EP0255634B1 - Schmiedemanipulator - Google Patents

Schmiedemanipulator Download PDF

Info

Publication number
EP0255634B1
EP0255634B1 EP87110378A EP87110378A EP0255634B1 EP 0255634 B1 EP0255634 B1 EP 0255634B1 EP 87110378 A EP87110378 A EP 87110378A EP 87110378 A EP87110378 A EP 87110378A EP 0255634 B1 EP0255634 B1 EP 0255634B1
Authority
EP
European Patent Office
Prior art keywords
bearings
cross arms
piston
connecting rods
gripper carrier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP87110378A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0255634A2 (de
EP0255634A3 (en
Inventor
Peter Schubert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SMS Hasenclever GmbH
Original Assignee
SMS Hasenclever GmbH
SMS Hasenclever Maschinenfabrik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SMS Hasenclever GmbH, SMS Hasenclever Maschinenfabrik GmbH filed Critical SMS Hasenclever GmbH
Priority to AT87110378T priority Critical patent/ATE57319T1/de
Publication of EP0255634A2 publication Critical patent/EP0255634A2/de
Publication of EP0255634A3 publication Critical patent/EP0255634A3/de
Application granted granted Critical
Publication of EP0255634B1 publication Critical patent/EP0255634B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/10—Manipulators

Definitions

  • Forge manipulators are used to handle heavy forgings, the pliers holding the forging are designed for lifting, lowering, horizontal and vertical swiveling, lateral parallel displacement, turning and axial driving.
  • Known forging manipulators are provided according to the preamble of claim 1 with bearings carried in a chassis of tie rods for a rotatable clamp carrier in the bearings, the tie rods designed as piston-cylinder units telescopically designed tie rods on the one hand height-adjustable with forks pivotable in the chassis and on the other hand with the Bearings of the pliers carrier carrying trusses are connected, and wherein the pliers carrier with its bearings on the trusses is horizontally adjustable.
  • the pliers carrier in its lower position must be able to be lowered as close as possible to the hut floor and if the distance from the hut hall to the center of the pliers carrier is not sufficient to accommodate the bearings with associated crossbeam in the middle of the bearing, the bearing and the crossbeam must be in the direction the axis of the gun carrier offset from one another with the disadvantage that the housing receiving the gun carrier bearing and connecting it is exposed to the bending moments which result from the bearing pressures and the offset of the crossmember to the bearings.
  • the object of the invention is to avoid bending moments in crosswise displaceable bearings of the pliers carrier in the component connecting the bearings when the pliers carrier is arranged close above the hut floor even in the event that the diameter of the pliers carrier bearing close to the pliers is that of the pliers comes close.
  • the invention provides that the trusses carrying the bearings for the tong holder, along which the bearings can be displaced transversely, are arranged in the respective center plane of the bearing above the bearings.
  • the arrangement of the crossbeams in the respective bearing center plane above the bearings of the tong holder leads to a correspondingly large overall height of the manipulator, provided that the tie rods with telescopic piston-cylinder units are designed telescopically and thus for vertical suspension and inclination adjustment of the tong holder are set up.
  • an increase in the overall height should also be avoided.
  • the piston-cylinder units integrated in the tie rods should consist of piston rods with pistons extending the tie rods and penetrated by the piston rods and guided on them and designed as supports for the cross members and arranged below the cross members.
  • the pull and piston rods can be connected to each other in a ball-and-socket joint.
  • the piston-cylinder units are provided with spherical collars for supporting end pieces of the cross members via interposed ball sockets and the piston rods extended to tie rods are guided with play through holes in the end pieces of the cross members, this results in a structural simplification with the center of the spherical bundles and ball sockets located below the support, a correspondingly large effective length of the tie rods as a further advantage.
  • the manipulator consists of a chassis 2 formed by two side walls 1 and connecting cross struts, not shown, which can be moved with wheels 3 on rails 4.
