EP2243572B1 - Manipulator for forging machines - Google Patents

Manipulator for forging machines Download PDF

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Publication number
EP2243572B1
EP2243572B1 EP10003811.6A EP10003811A EP2243572B1 EP 2243572 B1 EP2243572 B1 EP 2243572B1 EP 10003811 A EP10003811 A EP 10003811A EP 2243572 B1 EP2243572 B1 EP 2243572B1
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EP
European Patent Office
Prior art keywords
main shaft
clutch
manipulator
forging
manipulator according
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EP10003811.6A
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German (de)
French (fr)
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EP2243572A2 (en
EP2243572A3 (en
Inventor
Karl Hermann Claasen
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SMS Group GmbH
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SMS Group GmbH
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Publication of EP2243572A2 publication Critical patent/EP2243572A2/en
Publication of EP2243572A3 publication Critical patent/EP2243572A3/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
    • 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
    • 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
    • B21J13/12—Turning means

Definitions

  • the invention relates to a forging manipulator which detects the workpiece to be forged by means of a block tongs and rotates in the circumferential direction by means of a rotary drive in accordance with the forging sequence.
  • a manipulator is out GB 1 516 944 A according to the preamble of claim 1.
  • the invention further relates to a forging machine comprising a forging manipulator.
  • a forging manipulator for, in particular, multi-tappet forging machines.
  • the manipulator has a rotatably mounted central axis, with which the workpiece is moved according to the forging sequence in the circumferential direction.
  • the manipulator is rotationally driven by means of a motor running at a preselected constant speed which acts on the central axis of the manipulator via a worm gear and wherein the rotor movement of the central axis is brought to a standstill by the bumps prior to the pressure contact phase and kept stationary during the pressure contact phase.
  • the driven screw is mounted axially displaceable.
  • the rotor motion of the forging before the pressure contact phase i. the engagement of the forging tools on the workpiece, brought to a standstill and held during the pressure contact phase at a standstill.
  • the invention has for its object to provide a rotary drive for the main shaft of a forging manipulator, which can be made technically easier and with less effort and which makes it possible, the main shaft of the manipulator on the front of the block tongs, in defined angular increments to turn precisely to give the researcherschmiedenden rod a rectangular, square, polygonal or round profile. Despite the simplification, the reliability should be increased.
  • a clutch disc is non-rotatably mounted on the main shaft of the manipulator.
  • This clutch disc is associated with at least one clutch wrapping around it, which is mounted cantilevered on the main shaft.
  • two or four hydraulic cylinders for generating the rotational movement are preferably provided as a hydraulic drive.
  • the adjusting drive for the holding tool in particular a block tongs, comprises a main shaft and a clutch arrangement in which a clutch disc is non-rotatably mounted on the main shaft.
  • the assembly can be done in a customary manner, for example by shrinking, welding, screwing or the like.
  • the adjusting drive in the sense of the invention, furthermore has a coupling which is mounted on the main shaft in free-swinging fashion and which wraps around the clutch disk, which is brought into engagement with the clutch disk as required, in order then to cause the rotational movement carried out by the clutch disk to also act on the freewheeling clutch is transmitted.
  • a rotor movement executed by the cantilevered coupling is transmitted in the engaged state of the coupling to the fixedly mounted coupling disk, thus to the main shaft and finally also to the holding tool.
  • a preferred embodiment of the invention provides a hydraulic drive, wherein the hydraulic drive particularly preferably comprises at least two hydraulic cylinders. exceedingly at least four hydraulic cylinders, which are at least indirectly connected to the main shaft, are preferred.
  • the indirect connection takes place in the sense of the invention via the coupling arrangement and very particularly preferably when the hydraulic drive, in particular the hydraulic cylinder, engages the free-running clutch.
  • the hydraulic cylinders are independent of each other adjustable, as a result, the degrees of freedom of the system and the possibilities of hydraulically effected rotor motion of the main shaft of the holding tool are supported particularly advantageous.
  • the hydraulic cylinders are provided at least on one side of the main shaft as a synchronous cylinder, to thereby achieve a uniform introduction of the radial force on the cylinder to each side of the main shaft.
  • the main shaft of the adjustment for the holding tool is formed as a hollow shaft, as this can be optimally reduced by the hydraulic drive mass to be moved without particular impairment of the rigidity and strength of the overall structure.
