EP0434891B1 - Manipulateur pour machines de forgeage, notamment machines de forgeage à poinçons multiples - Google Patents

Manipulateur pour machines de forgeage, notamment machines de forgeage à poinçons multiples Download PDF

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Publication number
EP0434891B1
EP0434891B1 EP90109301A EP90109301A EP0434891B1 EP 0434891 B1 EP0434891 B1 EP 0434891B1 EP 90109301 A EP90109301 A EP 90109301A EP 90109301 A EP90109301 A EP 90109301A EP 0434891 B1 EP0434891 B1 EP 0434891B1
Authority
EP
European Patent Office
Prior art keywords
manipulator
worm
piston
workpiece
cylinder unit
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
EP90109301A
Other languages
German (de)
English (en)
Other versions
EP0434891A2 (fr
EP0434891A3 (en
Inventor
Wilhelm Krieger
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.)
Eumuco AG fuer Maschinenbau
Original Assignee
Eumuco AG fuer Maschinenbau
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 Eumuco AG fuer Maschinenbau filed Critical Eumuco AG fuer Maschinenbau
Priority to AT90109301T priority Critical patent/ATE96704T1/de
Publication of EP0434891A2 publication Critical patent/EP0434891A2/fr
Publication of EP0434891A3 publication Critical patent/EP0434891A3/de
Application granted granted Critical
Publication of EP0434891B1 publication Critical patent/EP0434891B1/fr
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
    • 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, for. B. multi-plunger Schmi edemaschinen with a plurality of plungers acting radially on the forging, the manipulator having a rotatably mounted central axis with which the workpiece is rotatable in the circumferential direction according to the forging sequence, the rotary drive of the manipulator using a preselected constant speed Running motor takes place, which acts on the central axis of the manipulator via a worm drive and the rotor movement of the central axis is brought to a standstill by the plunger before the pressure contact phase and is kept at a standstill during the pressure contact phase, the driven worm being mounted so as to be axially displaceable.
  • the rotor movement of the forging is brought to a standstill before the pressure contact phase, ie the engagement of the forging jaws on the workpiece, and is kept at a standstill during the pressure contact phase.
  • Such forging machines are generally equipped with high or unchangeable frequencies. The forging machines are primarily used for forging long workpieces.
  • the manipulators move the workpiece according to the forging sequence both in the axial direction and in the circumferential direction in a rotary manner.
  • 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 differs 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.
  • a further 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 predeterminable movement characteristic for the axial movement of the screw can be generated.
  • a servo control device is preferred with feedback by comparison of 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 pliers jaws 9 at the free end that come into engagement with the workpiece 2.
  • the control depends on the forging sequence.
  • the worm drive 11 is composed of the worm wheel 12 and the worm 13.
  • the worm wheel 12 is non-rotatably connected to the central axis 3 of the manipulator.
  • the worm 13 which is in engagement with the worm wheel 12 is axially displaceably mounted.
  • the central axis 3 of the manipulator is conveyed to the rotor drive via the worm 13.
  • a speed-controlled motor 14 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 controlled with a SERVO-HydrauliSCHEN VALVE so that by means of the SERVO-HydrauliSCHEN-VALVE 28 a predeterminable movement characteristic for the Axial movement of the screw 13 can be generated.
  • THE SERVO-HYDRAULIC VALVE 28 with feedback by comparing the actual and target values allows the axial displacement of the worm 13 to be influenced in such a way that the central axis 3 of the manipulator 1 comes to a standstill before the plunger reaches the pressure contact phase.
  • the driven, axially movable worm 13 is shifted at a corresponding constant speed in the direction of arrow 29, so that the worm 13 unscrews from the worm wheel 12 in such a way that the worm wheel 12 and thus the CENTRAL AXIS 3 despite the constant drive 14 to 18 stands still.
  • the axially displaceable screw 13 is reset in the direction of arrow 30 by means of the SERVO-HydrauliSCHEN valve 28, thereby the CENTRAL AXIS 3 is accelerated in addition to the constantly running drive, so that the resulting run-up is caught up until the next work cycle .
  • the programmable control device By means of the programmable control device additionally acting on the axial displacement of the worm 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 position measuring system 37 and compared in the electrical control with the predetermined target value.

