DE3523323A1 - Transfer device for forming machines and the like - Google Patents

Abstract

A transfer device for forging machines has grippers which open wide and are mounted on a transfer slide which can be moved backwards and forwards between a pick-up position and a release position. Two gripper fingers are articulated at one end on a piston of a pneumatic spring carried by the transfer slide and between their ends, are connected rotatably to connecting members which, for their part, are articulated on the transfer slide. In the gripping position of the system, the connecting members are inclined in such a way that gripping portions of the grippers are moved together in order to grip the workpiece. When the grippers are open, the connecting members move to an alignment position, the grippers being spread apart in order to release the workpiece, and the fingers being caused to move sideways, freeing the workstation and allowing a return movement of the transfer device to the pick-up position to be initiated before the tooling frees the workstation. The geometry is such that wide opening operations are provided, allowing the grippers to free shoulders on the workpieces and to free the tooling which forms the workpieces in the dies of the machine.

Description

description

The invention relates generally to transfer devices for forming machines and in particular a new and improved forging machine transfer device with workpiece grippers that can open wide, for example to handle workpieces to release with large approaches or protrusions, and which are also laterally or move across. about such workpieces and the tooling equipment for producing them To release workpieces.

Progressive formers generally have transfer devices, which automatically capture the workpieces at one workstation and at another Transfer workstation for subsequent processing operations. Examples of such Transfer devices can be found in U.S. Patents 3,466,917, 3,559,446, 3 604 242, 3 685 070, 3 965 718, 4 084 278, 4 317 354, 4 351 180 and the German U.S. Patent 2,434,540.

Most such transfer devices have two opposite ones Grippers that close to grasp the workpiece and release the workpiece open the workstation at a subsequent workstation. To maintain full control, the transfer grippers are set up so that they hold the workpiece at the pick-up position before the tool equipment loses control of the workpiece. The sensing of the workpiece continues until it is in a controlled manner is detected by the tooling at the subsequent work station.

In some cases, especially when the workpiece is about to adjoining the capturing section has a relatively large attachment or protrusion, A problem arises in that the conventional grippers do not Can open wide or fast enough to accommodate the approach or tooling to release the wilted piece.

This inability to open wide is due in some cases to the Fact that two opposing gripper fingers are about halfway their length are pivotally connected to each other.

içe such formations is the distance between the articulation and the the workpieces actually gripping section small, and one opening over one The previous angle does not result in such a large opening process as in that Case when the distance between the articulations and the gripping sections is greater were.

In particular in high-speed machines, it is also desirable to to move the transfer device back as early as possible, so that the transfer grippers make their return movement to the receiving workstation be able to finish as early as possible to detect a subsequent workpiece. In a typical transfer device where the grippers are along it Moving a path back and forth, it is usually necessary to start to delay the return movement until the tooling is released with the The transfer gripper retracts, making the available for the return movement standing time is limited.

The German patent mentioned above provides a transfer system in which the grippers open relatively wide and in which the grippers to release tool equipment must be lifted.

However, such systems require gears or gears without Shearing measures can lead to pollution problems, in particular when used in hot formers where scale or the like occurs. Furthermore, must with such a linkage and gear or gear structure the articulations are carried by gears, the gear teeth with respect to the Finger articulations are positioned with great accuracy so that during an intervention the teeth an exact position of the articulations is provided in relation to each other. Accordingly, such a system has a high manufacturing cost and easy maintenance problems, especially when the transfer device is at a hot machine with scale is encountered in the work area.

The present rounding is based on the task of creating a new and To create improved transfer system that is particularly useful for progressing working formers and the like is suitable.

A transfer device is known for solving the problem posed of the type mentioned in claim 1 or 9 or a forging machine as claimed in claim 15 mentioned type according to the invention by those listed in the characterizing part of these claims Characteristics. Further features emerge from the subclaims.

In such a system, two grippers are operable to close and to grasp a workpiece and open wide when the Werlcstück is released will. Therefore, such a gripper can be used to handle workpieces with large To transfer approaches or projections that are released by the grippers have to.

The grippers move during the opening and closing movement additionally laterally or transversely and essentially at right angles to the direction of the Transfer movement so that they can even reach the workpiece and the tooling release before retiring the same. This makes it possible that the Uberführung.svorrichtung their return movement begins before the tooling is removed.