  • the hydraulic cylinders engage the free-running clutch.
  • the free-running clutch has at least two arranged on each side of the clutch disc coupling rockers, whereby on the one hand a particularly secure construction of the entire clutch assembly is achieved and on the other hand, the principle of arranged on both sides of the main shaft actuators for the Rotor movement of the main shaft is supported particularly advantageous.
  • the manipulator according to the invention is particularly advantageously used in a forging machine, this forging machine is in a highly preferred embodiment of the invention, a so-called multi-plunger forging machine.
  • FIG. 1 shown manipulator is mounted axially displaceable on a manipulator guide bed 8 in the direction of arrow 9 parallel to the longitudinal axis 6 in total.
  • the manipulator comprises a manipulator main shaft 3 and a holding tool 1 in the form of a block forceps. From the block tongs a forging block 10 is held both in the direction of the arrow 9 and rotor, indicated by arrow 11, to be placed freely between two forging tools of a forging machine (not shown) in the desired manner.
  • the Fig. 2 shows a sectional view of the adjusting drive 2 according to the invention on a (only partially shown) main shaft 3.
  • a clutch disc 4a rotatably shrunk while coupling rockers are so freely swinging on bearings 2a-d of the main shaft 3 arranged that they wrap around the clutch disc 4a.
  • the rotational movement is thus transmitted from the free-running coupling 4b to the clutch disc 4a and thus also to the main shaft 3.
  • the Fig. 3 shows three different representations 3a-3c, wherein Figure 3c essentially the one out Fig. 2 shown arrangement, but in only a partial section corresponds.
  • the Fig. 3a shows two hydraulic cylinders 5a, 5b, each attacking on one side of the free-running clutch 4b.
  • the achievable with this structure of the adjustment 2 swivel angle of the main shaft 3 about its longitudinal axis 6 around is a maximum of 60 ° in the illustrated embodiment.
  • the Fig. 3b shows one opposite Fig. 3a 90 ° pivoted sectional view of the adjusting drive 2, wherein in the embodiment shown here, two synchronous cylinders 5a1 and 5a2 are arranged on one side of the manipulator main shaft 3.
  • the hydraulic cylinder 5a1 engages on the left side of the clutch disk 4a on the outer coupling rocker 4ba and the right hydraulic cylinder 5a2 engages on the right of the clutch disk 4a free-swinging arranged on the main shaft 3 outer coupling rocker 4ba.
  • the Fig. 4 shows in two representations 4a and 4b two steps to explain the sequence of rotation step control in the forging of round bars.
  • the left hydraulic cylinder 5a is in this case in the actuating position, in which a deflection of the cylinder longitudinal axis 17 from the vertical 15 is effected.
  • the right cylinder 5b is shown in its initial position with parallel longitudinal axis 16 to the vertical 15. Between two forging strokes, during which no rotor movement is applied by the adjusting drive to the holding tool (not shown), steps are carried out with 10 ° increments.
  • the left cylinder 5a is in its initial position and the right cylinder 5b is in the actuating position with an angular offset of its longitudinal axis 16 to the vertical 15.
  • the right cylinder 5b after the last step of the left cylinder 5a and after the last step of the right cylinder 5b starts the operation of the left cylinder 5a, which is then again in its original position.
  • the rotor movement of the holding tool (not shown) and of the forging (not shown) is achieved by means of the intermittent adjustment of the hydraulic cylinders 5a, 5b.
  • FIG. 5 shows similar to Fig. 4 exemplifies the sequence of the rotation step control, but here in two FIGS. 5a, 5b with regard to the forging of hexagonal bars.
  • Fig. 5a is the left cylinder 5a in the operating position and in interplay cause the hydraulic cylinders 5a, 5b a 30 ° rotation step between two forging strokes.
  • the right cylinder 5b is located in the Fig. 5a illustrated intermediate position in its initial position.
  • Fig. 5b in contrast, the left cylinder 5a is shown in the starting position and the right cylinder 5b in the operating position.
  • the right cylinder 5b moves to the last step of the left cylinder 5a, and after the last step of the right cylinder 5b starts the left cylinder 5a, which is then in the home position.
  • FIG. 6 is analogous to the exemplary representations according to the Fig. 4 and also an exemplary sequence of a rotary step control, but here for the forging of square or octagonal rods, refer.
  • Fig. 6a the left cylinder 5a is shown in the initial position, while the right cylinder 5b is shown in the operating position.
  • forging octagonal bars a 45 ° step is carried out between each two forging strokes, while forging square bars between two consecutive forging passes two 45 ° steps are carried out.
  • Fig. 6b again, the left cylinder 5a is seen in an end position and the right cylinder 5b in the output / actuated position.
  • the right cylinder 5b moves to the step of the left cylinder 5a, and after the executed step of the right cylinder 5b, the left cylinder 5a starts, which is then in the home position again.

