EP4094861A1 - Hot forming apparatus and method, in particular for forging a workpiece - Google Patents

Abstract

The invention relates to a device and a method for hot forming, in particular forging, of a workpiece (8). In terms of the method, it is provided that a) the workpiece (8) is formed during a working stroke (H) in a working space (A) of two tools (4, 6) of a forming machine (1) moving towards one another in a forming process, and b) the workpiece (8 ) is held during the forming process in a forming position (U) in the working area (A) by means of a handling device (7), whereinc) the handling device (7) holds the workpiece (8) in a predetermined, to the tools (4, 6) at a distance from the pre-position (V), and whereind1) the workpiece (8) pre-positioned in the pre-position (V) by a tool (8) moved in the working stroke (H) along a tool movement axis (W) to the forming position (U) 4) is moved from the pre-position (V) to the forming position (U), and/ord2) the workpiece (8) pre-positioned in the pre-position (V) by the handling device (7) in one to one in the working stroke (H) along a tool movement axis (W) to the env Form position (U) moving tool (4) synchronous movement to the forming position (U) is moved.

Description

The invention relates to a device and a method for hot forming, in particular forging, of a workpiece.

For the industrial forging of workpieces, percussion forming machines in particular are known. Impact forming machines include a work area or work space in which two tools can be moved relative to one another. In general, the tool movement takes place by a linear movement of at least one tool along a tool movement axis.

Prior to a forming process, the workpiece is placed on a tool according to a forming position in the working area of the tools. The workpiece is then formed in the working stroke of the tool by the impact force or impact energy or forming energy when the tool hits the workpiece.

The forming force and forming temperature required in each case depend on the material in question, as well as on the requirements for dimensional accuracy and surface quality.

Forgeable materials are basically all malleable metals and metal alloys, including both ferrous materials such as steel and non-ferrous metals such as magnesium, aluminum, titanium, copper, nickel and alloys thereof. The temperatures that occur during forging can be, for example, in the range from 550° C. to 750° C. (so-called semi-hot forging) and above, for example above 900° C. (so-called hot forging).

The forming temperature is usually set in a temperature range in which the formability or flowability of the material required for forming is present, in which recovery and recrystallization processes in the material take place and in which undesirable phase transformations can also be avoided.

From the DE 10 2004 015 675 B4 it is known to use handling devices, in particular industrial robots, for the automated handling of workpieces during forging. Such handling devices can, as in the DE 10 2004 015 675 B4 described, have a gripper device or a gripper system and a transport device coupled to the gripper device or a manipulator for spatial movement of the gripper device. The gripper device is set up for gripping and for transferring, for inserting the workpieces into the forming tool and correspondingly for removing or removing the workpieces after the forming process. Also from the WO 2005/023455 A1 a corresponding handling device and an associated forming machine is known.

Due to the forging and forming forces that occur during forging and due to the comparatively high dynamics during the forming process itself, under certain circumstances it is necessary to hold the workpiece during the forming process.

the DE 10 2004 015 675 B4 discloses in this context a handling device for a forging machine with which a workpiece can be held during a forming process. The gripper device for gripping the workpiece and the transport device or the manipulator for the gripper device or the workpiece are rigidly coupled in an operating position. The rigid coupling is released during the forming process, with the gripper device and the transport device or the manipulator being connected in an elastically decoupled manner only via a damping element after the rigid coupling has been released. In the rigidly coupled state, the damping element acts as a fixed bearing. The impacts and vibrations that occur during the forming process are dampened by the damper element, so that they cannot propagate from the gripper system into the manipulator.

It is an object of the invention to specify a new method and a new device for hot forming, in particular forging, of a workpiece. Furthermore, a method and a device for hot forming are to be specified, with which improved forming results can be achieved.

This object is solved by the features of the independent claims. Refinements of the invention emerge from the features of the dependent claims and from the following description.