These gripper movements are carried out by a simple linkage, that is relatively inexpensive to produce, works reliably and even without required excessive maintenance will work in a dirt and scale environment can.

In the illustrated embodiments, there are one or more pairs attached by gripper fingers to a transfer slide, which is in a first Direction is movable back and forth to the gripper between its receiving position and move to their delivery position. Each finger is on a support at one end hinged which is carried by the transfer pusher and relative to the pusher at right angles in one direction the direction of the transfer slide movement is reciprocable. Each finger is also at one end between its ends of a short, inclined link articulated at its other end is hinged to the transfer slide.

The other end of each finger is the section that does the gripping function performs.

When the support moves in one direction, the gripper fingers will spread by the inclined connecting links.

If the support moves in the opposite direction, the fingers are closed to grasp the workpiece.

This movement of the support also causes the fingers to move sideways during the opening movement of the workpiece and tooling or move across. Moving back to the gripping position occurs during Closing movement. Accordingly, the transfer slide can move back to begin its pick-up position before the tooling enters the work area releases.

In the illustrated embodiment, the support is from one pneumatic spring biased towards the finger lock position; it becomes a gripping force formed when a workpiece is gripped by the transfer device.

The structure for opening and closing the grippers does not require any gears or gear. Instead, linkages and -> sliders are used, which themselves in the vicinity of a hot former, with the lubricant of very abrasive scale contaminated, do not pose any maintenance problems. By suitable choice of The basic linkage can influence the opening process due to its geometric proportions perform and / or open to largely any extent necessary and accomplish closing at different speeds. So includes The present invention provides a very versatile gripping system that can be adapted can to meet a wide variety of transfer needs.

The invention is illustrated below on the basis of exemplary embodiments closer explained. They show: FIG. 1 - a typical progressing in a side view working former for which a transfer device according to the present invention is particularly well suited! Figure 2 - the transfer drive in an enlarged partial view and in particular the linkage that opens and closes the gripper fingers, figure 3a - an enlarged partial view of a finger structure in its closed position or gripping position, Figure 3b - in a partial view of the finger structure in its open and raised position, Figure 4 - in an enlarged partial view of the individual gripper structure with representation of the movement path of the gripper fingers at open and close.

FIG. 5 - that shown in FIG. 4 in a schematic representation Gripper assembly, with the mechanism in progressive positions when opening and closing is shown, and FIG. 6 - in a schematic similar to FIG. 5 View of a modified linkage to enlarge the opening dimension at the beginning of the Opening cycle.

Figure 1 shows a typical progressively working former with a transfer device according to the present invention installed therein. The former contains a frame 10 on which a crankshaft 11 is rotatably mounted is. The crankshaft is connected to a pivot fork (pitman) and drives you h: tn and tobogganing sledge that goes to and from a shaped breast (the breast) is movable, in the forms are attached.

A transfer device housing 12 is in close proximity d ' Mold chest attached to the frame 10. A tax resp.

Camshaft 13 on the control cam for opening and closing the gripper The transfer device is attached by the main machine drive driven to drive bevel gears 14 and 16 and a drive shaft 17. Because the pusher and the transfer system are driven by the main machine drive will, is the rotation of the camshaft 13 with the overall operation synchronized with the machine. U.S. Patent 3,171,144 describes US Patent No. 3,171,144 in greater detail Overall structure of such a machine, and this patent is hereby incorporated by reference.

Referring to Figures 2, 3a and 3b, a typical machine has a plurality from workstations to where workpieces are progressing to the final one required shape.

FIG. 3a schematically shows two such work stations 21 and 22.

A first mold 23 is in the mold breast 19 at the work station 21 attached, and a second mold 24 is in the mold breast 19 at the work station 22 attached. A gripper assembly 26 of the transfer device is on a transfer pusher 18 attached, of which he is between the first workstation 21 and the second Workstation 22 is carried backwards and forwards.

The gripper assembly closes to a workpiece 27 at the first Workstation 21 to capture and position in alignment with the mold 24 to transport at the second work station.