Description

1. Gebiet der Erfindung1. Field of the invention

Die Erfindung betrifft einen Schmiede-Manipulator, der mittels einer Blockzange das zu schmiedende Werkstück erfasst und entsprechend der Schmiedefolge rotorisch in Umfangsrichtung mittels eines Drehantriebs bewegt. Ein solcher Manipulator ist aus GB 1 516 944 A gemäß dem Oberbegriff des Anspruchs 1 bekannt. Die Erfindung betrifft desweiteren eine Schmiedemaschine, umfassend einen Schmiedemanipulator.The invention relates to a forging manipulator which detects the workpiece to be forged by means of a block tongs and rotates in the circumferential direction by means of a rotary drive in accordance with the forging sequence. Such a manipulator is out GB 1 516 944 A according to the preamble of claim 1. The invention further relates to a forging machine comprising a forging manipulator.

2. Stand der Technik2. State of the art

Aus der EP 0 434 891 B1 ist ein Schmiede-Manipulator für insbesondere Mehr-Stößel-Schmiedemaschinen bekannt. Hierbei wirken mehrere Stöße radial auf das Schmiedestück, wobei der Manipulator eine drehbar gelagerte Zentralachse aufweist, mit welcher das Werkstück entsprechend der Schmiedefolge rotorisch in Umfangsrichtung bewegt wird. Der Drehantrieb des Manipulators erfolgt mittels eines mit vorgewählter konstanter Drehzahl laufenden Motors, der über einen Schneckentrieb auf die Zentralachse des Manipulators wirkt und wobei die rotorische Bewegung der Zentralachse vor der Druckberührungsphase durch die Stöße zum Stillstand gebracht und während der Druckberührungsphase im Stillstand gehalten wird. Die angetriebene Schnecke ist dabei axial verschiebbar gelagert.From the EP 0 434 891 B1 For example, a forging manipulator is known for, in particular, multi-tappet forging machines. In this case, several impacts act radially on the forging, wherein the manipulator has a rotatably mounted central axis, with which the workpiece is moved according to the forging sequence in the circumferential direction. The manipulator is rotationally driven by means of a motor running at a preselected constant speed which acts on the central axis of the manipulator via a worm gear and wherein the rotor movement of the central axis is brought to a standstill by the bumps prior to the pressure contact phase and kept stationary during the pressure contact phase. The driven screw is mounted axially displaceable.

Gemäß diesem Stand der Technik wird die rotorische Bewegung des Schmiedestücks vor der Druckberührungsphase, d.h. dem Eingriff der Schmiedewerkzeuge an dem Werkstück, zum Stillstand gebracht und während der Druckberührungsphase im Stillstand gehalten.According to this prior art, the rotor motion of the forging before the pressure contact phase, i. the engagement of the forging tools on the workpiece, brought to a standstill and held during the pressure contact phase at a standstill.

Derartige Drehantriebe für Manipulatoren von Schmiedemaschinen sind jedoch ausgesprochen komplex und kostenintensiv. Zudem ist aufgrund der Komplexität des Aufbaus eine höhere Störanfälligkeit des Drehantriebs gegeben.However, such rotary drives for manipulators of forging machines are extremely complex and costly. In addition, a higher susceptibility to failure of the rotary drive is given due to the complexity of the structure.

3. Aufgabe der Erfindung3. Object of the invention

Der Erfindung liegt die Aufgabe zugrunde, einen Drehantrieb für die Hauptwelle eines Schmiede-Manipulators zu schaffen, der technisch einfacher und mit geringerem Aufwand hergestellt werden kann und der es ermöglicht, die Hauptwelle des Manipulators, auf der sich vorne die Blockzange befindet, in definierten Winkelschritten präzise zu drehen, um dem auszuschmiedenden Stab ein rechteckiges, quadratisches, mehrkantiges oder rundes Profil zu geben. Trotz der Vereinfachung soll die Funktionssicherheit erhöht werden.The invention has for its object to provide a rotary drive for the main shaft of a forging manipulator, which can be made technically easier and with less effort and which makes it possible, the main shaft of the manipulator on the front of the block tongs, in defined angular increments to turn precisely to give the auszuschmiedenden rod a rectangular, square, polygonal or round profile. Despite the simplification, the reliability should be increased.

4. Zusammenfassung der Erfindung4. Summary of the invention

Diese Aufgabe wird im erfindungsgemäßen Sinne mit einem Manipulator für eine Schmiedemaschine, umfassend die Merkmale des Anspruchs 1, sowie mit einer Schmiedemaschine, umfassend die Merkmale des Anspruchs 10, gelöst. Vorteilhafte Ausgestaltungen der Erfindung sind in den jeweils abhängigen Ansprüchen definiert.This object is achieved in the sense of the invention with a manipulator for a forging machine comprising the features of claim 1, as well as with a forging machine, comprising the features of claim 10. Advantageous embodiments of the invention are defined in the respective dependent claims.

Im erfindungsgemäßen Sinne wird vorgeschlagen, dass eine Kupplungsscheibe drehfest auf der Hauptwelle des Manipulators montiert ist. Dieser Kupplungsscheibe ist mindestens eine sie umschlingende Kupplung zugeordnet, die freischwingend auf der Hauptwelle gelagert ist. Außerdem sind als Hydraulikantrieb bevorzugt zwei oder vier Hydraulikzylinder zur Erzeugung der Drehbewegung vorgesehen.In the sense of the invention, it is proposed that a clutch disc is non-rotatably mounted on the main shaft of the manipulator. This clutch disc is associated with at least one clutch wrapping around it, which is mounted cantilevered on the main shaft. In addition, two or four hydraulic cylinders for generating the rotational movement are preferably provided as a hydraulic drive.

