EP0432236B1 - Automatische anlage zum überführen und schmieden von beliebigen metallwerkstücken - Google Patents

Automatische anlage zum überführen und schmieden von beliebigen metallwerkstücken Download PDF

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Publication number
EP0432236B1
EP0432236B1 EP19900908559 EP90908559A EP0432236B1 EP 0432236 B1 EP0432236 B1 EP 0432236B1 EP 19900908559 EP19900908559 EP 19900908559 EP 90908559 A EP90908559 A EP 90908559A EP 0432236 B1 EP0432236 B1 EP 0432236B1
Authority
EP
European Patent Office
Prior art keywords
press
devices
robots
installation according
forging
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
EP19900908559
Other languages
English (en)
French (fr)
Other versions
EP0432236A1 (de
Inventor
Bernard Oswald
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.)
Automobiles Peugeot SA
Automobiles Citroen SA
Original Assignee
Automobiles Peugeot SA
Automobiles Citroen SA
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 Automobiles Peugeot SA, Automobiles Citroen SA filed Critical Automobiles Peugeot SA
Publication of EP0432236A1 publication Critical patent/EP0432236A1/de
Application granted granted Critical
Publication of EP0432236B1 publication Critical patent/EP0432236B1/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
    • B21J3/00—Lubricating during forging or pressing
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
    • B21K27/00—Handling devices, e.g. for feeding, aligning, discharging, Cutting-off means; Arrangement thereof
    • B21K27/02—Feeding devices for rods, wire, or strips
    • B21K27/04—Feeding devices for rods, wire, or strips allowing successive working steps