Landscapes

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

Claims (4)

  1. Manipulateur pour machines à forger, par exemple pour des machines à forger comportant plusieurs coulisseaux qui agissent radialement sur la pièce à forger, le manipulateur présentant un axe central (3) monté à rotation, par lequel la pièce à usiner (2) peut être déplacée en direction circonférentielle en un mouvement de rotation correspondant à la séquence de forgeage, l'entraînement en rotation (12, 13) du manipulateur (1) s'effectuant au moyen d'un moteur (14) qui tourne à une vitesse de rotation constante préalablement choisie et qui agit sur l'axe central (3) du manipulateur (1) par l'intermédiaire d'une commande à vis sans fin (12, 13), et le mouvement de rotation de l'axe central étant interrompu par les coulisseaux avant la phase de contact sous pression et étant maintenu à l'arrêt pendant la phase de contact sous pression, la vis sans fin entraînée (13) étant montée de façon à pouvoir être déplacée axialement, caractérisé en ce qu'un mécanisme d'entraînement superposé (22, 28), commandable et à action axiale, agit sur la vis sans fin (13).
  2. Manipulateur selon la revendication 1, caractérisé en ce qu'un vérin hydraulique (22) est disposé à l'extrémité libre (20) de la vis sans fin (13), et en ce qu'une partie du vérin (22), en particulier le piston (25), est raccordée rigidement à la vis sans fin déplaçable axialement (13), tandis que l'autre partie du vérin (22), en particulier le cylindre (24), est montée à poste fixe.
  3. Manipulateur selon la revendication 1 ou 2, caractérisé en ce que le mécanisme d'entraînement superposé se compose essentiellement d'une servovalve hydraulique (28) et du vérin hydraulique (22), la caractéristique de mouvement de la vis sans fin (13) pouvant être déterminée par l'intermédiaire du vérin (22) au moyen de la servovalve hydraulique (28).
  4. Manipulateur selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la servolvave hydraulique (28) est reliée mécaniquement au piston (25), de sorte que la position du piston (25) agisse par une boucle fermée d'asservissement mécanique sur la servovalve hydraulique (28).
EP90109301A 1989-12-23 1990-05-17 Manipulateur pour machines de forgeage, notamment machines de forgeage à poinçons multiples Expired - Lifetime EP0434891B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90109301T ATE96704T1 (de) 1989-12-23 1990-05-17 Manipulator fuer schmiedemaschinen, insbesondere mehr-stoessel-schmiedemaschinen.

Applications Claiming Priority (2)

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

Publications (3)

Publication Number Publication Date
EP0434891A2 EP0434891A2 (fr) 1991-07-03
EP0434891A3 EP0434891A3 (en) 1991-12-18
EP0434891B1 true EP0434891B1 (fr) 1993-11-03

Family

ID=6396429

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90109301A Expired - Lifetime EP0434891B1 (fr) 1989-12-23 1990-05-17 Manipulateur pour machines de forgeage, notamment machines de forgeage à poinçons multiples

Country Status (6)

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

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT501483B1 (de) * 2004-05-26 2006-09-15 Gfm Beteiligungs & Man Gmbh Vorrichtung zum schmieden eines werkstückes
AT501482B1 (de) * 2004-05-26 2006-09-15 Gfm Beteiligungs & Man Gmbh Vorrichtung zum intermittierenden antreiben einer spindel für eine werkstückhalterung, insbesondere einer schmiedemaschine
EP2243572A2 (fr) 2009-04-23 2010-10-27 SMS Meer GmbH Manipulateur pour machines à forger