According to one finding on which the invention is based, in the known forging machines described above for hot forming, in particular for bulk forming, the workpiece held in the forming position is in contact with the forming tool for a comparatively long time, as a result of which the workpiece can cool down or even cool down locally, which can have an unfavorable effect on the forming result and workpiece quality. An improvement in the forming result by reducing the cooling before the specific forming process can be achieved in particular by the device-side and method-side configurations described herein according to the invention.

According to one embodiment, a method for hot forming a workpiece is provided. The hot forming is preferably a massive forming, more preferably the forging of workpieces. The device used to carry out the method can comprise, for example, a forming machine, in particular a percussive forming machine, a hammer, for example a hydraulic one, a screw press and the like. Warm forming should also be understood as meaning warm forming, particularly in the temperature ranges mentioned at the outset.

The forming machine can have a fixed tool and a tool that is moved, for example hydraulically or mechanically, which is moved in one working stroke from a starting position along a tool movement axis toward the fixed tool for forming the workpiece. In the area or when the forming point is reached, the workpiece is formed. After forming, the tool is returned to the starting position in a return stroke.

However, the underlying invention is not limited to forming machines with a stationary tool and a moving or movable tool, but can also be used in the same way in forming machines with two tools that are moved, e.g. to the forming point.

The method provides that the workpiece is formed during a working stroke in a working space of two tools of a forming machine that are moving towards one another in a forming process. It is provided that during the forming process the workpiece is held in place in a forming position in the work area by means of a handling device.

The handling device can also be provided to move the workpiece to and from the working space and/or to reposition or rearrange the workpiece in the working space, for example if the workpiece is formed in several successive forming processes.

The method provides that the handling device, which can in particular be operated automatically, prepositions the workpiece before the forming process, i.e. before forming by the tools, in the working space in a predetermined pre-position (or: intermediate position, or waiting position) at a distance from the tools. The pre-position can be understood as a waiting position within the working stroke, in which the handling device positions the workpiece. In the pre-position or waiting position, the workpiece is arranged at a distance from the tools, in particular in such a way that heat transfer, in particular heat conduction through mechanical contact, from the workpiece to the tool or tools is reduced, preferably avoided or negligible. In particular, the pre-position can be selected such that thermal contact between the workpiece and the tool(s) is avoided, so that heat transfer from the workpiece to the tools is essentially avoided.

With regard to the tool or tools, the pre-positioning of the workpiece in the pre-position is preferably a floating positioning in the working space. In this case, the workpiece can only be held by the handling device, for example.

In advantageous embodiments, the method can provide for the workpiece to be positioned or held in a floating manner in the working space for a certain period of time. The duration can be within the duration of the working stroke, for example. The workpiece may be floating positioned in the pre-position while the tools move relative to each other. In a particularly advantageous manner, the workpiece is positioned in a floating manner such that the contact time of the workpiece with the tools is minimized.

It can preferably be provided that the workpiece pre-positioned in the pre-position is positioned floating in the working space for a predetermined minimum time interval, which depends on the respective forming process, within a working stroke, so that the contact time of the workpiece with the tools is minimized.

If one of the tools is stationary and the other is moved in the working stroke, the pre-position can be selected in such a way that the side of the workpiece facing the stationary tool has a predetermined distance from the stationary tool. The distance can be selected, for example taking into account the temperature of the workpiece, in such a way that heat transfer from the workpiece to the tool is reduced, preferably essentially avoided. In general terms, the pre-position can be defined or selected such that the side of the workpiece facing a respective tool in the pre-position has a predetermined minimum distance from the tool at least for a given time interval or time window during the working stroke. The time window is preferably selected and the handling unit is preferably operated in such a way that the time interval or time window in which the workpiece has no contact with the tool(s) is at a maximum. The minimum distance can be selected depending on the workpiece, the shape of the workpiece and/or the tools, and/or depending on the temperature of the workpiece.

In the method, the pre-position can be maintained, for example, over a predetermined minimum time interval, wherein the minimum time interval can depend on the respective forming machine, the respective forming process, the movement of the tool(s), the type of workpiece material, the workpiece shape, the tool shape, the tool engraving , the workpiece temperature, etc..