Definitions

  • the subject of the present invention is an improved automatic installation for the transfer and forging of any metal parts according to the press according to the preamble of claim 1.
  • Robotized installations have already been proposed enabling automatic production of parts by deformation under a press, the parts being automatically transferred to the press and automatically handled between the upper and lower dies of the press (see for example GB-A-2090174).
  • a forging press equipped with a plurality of die bodies, a robot provided with a supply arm of a piece or a blank to the press, and two robots working "in mirror” respectively disposed opposite two opposite sides of the press and each provided with a workpiece transfer arm.
  • the present invention aims to remedy in particular the above drawbacks by proposing an improved robotic installation having all the qualities required with regard to productivity and flexibility of operation regardless of the volume of the parts to be forged and manufactured .
  • the subject of the invention is an improved automatic installation for transferring and forging any metal parts, essentially comprising a forging press equipped with a plurality of die-forging members, at least one robot provided with an arm brought a piece or a draft to the press and two opposing robots arranged respectively in manhole from two opposite sides of the press and each provided with a parts transfer arm, this installation being characterized in that the transfer arm of each of the two opposite robots is equipped with a plurality of parts gripping members and of a plurality of spraying booms of the forging members interposed between the gripping members.
  • each aforementioned transfer arm is equipped with as many gripping members as the press comprises forging members.
  • watering booms are preferably orientable.
  • the spray bars are mounted on each transfer arm so as to be interposed between two adjacent stamping members of the press during the advance of the transfer arms for gripping the parts.
  • the press comprises four successive bodies or stamping stations, the first of which on which the piece is brought possibly has means, such as a print of particular shape, to form on the piece a burr allowing its gripping. by the gripping members, while the last member or stamping station deburring the part which is evacuated through said station on any inclined plane.
  • the two aforementioned opposite robots are each pivotally mounted and lockable on a base or the like.
  • the installation according to this invention is controlled by a digital control associated with a programmable automaton, in particular to allow work in synchronization of the transfer arms of the two opposite robots and of the robot allowing the supply of a piece or a blank to the press.
  • stamping member 1, 2, 3, 4 comprises a upper matrix 1a, 2a, 3a and 4a integral with a slide 5 (FIG. 3), and a lower matrix 1b, 2b, 3b and 4b.
  • FIGS. 1 and 2 There has been shown at 6 in FIGS. 1 and 2, a robot provided with an arm 7 for feeding a piece or a blank (21) to the press on precisely the lower die 1b of the first stamping tool 1 .
  • each robot 8, 9 comprises, as known per se, a arm 8a, 9a for transferring the parts.
  • each arm 8a, 9a comprises a plurality of gripping members identified at 10, 11, 12 and 13, with regard to the gripping members carried by the arm 8a of the robot 8, and identified at 14, 15 , 16 and 17 with regard to the gripping members carried by the arm 9a of the robot 9.
  • gripping members are four in number for each robot 8, 9, this number corresponding to the number of stamping members 1, 2, 3 and 4.
  • FIGS. 1, 3 and 4 have shown at 18 watering booms which are preferably orientable and which, like the gripping members 10 to 17, are integral with the arms 8a, 9a of the opposite robots 8, 9.
  • These spray bars as can be seen in FIG. 1, are interposed between the gripping members so that each arm 8a, 9a has three spray bars or lubrication tools for stamping tools 1, 2, 3 and 4.
  • the robots 8 and 9 each comprising four stations or gripping members work in synchronization for the transfer of the parts.
  • These gripping members can constitute a set of aligned grippers which make it possible to transfer several parts at the same time, so that the transfer time is halved, which considerably increases the productivity.
  • one forging tool in two works during the descent of the slide 5, so that it is advantageous to alternately provide blowing, lubrication and cooling of the tooling.
  • pieces 21 are brought and positioned by the arm 7 of the robot 6 in the first stamping operation, that is to say on the lower die 1b of the tool matrixing 1.
  • the cycle then proceeds as follows.
  • the outlet orifices of the lubricant jets are oriented in the direction of the cavities and only those which are arranged opposite the empty cavities (2b and 4b, in the case of FIG. 4) are put into service. , while the other jets are blocked. Then, the bars 8a, 9a carrying the ramps 18 and the gripping members recede simultaneously during the descent of the slide.
  • the part which is in the trimming position 4b is evacuated through the lower die during the press stroke and falls on any inclined plane shown at 22 in FIG. 2. It will be observed here that the trimming station 4b is directly associated with the preceding forging stations, the size of the installation is advantageously reduced, which does not therefore need to include a special deburring station situated outside the press. In addition, such an association advantageously avoids the provision of an intermediate manipulator arm ensuring the transfer of the forged part from the forging press to a deburring press.
  • the slider 5 is then reassembled, the transfer bars 8a, 9a advance and lift the part in position 2b and the burr detached from the finished part in 4b, then the robots 8 and 9 translate to place the piece in 3b at the same time as the removal in 1b of another piece thanks to the arm 7 of the robot 6. It should be noted that during forging, the robots 8 and 9 return to the initial retracted position.
  • the manufacturing cycle can comprise, as explained above, either two operations, that is to say two press strokes per piece, the latter then being only deposited on station 1b without being worked on, or three operations.
  • the forging takes place from the first stamping station 1 to carry out a phase called “crushing” or "distribution of material”.
  • the gripping members 10 and 14 corresponding to the first stamping station 1 must have a particular configuration in order to be able to grasp the piece 21.
  • two possible variants have been illustrated in FIG. 1 of structure for the gripping members 10 and 14.
  • the first stamping tool (1 or 2) can act on the piece 21 to form a burr having the desired shape and facilitating the gripping of the part by the organs grippers.
  • a blank part E with which is associated a burr B forming somehow two small wings allowing the gripping of the blank by the gripping members integral with the arms 8a, 9a of the robots 8 and 9.
  • FIGS. 7 and 8 a variant of burr shape has been shown associated with the blank E and which here has the shape of a tongue or the like C.
  • the shape of the gripping members 10 to 13 and 14 to 17 respectively adapts to these two configurations.
  • the installation according to this invention makes it possible to produce parts of variable volume and mass, it being understood that the transfer bars 8a, 9a of the robots 8 and 9 can be quickly assembled and disassembled to allow pre-adjustment outside the machine.
  • gripping members 10 to 17 can be easily and quickly changed after rotation of the "mirror" robots 8, 9 as seen in FIG. 1.
  • the installation of this invention is somewhat universal in the sense that it can process parts according to any number and having any shape, and this with a minimum transfer time.
  • This installation can therefore include elements other than those described, namely for example a cover protecting the two robots 8, 9 and their equipment against dust and a cooling and booster system installed under this cover to guarantee a correct and reliable operation of the robots in all circumstances.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)

Claims (8)