Der Verstellantrieb für das Haltewerkzeug, insbesondere eine Blockzange, umfasst eine Hauptwelle sowie eine Kupplungsanordnung, bei der eine Kupplungsscheibe drehfest auf der Hauptwelle montiert ist. Die Montage kann dabei in fachüblicher Weise, beispielsweise durch Aufschrumpfen, Anschweißen, Anschrauben oder dergleichen erfolgen. Der Verstellantrieb weist im erfindungsgemäßen Sinne des weiteren eine freischwingend auf der Hauptwelle gelagerte und die Kupplungsscheibe umschlingende Kupplung auf, die bei Bedarf mit der Kupplungsscheibe in Eingriff gebracht wird, um dann zu bewirken, dass die von der Kupplungsscheibe vollführte Drehbewegung auch auf die freischwingend gelagerte Kupplung übertragen wird. Ebenso wird eine von der freischwingend gelagerten Kupplung ausgeführte rotorische Bewegung im Eingriffszustand der Kupplung auf die fest gelagerte Kupplungsscheibe, somit auf die Hauptwelle und schließlich auch auf das Haltewerkzeug übertragen.The adjusting drive for the holding tool, in particular a block tongs, comprises a main shaft and a clutch arrangement in which a clutch disc is non-rotatably mounted on the main shaft. The assembly can be done in a customary manner, for example by shrinking, welding, screwing or the like. The adjusting drive, in the sense of the invention, furthermore has a coupling which is mounted on the main shaft in free-swinging fashion and which wraps around the clutch disk, which is brought into engagement with the clutch disk as required, in order then to cause the rotational movement carried out by the clutch disk to also act on the freewheeling clutch is transmitted. Likewise, a rotor movement executed by the cantilevered coupling is transmitted in the engaged state of the coupling to the fixedly mounted coupling disk, thus to the main shaft and finally also to the holding tool.

Hierdurch wird ermöglicht, dass durch die Kupplungsanordnung bei einer gewünschten Drehung des Haltewerkzeugs um einen vorher festgelegten Winkel um die Längsachse der Hauptwelle herum im Falle des Eingriffs der Kupplung mit der Kupplungsscheibe eine an der Kupplung bewirkte rotorische Bewegung vollständig und verzögerungsfrei auf die Hauptwelle übertragen wird.In this way it is possible that by the coupling assembly at a desired rotation of the holding tool by a predetermined angle about the longitudinal axis of the main shaft around in the case of engagement of the clutch with the clutch disc a caused on the clutch rotor motion is transmitted completely and without delay to the main shaft.

Zur Drehbewegung der Hauptwelle um ihre Längsachse sieht eine bevorzugte Ausführung der Erfindung einen hydraulischen Antrieb vor, wobei der hydraulische Antrieb besonders bevorzugt wenigstens zwei Hydraulikzylinder umfasst. Überaus bevorzugt werden wenigstens vier Hydraulikzylinder, welche zumindest indirekt mit der Hauptwelle verbunden sind. Die indirekte Verbindung erfolgt im erfindungsgemäßen Sinne über die Kupplungsanordnung und ganz besonders bevorzugt dann, wenn der Hydraulikantrieb, insbesondere die Hydraulikzylinder, an die freischwingende Kupplung angreift.For the rotational movement of the main shaft about its longitudinal axis, a preferred embodiment of the invention provides a hydraulic drive, wherein the hydraulic drive particularly preferably comprises at least two hydraulic cylinders. exceedingly at least four hydraulic cylinders, which are at least indirectly connected to the main shaft, are preferred. The indirect connection takes place in the sense of the invention via the coupling arrangement and very particularly preferably when the hydraulic drive, in particular the hydraulic cylinder, engages the free-running clutch.

Nach einer vorteilhaften Ausgestaltung sind die Hydraulikzylinder voneinander unabhängig einstellbar, da hierdurch die Freiheitsgrade des Systems und die Möglichkeiten der hydraulisch bewirkten rotorischen Bewegung der Hauptwelle des Haltewerkzeugs besonders vorteilhaft unterstützt werden. In einer alternativen Ausgestaltungsform der Erfindung sind die Hydraulikzylinder zumindest auf einer Seite der Hauptwelle als Gleichgangzylinder vorgesehen, um hierdurch ein gleichmäßiges Einbringen der radialen Stellkraft über die Zylinder zu jeder Seite der Hauptwelle zu erreichen.According to an advantageous embodiment, the hydraulic cylinders are independent of each other adjustable, as a result, the degrees of freedom of the system and the possibilities of hydraulically effected rotor motion of the main shaft of the holding tool are supported particularly advantageous. In an alternative embodiment of the invention, the hydraulic cylinders are provided at least on one side of the main shaft as a synchronous cylinder, to thereby achieve a uniform introduction of the radial force on the cylinder to each side of the main shaft.

Ganz besonders bevorzugt wird, wenn die Hauptwelle des Verstellantriebs für das Haltewerkzeug als Hohlwelle ausgebildet ist, da hierdurch die vom Hydraulikantrieb zu bewegende Masse ohne besondere Beeinträchtigung der Steifigkeit und Festigkeit des Gesamtaufbaus optimal reduziert werden kann.Especially preferred is when the main shaft of the adjustment for the holding tool is formed as a hollow shaft, as this can be optimally reduced by the hydraulic drive mass to be moved without particular impairment of the rigidity and strength of the overall structure.