  • Bearings 5 are attached to the side walls 1 and receive a front pivot shaft 6 and a rear pivot shaft 7.
  • Two pivot levers 8 and 8 fastened on the front pivot shaft 6 two on the rear pivot shaft 7 attached lever 9 are connected to each other by handlebars 10 and are thus moved evenly and in the same direction by pistons 11 acting on the pivot levers 11, which run in cylinders 13 fastened to the side walls 1 with brackets 12 and can be acted upon on both sides.
  • Front tie rods 14 are connected to the front pivot levers 8 and rear tie rods 15 are connected to the rear pivot levers 9 via ball joints 16.
  • the pairs of front tie rods 14 and rear tie rods 5 carry - as will be explained in more detail - a tong holder 17 with tong head 18 and clamping jaws 19.
  • the tong holder 17 with tong head 18 and clamping jaws 19 can pass from the piston-cylinder unit 11/13 via the Swivel levers 8 and 9, the handlebars 10 and the tie rods 14 and 15 are raised and lowered.
  • the pull rods 14 merge into piston rods 20 and the pull rods 15 into piston rods 21, and a piston 22 forms in each case to the piston rod 20 with a cylinder 23 and in each case a piston 24 to the piston rod 21 with a cylinder 25 a piston-cylinder unit 22/23 or 24/25.
  • the cylinders 23 and 25 are divided into two, the parting line being bridged by a double-acting stuffing box 26 with sealing rings and the two cylinder parts being connected by screws and nuts.
  • the cylinders 23 and 25 are sealed off from the piston rods 20 and 21, on which the cylinders 23 and 25 are guided, by glands 27.
  • the design of the cylinders 23 and 25 on the upper side is shown on a larger scale in FIG. 5.
  • the cylinders 23 and 25 are provided with a neck 28, onto which a thread 29 is cut and a threaded sleeve 30 is screwed.
  • the upper cylinder base with the neck 28 is provided with a bore 31.
  • the threaded sleeve 30 is spherical Provide collar 33, on which an end piece 34 of a traverse is supported via an intermediate ball socket 35, which is centered in a bore in the end piece 34.
  • a coupling ring 36 engages under the spherical collar 33 of the threaded sleeve 30 with a corresponding spherical support surface.
  • the coupling ring 36 is connected to the end piece 34 by screws.
  • the end pieces 34 are associated with cross members 37 and 38, the cross member 37 with its end pieces 34 being assigned to the front tie rods 14 and the cross member 38 with its end pieces 34 being assigned to the rear tie rods 15.
  • the cross member 37 carries a front bearing housing 39 and the cross member 38 carries a rear bearing housing 40.
  • the bearing housings 39 and 40 are connected to one another by a spacer tube 41 and are equipped with bearings 42 in which the tong holder 17 has a hydraulic motor 43 and pinion 44 and one with the pliers carrier 17 connected ring gear 45 is rotatable. With the traverses 37 and 38 cantilever arms 46 are firmly connected as supports for cylinders 47.
  • Pistons 48 seated in the cylinders 47 are provided for displacing the bearing housing 39 along its cross member 37 and the bearing housing 40 along its cross member 38.
  • the crossbeams 37 and 38 with their end pieces 34 are guided between the side walls 1, for which purpose the end pieces 34 are seen with bores, into which buffer pieces 49 supported by springs are inserted.
  • the pistons 22 in the cylinders 23 can be acted upon from one side by an adjustable pressure from a pressure accumulator, so that a vertical suspension of the tong holder 17 under the forging pressure is possible.
  • the pistons 24 in the cylinder 25 can be acted upon on both sides and the cylinder spaces can be shut off, so that the inclination of the tong holder 17 can be adjusted.
  • the tong holder 17 In the axial direction, the tong holder 17 is held in a resilient manner by its oscillating suspension on the tie rods 14 and 15 in connection with the piston-cylinder units 50 acting between the front cross member 37 and the pivot shaft 7.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Forging (AREA)
EP87110378A 1986-07-31 1987-07-17 Schmiedemanipulator Expired - Lifetime EP0255634B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87110378T ATE57319T1 (de) 1986-07-31 1987-07-17 Schmiedemanipulator.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3626090 1986-07-31
DE19863626090 DE3626090A1 (de) 1986-07-31 1986-07-31 Schmiedemanipulator

