EP0434891A2 - Manipulator for forging machines, in particular multi-punch forging machines - Google Patents

Manipulator for forging machines, in particular multi-punch forging machines Download PDF

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Publication number
EP0434891A2
EP0434891A2 EP90109301A EP90109301A EP0434891A2 EP 0434891 A2 EP0434891 A2 EP 0434891A2 EP 90109301 A EP90109301 A EP 90109301A EP 90109301 A EP90109301 A EP 90109301A EP 0434891 A2 EP0434891 A2 EP 0434891A2
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EP
European Patent Office
Prior art keywords
worm
manipulator
piston
forging
workpiece
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Granted
Application number
EP90109301A
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German (de)
French (fr)
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EP0434891B1 (en
EP0434891A3 (en
Inventor
Wilhelm Krieger
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Eumuco AG fuer Maschinenbau
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Eumuco AG fuer Maschinenbau
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Application filed by Eumuco AG fuer Maschinenbau filed Critical Eumuco AG fuer Maschinenbau
Priority to AT90109301T priority Critical patent/ATE96704T1/en
Publication of EP0434891A2 publication Critical patent/EP0434891A2/en
Publication of EP0434891A3 publication Critical patent/EP0434891A3/en
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Publication of EP0434891B1 publication Critical patent/EP0434891B1/en
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    • 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
    • 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