Tools (not shown) attached to the slide come with it engage the workpiece 27 at the second work station 22 and move the workpiece in the form 24, where it is processed below. When the tools move forward and take control of workpiece 27, the gripper assembly opens, to any projections or the like on the workpiece and also those of the work station Approve assigned tool equipment freely.

In Figure 3b, the gripper assembly 26 is in the open or raised Position shown in which it releases the workpiece 27 completely, so that the Transfer slide 18 its return movement to return the transfer structure can begin to the first work station, where it detects a subsequent workpiece. Because of this lateral movement of the fingers, the transfer device can Begin return movement before the tooling retreats, free from that Shape area.

The gripper assembly 26 includes a pneumatic spring 31 with a attached to the transfer slide 18 cylinder 32 and a piston 33, de from the lower or extended position in figure 3a to a in the compressed or retracted position shown in Figure 3b is. Pressurized air is supplied to the cylinder in order to generate a spring force which pushes the piston down to the extended position.

There are two opposing gripper fingers 34 and 36 on the piston 33 pivotally mounted. The gripper finger 34 is at its upper end over one Hinge pin 37 is hinged to the piston 33, while the gripper finger 36 is similar Way is articulated to the piston 33 via a pivot pin 38. Two inclined links 41 and 42 are pivotably connected to the slide 18 via a common articulation, for a Schçenk movement about an articulation axis 43. The opposite end of the connecting link 41 is connected to the gripper finger 34 via a pivot pin 44 and the opposite end of link 42 is connected to the gripper finger 36 connected via a pivot pin 46. The two pivot bolts 44 and 46 are with Eccentricities are provided which are set for the precise positioning of the fingers and then positionally fixed. The lower ends of the two Greferfiger 34 and 36 are provided with gripping sections 47 and 48 which grasp the workpiece 27.

The geometry of the gripper structure is symmetrical, and in the gripping position are the two connecting links 41 and 42 from their common pivot axis 43 inclined downwards in the opposite direction. When the gripper fingers 34 and 36 is raised by upward movement of the piston 33 to the position of Figure 3b the two links 41 and 42 cause the gripper fingers to Open, releasing the workpiece and one of the workpiece and tooling free upward movement takes place, as shown in Figure 3b.

According to FIG. 4, the gripping sections 47 and 48 move along one Path represented by dash-dotted lines 51 and 52. It is to be noted that in the embodiment shown in Figures 3a, 3b and 4, the initial movement outwards or away from each other, wherein during the first part of the gripping movement extensive opening takes place. at continued movement the grippers move these along a more vertical line until they fit well be above the workpiece and clearly release it.

Since the lever or connecting members 41 and 42 at an angle of about 45 degrees, the action of the air spring 31 creates the piston 33 pushes in the downward direction, a considerable gripping force for effective gripping of the workpiece 27.

The mechanism for opening and closing the gripper is best shown in FIG. This mechanism contains a similar linkage that everyone Gripper structure is assigned.

The drive for opening and closing the gripper contains one on the Cam plate 56 attached to the control shaft 13, which is mounted on a rocker arm 58 Cam follower roller 57 engages. The rocker arm 58 is in turn mounted on a rotating shaft 59 attached to the transfer device housing 12 is. A front projection 61 of the rocker arm 58 is connected via a pivot bolt 62 one end of a link 63 connected, the other end of which has a The pivot pin 64 is connected to an arm 66 which, at 67, is attached to the housing 12 is hinged. The cam 56 is shaped to conform to the rocker arm Positioned as shown in Figure 2 when a workpiece from the associated Gripper assembly 26 is to be grasped and that it moves the rocker arm 58 in a counterclockwise direction rotates to open the grippers and release the workpiece. A compression spring structure 68 biases rocker arm 58 clockwise about the cam follower roller 57 to be held in engagement with the cam disk 56.

At the front end of the lever or arm 66 is a side or transverse bar 71 attached, which is parallel to the transfer direction the slide movement extends and with a roller attached to an arm 73 72 engages.

The arm 73 is in turn on the transfer slide 18 by a Hinge pin 74 rotatably mounted for movement backwards and forwards with the Transfer slide during the over management process. That I If the bar 71 extends in the direction of the transfer movement, the roller 72 rolls along the bar 71 when they are back and forth with the transfer slide will be carried. Correspondingly affects the movement of the transfer slide and the associated gripper assembly 26 not in operation of the linkage.