  1. Automatische Anlage zum Überführen und Schmieden von beliebigen Metallwerkstücken, die im wesentlichen aus einer Schmiedepresse (P) besteht, die mit einer Mehrzahl von Matrizenorganen (1, 2, 3, 4), mindestens einem mit einem Arm (7) zum Zuführen eines Rohlings (21) oder eines vorbearbeiteten Teils zur Presse versehenen Roboter (6) und zwei sich gegenüberliegenden, jeweils an zwei entgegengesetzten Seiten der Presse (P) angeordneten und mit jeweils einem Arm (8a, 9a) zum Überführen der Teile versehenen Robotern (8, 9) ausgestattet ist,
    dadurch gekennzeichnet, daß
    der Überführungsarm eines jeden der beiden gegenüberliegenden Roboter (8, 9) mit einer Mehrzahl von Greiforganen (10 bis 17) zum Greifen der Teile und einer Mehrzahl von zwischen den Greiforganen (10 bis 17) angeordneten Berieselungsrampen (18) zum Berieseln der Matrizenorgane (1, 2, 3, 4) ausgestattet ist.
  2. Anlage nach Anspruch 1, dadurch gekennzeichnet, daß die Anzahl der Greiforgane (10 bis 17) an jedem Überführungsarm (8a, 9a) gleich der Anzahl der Matrizenorgane (1 bis 4) der Presse ist.
  3. Anlage nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Berieselungsrampen (18) orientierbar sind.
  4. Anlage nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die Berieselungsrampen (18) an jedem Überführungsarm (8a, 9a) so montiert sind, daß sie bei der Vorwärtsbewegung der Überführungsarme zum Ergreifen der Teile zwischen zwei benachbarte Matrizenorgane geschoben werden.
  5. Anlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Strahlausgangsöffnungen der Berieselungsrampen (18) in Richtung der Vertiefungen orientiert sind und daß bei jeder Vorwärtsbewegung der Überführungsarme nur die zu den leeren Vertiefungen hin orientieren Strahlen betätigt werden.
  6. Anlage nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß die Presse (P) vier aufeinanderfolgende Matrizenorgane oder Gesenke (1 bis 4) aufweist, von denen das erste, in das der Rohling (21) eingebracht wird, Einrichtungen wie eine besonders geformte Vertiefung aufweist, um am Rohling einen Grat (B, C) zu bilden, der seine Ergreifung durch die Greiforgane (10 bis 17) ermöglicht, und daß das letzte Matrizenorgan oder Gesenk (4) die Entgratung des Teils durchführt, das durch das Gesenk hindurch auf einer beliebigen schiefen Ebene (22) abgeführt wird.
  7. Anlage nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die beiden gegenüberliegenden Roboter (8, 9) schwenkbar (19) und verriegelbar auf einem Sockel oder dergleichen montiert sind.
  8. Anlage nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß sie durch eine mit einem programmierbaren Automaten verbundene numerische Steuerung kontrolliert wird, um insbesondere eine synchronisierte Arbeit der beiden gegenüberliegenden Roboter (8, 9) und des Roboters (6) zu ermöglichen, der die Zuführung eines Rohling oder eines vorbearbeiteten Teils zur Presse ermöglicht.
EP19900908559 1989-06-07 1990-06-01 Automatische anlage zum überführen und schmieden von beliebigen metallwerkstücken Expired - Lifetime EP0432236B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8907547A FR2648062B1 (fr) 1989-06-07 1989-06-07 Installation automatique perfectionnee de transfert et forgeage de pieces metalliques quelconques
FR8907547 1989-06-07

Publications (2)

Publication Number Publication Date
EP0432236A1 EP0432236A1 (de) 1991-06-19
EP0432236B1 true EP0432236B1 (de) 1993-11-10

Family

ID=9382478

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19900908559 Expired - Lifetime EP0432236B1 (de) 1989-06-07 1990-06-01 Automatische anlage zum überführen und schmieden von beliebigen metallwerkstücken

Country Status (5)

Country Link
EP (1) EP0432236B1 (de)
DE (1) DE69004543T2 (de)
ES (1) ES2045925T3 (de)
FR (1) FR2648062B1 (de)
WO (1) WO1990014903A1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005051565A1 (ja) * 2003-11-26 2005-06-09 Honda Motor Co., Ltd. 鍛造成形方法及び装置
DE102004035797B9 (de) 2004-07-23 2006-07-13 Langenstein & Schemann Gmbh Verfahren und Vorrichtung zum Überführen eines Werkstücks
CN110026507B (zh) * 2018-01-12 2024-06-04 宁波会德丰铜业有限公司 自动安装系统及其方法
CN114570872A (zh) * 2022-03-18 2022-06-03 北京机电研究所有限公司 叶片精锻方法及生产线

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3282079A (en) * 1963-05-16 1966-11-01 Ajax Mfg Co Work handling mechanism for forging presses and the like
US3831425A (en) * 1973-05-01 1974-08-27 Komatsu Mfg Co Ltd Fully automatic forging press
IT1129497B (it) * 1980-12-29 1986-06-04 Teksid Spa Impianto automatico per stampaggio a caldo e sbavatura di particolari metallici
DE8112471U1 (de) * 1981-04-28 1982-07-15 Eumuco Aktiengesellschaft für Maschinenbau, 5090 Leverkusen Hubbalkenmanipulator fuer gesenkschmiedepressen u.dgl.
JPS58215236A (ja) * 1982-06-09 1983-12-14 Sumitomo Heavy Ind Ltd 鍛造マニプレ−タ
DE3245317A1 (de) * 1982-12-08 1984-06-14 Eumuco Aktiengesellschaft für Maschinenbau, 5090 Leverkusen Hubbalkenmanipulator fuer gesenkschmiedepressen u. dgl.

Also Published As

Publication number Publication date
ES2045925T3 (es) 1994-01-16
EP0432236A1 (de) 1991-06-19
DE69004543D1 (de) 1993-12-16
FR2648062B1 (fr) 1992-10-30
WO1990014903A1 (fr) 1990-12-13
FR2648062A1 (fr) 1990-12-14
DE69004543T2 (de) 1994-06-16

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