  • the invention relates to a manipulator for forging machines, e.g. Multi-ram forging machines with several rams acting radially on the forging, whereby the workpiece is rotated in the circumferential direction according to the forging sequence and the rotary drive is carried out by means of a min. Preselected constant speed motor which acts on the axis of rotation of the manipulator via a worm drive.
  • a manipulator for forging machines e.g. Multi-ram forging machines with several rams acting radially on the forging, whereby the workpiece is rotated in the circumferential direction according to the forging sequence and the rotary drive is carried out by means of a min. Preselected constant speed motor which acts on the axis of rotation of the manipulator via a worm drive.
  • the rotary movement of the forging is carried out before the pressure contact phase, i.e. the engagement of the forging jaws on the workpiece, brought to a standstill and kept at a standstill during the pressure contact phase.
  • Such forging machines are generally equipped with high or unchangeable stroke frequencies. The forging machines are primarily used for forging long workpieces.
  • the manipulators move the workpiece in the axial direction as well as in the circumferential direction in accordance with the forging sequence.
  • the rotary drive takes place by means of a constantly running electric motor, which acts on the axis of rotation via a worm drive.
  • the rotor movement is performed according to the necessary function by superimposing a constant worm gear and brake-spring system during the Pressure contact phase brought to a standstill.
  • the driven screw is axially displaceably supported and is axially supported by spring assemblies, so that the screw can dodge axially in both directions.
  • a disc brake is arranged with which the constant rotational movement of the manipulator axis of the worm wheel is braked before the start of the pressure contact phase and thus held.
  • the constant running motor drive causes the worm to unscrew the spring tension on the braked worm wheel.
  • the brake is released, whereby the screw is reset by the tensioned spring.
  • the rotation angle residue caused by braking is made up again.
  • the oscillation system requires a fixed stroke frequency of the forging machine. Since the rotating mass is different, depending on the size of the workpiece, there is an adverse effect on the vibration system due to a change in mass. In addition, friction and damping change during operation. The necessary brake in the rotary drive also creates wear. The braking distances of a friction brake are not constant, which has the consequence that the function of the machine is impaired.
  • the object of the invention is to eliminate the disadvantage of the oscillating system in the axially displaceably driven worm in a manipulator for forging machines of the type mentioned above and instead to act actively and positively on the axial displaceability of the worm.
  • the manipulator of the type mentioned at the outset is characterized in accordance with the invention in that a controllable axially active superposition drive acts on the worm of the worm drive.
  • a hydraulically operating piston-cylinder unit is arranged at the free end of the worm shaft.
  • Part of the piston-cylinder unit, primarily the piston, is rigidly connected to the axially displaceable worm shaft, while the other part of the piston-cylinder unit, primarily the cylinder, is fixed in place.
  • the inventive arrangement of a controllable superimposition drive for the axial movement of the worm shaft enables the worm itself to be rotated by means of a motor drive rotating at a preselectable speed, the associated movement characteristic being effectively communicated to the axial movement of the worm.
  • Such active control of the system has the effect that the manipulator axis of rotation comes to a standstill before the pressure contact phase is reached, and after the pressure contact phase the subsequent run-up is overtaken by the next work cycle by additional acceleration and speed.
  • Another advantage results from the fact that both the forging machine can work with different stroke frequencies and the downtimes of the axis of rotation can be adapted in accordance with the pressure contact times.
  • the manipulator axis of rotation it is possible for the manipulator axis of rotation to be able to execute harmonic movements in a predetermined, controlled manner, in particular to accelerate and decelerate harmoniously and also to bring the standstill during the pressure contact phase of the forging machine without any other mechanical devices such as brakes, springs, damping elements, etc. being required for this . This reduces the mechanical construction effort and increases the functionality.
  • the hydraulic piston-cylinder unit is designed as a servo control device. Using the servo control, a previously determinable movement characteristic for the axial movement of the screw can be generated.
  • a servo control pre is preferred direction with feedback by comparing the actual values and target values.
  • the manipulator 1 of FIG. 1 moves the workpiece 2 in the axial direction as well as in the circumferential direction in accordance with the forging sequence.
  • the rotation takes place via a central axis 3, which is mounted in the manipulator housing 4;
  • the torque is introduced via the hub 5, which is fixedly connected to the central axis 3.
  • a predetermined number of pliers levers are arranged on a projecting collar 6, which are pivotably mounted about pins 8 and carry jaws 9 at the free end that come into engagement with the workpiece 2.
  • the control depends on the forging sequence.
  • a motor running at a preselectable speed is used for the rotary drive of the central axis 3 of the manipulator 1.
  • the worm drive 11 is composed of the worm wheel 12 and the worm 13.
  • the worm wheel 12 is rotatably connected to the axis of rotation 4 of the manipulator.
  • the worm 13, which is in engagement with the worm wheel 12, is axially displaceably mounted.
  • the rotary axis 4 of the manipulator is conveyed to the rotary drive via the worm 13.
  • a speed-controlled motor drives by means of a transmission element, e.g. a toothed belt 15, a pulley 16 through which the worm 13 is rotated.
  • the worm 13 is axially displaceable.
  • One end 18 of the worm 13 engages with a rotatably mounted bushing 19 which is rigidly connected to the pulley 16.
  • a hydraulically operating piston-cylinder unit 22 is arranged at the other end 20 of the axially displaceable screw 13.
  • a piston 25 is hydraulically displaceable, which is axially fixedly connected to the shaft end 20 by means of bushings 26 or the like, the worm shaft 13 being freely rotatable and at the same time axially with the end parts 18 and 20 is slidably mounted.
  • the hydraulically operating piston-cylinder unit 22 is advantageously designed as a servo control device, so that by means of the control device 28 a predeterminable movement characteristic for the Axial movement of the screw 13 can be generated.
  • the servo control device 28 with feedback by comparing the actual values and target values makes it possible to influence the axial displacement of the worm 13 in such a way that the manipulator axis of rotation 4 comes to a standstill before the plunger reaches the pressure contact phase.
  • the driven, axially movable worm shaft 13 is shifted at a corresponding constant speed in the direction of arrow 29, so that the worm 13 is screwed out of the worm wheel 12 in such a way that the worm wheel 12 and thus the manipulator axis of rotation 3 despite the drive 14 remaining constant until 18 stands still.
  • the axially displaceable worm shaft 13 is reset in the direction of the arrow 30 by means of the servo control 28, as a result of which the axis of rotation 3 is accelerated in addition to the constantly running drive, so that the resulting run-up is overtaken until the next working cycle.
  • the programmable control device By means of the programmable control device additionally acting on the axial displacement of the worm shaft 13 as a superposition drive, there is an active intervention in the axial kinematics of the rotatable worm shaft. It is made possible with simple means that the forging machine can now work with different stroke frequencies, the downtimes of the axis of rotation of the manipulator being able to be adjusted in advance in accordance with the pressure contact times by the plunger. Other mechanical devices such as brakes, springs, damping elements and the like. omitted. The mechanical construction effort is considerably reduced and the functionality of the entire system is increased.
  • the piston-cylinder unit 22 is controlled by means of a servo-hydraulic valve 28.
  • the setpoint input is rotatory - with the lowest output - e.g. with a stepper motor 31, which by means of a transmission element, e.g. a toothed belt 32, drives a pulley 33 and acts on a spindle-nut system 34 of the servo-hydraulic valve 28, whereby the rotary movement of the input shaft is converted into a linear movement such that the movement of the valve 35 opens in the opposite direction to the desired direction of movement of the piston 25 .
  • a transmission element e.g. a toothed belt 32
  • valve 35 Due to the non-rotatable connection of the threaded spindle 36 to the piston 25, the valve 35 is connected linearly directly to the piston 25, so that the actual position of the piston 25 acts on the valve 35 through the closed mechanical control loop and thus when the predetermined target value is reached Valve 35 is closed again.
  • the actual value of the piston 25 is recorded via a separate displacement measuring system 37 and compared in the electrical control with the predetermined target value.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

A workpiece manipulator assembly for a forging press having a press ram comprises a workpiece rotating mechanism including a rotary drive system for rotating a workpiece in peripheral direction. The rotary drive system is operated by a drive motor running at a preselected constant speed to rotate the workpiece about an axis of rotation. An arresting assembly stops the rotary movement of the workpiece before and during a pressure contact phase for the press ram. The rotary drive system is adapted to rotate a driven worm which produces rotary movement to the workpiece rotating means and is mounted for axial displacement. The arresting assembly includes an axial drive unit for predeterminably controlling axial displacement of the driven worm to effect the arresting of said rotary movement.

Description

Die Erfindung bezieht sich auf einen Manipulator für Schmiedemaschinen, z.B. Mehr-Stößel-Schmiedemaschinen mit mehreren auf das Schmiedestück radial wirkenden Stößeln, wobei das Werkstück entsprechend der Schmiedefolge rotorisch in Umfangsrichtung bewegt wird und der Drehantrieb mittels eines min vorgewählter konstanter Drehzahl laufenden Motors erfolgt, der über einen Schneckentrieb auf die Drehachse des Manipulators wirkt.The invention relates to a manipulator for forging machines, e.g. Multi-ram forging machines with several rams acting radially on the forging, whereby the workpiece is rotated in the circumferential direction according to the forging sequence and the rotary drive is carried out by means of a min. Preselected constant speed motor which acts on the axis of rotation of the manipulator via a worm drive.