According to a procedure of the method it is provided that:
d1) the workpiece pre-positioned in the pre-position is moved from the pre-position to the forming position by a tool that is moved in the working stroke along a tool movement axis to the forming position.

The tool that is moved in the working stroke to the forming position can act as a driver, which hits the workpiece in the area of the pre-position and takes it with it to the forming position. When the workpiece guided by the tool acting as a driver strikes the additional tool, the workpiece also comes into contact with this additional tool and is formed in the working stroke by the action of the two tools. With this procedure, the workpiece can be positioned in a floating manner for the period of time from positioning in the pre-position until it is carried along by the tool. During this period, the workpiece is not in contact with any of the tools, and heat transfer by thermal contact can be avoided.

The distance between the tool and the workpiece in the pre-position can be selected in such a way, and is advantageously also selected in such a way that up to and/or around the time the workpiece is carried along, there is essentially no, i.e. no significant, heat dissipation from the warm workpiece on or .into the tool or tools. Consequently, in known forming machines, cooling of the workpiece prior to the forming process as a result of contact of the workpiece with the tool or tools can be avoided, or at least significantly reduced. For example, such a reduction can be achieved compared to forming methods in which the workpieces are placed directly on a tool by the handling device and are in thermal contact with the tool.

The workpiece temperature as such is a variable that influences the quality of the finished workpiece with regard to formability, flowability, recrystallization, etc. With the proposed procedure, it is possible, as described, to reduce or essentially avoid (local) cooling of the workpiece through heat dissipation to and into the tool through thermal contact with the workpiece before the actual forming. In particular, this can be achieved by minimizing the contact time between the workpiece and the tool before the forming process. Such an approach can have a positive effect on the final workpiece quality. Furthermore, due to an overall reduced contact time with the tool or tools, less heat is introduced into the tools, as a result of which durability and/or cooling requirements for the tools can also be positively influenced. In particular, the contact time can essentially be reduced to the forming time, which depends on the respective forming process and can be a few milliseconds, for example. In comparison, this contact time is significantly shorter than with forming machines, in which the workpiece is positioned directly on the tool and held there waiting until the moving tool hits it.

In a further procedure of the proposed method, which can be carried out alone or in combination with the procedure described above, it is provided that:
d2) the workpiece pre-positioned in the pre-position is moved to the forming position by the handling device in a movement that is synchronous with a tool that is moved in the working stroke along a tool movement axis (W) to the forming position.

With this procedure, the workpiece is held in the pre-position, for example in a floating position, at a distance from the tools. In this case, the distance is preferably selected in such a way that heat transfer from the workpiece to the tool or tools due to thermal contact is essentially avoided. In contrast to the procedure according to d1) described further above, it is provided that the workpiece is moved into the forming position by the handling device itself and not by the tool as a driver. For this purpose, the handling device can carry out a transfer or movement process in which the workpiece is (automatically) transferred from the pre-position to the forming position. If one of the tools is stationary, the handling device can be operated in such a way that the workpiece is positioned on or almost on the stationary tool in the forming position. The transfer or movement process can be triggered depending on the position of the moving tool, for example depending on the distance between the moving tool and the workpiece positioned in the pre-position. A corresponding trigger can be selected or specified in such a way that the handling device has sufficient time to properly position the workpiece before the moving tool hits the stationary tool, for example.

Analogously to the procedure according to d1), in which a tool acts as a driver, the contact time of the workpiece with the tools within a Working strokes, e.g. in the period before the actual forming process, are reduced, in particular minimized. In this way, particularly due to the lack of direct thermal contact between the workpiece and the tool(s), the cooling of the workpiece before forming and a lower heat input into the tools etc. can be achieved.

Both procedures according to d1) and d2) have in common that the contact time between the workpiece and the tool(s) can be minimized in the period before the actual forming. Accordingly, cooling due to thermal contact can be reduced to a minimum.

