is guided in a translatory manner relative to the base frame in the expansion direction and in which fixing means are provided with which the gripper can be fixed in relation to the base frame.

Advantageous designs result from the description and from the subclaims to which reference is made at this point.

In the explanations below, the term direction of expansion means the direction in which the expansion of the workpiece acts on its handling section during the forming process.

According to the invention it is provided that the base frame has a gripper. The gripper connects the handling section of the workpiece to the base frame in that the gripper grips the handling section of the workpiece in a motion-locked manner. As a result of this connection of the gripper to the handling section, the gripper is moved along with the expansion of the workpiece when it is reshaped. The motion-locked connection of the gripper to the handling section takes place in a frictional and / or form-locking manner. In a preferred embodiment, it is provided that the gripper grips the handling section in a form-fitting manner in the direction of expansion, for example by pressing an edge of the gripper into the lateral surface of the handling section.

To compensate for the expansion movement, the gripper is guided in a translatory manner in the expansion direction with respect to the base frame while the workpiece is being reshaped. This decouples the base frame from the expansion movement of the workpiece. Forces caused by the change in shape of the workpiece therefore do not act on the base frame and thus also not on a robot arm to which the base frame may be connected. A change in length of the workpiece in the direction of expansion is compensated for by the translational guide. The state in which the gripper is guided in relation to the base frame is referred to below as the loose state.

To handle the workpiece when it is not being reshaped, fixing means are provided with which the gripper can be fixed with respect to the base frame. In this way, the translational adjustability of the gripper relative to the base frame is prevented, so that the workpiece can be moved in space by the robot without the gripper being displaced relative to the base frame. This allows an exact positioning of the workpiece for a subsequent process step, for example the insertion of the same into a die or the feeding of the reshaped workpiece to a subsequent automated processing station. Handling is required, for example, to ventilate the workpiece between two forming steps. The configuration with the gripper fixed in relation to the base frame is referred to below as the locked state.

The advantage of this manipulation device is that the workpiece basically only needs to be gripped at a single handling end and that this can not only be held by the manipulation device, but also freely manipulated in space. Since the workpiece is gripped with fluid movement at its handling section, it does not need to meet any special geometric requirements. The handling section can also be designed to be short in the direction of expansion, thus corresponding to the length with which the gripper grips the handling section, so that material and thus also the weight to be handled can be saved. The fixing means of the manipulation device can actively influence the movement of the gripper with respect to the base frame in the direction of expansion. In combination with the motion-locked connection between the gripper and the handling section of the workpiece, the exact position of the workpiece can be determined.

In a preferred embodiment it is provided that the gripper has at least two jaw parts as a gripping device. The jaw parts each have a workpiece holder which extends in the direction of extension and which can be adjusted opposite one another in the manner of pliers in order to grip the handling section of the workpiece. By means of a tong-like arrangement, the gripper can be opened or closed in a simple manner and in a process-reliable manner, so that a connection with the handling section of the workpiece can be easily established or released. In particular, by means of a lever arm formed by this arrangement, large forces acting on the handling section are possible with, at the same time, a low expenditure of force on the part of the actuator actuating the gripper. This enables particularly secure gripping of the handling section, so that there is a stable connection between the handling section and the gripper. Two opposite jaw parts are sufficient for safe handling, even if three or more jaw parts separated from one another can be used. The cross-sectional geometry of the workpiece holders of the jaw parts complement each other according to the handling section to be picked up.

It is advantageous if the jaw parts are arranged in such a way that the workpiece mounts of the jaw parts are arranged one above the other in the direction of gravity. A workpiece holder of at least one first jaw part then supports the handling section and the workpiece formed thereon in the direction of gravity and one Workpiece holder from at least one further jaw part counter to the direction of gravity. It is preferred that the handling section is supported in the direction of gravity only by a workpiece holder of a jaw part. By separating the gripping device provided by the jaw parts in a plane which is essentially normal to the direction of gravity, the handling section is kept particularly effective: the center of gravity of the workpiece is removed from the handling section; normally the handling section is arranged at a longitudinal axial end of the workpiece as the handling end. Due to the off-center gripping of the workpiece in relation to its center of gravity, a torque acts on the workpiece holders. This is converted in the workpiece holders extending in the direction of expansion into forces that point in and opposite to the direction of gravity. This leads to a torque in the handling section through which this tends to wedge itself in the closed gripper. If the gripper is set up to open the jaw parts in and against the direction of gravity, the forces introduced into the jaw parts by the weight of the workpiece are transferred to the base frame via an already existing and powerful opening mechanism of the gripping device.