Die rotorische Bewegung des Schmiedestückes wird vor der Druckberührungsphase, d.h. dem Eingriff der Schmiedebacken an dem Werkstück, zum Stillstand gebracht und während der Druckberührungsphase im Stillstand gehalten. Solche Schmiedemaschinen sind im allgemeinen mit hohen bzw. unveränderbaren Hubfrequenzen ausgestattet. Die Schmiedemaschinen dienen vornehmlich zum Schmieden von langen Werkstücken.The rotary movement of the forging is carried out before the pressure contact phase, i.e. the engagement of the forging jaws on the workpiece, brought to a standstill and kept at a standstill during the pressure contact phase. Such forging machines are generally equipped with high or unchangeable stroke frequencies. The forging machines are primarily used for forging long workpieces.

Bei Schmiedemaschinen der beschriebenen Art bewegen die Manipulatoren das Werkstück entsprechend der Schmiedefolge sowohl in axialer Richtung als auch rotorisch in Umfangsrichtung. Der Drehantrieb erfolgt bei diesen Manipulatoren mittels eines konstant laufenden Elektromotors, der über einen Schneckentrieb auf die Drehachse wirkt. Die rotorische Bewegung wird entsprechend der notwendigen Funktion durch Überlagerung von konstantem Schneckentrieb und Brems-Feder-System während der Druckberührungsphase zum Stillstand gebracht. Bei der bekannten Ausführung ist die angetriebene Schnecke axial verschiebbar gelagert und wird axial über Federpakete abgestützt, so daß die Schnecke axial in beiden Richtungen ausweichen kann. Um das Drehmoment an der Manipulatorachse aus der Federwirkung während der Druckberührungsphase zu vermeiden, ist eine Scheibenbremse angeordnet, mit der die konstante Drehbewegung der Manipulatorachse des Schneckenrades vor Beginn der Druckberührungsphase abgebremst und damit festgehalten wird. Der konstant weiterlaufende Motorantrieb führt dazu, daß sich die Schnecke an dem festgebremsten Schneckenrad fegen die Federspannung herausschraubt. Nach Beendigung der Druckberührungsphase wird die Bremse gelöst, wodurch die Schnecke über die gespannte Feder wieder zurückgestellt wird. Es entsteht an dem Schneckenrad und damit an der Manipulatorzange eine gegenüber der konstanten Geschwindigkeit erhöhte Geschwindigkeit. Der durch die Bremsung entstandene Drehwinkelrückstand wird wieder aufgeholt.In forging machines of the type described, the manipulators move the workpiece in the axial direction as well as in the circumferential direction in accordance with the forging sequence. In these manipulators, the rotary drive takes place by means of a constantly running electric motor, which acts on the axis of rotation via a worm drive. The rotor movement is performed according to the necessary function by superimposing a constant worm gear and brake-spring system during the Pressure contact phase brought to a standstill. In the known embodiment, the driven screw is axially displaceably supported and is axially supported by spring assemblies, so that the screw can dodge axially in both directions. In order to avoid the torque on the manipulator axis from the spring action during the pressure contact phase, a disc brake is arranged with which the constant rotational movement of the manipulator axis of the worm wheel is braked before the start of the pressure contact phase and thus held. The constant running motor drive causes the worm to unscrew the spring tension on the braked worm wheel. After the pressure contact phase has ended, the brake is released, whereby the screw is reset by the tensioned spring. At the worm wheel and thus at the manipulator pliers there is a higher speed than the constant speed. The rotation angle residue caused by braking is made up again.

Im Verlauf der Schnecken-Rückstellbewegung und in Wirkzusammenhang mit den zusätzlich beschleunigten Massen wird rückstellend nicht nur die Mittelstellung erreicht, sondern das System schwingt in das gegenüberliegende Federpaket hinein und auch teilweise dann wieder zurück. Die Bremse fällt ein, bevor die neue Druckberührungszeit des nächsten Arbeitsspiels beginnt.In the course of the screw reset movement and in connection with the additionally accelerated masses, not only is the center position reset, but the system swings into the opposite spring assembly and then partially back again. The brake is applied before the new pressure contact time of the next work cycle begins.

Bei dem schwingenden System stehen die Federspannung, die Massenkräfte und die Geschwindigkeiten in direktem physikalischen Zusammenhang. Bei diesem System kann ein ordnungsgemäßes Funktionieren nur sichergestellt werden, wenn die konstruktiv festgelegten Parameter eingehalten werden. Schon bei den unterschiedlichen Bear beitungsarten (Schruppen, Feinbearbeitung) bildet das Verhältnis von Berührungszeit und Leerzeit eine Variable, wodurch sich unterschiedliche Parameter für das Schwingsystem ergeben.With the vibrating system, the spring tension, the inertial forces and the speeds are directly physically related. With this system, proper functioning can only be ensured if the design parameters are observed. Even with the different bear types of machining (roughing, finishing), the ratio of contact time to idle time forms a variable, which results in different parameters for the vibration system.