Wie bereits eingangs erwähnt, greifen die Hydraulikzylinder an der freischwingend gelagerten Kupplung an. Dies wird insbesondere dann vorteilhaft unterstützt, wenn die freischwingend gelagerte Kupplung wenigsten zwei zu jeder Seite der Kupplungsscheibe angeordnete Kupplungsschwingen aufweist, wodurch zum einen ein besonders sicherer Aufbau der gesamten Kupplungsanordnung erreicht wird und zum anderen das Prinzip der zu beiden Seiten der Hauptwelle angeordneten Stellantriebe für die rotorische Bewegung der Hauptwelle besonders vorteilhaft unterstützt wird.As already mentioned, the hydraulic cylinders engage the free-running clutch. This is particularly advantageous if the free-running clutch has at least two arranged on each side of the clutch disc coupling rockers, whereby on the one hand a particularly secure construction of the entire clutch assembly is achieved and on the other hand, the principle of arranged on both sides of the main shaft actuators for the Rotor movement of the main shaft is supported particularly advantageous.

Der erfindungsgemäße Manipulator ist besonders vorteilhaft in einer Schmiedemaschine einsetzbar, wobei diese Schmiedemaschine in einer überaus bevorzugten Ausgestaltungsform der Erfindung eine sogenannte Mehr-Stößel-Schmiedemaschine ist.The manipulator according to the invention is particularly advantageously used in a forging machine, this forging machine is in a highly preferred embodiment of the invention, a so-called multi-plunger forging machine.

Weitere Einzelheiten und Merkmale der Erfindung lassen sich den Zeichnungen entnehmen. Es zeigenFurther details and features of the invention can be taken from the drawings. Show it

5. Kurze Beschreibung der Zeichnungen5. Brief description of the drawings

Fig. 1Fig. 1
in einer schematischen Seitenansicht einen auf einem Führungsbett angeordneten Manipulator;in a schematic side view of a arranged on a guide bed manipulator;
Fig. 2Fig. 2
als Einzelheit in einer Schnittdarstellung eine auf der Hauptwelle montierte erfindungsgemäße Kupplungsscheibe mit umschlingender, freischwingender Kupplung;as a detail in a sectional view of a mounted on the main shaft clutch disc invention with wrap-around, free-running clutch;
Fig. 3Fig. 3
als Teilansicht die den schwingenden Kupplungen zugeordneten Schwenkeinrichtungen;as a partial view of the swinging couplings associated with pivoting devices;
Fig. 4Fig. 4
in schematischer Darstellung eine Drehschrittsteuerung mittels der Schwenkeinrichtungen zum Schmieden von Rundstangen;a schematic representation of a rotation step control means of the pivoting devices for forging round rods;
Fig. 5Fig. 5
in schematischer Darstellung eine Drehschrittsteuerung mittels der Schwenkeinrichtungen zum Schmieden von Sechskantstangen; unda schematic representation of a rotary step control means of the pivoting devices for forging hexagonal rods; and
Fig. 6Fig. 6
in schematischer Darstellung eine Drehschrittsteuerung mittels der Schwenkeinrichtungen zum Schmieden von Vierkant- und Achtkantstangen.a schematic representation of a rotary step control means of the pivoting devices for forging square and octagonal bars.
6. Wege zur Ausführung der Erfindung6. Ways to carry out the invention

In den Figuren sind die üblicherweise verwendeten Hydraulik- und Elektroniksteuerungen, welche Schmiedeanlagen üblicher Bauart übergeordnet sind, zur Vereinfachung der Darstellung der Erfindung nicht dargestellt.In the figures, the commonly used hydraulic and electronic controls, which are superior to forge of conventional design, not shown to simplify the presentation of the invention.

Ein in Figur 1 dargestellter Manipulator ist insgesamt auf einem Manipulator-Führungsbett 8 in Richtung des Pfeils 9 parallel zur Längsachse 6 axial verschiebbar gelagert. Der Manipulator umfasst eine Manipulator-Hauptwelle 3 sowie ein Haltewerkzeug 1 in Form einer Blockzange. Von der Blockzange wird ein Schmiedeblock 10 sowohl in Richtung des Pfeils 9 als auch rotorisch, angedeutet durch Pfeil 11, gehalten, um frei zwischen zwei Schmiedewerkzeugen einer (nicht dargestellten) Schmiedemaschine in der gewünschten Weise platziert zu werden.An in FIG. 1 shown manipulator is mounted axially displaceable on a manipulator guide bed 8 in the direction of arrow 9 parallel to the longitudinal axis 6 in total. The manipulator comprises a manipulator main shaft 3 and a holding tool 1 in the form of a block forceps. From the block tongs a forging block 10 is held both in the direction of the arrow 9 and rotor, indicated by arrow 11, to be placed freely between two forging tools of a forging machine (not shown) in the desired manner.