For improved gripping of the handling section, it can be provided that the workpiece holder of at least one jaw part has a trapezoidal cross-sectional geometry. This is particularly advantageous when the handling section has a round cross-section, such as a circular or oval cross-section. Other geometric cross-sectional shapes of the handling section are also conceivable. The cross-sectional shape of the other jaw part should differ from the trapezoidal shape of the first jaw part. The distance between the two inclined legs of the trapezoidal cross-sectional shape of the one cheek part is matched to the relevant diameter of the handling section, specifically in such a way that it rests with its outer surface on the inclined flanks. This results in two line contacts between the cheek part and the handling section. In this way, force is concentrated and centered.

It is advantageous if the handling section to be received in the gripping device is oval, preferably only slightly oval. The handling section is typically formed in connection with the preparation of the forming blank, i.e. in a process step that is carried out anyway to form the forming blank - the workpiece, for example rolling, for example forging rolling. By machining a workpiece blank in this way, the handling section inevitably has a slightly oval cross-sectional shape, the long axis of the oval handling section being in the plane of the shaping blank. Due to the out-of-roundness of the handling section, it aligns itself automatically with respect to its position about its axial axis when the gripping device is closed. The orientation in which the handling section and thus also the workpiece is oriented depends on the dimensioning of the trapezoidal design of the receiving cross-section of the workpiece holder on the one hand and the handling section on the other. If the trapezoidal shape is wider than it is high, a handling section which has a larger diameter in the horizontal extension than in the vertical extension is oriented horizontally. The same applies if the design is reversed. In this way, a fundamentally undesirable out-of-roundness can advantageously be used for the exact positioning.

The workpiece holder of at least one jaw part can have an increasing cross-sectional geometry in the direction of expansion. The inside diameter and thus the clear width of the receptacle of the jaw part in the expansion direction of the workpiece become larger due to the increasing cross-section of the receptacle. In this way there is a concentration of force of the closing force for gripping the handling section in a tong-like manner on the front end section of this jaw part facing the workpiece. This can be used to press an edge protruding into the receiving cavity of the receiving part of this jaw part into the lateral surface of the handling section. The expansion of the workpiece then acts against this jaw part, so that a particularly secure connection to the handling section with positive movement is guaranteed. If a claw edge is provided, its effective surface is aligned transversely to the direction of expansion. The edge enables a flat form fit between the cheek part and the handling section. It is advantageous if the clawing edge follows the contour of the handling section at least in some areas and the clear width of the area enclosed by the clawing edge is smaller than the complementary lateral surface section of the handling section that is gripped. Then the claw edge is pressed into the handling section when the gripping device is closed. For this purpose, it is preferably provided that the claw edge is only narrow in the direction of extent of the workpiece. If the workpiece is heated, which is typically done for the forming process, the claw edge can be pressed into the red-hot component with relatively low forces. It is also possible that the claw edge has one or more Has tips with which a cold handling section can be penetrated at least in sections in order to enable a form fit.

A linear bearing can be provided in order to guide the gripper in a translatory manner with respect to the base frame. The direction of guidance of the linear bearing corresponds to the direction of expansion. Such a linear bearing can be designed as a ball bearing or as a plain bearing. The linear bearing is preferably formed by a bearing bush with a bearing rod that corresponds to this. To support the gripper against a movement about the longitudinal axis of the bearing rod, the bearing rod, like the bearing bush, can be equipped with a complementary profile. It is possible, for example, for the bearing rod to have a groove which engages in a rib or a projection fixed on the linear bearing.

To lock the gripper in relation to the base frame, at least one clamping jaw acting on the bearing rod can be used as a fixing means. Due to the fixation of the gripper with respect to the base frame, safe handling of the workpiece can be ensured, for example repositioning the workpiece in the die of the forming tool or in another receptacle associated with a next process step. In this embodiment, the length of the bearing rod is decisive for the possible absolute expansion of the workpiece in the expansion direction.

Another possibility of establishing the locked state between the gripper and the base frame is that the translational guidance of the gripper is limited by a stop and the manipulation device has adjusting means with which the gripper can be adjusted up to the stop. Then, in order to establish the locked state, the gripper can be moved against the stop by means of the adjusting means or means and held there by the adjusting means or means.

