EP0255634B1 - Schmiedemanipulator - Google Patents
Schmiedemanipulator Download PDFInfo
- 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
Links
- 238000005242 forging Methods 0.000 title claims abstract description 12
- 238000005452 bending Methods 0.000 abstract description 3
- 239000000725 suspension Substances 0.000 description 7
- 238000007789 sealing Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Images
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)
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 (zh) |
EP (1) | EP0255634B1 (zh) |
JP (1) | JPH0741354B2 (zh) |
AT (1) | ATE57319T1 (zh) |
DE (3) | DE8620700U1 (zh) |
Families Citing this family (22)
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 |
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 |
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 |
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 |
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 |
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)
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)
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 |
-
1986
- 1986-07-31 DE DE8620700U patent/DE8620700U1/de not_active Expired
- 1986-07-31 DE DE19863626090 patent/DE3626090A1/de not_active Withdrawn
-
1987
- 1987-07-17 AT AT87110378T patent/ATE57319T1/de not_active IP Right Cessation
- 1987-07-17 DE DE8787110378T patent/DE3765497D1/de not_active Expired - Lifetime
- 1987-07-17 EP EP87110378A patent/EP0255634B1/de not_active Expired - Lifetime
- 1987-07-31 JP JP62190565A patent/JPH0741354B2/ja not_active Expired - Lifetime
- 1987-07-31 US US07/079,892 patent/US4815311A/en not_active Expired - Fee Related
Patent Citations (2)
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 |
---|---|
ATE57319T1 (de) | 1990-10-15 |
DE3626090A1 (de) | 1988-02-11 |
DE8620700U1 (de) | 1987-11-26 |
JPS6336947A (ja) | 1988-02-17 |
EP0255634A3 (en) | 1988-05-11 |
DE3765497D1 (de) | 1990-11-15 |
US4815311A (en) | 1989-03-28 |
JPH0741354B2 (ja) | 1995-05-10 |
EP0255634A2 (de) | 1988-02-10 |
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