Die Fig. 2 zeigt eine Schnittdarstellung des erfindungsgemäßen Verstellantriebs 2 auf einer (nur teilweise dargestellten) Hauptwelle 3. Auf der Hauptwelle 3 ist eine Kupplungsscheibe 4a drehfest aufgeschrumpft, während Kupplungsschwingen so freischwingend auf Lager 2a-d der Hauptwelle 3 angeordnet sind, dass sie die Kupplungsscheibe 4a umschlingen. Eine Betätigung der gesamten Kupplungsanordnung 4, umfassend die Kupplungsscheibe 4a und die umschlingende Kupplung 4b, erfolgt durch einen hydraulischen Antrieb. Diese pressen zwei Kupplungsklötze 14, 14 an die Kupplungsscheibe 4a, wodurch eine kraft- und formschlüssige Verbindung von Kupplungsscheibe 4a und freischwingender Kupplung 4b erreicht wird. Die Drehbewegung wird damit von der freischwingenden Kupplung 4b auf die Kupplungsscheibe 4a und somit auch auf die Hauptwelle 3 übertragen.The Fig. 2 shows a sectional view of the adjusting drive 2 according to the invention on a (only partially shown) main shaft 3. On the main shaft 3, a clutch disc 4a rotatably shrunk while coupling rockers are so freely swinging on bearings 2a-d of the main shaft 3 arranged that they wrap around the clutch disc 4a. An actuation of the entire clutch assembly 4, comprising the clutch disc 4a and the wrap-around clutch 4b, is effected by a hydraulic drive. These press two clutch pads 14, 14 to the clutch disc 4a, whereby a non-positive and positive connection of clutch disc 4a and free-running clutch 4b is achieved. The rotational movement is thus transmitted from the free-running coupling 4b to the clutch disc 4a and thus also to the main shaft 3.

Die Fig. 3 zeigt drei unterschiedliche Darstellungen 3a-3c, wobei Figur 3c im Wesentlichen der aus Fig. 2 dargestellten Anordnung, jedoch in lediglich einem Teilschnitt, entspricht. Die Fig. 3a zeigt zwei Hydraulikzylinder 5a, 5b, die jeweils auf einer Seite der freischwingenden Kupplung 4b angreifen. Der mit diesem Aufbau des Verstellantriebs 2 erreichbare Schwenkwinkel der Hauptwelle 3 um ihre Längsachse 6 herum ist in der dargestellten Ausführungsform maximal 60°.The Fig. 3 shows three different representations 3a-3c, wherein Figure 3c essentially the one out Fig. 2 shown arrangement, but in only a partial section corresponds. The Fig. 3a shows two hydraulic cylinders 5a, 5b, each attacking on one side of the free-running clutch 4b. The achievable with this structure of the adjustment 2 swivel angle of the main shaft 3 about its longitudinal axis 6 around is a maximum of 60 ° in the illustrated embodiment.

Die Fig. 3b zeigt eine gegenüber Fig. 3a um 90° verschwenkte Schnittansicht des Verstellantriebs 2, wobei in der hier dargestellten Ausführungsform zwei Gleichgangzylinder 5a1 und 5a2 an einer Seite der Manipulator-Hauptwelle 3 angeordnet sind. Der Hydraulikzylinder 5a1 greift links von der Kupplungsscheibe 4a an der äußeren Kupplungsschwinge 4ba an und der rechte Hydraulikzylinder 5a2 greift an der rechts von der Kupplungsscheibe 4a freischwingend auf der Hauptwelle 3 angeordneten äußeren Kupplungsschwinge 4ba an. Durch die Verwendung von Gleichgangzylindern 5a1 und 5a2 wird ein gleichmäßiger Kraftangriff der rotorischen Bewegung der Hauptwelle 3 um ihre Längsachse 6 ermöglicht.The Fig. 3b shows one opposite Fig. 3a 90 ° pivoted sectional view of the adjusting drive 2, wherein in the embodiment shown here, two synchronous cylinders 5a1 and 5a2 are arranged on one side of the manipulator main shaft 3. The hydraulic cylinder 5a1 engages on the left side of the clutch disk 4a on the outer coupling rocker 4ba and the right hydraulic cylinder 5a2 engages on the right of the clutch disk 4a free-swinging arranged on the main shaft 3 outer coupling rocker 4ba. By the use of Gleichgangzylindern 5a1 and 5a2 a uniform force application of the rotor movement of the main shaft 3 about its longitudinal axis 6 is made possible.

Die Fig. 4 zeigt in zwei Darstellungen 4a und 4b zwei Schritte zur Erläuterung des Ablaufs der Drehschrittsteuerung beim Schmieden von Rundstangen. Der linke Hydraulikzylinder 5a ist hierbei in Betätigungsstellung, bei der ein Auslenken der Zylinder-Längsachse 17 aus der Lotrechten 15 bewirkt wird. Der rechte Zylinder 5b dagegen ist in seiner Ausgangsstellung mit paralleler Längsachse 16 zur Lotrechten 15 dargestellt. Zwischen zwei Schmiedehüben, während derer keine rotorische Bewegung vom Verstellantrieb auf das (nicht dargestellte) Haltewerkzeug aufgebracht wird, erfolgen Schritte mit 10°-Inkrementen.The Fig. 4 shows in two representations 4a and 4b two steps to explain the sequence of rotation step control in the forging of round bars. The left hydraulic cylinder 5a is in this case in the actuating position, in which a deflection of the cylinder longitudinal axis 17 from the vertical 15 is effected. The right cylinder 5b, however, is shown in its initial position with parallel longitudinal axis 16 to the vertical 15. Between two forging strokes, during which no rotor movement is applied by the adjusting drive to the holding tool (not shown), steps are carried out with 10 ° increments.