In addition, the design of the manipulation device described above can be provided so that the translational movement of the gripper with respect to the base frame in the direction of expansion - when in the loose state - can be detected. The translational movement of the gripper during the forming process with respect to an initial position established with respect to the base frame can be recorded electronically, for example, by means of a linear encoder assigned to the manipulation device. Any other electronic recording of the distance covered by the gripper in the course of the expansion of the workpiece is also conceivable. The adjustment amount recorded can be used, for example, to monitor the forming process during a forming step. The detected adjustment amount can also be used in a manipulation device in which the workpiece is inserted several times into one and the same die in connection with a reshaping of the same, such as in hammer forging, to restore the starting position of the gripper. If the gripper is translationally displaced in the direction of expansion due to the expansion of the workpiece, the gripper is moved backwards by means of the adjusting means in order to restore the starting position. This is typically provided by a stop that delimits the translational guide and is fixed with respect to the base frame, as can also be used, for example, to establish the locked state. This enables positive positioning of the gripper, which is highly precise. The linear encoder can be reset to its zero state in the initial position. Since the workpiece is not in the correct position with respect to the die in this position, the base frame is moved by exactly the amount of adjustment of the gripper relative to the base frame in the opposite direction in which the gripper was returned to its starting position, and thus in the direction of expansion . In this way, the total of the workpiece has not moved in space. The translational path to be provided by the linear bearing only needs to be short with such a design of the manipulation device, for example of an order of magnitude that corresponds to the expansion of the workpiece acting on the handling section and pointing in the direction of expansion during a forming step. Depending on the design of the forming process, it can be useful to consider the change in length of several forming steps. Overall, this has a positive effect on a desired rigid mounting.

In a preferred embodiment it is provided that the movement of the gripper and the base frame takes place simultaneously, that is to say: simultaneously. This shortens the process time, among other things.

The adjusting means for moving the gripper with respect to the base frame can be a stepping motor, a hydraulic cylinder or the like. It is preferred to use a pneumatic cylinder. Pneumatic control is useful because it is already available in the usual industrial environments. To fix the gripper in relation to the base frame, the pneumatic cylinder acts on the gripper, while the gripper is supported on the stop described above.

It is advantageous if the gripper is connected to the base frame via an elastomeric bearing. An elastomeric bearing can for example be provided by rubber sleeves. A such a bearing can reversibly absorb impulsive impacts. In this way, impacts introduced into the handling section of a workpiece in the course of a forming process can be cushioned relative to the base frame and thus also relative to the robot arm to which the base frame can be connected. An adjustment of the gripper with respect to the base frame advantageously does not act on the elastomeric bearing. This movement is compensated for by the translational guidance of the gripper in relation to the base frame.

For the handling of the workpiece, it is expedient that the gripper is pivotably mounted relative to the base frame transversely to the direction of expansion. In this way, movements that act on the gripper through the forming process via the workpiece and that have a vectorial component that is not directed in the direction of expansion are absorbed. If the gripper is connected to the base frame via an elastomeric bearing, it is advisable in the case of a pivotable connection of the gripper to the base frame to design this bearing as an elastomeric pivot bearing. Movements that do not act in the expansion direction are then absorbed in the elastomer element of the elastomer pivot bearing.

If the gripper is pivotably articulated to the base frame, fixing means are provided which fix the gripper with respect to its pivoting movement with respect to the base frame.

This can be done, for example, by means of a base fixed to the base frame, on which the gripper is supported at a distance from the pivot axis. If the workpiece is handled by the manipulation device, the gripper is supported by gravity due to its weight and the workpiece carried by it on the pedestal, so that the pedestal provides a means of fixing with respect to the pivot axis. Once the workpiece has been placed in the forming tool, the base is turned away around the pivot axis by a corresponding movement of the robot arm. It can be helpful if the gripper is also positively connected to the base at right angles to the direction of expansion. For this purpose, the base can have projections or recesses into which the gripper can engage in a complementary manner.

So that when the gripper is pivoted to the base frame, the entire expansion movement is included in the translational adjustment of the gripper with respect to the subframe, the longitudinal axis of the linear bearing, for example the longitudinal axis of the bearing rod or the complementary bearing bushing, is aligned in such a way that it intersects the pivot axis.

Typically, such a manipulation device, as described above, is connected to the robot arm of a robot designed as a handling apparatus. This is useful because such a robot arm can be moved in several degrees of freedom, so that it not only adjusts the base frame in the direction of extension, but also moves the workpiece as a whole in the required degrees of freedom, for example for venting after a forging step or for relocating the same.