Das Schwingsystem erfordert die Bindung an eine feste Hubfrequenz der Schmiedemaschine. Da die Drehmasse, abhängig von der Werkstückgröße, unterschiedlich ist, ergibt sich eine nachteilige Wirkung durch Massenveränderung auf das Schwingsystem. Hinzu kommt, daß im laufenden Betrieb sich Reibung und Dämpfung verändern. Die notwendige Bremse im Drehantrieb erzeugt darüber hinaus Verschleiß. Die Bremswege einer Reibungsbremse sind nicht konstant, was die Beeinträchtigung der Funktion der Maschine zur Folge hat.The oscillation system requires a fixed stroke frequency of the forging machine. Since the rotating mass is different, depending on the size of the workpiece, there is an adverse effect on the vibration system due to a change in mass. In addition, friction and damping change during operation. The necessary brake in the rotary drive also creates wear. The braking distances of a friction brake are not constant, which has the consequence that the function of the machine is impaired.

Aufgabe der Erfindung ist es, bei einem Manipulator für Schmiedemaschinen der anfangs genannten Art, den Nachteil des Schwingsystems bei der axial verschiebbar gelagerten angetriebenen Schnecke auszuschalten und stattdessen aktiv und positiv auf die axiale Verschiebbarkeit der Schnecke einzuwirken. Der Manipulator der eingangs erwähnten Bauart zeichnet sich gemäß der Erfindung dadurch aus, daß auf die Schnecke des Schneckentriebs ein steuerbarer axial wirksamer Überlagerungsantrieb einwirkt.The object of the invention is to eliminate the disadvantage of the oscillating system in the axially displaceably driven worm in a manipulator for forging machines of the type mentioned above and instead to act actively and positively on the axial displaceability of the worm. The manipulator of the type mentioned at the outset is characterized in accordance with the invention in that a controllable axially active superposition drive acts on the worm of the worm drive.

Gemäß einem weiteren Merkmal der Erfindung ist am freien Ende der Schneckenwelle eine hydraulisch arbeitende Kolben-Zylinder-Einheit angeordnet. Ein Teil der Kolbenzylinder-Einheit, vornehmlich der Kolben, ist mit der axial verschiebbaren Schneckenwelle starr verbunden, während der andere Teil der Kolbenzylinder-Einheit, vornehmlich der Zylinder, ortsfest angebracht ist.According to a further feature of the invention, a hydraulically operating piston-cylinder unit is arranged at the free end of the worm shaft. Part of the piston-cylinder unit, primarily the piston, is rigidly connected to the axially displaceable worm shaft, while the other part of the piston-cylinder unit, primarily the cylinder, is fixed in place.

Durch die erfindungsgemäße Anordnung eines steuerbaren Überlagungsantriebes für die Axialbewegung der Schneckenwelle kann die Schnecke selbst über einen mit vorwählbarer Geschwindigkeit umlaufenden motorischen Antrieb gedreht werden, wobei der Axialbewegung der Schnecke eine zugeordnete Bewegungscharakteristik wirksam mitgeteilt wird. Eine solche aktive Steuerung des Systems bewirkt, daß vor Erreichen der Druckberührungsphase die Manipulator-Drehachse zum Stillstand kommt, und nach der Druckberührungsphase durch zusätzliche Beschleunigung und Geschwindigkeit der entstandene Nachlauf bis zum nächsten Arbeitsspiel eingeholt wird. Ein weiterer Vorteil ergibt sich dadurch, daß sowohl die Schmiedemaschine mit unterschiedlichen Hubfrequenzen arbeiten kann, als auch die Stillstandzeiten der Drehachse entsprechend der Druckberührungszeiten angepaßt werden können. Es ist ermöglicht, daß die Manipulatordrehachse in vorgegebener gesteuerter Weise harmonische Bewegungen ausführen kann, insbesondere harmonisch beschleunigt und verzögert und auch der Stillstand während der Druckberührungsphase der Schmiedemaschine bewirkt wird, ohne daß hierzu sonstige mechanische Einrichtungen, wie Bremsen, Federn, Dämpfungselemente usw. erforderlich sind. Der mechanische Bauaufwand wird hierdurch vermindert und die Funktionstüchtigkeit erhöht.The inventive arrangement of a controllable superimposition drive for the axial movement of the worm shaft enables the worm itself to be rotated by means of a motor drive rotating at a preselectable speed, the associated movement characteristic being effectively communicated to the axial movement of the worm. Such active control of the system has the effect that the manipulator axis of rotation comes to a standstill before the pressure contact phase is reached, and after the pressure contact phase the subsequent run-up is overtaken by the next work cycle by additional acceleration and speed. Another advantage results from the fact that both the forging machine can work with different stroke frequencies and the downtimes of the axis of rotation can be adapted in accordance with the pressure contact times. It is possible for the manipulator axis of rotation to be able to execute harmonic movements in a predetermined, controlled manner, in particular to accelerate and decelerate harmoniously and also to bring the standstill during the pressure contact phase of the forging machine without any other mechanical devices such as brakes, springs, damping elements, etc. being required for this . This reduces the mechanical construction effort and increases the functionality.

Gemäß der Erfindung ist weiterhin vorgesehen, daß die hydraulische Kolben-Zylinder-Einheit als Servo-Steuerungs-Vorrichtung ausgebildet ist. Mittels der Servosteuerung kann eine vorher bestimmbare Bewegungscharakteristik für die Axialbewegung der Schnecke erzeugt werden.According to the invention it is further provided that the hydraulic piston-cylinder unit is designed as a servo control device. Using the servo control, a previously determinable movement characteristic for the axial movement of the screw can be generated.