In Fig. 4b hingegen steht der linke Zylinder 5a in seiner Ausgangsstellung und der rechte Zylinder 5b in Betätigungsstellung mit einem Winkelversatz seiner Längsachse 16 zur Lotrechten 15. Gemäß der damit möglichen Betriebsweise verfährt der rechte Zylinder 5b nach dem letzten Schritt des linken Zylinders 5a und nach dem letzten Schritt des rechten Zylinders 5b startet die Betätigung des linken Zylinders 5a, der sich zwischenzeitlich dann wieder in seiner Ausgangsposition befindet. Hierdurch wird die rotorische Bewegung des (nicht dargestellten) Haltewerkzeugs sowie des (nicht dargestellten) Schmiedestücks mittels der intermittierenden Anstellung der Hydraulikzylinder 5a, 5b erreicht.In Fig. 4b on the other hand, the left cylinder 5a is in its initial position and the right cylinder 5b is in the actuating position with an angular offset of its longitudinal axis 16 to the vertical 15. According to the thus possible operating mode the right cylinder 5b after the last step of the left cylinder 5a and after the last step of the right cylinder 5b starts the operation of the left cylinder 5a, which is then again in its original position. As a result, the rotor movement of the holding tool (not shown) and of the forging (not shown) is achieved by means of the intermittent adjustment of the hydraulic cylinders 5a, 5b.

Die Fig. 5 zeigt ähnlich wie Fig. 4 beispielhaft den Ablauf der Drehschrittsteuerung, hier jedoch in zwei Figuren 5a, 5b im Hinblick auf das Schmieden von Sechskantstangen. In Fig. 5a ist der linke Zylinder 5a in Betätigungsstellung und im Wechselspiel bewirken die Hydraulikzylinder 5a, 5b einen 30°-Drehschritt zwischen zwei Schmiedehüben. Der rechte Zylinder 5b befindet sich in der in Fig. 5a dargestellten Zwischenstellung in seiner Ausgangsstellung.The Fig. 5 shows similar to Fig. 4 exemplifies the sequence of the rotation step control, but here in two FIGS. 5a, 5b with regard to the forging of hexagonal bars. In Fig. 5a is the left cylinder 5a in the operating position and in interplay cause the hydraulic cylinders 5a, 5b a 30 ° rotation step between two forging strokes. The right cylinder 5b is located in the Fig. 5a illustrated intermediate position in its initial position.

In Fig. 5b ist dagegen der linke Zylinder 5a in Ausgangsstellung dargestellt und der rechte Zylinder 5b in Betätigungsstellung. Im Betrieb verfährt der rechte Zylinder 5b nach dem letzten Schritt des linken Zylinders 5a und nach dem letzten Schritt des rechten Zylinders 5b startet der linke Zylinder 5a, welcher sich dann wieder in Ausgangsposition befindet.In Fig. 5b in contrast, the left cylinder 5a is shown in the starting position and the right cylinder 5b in the operating position. In operation, the right cylinder 5b moves to the last step of the left cylinder 5a, and after the last step of the right cylinder 5b starts the left cylinder 5a, which is then in the home position.

Der Fig. 6 ist analog zu den beispielhaften Darstellungen gemäß den Fig. 4 und ein ebenfalls beispielhafter Ablauf einer Drehschrittsteuerung, hier jedoch für das Schmieden von Vierkant- bzw. Achtkantstangen, zu entnehmen. In Fig. 6a ist der linke Zylinder 5a in Ausgangsstellung dargestellt, während der rechte Zylinder 5b in Betätigungsstellung dargestellt ist. Beim Schmieden von Achtkantstangen wird zwischen zwei Schmiedehüben jeweils ein 45°-Schritt ausgeführt, während beim Schmieden von Vierkantstangen zwischen zwei aufeinanderfolgenden Schmiedehüben jeweils zwei 45°-Schritte ausgeführt werden.Of the Fig. 6 is analogous to the exemplary representations according to the Fig. 4 and also an exemplary sequence of a rotary step control, but here for the forging of square or octagonal rods, refer. In Fig. 6a the left cylinder 5a is shown in the initial position, while the right cylinder 5b is shown in the operating position. When forging octagonal bars, a 45 ° step is carried out between each two forging strokes, while forging square bars between two consecutive forging passes two 45 ° steps are carried out.

In Fig. 6b wiederum ist der linke Zylinder 5a in einer Endstellung und der rechte Zylinder 5b in Ausgangs-/Betätigungsstellung zu sehen. Somit verfährt der rechte Zylinder 5b nach dem Schritt des linken Zylinders 5a und nach dem ausgeführten Schritt des rechten Zylinders 5b startet der linke Zylinder 5a, welcher sich dann wieder in Ausgangs-Position befindet.In Fig. 6b again, the left cylinder 5a is seen in an end position and the right cylinder 5b in the output / actuated position. Thus, the right cylinder 5b moves to the step of the left cylinder 5a, and after the executed step of the right cylinder 5b, the left cylinder 5a starts, which is then in the home position again.