• - bewegungsschlüssiges Greifen des Werkstücks mittels des Greifers,
• - Handhaben des Werkstücks mit dem gegenüber dem Grundgestell fixierten Greifer,
• - Umformen des Werkstücks in einem Umformwerkzeug, wodurch sich das Werkstück durch die Formänderung in zumindest eine Richtung ausdehnt, sodass der Greifer translatorisch in die Ausdehnungsrichtung gegenüber dem Grundgestell verschoben wird und
• - weiteres Handhaben des Werkstücks, mit dem gegenüber dem Grundgestell fixierten Greifer.

According to a preferred embodiment of the invention, the manipulation device operates with a manipulation device having a base frame and a gripper that is guided in translation with respect to the base frame for handling a workpiece, according to a method comprising the following steps:

• - motion-locked gripping of the workpiece by means of the gripper,
• - Handling of the workpiece with the gripper fixed in relation to the base frame,
• - Reshaping the workpiece in a forming tool, whereby the workpiece expands in at least one direction due to the change in shape, so that the gripper is displaced translationally in the expansion direction with respect to the base frame and
• - further handling of the workpiece with the gripper fixed in relation to the base frame.

It is preferably provided that the translational path, which the gripper is shifted during the forming process with respect to its starting position defined by a stop relative to the base frame, is determined and, in order to restore the starting position, the gripper is moved into its starting position against the direction of expansion and the base frame around the determined path is moved in the direction of expansion.

It is advantageous if the gripper and the base frame are moved at the same time.

• 1: eine erfindungsgemäße Manipulationsvorrichtung, angeschlossen an einen schematisiert dargestellten Roboterarm in einer perspektivischen Ansicht in einem Arretierzustand,
• 2: eine perspektivische Detailansicht der Backenteile des Greifers der Manipulationsvorrichtung der 1,
• 3: eine Schnittdarstellung durch den in 2 gezeigten Greifer in einer ersten Stellung,
• 4: der Greifer der 3 mit einem von diesen ergriffenen Handhabungsabschnitt eines Werkstückes,
• 5: die Manipulationsvorrichtung der 1 in der Stellung seines Greifers gemäß 4 mit dem Greifer in seinem Loszustand gegenüber dem Gestell,
• 6: die Manipulationsvorrichtung der 5 mit ihrem Greifer in einem Arretierzustand gegenüber dem Grundgestell,
• 7: eine geschnittene Seitenansicht der Manipulationsvorrichtung im Loszustand und,
• 8-10: eine Figurenfolge, darstellend die Arbeitsweise der Manipulationsvorrichtung auf Grundlage der Darstellung derselben der 7 beim Umformen eines von der Manipulationsvorrichtung gehaltenen Werkstückes.

The invention is described below using an exemplary embodiment. Show it:

• 1 : a manipulation device according to the invention, connected to a schematically represented robot arm in a perspective view in a locked state,
• 2 : a perspective detailed view of the jaw parts of the gripper of the manipulation device of FIG 1 ,
• 3 : a sectional view through the in 2 shown gripper in a first position,
• 4th : the gripper of the 3 with one of these gripped handling section of a workpiece,
• 5 : the manipulation device of the 1 in the position of his gripper according to 4th with the gripper in its loose state in relation to the frame,
• 6th : the manipulation device of the 5 with their gripper in a locked state with respect to the base frame,
• 7th : a sectional side view of the manipulation device in the loose state and,
• 8-10 : a sequence of figures showing the operation of the manipulation device on the basis of the representation of the same from FIG 7th when reshaping a workpiece held by the manipulation device.

1 shows a manipulation device 1 . The manipulation device 1 includes a base frame 2 as well as a gripper 3 and is by means of a connection plate 4th to a robot arm, which is only shown schematically 5 a robot, not shown in detail, connected as a handling device. To the connection plate 4th is the manipulation device 1 connected by screw elements not shown, the openings 6th sweeping. This is the base frame 2 regarding all through the robotic arm 5 exercisable degrees of freedom fixed on this.