The front end of the lever 73 is provided with a roller 76 which engages the lower end of piston 33 and operates in the manner that the biasing force of compressed air in the cylinder 32 is overcome, which pushes the piston down. The two pivot pins 37 and 38 have one Distance that the roller 76 can be positioned on the center line of the piston 33 can. When the cam 56 rotates the rocker arm 58 counterclockwise justified, the song works in such a way that the role 76 and therefore the Pistons 33 are raised to raise and open the gripper assembly 26, such as it was discussed above.

In the illustrated embodiment, the transfer device is housing 12 hinged at its rear end to a Anfenkbolzen 81, so that the entire Transfer mechanism, with the exception of the control shaft 13, from the side of the molds can be swiveled up or wc to allow maintenance of the molds, US-X1.

According to Figure 3a, the transfer slide is provided with a connection, which includes a tongue 82 which engages in a groove 83 in the end of a transfer pusher drive link 84 fits so that when the transfer case exposing the mold area is swiveled up, the slide drive system is automatically released. But when the transfer housing 12 is moved back to the illustrated operating position, the tongue 82 enters the groove 83 in order to restore the contact slide drive.

The gripper system according to the present invention is very versatile, as the opening dimension of the claws by changing the length or the angle of the two Links 41 and 42 changed can be. hen for example a larger opening process is desired, the geometry is modified to accommodate the To increase the length of the connecting links 41 and 42 or the position of the connecting links to a more downward sloping position when the gripper is in the gripping position. Accordingly, the mechanism according to the present Invention can be set up so that essentially each by a certain Application required opening dimension is provided.

Referring to Figures 5 and 6, Figure 5 shows schematically the essential geometry according to the representations in Figures 2 to 4. Figure 6 shows a modified embodiment in which the length of the connecting links 41 and 42 remain the same, but their angle of inclination of the gripping position is steeper or is bigger. This modification of the geometry leads to the fact that the gripper continues open, as can be seen from a comparison of FIGS. 5 and 6. Furthermore, this is initial opening dimension in the modification from FIG. 6 compared to the geometry from Figure 5 enlarged.

In fact, the links 41 and 42 work as motion multipliers, wherein the multiplication rate is a function of the relative angle in the gripping position is. Because the fingers are hinged at one end and the workpieces at their other Grasping the ends results in a considerable opening dimension, oLA1e that an excessive one Rotation of the fingers around their articulations is required. It should be pointed out that when the angle of the links 41 and 42 is sufficiently steep, the gripping force generated by the air spring is reduced, and in some cases it may be necessary to provide an additional gripper spring that directly is provided between the two gripper fingers 34 and 36 for proper gripping of the workpiece. In general, for the sake of simplicity, it is preferred that To set up geometry so that the angle of the links 41 and 42 in a The position is such that the air spring 31 generates a sufficient gripping force and the auxiliary gripper springs are not required. In the embodiment from Figures 3a to 4, the connecting links are in the gripping position around about 45 degrees or inclined relative to each other by about 90 degrees.

With such a geometry, the air spring generates a suitable gripping force. Also, in the initial opening process, the upward component is the movement the grippers 46 and 47 small, and the grippers do not tend to lift the workpiece, when they start to open.

Since the fingers completely from the articulations and a simple Pistons are supported, there is a reliable structure that even in the difficult environment of the hot former with scale and dirt in the transfer area are present, showing no maintenance problems. Since simple articulation structures are also provided are to support the system, the manufacturing cost is compared to a Reduced system with gears or the like.

While a preferred embodiment of the present invention is shown and described, it should be noted that various modifications and rearrangements of parts can be made within the scope of the invention.