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4016534C2 (de) * 1990-05-23 2003-04-10 Eumuco Ag Fuer Maschinenbau Manipulator für Schmiedemaschinen, insbesondere Mehr-Stößel-Schmiedemaschinen
DE4132220A1 (de) * 1991-09-27 1993-04-01 Pahnke Eng Gmbh & Co Kg Verfahren und vorrichtung zum betreiben einer pressenanlage
AT396883B (de) * 1992-08-13 1993-12-27 Gfm Fertigungstechnik Spannkopf für schmiedemaschinen
DE202004020404U1 (de) * 2003-06-05 2005-05-25 Langenstein & Schemann Gmbh Handhabungsgerät zum Handhaben eines Werkstücks während eines Umformprozesses
DE102005012297B4 (de) * 2005-03-17 2007-06-14 Sms Meer Gmbh Schmiedemaschine
DE102009052482A1 (de) * 2009-02-11 2010-08-19 Sms Meer Gmbh Verfahren und Vorrichtung zur Herstellung von rohrförmigen Werkstücken aus einen vorgelochten Hohlblock
KR100968213B1 (ko) * 2009-11-16 2010-07-06 (주)씨피티 빌렛 단조성형장치 및 빌렛 단조성형방법
ES2388391B2 (es) * 2010-03-30 2013-09-05 Eurocopter Espana S A Accionador de un boton de un equipo y banco de pruebas dotado de tal accionador.
CN101983795B (zh) * 2010-08-30 2012-10-31 张家港市明华机械制造有限公司 弯管机上送料轴套的旋转驱动装置
KR101219291B1 (ko) * 2011-02-14 2013-01-21 주식회사 나래코퍼레이션 서보제어 유압방식을 이용한 단조가공시스템
JP6438667B2 (ja) * 2014-03-26 2018-12-19 大和製罐株式会社 成形装置、対象物の成形方法及び缶胴の製造方法
AT516507B1 (de) * 2014-12-02 2016-06-15 Gfm-Gmbh Schmiedemaschine
TWI663005B (zh) * 2017-02-14 2019-06-21 春日機械工業股份有限公司 鍛造部品加工機的驅動裝置
CN109047617B (zh) * 2018-08-14 2020-07-07 浙江联大锻压有限公司 一种锻造操作机夹钳平行升降机构

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3126770A (en) * 1964-03-31 Forge tongs
US3098402A (en) * 1960-03-18 1963-07-23 Kralowetz Brnno Forging machine
AT252691B (de) * 1964-03-19 1967-03-10 Othmar Ing Ruthner Einrichtung am Zangendrehantrieb von Schmiedemanipulatoren od. ähnl. Vorrichtungen
DE1627660A1 (de) * 1966-02-16 1970-05-06 Zdarske Strojirny A Slevarny Einrichtung zur Manipulation mit Rohlingen,insbesondere Rohbloecken
AT278481B (de) * 1968-08-01 1970-02-10 Ges Fertigungstechnik & Maschb Spannkopf für Schmiedemaschinen
DD230133A3 (de) * 1982-09-02 1985-11-20 Schwermasch Rau Wildau Fangvorrichtung fuer chargiermaschinen

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT501483B1 (de) * 2004-05-26 2006-09-15 Gfm Beteiligungs & Man Gmbh Vorrichtung zum schmieden eines werkstückes
AT501483A1 (de) * 2004-05-26 2006-09-15 Gfm Beteiligungs & Man Gmbh Vorrichtung zum schmieden eines werkstückes
AT501482B1 (de) * 2004-05-26 2006-09-15 Gfm Beteiligungs & Man Gmbh Vorrichtung zum intermittierenden antreiben einer spindel für eine werkstückhalterung, insbesondere einer schmiedemaschine
AT501482A1 (de) * 2004-05-26 2006-09-15 Gfm Beteiligungs & Man Gmbh Vorrichtung zum intermittierenden antreiben einer spindel für eine werkstückhalterung, insbesondere einer schmiedemaschine
EP2243572A2 (fr) 2009-04-23 2010-10-27 SMS Meer GmbH Manipulateur pour machines à forger
DE102009052141A1 (de) 2009-04-23 2010-10-28 Sms Meer Gmbh Manipulator für Schmiedemaschinen
US8234903B2 (en) 2009-04-23 2012-08-07 Sms Meer Gmbh Manipulator for forging machine
EP2243572A3 (fr) * 2009-04-23 2014-11-19 SMS Meer GmbH Manipulateur pour machines à forger

Also Published As

Publication number Publication date
EP0434891A2 (fr) 1991-07-03
JPH0732946B2 (ja) 1995-04-12
JPH03193234A (ja) 1991-08-23
DE3942942C1 (fr) 1991-06-20
KR930009401B1 (ko) 1993-10-04
KR910009361A (ko) 1991-06-28
EP0434891A3 (en) 1991-12-18
DE59003350D1 (de) 1993-12-09
US5000028A (en) 1991-03-19
ATE96704T1 (de) 1993-11-15

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