To the base frame 2 is the gripper 3 connected. The gripper 3 is designed like pliers, comprising two pliers legs 7th , 8th . These are against each other in a swivel joint 9 rotatably mounted and through this in each case in a first leg section 10 , 10 ' and a second leg portion 11 , 11 ' divided. The first leg section 10 , 10 ' is many times longer than the second leg section 11 , 11 ' . To operate the gripper 3 become the free ends of the first leg sections 10 , 10 ' the thigh 7th , 8th by means of an actuator 12th , here a pneumatic cylinder, moved against each other. The actuator 12th comprises in this embodiment a cylinder housing 13th as well as one opposite the housing 13th translationally movable piston rod 14th . The case 13th is with the free end of a first leg section 10 ' of a pliers leg 8th connected. The free end of the piston rod 14th with the free end of the other first leg section 10 of the other pliers leg 7th connected. By a translatory movement of the piston rod 14th opposite the housing 13th become the ends of the pliers legs 7th , 8th depending on the control of the actuator 12th moved towards or away from each other. At the free ends of the second leg sections 11 , 11 ' are two, one gripping device 15th forming cheek parts 16 , 17th connected. The cheek parts 16 , 17th each have a workpiece holder 18th , 19th on. In the gripping device 15th , therefore between the cheek parts 16 , 17th a handling portion of a workpiece can be held.

The base frame 2 and the gripper 3 have recesses recognizable in their flat structures 20th on, whereby a truss structure is provided. Such a truss structure is weight-saving, so that the base frame 2 is weight-optimized. For a movement of the manipulation device 1 therefore less energy is required.

The 2 to 4th show different views of the gripping device 15th forming cheek parts 16 , 17th .

In 2 is among other things the lower cheek part 16 recognizable. Its workpiece holder 18th is in their inside, therefore to the workpiece holder 19th of the upper cheek part 17th pointing cross-sectional geometry designed trapezoidal. In the direction of expansion 21 one from the gripping device 15th held workpiece to be formed is the workpiece holder 18th of the lower cheek part 16 designed with the same cross-sectional geometry and dimensions. If the handling section of the workpiece, which is not shown in this figure, is round or oval, the trapezoidal shape creates two line contacts between the handling section and this workpiece holder 18th guaranteed. In this context, it goes without saying that the diameter of the handling section depends on the width of the workpiece holder 18th is coordinated, that is, on the lateral surfaces of the handling section of a workpiece, the inclined flanks of the workpiece holder, which is trapezoidal in cross section 18th issue.

3 shows a cross section through the gripping device 15th . The upper cheek part 17th shows one in the direction of expansion 21 enlarging workpiece holder 19th on. While the workpiece is being picked up 19th of the upper cheek part 17th at its end pointing away from the workpiece, not shown 22nd has a large receiving cross-sectional area, it has at the end facing the workpiece, not shown 23 a smaller cross-sectional area. In addition, there is a claw edge in this exemplary embodiment 24 at this end 23 provided to the workpiece holder 18th of the lower cheek part 16 shows. The claw edge 24 represents transverse to the direction of expansion 21 a stop surface ready. The claw edge 24 has an arc-shaped contour on the underside 25th on. This follows the contour of one in the gripping device 15th to be determined handling section 26th (please refer 4th ).

The tapered end 23 the workpiece holder 19th with their claw edge 24 of the upper cheek part 16 is opposite the workpiece holder 18th of the lower cheek part 17th set back. Due to the center of gravity of the gripping device 15th The resulting connection of the held workpiece becomes the claw edge 24 already due to the weight of the workpiece and the wedging of the handling section 26th between the jaw parts 17th , 18th additionally in the handling section 26th pressed in.

4th shows the on a handling section 26th motion-locked gripping device 15th . The handling section 26th is, just like the workpiece formed thereon, heated to red annealing temperature for the forming step to be carried out. It can be seen that the claw edge 24 the workpiece holder 19th of the upper cheek part 17th as a result of actuation of the actuator 12th to close the jaw parts 17th , 18th into the lateral surface of the handling section 26th was pressed in. In this way there is a form fit between the gripper 3 and the handling section 26th produced.

It is advantageous that the parting plane of the gripping device 15th between the lower jaw part 16 and the upper cheek part 17th normal to the direction of gravity 28 is. In this way, the force, resulting from the weight torque of the workpiece, not shown in detail, is generated by means of the tong legs, which are already stable 7th , 8th compared to the manipulation device 1 supported.

The cheek parts 16 , 17th are by means of fasteners 29 , for example pins, on the gripper 3 connected. The jaw parts 16 , 17th be pivoted to a limited extent, so that the workpiece holders 18th , 19th to the outer contour of the handling section 26th can adjust slightly. Such a pivotability of the jaw parts 16 , 17th but only goes so far that the claw edge 24 with its vertical axis perpendicular to the lateral surface of the handling section 26th remains aligned, therefore at an angle between 85 and 95 °. The above-described connection of the jaw parts ensures that they can also be exchanged without any problems and exchanged by others. It is also possible to use the cheek parts 16 , 17th made of a different material than the pliers legs 7th , 8th , for example from a high-strength and, above all, temperature-resistant material.