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Claims (16)

Transfer device for molding machines and similar claims 1. Transfer device for molding machines with two elongated gripper fingers for closing and grasping a workpiece and for opening and releasing the Workpiece, characterized by first articulations (37, 38) for rotatable mounting the fingers (34, 36) on a first support (33) at one of the first ends (47, 48) spaced-apart point, by two connecting links (41, 42), by the connecting links second articulations (44, 46) connecting the fingers and through the connecting links with a second support (18) connecting third articulations (43) and through Drive means (56, 66, 76) operable to move the supports relative to one another to move and the third articulations to and from the first articulations between-one Gripping position and a release position to move, with the connecting links have a considerable angular position relative to one another in the gripping position and move to aligned positions when the outriggers move from the gripping position move to the release position. 2. transfer device according to claim 1, characterized in that that the first articulations (37, 38) are arranged at the other ends of the fingers (34, 36) are. 3. Transfer device according to claim 1, characterized in that that the former has a plurality of work stations (21, 22) at which workpieces progressively shaped so that the second support is a transfer beam (18) is the one between a recording position in which the fingers are attached to a first Work station (21) are arranged adjacent, and one Delivery position can be moved back and forth, at which the finger is sent to a subsequent work station (22) are arranged adjacent, and that the first support from the transfer beam is worn or held. 4. transfer device according to claim 3, characterized in that that spring means (31) bias the first support (33) in one direction, at which causes the fingers (34,36) to move to the gripping position. 5. transfer device according to claim 4, characterized in that that drive means (56, 66, 76) operate in the manner; that the spring means (31) be overcome to move the fingers (34, 36) to the release position. 6. transfer device according to claim 5, characterized in that that the spring means (31) have a cylinder attached to the transfer carrier (18) (32) and a piston (33) which with respect to the transfer carrier in a direction largely perpendicular to the direction of reciprocation of the The carrier is movable, the first support being formed by the piston. 7. transfer device according to claim 6, characterized in that that when moving the fingers (34, 36) to the release position, the fingers also laterally are moved with the release of the workstation (21, 22). 8. transfer device according to claim 1, characterized in that that the connecting links (41, 42) are at an angle in the gripping position extend at least about 90 degrees relative to one another. 9. Transfer device for forging machines with a frame, with a transfer beam attached to it for moving in a first direction between a pick-up position and a delivery position, with one on the carrier attached gripper structure for gripping workpieces at the pick-up position and for moving the same to the delivery position and with a gripper support on the Carrier movable in a second direction substantially perpendicular to the first Direction, characterized in that the gripper structure (26) has two opposite elongated gripper fingers (34, 36) that the fingers at one point the support (33) hinged and at another point at one end of an associated Connecting link (41, 42) are articulated that the connecting links on the carrier (18) are pivotally mounted that moving the support to a gripping position the ends of the links for moving together and the fingers for gripping a workpiece caused to close and that moving dw to a support Release position one end of the links to move apart and cause the fingers to open. 10. Transfer device according to claim 9, characterized in that that the support (33) is under spring tension to a gripping position and that drive means (56, 66, 76) to overcome the force of the spring preload and are provided for moving the support to the release position. 11. Transfer device according to claim 10, characterized in that that the spring preload is formed by a fluid spring (31). 12. Transfer device according to claim 10, characterized in that that the fingers (34, 36) laterally or transversely, releasing the receiving position as well as the dispensing position as they move to the opening position. 13. Transfer device according to claim 12, characterized in that that the fingers (34, 36) are hinged at one end to the support (33) and Capture workpieces (27) at their other ends (47, 48). 14. Transfer device according to claim 13, characterized in that that the connecting links (41, 42) are in the gripping position under at an angle of about 90 degrees to each other and to an aligned one Move position when moving from the gripping position to the release position. 15. Forging machine for progressive shaping of workpieces with a frame, with a plurality of molds attached thereto, in which workpieces progressively shaped, with a reciprocating mounted on the frame Transfer slide for a movement in one transfer direction and with two elongated gripper fingers, characterized in that one is spring-pretensioned standing finger support (33) attached to the slide (18) essentially movable and pivotable at right angles to the transfer direction with one end of the spring Finger (34, 36) is connected that two connecting links (41, 42) at one end pivotable on the slide and on its other ends on an associated finger are hinged so that the other ends (47, 48) of the fingers work in such a way that they close and open depending on a movement of the support, to detect workpieces and release that the connecting links are in the closed state the fingers are tilted away from the support and are moving towards a mutual alignment position move when the fingers open and that drive means are connected, to move the supports to open and close the fingers. 16. forging machine according to claim 15, characterized in that the fingers (34, 36) move laterally or transversely, releasing the shapes (23, 24), when the fingers open.