In one configuration, the pre-position can be selected in such a way that the workpiece in the pre-position, but at least when the pre-position is reached, is a predetermined distance, for example a predetermined minimum distance, from the forming position and in the direction of the tool movement axis, along which the moving tool moves /or of an unmoved, stationary tool, for example a support position on the stationary tool. The pre-position can be selected in such a way that the predetermined distance and/or the pre-position as such are maintained or assumed for a certain period of time, e.g. a predetermined minimum period. The minimum duration is preferably longer, in particular significantly longer, than the switching times, stopping and/or braking times of the handling devices used in each case.

For example, the pre-position can be selected such that the duration in which the workpiece can be or is held floating in the pre-position, in particular floating and resting, is maximum for the duration of the working stroke, while maintaining a preferred distance at which a Cooling or cooling of the workpiece, which is decisive for the forming, is avoided by heat input or heat dissipation in the tool.

The proposed procedures are therefore suitable for reducing the contact time of the workpiece with the tools before the forming process in order to counteract, for example, local cooling and cooling of the workpiece.

According to one embodiment, the synchronous movement is carried out and/or triggered according to the procedure according to d2) as soon as the tool moved towards the forming position reaches a reference position in the working stroke. The reference position can be selected depending on the respective forming process. For example, the reference position can be selected in such a way that the handling device still has enough time from the trigger until the moving tool hits it to correctly position the workpiece in the forming position, e.g. on a tool, and to be able to carry out further operations if necessary. Such further operations can be carried out, for example, in order to convert the handling device into a configuration that makes it possible to elastically, in particular elastically dampen, at least parts or partial areas of the handling device at least for the duration of the forming process, from the workpiece or from the spreading over the workpiece To decouple vibrations or impacts during the forming. Such an elastic decoupling may be necessary if parts or partial areas of the handling device are sensitive to impacts and rebound impacts, etc., such as occur during forming, because the proposed method provides for the workpiece to be held or fixed by the handling device during forming .

As already indicated, the synchronous movement can, for example, be carried out or set up in such a way that the workpiece reaches the forming position, for example a forming position on a stationary tool, and, if necessary, the handling unit is elastically decoupled before the moving tool touches the workpiece applied to the transformation.

The synchronous movement can be understood in particular as a movement that occurs concurrently with or accompanying the movement of the moving tool, with the workpiece guided or moved by the handling device leading to the forming position towards the moving tool, and the workpiece reaching the forming position in front of the moving tool. The advance of the workpiece can be adjusted and is preferably adjusted in such a way that the handling device has sufficient time in the area of the forming position to position and/or align the workpiece and, after positioning and/or alignment has taken place, if necessary, sufficient time to adjust the elastic decoupling remains.

According to one embodiment, an alignment of the workpiece in the pre-position or the waiting position can essentially correspond to the alignment provided for the forming position, apart from a displacement or movement parallel to the tool movement axis, i.e. parallel to the movement of the moving tool. This can be advantageous, for example, in the method according to d1) if the workpiece in the pre-position is taken along by the tool, because the moving tool working as a driver essentially leads to a parallel displacement of the workpiece towards the forming position.

According to one embodiment, the handling device can include a gripper system and a manipulator designed for spatial movement of the gripper system. The manipulator can be a robot arm and the like. The gripper system can, for example, comprise at least one gripper unit with one, two or more gripper elements or gripper fingers for gripping and holding the workpiece and, optionally, one or more gripper drives. The gripper unit can be attached to the manipulator via an arm or leg, for example.

Any element that enables a workpiece to be gripped and held, for example in the manner of a clamp, clamp or a gripper and the like, should be understood as a gripper. In the broadest sense, the manipulator forms a transport or movement unit for the gripper system, with which the gripper system can be spatially moved and possibly aligned, for example according to a plurality of translational degrees of freedom and one or more rotational degrees of freedom.