The base frame 2 also has an in 5 recognizable pedestal 30th . On this pedestal 30th lies the gripper 3 on when a workpiece (in this figure based on its handling section 26th recognizable) handled, therefore should be moved in space. The pedestal 30th has in the direction of extent 21 open recesses 31 into which the gripper 3 form-fitting with the leg sections 10 ' of the pliers leg 8th can intervene when on the pedestal 30th overlying (see 6th ). This is the gripper 3 across the direction of expansion 21 form-fit to the base frame 2 connected. A fixation of the gripper 3 opposite the pedestal 30th in the direction of gravity 28 does not have to be done, since the workpiece, not shown in detail, has a sufficiently high weight.

7th shows a sectional side view of the manipulation device 1 . The connection of the gripper can be seen 3 on the base frame 2 . The gripper 3 is by means of a linear bearing 32 , comprising a bearing rod 33 and a bearing bush that leads in translation 34 , opposite the base frame 2 in the direction of expansion 21 guided. In the loose state, this results in the expansion of a workpiece 35 in the direction of expansion 21 compared to the base frame 2 compensated. In the figure is the gripper 3 already in the direction of expansion 21 compared to the base frame 2 postponed. For translational guidance of the gripper 3 reaches through the bearing rod 33 the bearing bush 34 . The bearing bush 34 is with the interposition of elastomeric bearings 37 on both sides by means of swivel bearings 32 , of which the pivot center is indicated with this reference number in the figure, to the base frame 2 connected. That’s the grapple 3 via the pivot bearing 38 to the base frame 2 connected. The swivel bearings 38 hold the bearing bush 34 transversely to the guide direction of the linear bearing 32 and form the counter-bearing of the bearing bush, which acts in the guide direction 34 . The swivel axis is aligned with the axial guide axis of the linear bearing 32 . To limit the translational guidance of the bearing rod 33 opposite the bearing bush 34 A stop is used in the direction of expansion 36 . To limit the translational movement of the gripper 3 compared to the base frame 2 against the direction of expansion 21 points the bearing rod 33 on hers from the gripper 3 groundbreaking end another stop 39 on.

For active adjustment of the gripper 3 along the linear bearing 32 are adjusting agents 40 , in this embodiment in the form of a further pneumatic cylinder with a piston rod 41 as well as a housing 42 intended. The actuating agent 40 is in terms of its effective direction in the guide direction of the linear bearing 35 aligned. The piston rod 41 is to the gripper 3 connected. The case 42 is opposite the base frame 2 set, in this embodiment, by attaching it to the bearing bush 34 connected. The actuating agent thus works 40 directly on the gripper 3 without one any flexibility of the elastomeric bearings 37 to have to accept.

While in the loose state the actuating means 40 a translational movement of the gripper 3 in the direction of expansion 21 because deactivated, do not oppose this, they are in the locked state in which the manipulation device 1 a workpiece (in 7th through the handling section 26th indicated) can handle, as part of the fixing means for fixing the gripper 3 compared to the base frame 2 used. The adjusting means act for this purpose 40 on the gripper 3 so that the bearing rod 33 with one of their attacks 36 , 39 on the bearing bush 34 and the gripper 3 so compared to the actuating agent 40 can support. That way is the grapple 3 opposite the base frame 2 fixed. With regard to the weight distribution, it is advantageous for handling a workpiece if the gripper 3 in the direction of expansion 21 is moved so that the bearing rod 33 with their stop pointing towards the workpiece 36 on the bearing bush 34 is applied. Nevertheless, there is the possibility of using the gripper 3 against the direction of expansion 21 to move so that the bearing rod 33 with their stop pointing away from the workpiece 39 on the bearing bush 34 is applied. In this way, too, a workpiece can be passed through the manipulation device 1 be handled. The gripper 3 is located with respect to its translational guidance opposite the base frame 2 in its starting position prepared for the forming process.

The 8th to 10 illustrate process steps for handling a workpiece 35 by means of a to a robotic arm 5 connected manipulation device 1 if this is in a forming tool 43 is to be reshaped. The forming tool 43 has a lower part 44 as well as a top 45 on. These are a lower and an upper die. These are in relation to each other in the deformation direction, here the direction of gravity 28 corresponds, movable and designed to the workpiece 35 to reshape in this direction. Even if shown differently in the sequence of figures, the lower part 44 also be dormant, opposite which only the upper part 45 is moved. The workpiece 35 is with the grapple 3 motion-locked connected, respectively: the handling section 26th is in the gripping device 15th between the jaw parts 16 , 17th held in the corresponding workpiece holders.