Bevorzugt ist die Verwendung einer Servosteuerungs-Vor richtung mit Rückkopplung durch Vergleich der Ist-Werte und Soll-Werte.The use of a servo control pre is preferred direction with feedback by comparing the actual values and target values.

Die Erfindung wird anhand eines in der Zeichnung dargestellten Ausführungsbeispieles nachstehend erläutert:

Figur 1
neigt eine Ausführungsform eines Manipulators zur Bewegung des Werkstückes in axialer Richtung und rotorisch in Umfangsrichtung im Längsschnitt und im Schema.
Figur 2
stellt einen Schnitt nach der Linie II-II der Figur 1 durch das Schneckengetriebe zum Teil in Ansicht, zum Teil im Schnitt im Schema dar.
Figur 3
veranschaulicht eine Ausführungsform einer Servo-Steuervorrichtung für die Steuerung der Axialbewegung der Schnecke prinzipmäßig und im Schema.
The invention is explained below using an exemplary embodiment shown in the drawing:
Figure 1
One embodiment of a manipulator tends to move the workpiece in the axial direction and rotatively in the circumferential direction in the longitudinal section and in the diagram.
Figure 2
shows a section along the line II-II of Figure 1 through the worm gear partly in view, partly in section in the diagram.
Figure 3
illustrates an embodiment of a servo control device for controlling the axial movement of the screw in principle and in the diagram.

Der Manipulator 1 der Figur 1 bewegt das Werkstück 2 entsprechend der Schmiedefolge sowohl in axialer Richtung als auch rotorisch in Umfangsrichtung. Die Rotation erfolgt über eine Zentralachse 3, die im Manipulatorgehäuse 4 gelagert ist; die Einleitung des Drehmoments erfolgt über die mit der Zentralachse 3 fest verbundene Nabe 5. Am vorderen freien Ende der Zentralachse 4 ist an einem vorstehenden Bund 6 eine vorbestimmte Anzahl von Zangenhebeln angeordnet, die um Zapfen 8 schwenkbar gelagert sind und am freien Ende Zangenbacken 9 tragen, die mit dem Werkstück 2 in Eingriff kommen. Die Steuerung richtet sich nach der Schmiedefolge.The manipulator 1 of FIG. 1 moves the workpiece 2 in the axial direction as well as in the circumferential direction in accordance with the forging sequence. The rotation takes place via a central axis 3, which is mounted in the manipulator housing 4; The torque is introduced via the hub 5, which is fixedly connected to the central axis 3. At the front free end of the central axis 4, a predetermined number of pliers levers are arranged on a projecting collar 6, which are pivotably mounted about pins 8 and carry jaws 9 at the free end that come into engagement with the workpiece 2. The control depends on the forging sequence.

Für den Drehantrieb der Zentralachse 3 des Manipulators 1 dient ein mit vorwählbarer Drehzahl konstant laufender Motor. Dieser wirkt über einen Schneckentrieb 11 auf die Zentralachse 3 des Manipulators. Der Schneckentrieb 11 setzt sich aus dem Schneckenrad 12 und der Schnecke 13 zusammen. Das Schneckenrad 12 ist mit der Drehachse 4 des Manipulators drehfest verbunden. Die mit dem Schneckenrad 12 in Eingriff stehende Schnecke 13 ist axial verschieblich gelagert. Über die Schnecke 13 wird der Drehachse 4 des Manipulators der rotorische Antrieb vermittelt. Als Antriebsmotor für die Schnecke 13 treibt ein drehzahlgeregelter Motor mittels eines Übertragungsgliedes, z.B. eines Zahnriemens 15, eine Riemenscheibe 16 an, durch die die Schnecke 13 in Rotation gebracht wird.For the rotary drive of the central axis 3 of the manipulator 1, a motor running at a preselectable speed is used. This acts on the central axis 3 of the manipulator via a worm drive 11. The worm drive 11 is composed of the worm wheel 12 and the worm 13. The worm wheel 12 is rotatably connected to the axis of rotation 4 of the manipulator. The worm 13, which is in engagement with the worm wheel 12, is axially displaceably mounted. The rotary axis 4 of the manipulator is conveyed to the rotary drive via the worm 13. As a drive motor for the worm 13, a speed-controlled motor drives by means of a transmission element, e.g. a toothed belt 15, a pulley 16 through which the worm 13 is rotated.

Die Schnecke 13 ist axial verschiebbar gelagert. Das eine Ende 18 der Schnecke 13, greift mit einer drehbar gelagerten Buchse 19 zusammen, welche mit der Riemenscheibe 16 starr verbunden ist. Am anderen Ende 20 der axial verschiebbaren Schnecke 13 ist eine hydraulisch arbeitende Kolben-Zylinder-Einheit 22 angeordnet. In einem in einer Gestellwand 23 oder dergleichen ortsfest gelagerten Zylinder 24 ist ein Kolben 25 hydraulisch verschiebbar, der mittels Buchsen 26 oder dergleichen mit dem Wellenende 20 in axialer fester Verbindung steht, wobei die Schneckenwelle 13 mit den Endteilen 18 und 20 ungehindert drehbar und zugleich axial verschiebbar gelagert ist.The worm 13 is axially displaceable. One end 18 of the worm 13 engages with a rotatably mounted bushing 19 which is rigidly connected to the pulley 16. A hydraulically operating piston-cylinder unit 22 is arranged at the other end 20 of the axially displaceable screw 13. In a cylinder 24 mounted in a fixed manner in a frame wall 23 or the like, a piston 25 is hydraulically displaceable, which is axially fixedly connected to the shaft end 20 by means of bushings 26 or the like, the worm shaft 13 being freely rotatable and at the same time axially with the end parts 18 and 20 is slidably mounted.