The gripper system can be connected to the manipulator via an intermediate damping element, in particular a mechanically damping, elastic element (or: elasto-mechanically damping element), more precisely via one, two or more such damping elements, and can be at least partially separated from the manipulator by the (at least one) damping element be decoupled in an elastically damping manner and/or decoupled in an elastically dampening manner. The damper element can be, for example, an elasto-mechanical damper element or absorber element for vibration, shock, impact and/or impact energy damping or absorption, comprising, for example, a damper/absorber material made of plastic. The damper element brings about an elasto-mechanically damping decoupling, also referred to herein as "elastic decoupling".

In general, the damping element can be designed and mounted accordingly to elasto-mechanically decouple the gripper system from the manipulator, so that during the forming process, vibrations, impacts and the like that propagate via the gripper system in the direction of the manipulator can be at least partially damped and/or at least partially absorbed . The damping element is advantageously designed, set up and installed in such a way that the manipulator, which is generally less mechanically resilient, nevertheless withstands those loads which occur during the operation of the combination of forming machine and handling device during the forming process and which act on the damping element via the gripper system.

The gripper system can be coupled to or with the manipulator in such a way that the manipulator is active at least for the duration of the forming process or forming step (e.g. process sequence according to d1) or at least from the point in time at which it is carried along by the tool until the end of the forming process (e.g. process sequence according to d2) is elastically decoupled from the gripper system via the damping element. The damper element can have one or more materials, which make the damper element flexible and/or yielding and/or damping, restoring, elasto-mechanically absorbing.

An elasto-mechanically decoupled gripper system is an example from DE 10 2004 105 675 B4 known. Such a gripper system can be used, for example, in a process sequence according to d2).

According to one embodiment, the handling device, for example in the process sequence according to d1), is operated or can be operated in such a way that the gripper system is or will be at least partially elastically decoupled from the manipulator via the damping element when the workpiece is pre-positioned, ie elasto-mechanically decoupled. In one embodiment, the handling device can be operated or can be operated in such a way that the gripper system is or is elastically decoupled from the manipulator at least immediately before it is moved along by the tool in the method sequence or in step d1). The damping element is set up, arranged, mounted and/or designed in such a way that in the elastically decoupled state the concomitant movement of the workpiece held by the gripper system and the force effects etc. occurring during the forming process can be at least largely absorbed or dampened. So that the workpiece moves with the tool, e.g. the impact of the moving Tool and the associated vibrations or impacts, etc., can be absorbed or dampened, it is advantageous if the distance between the pre-position and the forming position is selected in such a way that the entrainment path or the entrainment movement can be compensated for or bridged by the damping element .

The damping element can, for example, comprise a block, strip or cylinder made of elastic, flexible and/or yielding, damping and/or restoring material, containing for example one or more plastics such as elastomers. In addition to the elastic etc. material, further materials or elements can be integrated, for example to achieve suitable elasto-mechanical properties in each case. A usable in the context of the invention elastic element is for example in DE 10 2004 015 675 B4 described. The damping element can, for example, comprise a block of elastic etc. material arranged between two metal discs or metal plates, the elastic etc. material being able to absorb pressure and/or shearing forces, for example. In particular, the damping element can comprise a rubber buffer or be designed as such.

According to one embodiment, the handling device is operated or can be operated in such a way, for example in the process sequence according to d1), that the gripper system is supported at least in the pre-position of the workpiece by at least one prestressing element with a variably adjustable or a fixed prestressing force on or against the manipulator or is supported. The prestressing element can be, for example, a spring element (eg with a fixed prestressing force), a pneumatic element and/or a hydraulic element (each, for example, with a variably adjustable prestressing force). The prestressing element can be set up in such a way that the prestressing force generated or that can be generated, e.g. acting on the gripper system, is sufficient to hold the gripper system with the workpiece in a stable position relative to the manipulator, so that the manipulator can position the gripper system with the workpiece in a stable manner and handle it safely. For example, the pretensioning force can be selected in such a way that it can absorb the (weight) forces and moments caused by the gripper system and workpiece, so that the gripper system with the gripped workpiece can be moved and positioned stably and reliably by the manipulator despite the attachment via the damper element can. For the process sequence according to d1), the prestressing element and the associated prestressing force are set up, for example, in such a way that the prestressing force is overpowered by the driving force generated by the driving tool, in particular in such a way that the elastically decoupled manipulator remains stationary when driving. This means that the preload force generated by the preload element is less than the drag force of the tool. As a result, the prestressing element can be deformed when the workpiece is carried along by the tool in the process sequence according to d1). For example, and depending on the attachment, this can be compressed or compressed or decompressed or stretched. As a result of the deformation, the gripper system can in turn move relative to the manipulator, in particular move together with the tool, while the manipulator remains or can remain essentially unmoved. Any relative changes in position and length, caused for example by tilting or translations of the gripper system relative to the manipulator, can be compensated for by the damping element. Consequently, the workpiece can be entrained without significant movement or with the manipulator remaining essentially stationary, without the manipulator being exposed to unreasonably high mechanical loads during entrainment.