8th shows the manipulation device 1 in its locked state, in which the stop 36 on the housing of the pivot bearing 34 is present, which locking state is also the starting position of the gripper 3 compared to the base frame 2 corresponds to. The bearing rod 33 is with her stop 36 to the bearing bush 34 by the actuating means 40 moved up, causing the gripper 3 compared to the base frame 2 in the direction of expansion 21 is fixed. In addition is the gripper 3 by means of the pedestal 30th in the direction of gravity 28 supported. That way is the grapple 3 together with the workpiece to be handled 35 compared to the base frame 2 fixed and can be used with the robot arm 5 be moved in space.

For reshaping the workpiece 35 becomes the manipulation device 1 brought into their lot state. For this purpose, the fixation means that the gripper 3 compared to the base frame 2 in the direction of expansion 21 Freeze, disabled. In this exemplary embodiment, the pneumatic cylinder is vented for this purpose. For decoupling the pedestal 30th from the gripper 3 becomes the workpiece 35 initially positioned so that this is through the lower part 44 of the forming tool 43 in the direction of gravity 28 is supported, it should be with the lower part 44 not already dealing with the stationary die part. Then the base frame 2 around the pivot bearing 38 from the gripper 3 swiveled away so that the pedestal 30th from the gripper 3 in the direction of gravity 28 is swiveled away (see 9 ).

The workpiece expands as a result of a forming step 35 across the forming direction. On the handling section 26th the expansion takes place in the direction of expansion 21 . This can be 30 mm and more.

9 shows the state after the forming step has been carried out. As if by the dashed, vertical, on the workpiece 35 related lines L ₁ , L ₂ made clear, the workpiece has 35 in the direction of expansion 21 expanded and has become flatter in the forming direction. Due to the expansion of the workpiece 35 is the gripper 3 in the direction of expansion 21 has been moved from its starting position, as indicated by the dashed, vertical line L ₃ based on the lower jaw part 16 becomes clear. The base frame 2 is because the robot or the robot arm 5 forms the abutment, but remained in its position, as indicated by the dashed, vertical line L ₄ based on the bearing bush 34 of the linear bearing 32 , is made clear. The offset of the gripper 3 compared to the base frame 2 in the direction of expansion 21 can also be seen in the fact that the work piece 35 groundbreaking stop 36 the bearing rod 33 in 9 from one end of the bearing bush 34 away. Instead it is the one for the workpiece 35 indicative stop 39 the bearing rod 33 to the bearing bush 34 moved there.

10 shows the state 9 subsequent renewed locking state in which the workpiece 35 can be handled and in which the gripper 3 has also been returned to its original position. This is what the gripper is for 3 by means of the adjusting means 40 against the direction of expansion 21 been reversed until that of the workpiece 35 groundbreaking stop 36 the bearing rod 33 on the bearing bush 34 is applied. This is the gripper 3 compared to the base frame 2 fixed. At the same time is the only schematically shown robot arm 5 together with the base frame 2 in the direction of expansion 21 by the same path as the grapple 3 compared to the base frame 2 has been adjusted. To determine the path that the robotic arm will take 5 the base frame 2 in the direction of expansion 21 must move, the translational path of the gripper was 3 compared to the base frame 2 caused by the expansion of the workpiece 35 before moving the gripper 3 by means of a linear encoder 46 detected. In this exemplary embodiment, this is done by detecting the travel of the second piston rod 41 of the adjusting agent 40 opposite the housing 42 .

The synopsis shows the 8th to 10 that the workpiece 35 with its center always in the same position within the forming tool 43 remains. This is done by providing a path on the part of the gripper 3 compared to the base frame 2 possible in the form of translational guidance. This manipulation device can therefore be used for forming 1 by several forging steps in the same form, carried out as hammer forging.

The invention is described using an exemplary embodiment. For the person skilled in the art, there are numerous further refinements to implement the idea of the invention without departing from the applicable scope of protection described by the claims, even if these are not explained in the context of these explanations.