Die hydraulisch arbeitende Kolben-Zylinder-Einheit 22 ist vorteilhaft als Servo-Steuerungsvorrichtung ausgebildet, so daß mittels der Steuerungsvorrichtung 28 eine vorbestimmbare Bewegungscharakteristik für die Axialbewegung der Schnecke 13 erzeugt werden kann. Die Servo-Steuerungsvorrichtung 28 mit Rückkopplung durch Vergleich der Ist-Werte und Soll-Werte erlaubt es, die Axialverschiebung der Schnecke 13 so zu beeinflussen, daß vor Erreichen der Druckberührungsphase durch die Stößel die Manipulatordrehachse 4 zum Stillstand kommt.The hydraulically operating piston-cylinder unit 22 is advantageously designed as a servo control device, so that by means of the control device 28 a predeterminable movement characteristic for the Axial movement of the screw 13 can be generated. The servo control device 28 with feedback by comparing the actual values and target values makes it possible to influence the axial displacement of the worm 13 in such a way that the manipulator axis of rotation 4 comes to a standstill before the plunger reaches the pressure contact phase.

In diesem Falle wird die angetriebene, axial bewegliche Schneckenwelle 13 mit entsprechender konstanter Geschwindigkeit in Pfeilrichtung 29 verschoben, so daß sich die Schnecke 13 aus dem Schneckenrad 12 so herausschraubt, daß das Schneckenrad 12 und somit die Manipulator-Drehachse 3 trotz des konstant bleibenden Antriebs 14 bis 18 stillsteht. Nach Beendigung der Druckberührphase durch die Stößel der Schmiedemaschine wird mittels der Servo-Steuerung 28 die axial verschiebbare Schneckenwelle 13 in Pfeilrichtung 30 zurückgestellt, hierdurch wird die Drehachse 3 zusätzlich zum konstant laufenden Antrieb beschleunigt, so daß der entstandene Nachlauf bis zum nächsten Arbeitsspiel eingeholt ist. Mittels der auf die Axialverschiebung der Schneckenwelle 13 zusätzlich einwirkenden programmierbaren Steuerungsvorrichtung als Überlagerungsantrieb wird aktiv in die axiale Kinematik der drehbaren Schneckenwelle eingegriffen. Es ist mit einfachen Mitteln ermöglicht, daß die Schmiedemaschine nunmehr mit unterschiedlichen Hubfrequenzen arbeiten kann, wobei die Stillstandzeiten der Drehachse des Manipulators entsprechend der Druckberührungszeiten durch die Stößel vorher bestimmbar angepaßt werden können. Sonstige mechanische Einrichtungen, wie Bremsen, Federn, Dämpfungselemente u.dgl. entfallen. Der mechanische Bauaufwand wird erheblich vermindert und die Funktionstüchtigkeit der Gesamtanlage erhöht.In this case, the driven, axially movable worm shaft 13 is shifted at a corresponding constant speed in the direction of arrow 29, so that the worm 13 is screwed out of the worm wheel 12 in such a way that the worm wheel 12 and thus the manipulator axis of rotation 3 despite the drive 14 remaining constant until 18 stands still. After the end of the pressure contact phase by the plunger of the forging machine, the axially displaceable worm shaft 13 is reset in the direction of the arrow 30 by means of the servo control 28, as a result of which the axis of rotation 3 is accelerated in addition to the constantly running drive, so that the resulting run-up is overtaken until the next working cycle. By means of the programmable control device additionally acting on the axial displacement of the worm shaft 13 as a superposition drive, there is an active intervention in the axial kinematics of the rotatable worm shaft. It is made possible with simple means that the forging machine can now work with different stroke frequencies, the downtimes of the axis of rotation of the manipulator being able to be adjusted in advance in accordance with the pressure contact times by the plunger. Other mechanical devices such as brakes, springs, damping elements and the like. omitted. The mechanical construction effort is considerably reduced and the functionality of the entire system is increased.