The prestressing element can be attached, for example, to an arm (or: limb, extension or extension) of the manipulator on the one hand and to an arm (or: limb, extension or extension) of the gripper system on the other hand, for example to sides of the respective arms that face one another, and can bias them against each other. The arm of the gripper system can be fixed or clamped to the arm of the manipulator via the damping element, wherein the bearing or clamping point of the prestressing element can be arranged or attached to the arm of the manipulator at a distance from the loose end of the arm of the manipulator. End mounting at the free end of the arm is also possible.

Correspondingly, the bearing or clamping point on the arm of the gripper system can be arranged or attached at a distance from the end attached to the manipulator.

The prestressing element can be fastened and designed in such a way that the prestressing force keeps the arms of the manipulator and the gripper system, which are coupled to one another via the damping element, at a predetermined (with a fixed prestressing force) or variably or variably adjustable (with a variable prestressing force) angle to one another in the non-overpressed state or positioned.

According to one embodiment, as already mentioned, the prestressing force generated or provided by the prestressing element is at least partially overridden by the moving tool when the prepositioned workpiece is also moved after the process sequence according to d1). The overpressing can take place, for example, in such a way that the arms of the manipulator, on the one hand, and of the gripper system, on the other hand, which are coupled to one another via the damping element and which form two legs extending from the damping element, move towards one another with a reduction in the leg angle between them. The arm or leg of the manipulator remains essentially stationary or oriented in the same position during overpressing and applies the counterforce to the pretensioning element required for overpressing. The manipulator is elastically decoupled from the gripper system via the damping element, so that the manipulator only has to apply the counterforce and during the forming process is or remains essentially elastically decoupled from impacts or vibrations of the forming process.

The process sequence according to d1) can essentially be implemented purely mechanically and does not require any active movements of the manipulator and the gripper system after the positioning of the workpiece in the pre-position. Thus, in this variant, positioning in the pre-position is sufficient, while at the same time the contact time of the workpiece with the tools can be minimized or reduced and the manipulator is essentially elastically decoupled from the workpiece and gripper system during the forming process.

According to one embodiment, in particular according to the process sequence according to d2), the workpiece is placed on a tool by the synchronous movement of the manipulator and thus the gripper system with the workpiece to the forming position, which is or is reached, for example, at the end of the synchronous movement. The position of the workpiece on the tool corresponds to the forming position of the workpiece defined by the tool. When the workpiece is lying on it, ie when or as soon as the workpiece is lying on the tool, the manipulator can be operated or adjusted in such a way that the manipulator is or is at least partially elastically decoupled from the gripper system. This means that the handling device can be operated in such a way that the elastic decoupling is provided at least during the forming process and associated and caused force effects. Temporally before the elastic decoupling and chronologically after the forming process, for example after one that follows the forming process Waiting time or decay time for possible forming effects on the manipulator, the manipulator and the gripper system can be or will be mechanically rigidly coupled by a rigid coupling. It can therefore be provided that the elastic decoupling is provided only and at least in the time frame of the forming process. Outside of this time frame, the manipulator and the gripper system can be mechanically rigidly coupled. A rigid coupling outside of the forming process is advantageous with regard to precise movement control of the workpiece.