List of reference symbols

1

Manipulation device

2

Base frame

3

Grapple

4th

Connection plate

5

Robotic arm

6th

Breakthrough

7, 8

Pliers legs

9

Swivel bearing

10, 10 '

first leg section

11, 11 '

second leg section

12th

Actuator

13th

casing

14th

first piston rod

15th

Gripping device

16

first cheek part

17th

second cheek part

18th

Workpiece holder from 16

19th

Workpiece holder from 17

20th

Recess

21

Direction of expansion

22, 23

End of 16

24

Claw edge

25th

Contour of 24

26th

Handling section

27

Ends of 17th

28

Direction of gravity

29

Fasteners

30th

Pedestal

31

Recess

32

Linear bearings

33

Bearing rod

34

Bearing bush

35

workpiece

36, 39

attack

37

Elastomer bearings

38

Swivel bearing

40

Thickening agent

41

second piston rod

42

casing

43

Forming tool

44

Lower part of 43

45

Top of 43

46

Linear encoder

L1 - L4

Lines

Claims (17)

Manipulation device for handling a workpiece (35) to be formed by a forming tool (43), the workpiece (35) expanding in at least one direction (21) during the forming due to the change in shape and having at least one handling section (26), which manipulation device is a base frame (12), characterized in that the manipulation device (1) further comprises a gripper (3) for locking movement in the direction of extension (21) Connecting the gripper (3) to the handling section (26) of the workpiece (35) means that the gripper (3) is guided in a translatory manner with respect to the base frame (12) in the direction of extension (21) and that fixing means are provided with which the gripper ( 3) can be fixed relative to the base frame (12). Manipulation device according to Claim 1 , characterized in that the gripper (3) for handling the workpiece (35) grips the handling section (26) in a form-fitting manner in the expansion direction (21). Manipulation device according to one of the Claims 1 or 2 , characterized in that the gripper (3) as a gripping device (15) has at least two mutually adjustable jaw parts (16, 17) each with a workpiece holder (18, 19) for gripping the handling section (26) of the workpiece (35). Manipulation device according to Claim 3 , characterized in that the workpiece holder (18, 19) of the jaw parts (16, 17) are arranged one above the other in the direction of gravity. Manipulation device according to Claim 3 or 4th , characterized in that the workpiece holder (18) of at least one jaw part (16) has a trapezoidal cross-sectional geometry. Manipulation device according to one of the Claims 3 to 5 , characterized in that the workpiece holder (19) of at least one jaw part (17) has a cross-sectional geometry (19) which increases in the direction of expansion (21). Manipulation device according to Claim 6 , characterized in that the workpiece holder (19) of at least one jaw part (17) has at its tapered end (23) a clawing edge (24) pointing towards the at least one further jaw part (16). Manipulation device according to one of the Claims 1 to 7th , characterized in that the gripper (3) is guided opposite the base frame (12) in a linear bearing (32) comprising a bearing bush (34) and a bearing rod (33). Manipulation device according to Claim 8 , characterized in that the gripper can be fixed in relation to the base frame by means of at least one clamping jaw acting on the bearing rod. Manipulation device according to one of the Claims 1 to 9 , characterized in that the manipulation device (1) is assigned a linear encoder (46) for measuring the translational movement of the gripper (3) in the expansion direction (21) and that adjusting means (40) are provided with which the gripper (3) at least counter the direction of expansion (21) can be moved. Manipulation device according to Claim 10 , characterized in that the manipulation device (1) has at least one stop (36, 39) which is fixed relative to the base frame (12) and which limits the translational guidance of the gripper (3) so that the gripper (3 ) can be moved by means of the adjusting means (40) up to the stop (36, 39) and that the base frame (12) is adjustable at least in the direction of expansion (21). Manipulation device according to one of the Claims 10 or 11 , characterized in that the adjusting means (40) is provided by a pneumatic cylinder. Manipulation device according to one of the Claims 1 to 12th , characterized in that the gripper (3) is connected to the base frame (5) via an elastomeric bearing (38). Manipulation device according to one of the Claims 1 to 13th , characterized in that the gripper (3) is pivotally connected to the base frame (12) transversely to the expansion direction (21) and for handling the workpiece (35) on the base frame (12) at a distance from the pivot bearing (37) on a pedestal (30) is supported. Manipulation device according to Claim 14 , at least with its reference back to Claim 8 , characterized in that the pivot axis of the pivot bearing (37) intersects the axial guide axis of the linear bearing (32). Manipulation device according to Claim 14 or 15th , characterized in that the gripper (3) for handling the workpiece (35) is additionally fixed to the base (30) in a form-fitting manner transversely to the direction of expansion (21). Handling robot, having a robot arm (5) and a manipulation device (1) connected to it according to one of the Claims 1 to 16 , wherein the base frame (12) of the manipulation device (2) can be moved in the expansion direction by means of the robot arm (5).

Images