Anhand der Figur 3 wird ein Ausführungsbeispiel einer Sorvosteuerungsvorrichtung erläutert. Die Kolben-Zylinder-Einheit 22 wird mittels eines servo-hydraulischen Ventils 28 gesteuert. Der Sollwert-Eingang erfolgt rotorisch - mit kleinster Leistung - z.B. mit einem Schrittmotor 31, der mittels eines Übertragungsgliedes, z.B. eines Zahnriemens 32, eine Riemenscheibe 33 antreibt und auf ein Spindel-Mutter-System 34 des servohydraulischen Ventils 28 wirkt, wodurch die rotorische Bewegung der Eingangswelle in eine Linearbewegung so umgesetzt wird, daß die Bewegung des Ventils 35 entgegengesetzt zur gewünschten Bewegungsrichtung des Kolbens 25 öffnet. Durch die drehfeste Anbindung der Gewindespindel 36 mit dem Kolben 25 ist das Ventil 35 linear direkt mit dem Kolben 25 verbunden, so daß die Ist-Stellung des Kolbens 25 durch den geschlossenen mechanischen Regelkreis auf das Ventil 35 wirkt und somit bei Erreichen des vorgegebenen Sollwertes das Ventil 35 wieder geschlossen ist. Zur Kontrolle der Kolbenstellung wird der Ist-Wert des Kolbens 25 über ein separates Wegmeßsystem 37 erfaßt und in der elektrischen Steuerung mit dem vorgegebenen Soll-Wert verglichen.An exemplary embodiment of a Sorvo control device is explained with reference to FIG. The piston-cylinder unit 22 is controlled by means of a servo-hydraulic valve 28. The setpoint input is rotatory - with the lowest output - e.g. with a stepper motor 31, which by means of a transmission element, e.g. a toothed belt 32, drives a pulley 33 and acts on a spindle-nut system 34 of the servo-hydraulic valve 28, whereby the rotary movement of the input shaft is converted into a linear movement such that the movement of the valve 35 opens in the opposite direction to the desired direction of movement of the piston 25 . Due to the non-rotatable connection of the threaded spindle 36 to the piston 25, the valve 35 is connected linearly directly to the piston 25, so that the actual position of the piston 25 acts on the valve 35 through the closed mechanical control loop and thus when the predetermined target value is reached Valve 35 is closed again. To check the piston position, the actual value of the piston 25 is recorded via a separate displacement measuring system 37 and compared in the electrical control with the predetermined target value.

Claims (4)

Manipulator für Schmiedemaschinen, z.B. Mehr-Stößel-Schmiedemaschinen, mit mehreren auf das Schmiedestück radial wirkenden Stößeln, bei denen das Werkstück (2) entsprechend der Schmiedefolge rotorisch in Umfangsrichtung bewegt wird, wobei der Drehantrieb (12,13) des Manipulators (1) mittels eines mit vorgewählter konstanter Drehzahl laufenden Motors (14) erfolgt, der über einen Schneckentrieb (12,13) auf die Drehachse des Manipulators (1) wirkt, und wobei die rotorische Bewegung vor der Druckberührungsphase durch die Stößel zum Stillstand gebracht und während der Druckberührungsphase im Stillstand gehalten wird, wobei die angetriebene Schnecke (13) axial verschiebbar gelagert ist, dadurch gekennzeichnet, daß auf die Schnecke (13) des Schneckengetriebes (11) ein steuerbarer axial wirksamer Überlagerungsantrieb (28) einwirkt.Manipulator for forging machines, e.g. multi-ram forging machines, with several rams acting radially on the forging, in which the workpiece (2) is rotated in the circumferential direction in accordance with the forging sequence, the rotary drive (12, 13) of the manipulator (1) being operated by means of of a motor (14) running at a preselected constant speed, which acts on the axis of rotation of the manipulator (1) via a worm drive (12, 13), and the rotor movement being brought to a standstill by the plunger before the pressure contact phase and during the pressure contact phase in Standstill is maintained, the driven worm (13) being axially displaceable, characterized in that a controllable axially effective superposition drive (28) acts on the worm (13) of the worm gear (11). Manipulator nach Anspruch 1, dadurch gekennzeichnet, daß am freien Ende (20) der Schneckenwelle (13) eine hydraulisch arbeitende Kolben-Zylinder-Einheit (22) angeordnet ist, und daß ein Teil der Kolben-Zylinder-Einheit (22), vornehmlich der Kolben (25), mit der axial verschiebbaren Schneckenwelle (13) starr verbunden und der andere Teil der Kolben-Zylinder-Einheit (23), vornehmlich der Zylinder (24), ortsfest vorgesehen sind.Manipulator according to claim 1, characterized in that a hydraulically operating piston-cylinder unit (22) is arranged at the free end (20) of the worm shaft (13), and that part of the piston-cylinder unit (22), primarily the Piston (25), rigidly connected to the axially displaceable worm shaft (13) and the other part of the piston-cylinder unit (23), primarily the cylinder (24), are provided in a fixed position. Manipulator nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die hydraulische Kolben-Zylinder-Einheit (22) als Servo-Steuerungsvorrichtung ausgebildet ist, und daß mittels der Servo-Steuerungsvorrichtung (28) eine vorbestimmbare Bewegungscharakteristik für die Axialbewegung der Schnecke (13) erzeugbar ist.Manipulator according to claim 1 or 2, characterized in that the hydraulic piston-cylinder unit (22) is designed as a servo control device, and that a predeterminable movement characteristic for the axial movement of the screw (13) can be generated by means of the servo control device (28). Manipulator nach einem der Ansprüche 1 bis 3, gekennzeichnet durch die Verwendung einer Servo-Steuerungsvorrichtung (28) mit Rückkopplung durch Vergleich der Ist-Werte und Soll-Werte.Manipulator according to one of claims 1 to 3, characterized by the use of a servo control device (28) with feedback by comparison of the actual values and target values.
EP90109301A 1989-12-23 1990-05-17 Manipulator for forging machines, in particular multi-punch forging machines Expired - Lifetime EP0434891B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90109301T ATE96704T1 (en) 1989-12-23 1990-05-17 MANIPULATOR FOR FORGING MACHINES, ESPECIALLY MORE-PILOT FORGING MACHINES.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3942942A DE3942942C1 (en) 1989-12-23 1989-12-23
DE3942942 1989-12-23