Claims (11)

  1. A manipulator for a forging machine comprising at least one holding tool (1) and an adjustment drive (2), wherein the adjustment drive (2) features a main shaft (3) for rotationally driving the holding tool (1),
    characterized in
    that the adjustment drive (2) features a clutch arrangement (4) comprising a clutch disk (4a) that is connected to the main shaft (3) of.the holding tool (1) in a torque-proof fashion, as well as a clutch (4b) that is supported on the main shaft (3) in a free-running fashion and encloses the clutch disk (4a).
  2. The manipulator according to claim 1,
    characterized in
    that the holding tool (1) consists of ingot tongs.
  3. The manipulator according to claim 1 or 2,
    characterized in
    that the adjustment drive (2) is connected to at least one hydraulic drive (5) in order to rotate the main shaft (3) about its longitudinal axis (6).
  4. The manipulator according to claim 3,
    characterized in
    that the hydraulic drive (5) comprises at least two hydraulic cylinders (5a, 5b) that are at least indirectly connected to the main shaft (3).
  5. The manipulator according to claim 3 or 4,
    characterized in
    that the hydraulic cylinders (5a, 5b) can be adjusted independently of one another.
  6. The manipulator according to claim 3 or 4,
    characterized in
    that the hydraulic cylinders (5a, 5b) are synchronous cylinders.
  7. The manipulator according to claim 3 or 4,
    characterized in
    that the main shaft (3) is realized in the form of a hollow shaft.
  8. The manipulator according to one of claims 3-7,
    characterized in
    that the hydraulic drive (5), preferably the hydraulic cylinders (5a, 5b), engages on the free-running clutch (4b).
  9. The manipulator according to one of the preceding claims,
    characterized in
    that the free-running clutch (4b) features at least two clutch release levers (4ba, 4bb) arranged to each side of the clutch disk.
  10. A forging machine, comprising at least one manipulator according to one of the preceding claims.
  11. The forging machine according to claim 10,
    characterized in
    that it consists of a multi-ram forging machine.
EP10003811.6A 2009-04-23 2010-04-09 Manipulator for forging machines Active EP2243572B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009018353 2009-04-23
DE102009052141A DE102009052141A1 (en) 2009-04-23 2009-11-06 Manipulator for forging machines

Publications (3)

Publication Number Publication Date
EP2243572A2 EP2243572A2 (en) 2010-10-27
EP2243572A3 EP2243572A3 (en) 2014-11-19
EP2243572B1 true EP2243572B1 (en) 2016-06-15

Family

ID=42542881

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10003811.6A Active EP2243572B1 (en) 2009-04-23 2010-04-09 Manipulator for forging machines

Country Status (5)

Country Link
US (1) US8234903B2 (en)
EP (1) EP2243572B1 (en)
JP (1) JP5570863B2 (en)
CN (1) CN101869961B (en)
DE (1) DE102009052141A1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2468883C1 (en) * 2011-04-13 2012-12-10 Открытое акционерное общество "Чепецкий механический завод" Forging manipulator tongs head (versions)
AT516507B1 (en) * 2014-12-02 2016-06-15 Gfm-Gmbh forging machine
DE102022208238A1 (en) 2022-08-08 2024-02-08 Sms Group Gmbh Workpiece manipulator

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3036854A (en) * 1956-03-21 1962-05-29 Dango & Dienenthal K G Power-operated forging tongs
JPS4929064B1 (en) * 1970-10-16 1974-08-01
JPS4932826B1 (en) * 1970-12-26 1974-09-03
BG21275A1 (en) * 1975-03-13 1977-05-20
US4098320A (en) * 1976-11-08 1978-07-04 The Alliance Machine Company Ingot stripper structure
DE8620700U1 (en) * 1986-07-31 1987-11-26 Hasenclever Maschf Sms
ES2030685T3 (en) * 1986-08-21 1992-11-16 Hasenclever Maschf Sms FIXING DEVICE FOR FORGED PARTS IN FORGING HANDLERS.
GB8704931D0 (en) * 1987-03-03 1987-04-08 Davy Mckee Sheffield Peel assembly for ingot manipulator
US4848373A (en) * 1987-04-13 1989-07-18 Helme Tobacco Company Nicotine removal process and product produced thereby
JPH0271984A (en) * 1988-09-07 1990-03-12 Toshiba Corp Robot
DE3942942C1 (en) 1989-12-23 1991-06-20 Eumuco Aktiengesellschaft Fuer Maschinenbau, 5090 Leverkusen, De
DE9005834U1 (en) * 1990-05-23 1991-09-19 Eumuco Aktiengesellschaft Fuer Maschinenbau, 5090 Leverkusen, De MANIPULATOR FOR FORGING MACHINES, ESPECIALLY MULTI-STAINLESS FORGING MACHINES
JPH0557647A (en) * 1991-09-03 1993-03-09 Nec Corp Sponge supplying robot hand
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor
JPH0760679A (en) * 1993-08-31 1995-03-07 Takenaka Komuten Co Ltd Manipulator
CN201102056Y (en) * 2007-07-11 2008-08-20 姬建羽 Forging manipulator
CN101337328A (en) * 2008-08-07 2009-01-07 郭文龙 Intelligent clamping device of numerically controlled machine tool

Also Published As

Publication number Publication date
JP5570863B2 (en) 2014-08-13
EP2243572A2 (en) 2010-10-27
EP2243572A3 (en) 2014-11-19
US20100269562A1 (en) 2010-10-28
CN101869961A (en) 2010-10-27
JP2010253556A (en) 2010-11-11
US8234903B2 (en) 2012-08-07
CN101869961B (en) 2014-06-25
DE102009052141A1 (en) 2010-10-28

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