According to one embodiment, the handling device can be operated in such a way that the gripper system and the manipulator are mechanically rigidly coupled by a rigid coupling before the workpiece is positioned in the pre-position or before it is positioned in the forming position and/or after the forming process has taken place. Such an operation can be used, for example, in the process sequence according to d2), in which case the rigid coupling can be canceled after positioning in the forming position and before the forming, and can be restored after the forming process.

Depending on the design of the prestressing element, rigid coupling can be omitted in the process sequence according to d1), for example if the prestressing force and the prestressing element are set up to keep the gripper system sufficiently stable relative to the manipulator even when the workpiece is picked up.

According to one embodiment, the rigid coupling can be set or set up and/or the rigid coupling between the gripper system and the manipulator can be released by essentially complementary movements of the manipulator relative to the gripper system and/or by essentially complementary movements of a coupling element. The gripper system can be or remain essentially stationary, for example unmoved, during the setting and/or releasing of the rigid coupling. The movement of the manipulator relative to the gripper system can include rotating, tilting, swiveling and/or angling. The coupling element can, for example, comprise an adjustable coupling rod and/or a (eg adjustable) locking element. Such coupling elements can be connected to an adjustment member which can transfer the coupling element between a rigidly coupled and a decoupled position. Accordingly can the complementary movements can be set up in such a way that a first sequence of movements positions the manipulator relative to the gripper system in such a way that it is elastically decoupled from the gripper system, while a second, complementary sequence of movements positions the manipulator relative to the gripper system in such a way that it is rigidly coupled to the gripper system.

In the method sequence according to d2), it is possible, for example, for the workpiece to be placed on the tool and for the manipulator to be angled or tilted relative to the gripper system when the workpiece is placed on it with the tool as an abutment, thus eliminating a rigid coupling between the manipulator and the gripper system becomes.

A handling device with manipulator and gripper system, in which the manipulator can be selectively decoupled elastically and rigidly coupled to the gripper system, for example, from DE 10 2004 015 675 B4 known, the handling device known therefrom being usable, for example, for the process sequence according to d2) described herein.

According to an embodiment of the device, a device is provided for, in particular percussive, hot forming, in particular forging, of a workpiece. The device is set up, for example, in such a way that it can be used or operated in or in a method described herein.

A device is also provided within the scope of the invention, which comprises a forming machine, a handling device and at least one control unit, which are set up and configured to carry out a method with all the features according to one of the methods and method configurations described herein according to the invention. For example, the control unit can include a computer unit, e.g effected as described herein according to the invention.

A device according to the invention can include at least one forming machine, for example at least one impact forming machine. The forming machine can comprise at least two tools that can be moved relative to one another, which are set up to carry out a forming process during a working stroke in a working space of the tools. The working space of the tools is defined by the movement space of the tools. The forming machine can have, for example, a fixed and a movable tool, with the movable tool being moved towards the fixed tool in a working stroke, for example in a vertical movement, to carry out a forming process, and after the forming being carried out a return stroke. Such an operation corresponds to a generally known forming machine, for example for hot forming and/or solid forming.

The device comprises one, i.e. at least one, handling device for handling, i.e. for automated handling, of workpieces. The handling device in turn can comprise one, i.e. at least one, manipulator for the spatial movement of a, i.e. at least one, gripper system coupled to the manipulator. The gripper system is set up to grip and/or hold the workpiece even during the forming process.

In the context of this invention, a handling device is to be understood in particular as an automated system for handling workpieces, such as an industrial robot, with which a workpiece can be brought into the working area of the forming machine and positioned, and with which the workpiece can be held during the forming process .

The device comprises at least one control unit for controlling and/or regulating the movements of at least the handling device, e.g. the manipulator and the gripper system, with the control unit being set up to control or regulate the handling device in such a way that the workpiece is a predetermined pre-position (or: waiting position) at a distance from the tools.