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EP0434891A2 true EP0434891A2 (en) 1991-07-03
EP0434891A3 EP0434891A3 (en) 1991-12-18
EP0434891B1 EP0434891B1 (en) 1993-11-03

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ID=6396429

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EP90109301A Expired - Lifetime EP0434891B1 (en) 1989-12-23 1990-05-17 Manipulator for forging machines, in particular multi-punch forging machines

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US (1) US5000028A (en)
EP (1) EP0434891B1 (en)
JP (1) JPH0732946B2 (en)
KR (1) KR930009401B1 (en)
AT (1) ATE96704T1 (en)
DE (2) DE3942942C1 (en)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
EP1600228A1 (en) * 2004-05-26 2005-11-30 GFM Beteiligungs- und Management GmbH & Co KG Device for intermittently driving a spindle of a workpiece holder, in particular of a forging machine
DE102005012297B4 (en) * 2005-03-17 2007-06-14 Sms Meer Gmbh forging machine
EP3028788A1 (en) * 2014-12-02 2016-06-08 GFM GmbH Forging machine
CN109047617A (en) * 2018-08-14 2018-12-21 钱浩 A kind of forging manipulator clamp parallel lifting mechanism

Families Citing this family (13)

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Publication number Priority date Publication date Assignee Title
DE9005834U1 (en) * 1990-05-23 1991-09-19 Eumuco Aktiengesellschaft für Maschinenbau, 5090 Leverkusen MANIPULATOR FOR FORGING MACHINES, ESPECIALLY MULTI-STAINLESS FORGING MACHINES
DE4132220A1 (en) * 1991-09-27 1993-04-01 Pahnke Eng Gmbh & Co Kg Hydraulically actuated forging press - has a workpiece manipulator which is synchronised with movement of press ram
AT396883B (en) * 1992-08-13 1993-12-27 Gfm Fertigungstechnik CLAMPING HEAD FOR FORGING MACHINES
DE202004020404U1 (en) * 2003-06-05 2005-05-25 Langenstein & Schemann Gmbh Handling device for handling a workpiece during a forming process
AT501483B8 (en) * 2004-05-26 2007-02-15 Gfm Beteiligungs & Man Gmbh DEVICE FOR FORGING A WORKPIECE
DE102009052482A1 (en) * 2009-02-11 2010-08-19 Sms Meer Gmbh Method and device for producing tubular workpieces from a pre-punched hollow block
DE102009052141A1 (en) 2009-04-23 2010-10-28 Sms Meer Gmbh Manipulator for forging machines
KR100968213B1 (en) * 2009-11-16 2010-07-06 (주)씨피티 Apparatus for forging billet and method of the same
ES2388391B2 (en) * 2010-03-30 2013-09-05 Eurocopter Espana S A ACTUATOR OF A BUTTON OF A EQUIPMENT AND TEST BENCH EQUIPPED WITH SUCH ACTUATOR.
CN101983795B (en) * 2010-08-30 2012-10-31 张家港市明华机械制造有限公司 Rotation actuating device of feeding shaft sleeve on pipe bender
KR101219291B1 (en) * 2011-02-14 2013-01-21 주식회사 나래코퍼레이션 Forging system using servo control hydraulic method
JP6438667B2 (en) * 2014-03-26 2018-12-19 大和製罐株式会社 Molding apparatus, object molding method, and can body manufacturing method
TWI663005B (en) * 2017-02-14 2019-06-21 春日機械工業股份有限公司 Driving device of forging parts processing machine

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DE1627660A1 (en) * 1966-02-16 1970-05-06 Zdarske Strojirny A Slevarny Device for manipulating with blanks, in particular rough blocks
DE1931514A1 (en) * 1968-08-01 1970-05-21 Fertigungstechnik Und Maschb G Clamping head for forging machines
DD230133A3 (en) * 1982-09-02 1985-11-20 Schwermasch Rau Wildau FENDER FOR CHARGING MACHINES

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Publication number Priority date Publication date Assignee Title
EP1600228A1 (en) * 2004-05-26 2005-11-30 GFM Beteiligungs- und Management GmbH & Co KG Device for intermittently driving a spindle of a workpiece holder, in particular of a forging machine
DE102005012297B4 (en) * 2005-03-17 2007-06-14 Sms Meer Gmbh forging machine
EP3028788A1 (en) * 2014-12-02 2016-06-08 GFM GmbH Forging machine
CN109047617A (en) * 2018-08-14 2018-12-21 钱浩 A kind of forging manipulator clamp parallel lifting mechanism

Also Published As

Publication number Publication date
JPH0732946B2 (en) 1995-04-12
US5000028A (en) 1991-03-19
EP0434891B1 (en) 1993-11-03
JPH03193234A (en) 1991-08-23
ATE96704T1 (en) 1993-11-15
KR930009401B1 (en) 1993-10-04
DE59003350D1 (en) 1993-12-09
DE3942942C1 (en) 1991-06-20
EP0434891A3 (en) 1991-12-18
KR910009361A (en) 1991-06-28

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