Publications (3)

Publication Number Publication Date
EP0255634A2 EP0255634A2 (de) 1988-02-10
EP0255634A3 EP0255634A3 (en) 1988-05-11
EP0255634B1 true EP0255634B1 (de) 1990-10-10

Family

ID=6306502

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87110378A Expired - Lifetime EP0255634B1 (de) 1986-07-31 1987-07-17 Schmiedemanipulator

Country Status (5)

Country Link
US (1) US4815311A (ja)
EP (1) EP0255634B1 (ja)
JP (1) JPH0741354B2 (ja)
AT (1) ATE57319T1 (ja)
DE (3) DE8620700U1 (ja)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8704930D0 (en) * 1987-03-03 1987-04-08 Davy Mckee Sheffield Manipulator for metal ingots
GB8704931D0 (en) * 1987-03-03 1987-04-08 Davy Mckee Sheffield Peel assembly for ingot manipulator
DE4132220A1 (de) * 1991-09-27 1993-04-01 Pahnke Eng Gmbh & Co Kg Verfahren und vorrichtung zum betreiben einer pressenanlage
CN2476368Y (zh) * 2001-04-28 2002-02-13 姬建羽 无轨式锻造操作机
DE20108277U1 (de) * 2001-05-17 2001-08-02 Dango & Dienenthal Maschinenbau Gmbh, 57072 Siegen Schmiedemanipulator
DE102009052141A1 (de) * 2009-04-23 2010-10-28 Sms Meer Gmbh Manipulator für Schmiedemaschinen
CN101852229B (zh) * 2010-04-30 2012-09-05 清华大学 一种用于液压伺服驱动系统动力学控制的实验台
CN102935475B (zh) * 2012-10-30 2014-10-15 燕山大学 单提升臂六自由度锻造操作机
CN102941302B (zh) * 2012-10-30 2014-09-10 燕山大学 一种能优化提升驱动的锻造操作机
CN102935477B (zh) * 2012-10-30 2014-09-10 燕山大学 一种六自由度锻造操作机
CN102921871B (zh) * 2012-10-30 2015-04-08 燕山大学 一种多悬挂杆组合式锻造操作机
CN102935481B (zh) * 2012-10-30 2015-04-08 燕山大学 一种提升机构悬挂式锻造操作机
CN103056266B (zh) * 2012-12-06 2015-06-10 燕山大学 俯仰直线驱动器斜置的平行连杆式锻造操作机提升机构
CN103143664B (zh) * 2013-03-06 2014-12-24 燕山大学 直线提升锻造操作机
CN103341584B (zh) * 2013-06-06 2015-06-10 燕山大学 一种优化提升驱动装置的直线提升锻造操作机
CN103381464A (zh) * 2013-07-01 2013-11-06 燕山大学 一种平行连杆式锻造操作机提升机构
CN104325062B (zh) * 2014-10-17 2016-05-04 燕山大学 一种俯仰直线驱动器连接机架式锻造操作机
CN105082107B (zh) * 2015-08-31 2017-02-01 河南科技大学 一种锻造用重载搬运机械手
CN112030624B (zh) * 2020-09-03 2022-05-13 南京派光高速载运智慧感知研究院有限公司 一种用于管廊机器人运行的轨道基础设施
CN113084069B (zh) * 2021-02-22 2022-08-19 山东中天重工有限公司 一种锻球生产旋球用定位装置
CN113560478B (zh) * 2021-08-10 2023-05-16 广水东日钢铁有限公司 一种轧钢冶炼用钢料雏形捶打稳定性夹持机构
CN113954255B (zh) * 2021-11-24 2022-09-06 江苏嘉一北科光学科技有限公司 一种蓝宝石晶棒切割气动抓手

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1527363B (de) * Maschinenfabrik Sack GmbH, 4000 Düsseldorf Schmiedemanipulator
DE1926638A1 (de) * 1969-05-24 1970-11-26 Schloemann Ag Regelung der Federkraft am Zangentraeger eines Schmiedemanipulators

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3126770A (en) * 1964-03-31 Forge tongs
DE700524C (de) * 1937-11-19 1940-12-21 Dango & Dienenthal Kg Selbstfahrende Vorrichtung zum Halten und Wenden schwerer Schmiedestuecke
DE972409C (de) * 1949-03-18 1959-07-16 Theodor Dr Wuppermann Fahrbare Schmiedezange
DE1527362B1 (de) * 1964-07-30 1971-07-15 Sack Gmbh Maschf Fahrbarer Schmiedemanipulator
DE1527363A1 (de) * 1964-08-05 1969-08-21 Sack Gmbh Maschf Schmiedemanipulator
FR1459361A (fr) * 1965-10-19 1966-04-29 Dango & Dienenthal Kommanditge Manipulateur de forge
DE1300092B (de) * 1966-03-15 1969-07-31 Dango & Dienenthal Kg Fahrbarer Schmiedemanipulator oder Chargiermaschine
DE1298497B (de) * 1967-04-15 1969-07-03 Schloemann Ag Manipulator
DE1926263A1 (de) * 1969-05-22 1970-11-26 Klaus Schneider Verfahren und Einrichtung zur Herstellung von Betonelementen
DE2255009C3 (de) * 1972-11-10 1980-09-18 Dango & Dienenthal, 5900 Siegen Schmiedemanipulator
US3807060A (en) * 1973-03-05 1974-04-30 Hanson Ind Inc Ski boot having multi-directional flexure means and canting means
JPS5324018A (en) * 1976-08-12 1978-03-06 Sasaki Takeji Manufacturing method of acetic acid for preserving foods
SU614875A1 (ru) * 1976-12-20 1978-07-15 Экспериментальный научно-исследовательский институт кузнечно-прессового машиностроения Подвеска хобота ковочного манипул тора

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1527363B (de) * Maschinenfabrik Sack GmbH, 4000 Düsseldorf Schmiedemanipulator
DE1926638A1 (de) * 1969-05-24 1970-11-26 Schloemann Ag Regelung der Federkraft am Zangentraeger eines Schmiedemanipulators

Also Published As

Publication number Publication date
US4815311A (en) 1989-03-28
DE8620700U1 (de) 1987-11-26
EP0255634A2 (de) 1988-02-10
JPS6336947A (ja) 1988-02-17
EP0255634A3 (en) 1988-05-11
DE3765497D1 (de) 1990-11-15
DE3626090A1 (de) 1988-02-11
JPH0741354B2 (ja) 1995-05-10
ATE57319T1 (de) 1990-10-15

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