In one configuration, the control unit is also set up to control or regulate the handling device, in particular the manipulator and the gripper system, and, if necessary, the movement of the tool or tools in such a way that the workpiece pre-positioned in the pre-position is replaced by a tool moved in the working stroke to the forming point is also moved from the pre-position (or: waiting position) to the forming position, the workpiece being held by the handling device during the moving along and the forming process. This mode of operation corresponds to the method sequence d1 described above), and reference is also made to the corresponding, above explanations, which apply correspondingly to the device.

Alternatively or additionally, the control unit is set up to control or regulate the handling device, in particular the manipulator and the gripper system, and, if necessary, the movements of the tool or tools, in such a way that the handling device moves the workpiece into a tool that is moved in the working stroke to the forming position synchronous movement from the pre-position to the forming position as soon as the tool moving towards the forming position reaches a particular predetermined or specifiable reference position in the working stroke, the workpiece being held by the handling device during the forming process. The synchronous movement can include a movement that runs in the same direction as the moving tool, the movement advantageously being carried out in such a way that the workpiece runs ahead of the tool. This mode of operation corresponds to the method sequence d2) described above, and reference is also made to the corresponding statements above, which apply correspondingly to the device.

According to one embodiment of the device, the handling device can comprise one, i.e. at least one, manipulator and one, i.e. at least one, gripper system connected to the manipulator. The gripper system is connected to the manipulator via an intermediate damping element. In the non-rigidly coupled configuration already described above, the damping element enables elastic decoupling of the gripper system from the manipulator. In particular, the damper element has elasto-mechanical properties that dampen or absorb propagating mechanical energy in the form of oscillations, impacts, vibrations, etc. during the forming process in and via the gripper system, so that these effects do not or substantially not in the propagate manipulator. The damping element is thus set up to at least partially, preferably largely, dampen or absorb effects of the forming process that are transmitted and spread via the gripper system.

The control unit can be set up to control or regulate the manipulator and/or a coupling element in such a way that the gripper system and the manipulator during operation according to method sequence d2) during or directly after reaching the forming position for the workpiece, but are elastically decoupled via the damping element before the forming process. This configuration according to the device corresponds to one or more of the above-described configurations according to the method according to method sequence d2), and full reference is also made to the above statements.

According to an embodiment of the device, the handling device can have one, i.e. at least one, manipulator and one, i.e. at least one, gripper system connected to the manipulator, the gripper system being connected to the manipulator via an interposed damping element. The control unit can be set up to control or regulate the manipulator and/or a coupling element in such a way that the gripper system and the manipulator during operation according to method sequence d1) at least when or immediately after reaching the pre-position for the workpiece, but before the Movement through the tool, and during the subsequent forming process, are elastically decoupled via the damper element. This configuration according to the device corresponds to one or more of the above-described configurations according to the method according to method sequence d1), and full reference is also made to the above statements.

According to an embodiment of the device, the device also includes a prestressing element, in particular a spring, pneumatic or hydraulic element, with which the gripper system is or can be supported on or against the manipulator with a variably adjustable or a fixed prestressing force. The prestressing force can be set up in such a way that it is at least partially overridden during operation in accordance with process sequence d1) once the workpiece has been moved along with it by the moving tool. In one embodiment, the manipulator can be kept essentially stationary or motionless, at least from the point at which it is moved along until the end of the forming process.

In one configuration, the control unit can also be set up to control or regulate a variably adjustable pre-tensioning force, for example in such a way that the pre-tensioning force supports the gripper system with the gripped workpiece stationary on the manipulator at least in the pre-position, and during operation according to method sequence d1) from the Moving the workpiece is at least partially suppressed by the moving tool. These device-related configurations correspond to one or more of the above-described configurations according to the method according to method sequence d1) and full reference is also made to the above explanations.

FIG. 1

schematisch eine erste Ausgestaltung einer Vorrichtung zur Warmumformung in einem ersten Betriebsstadium;

FIG. 2

die Vorrichtung der FIG. 1 in einem zweiten Betriebsstadium;

FIG. 3

schematisch eine zweite Ausgestaltung einer Vorrichtung zur Warmumformung in einem ersten Betriebsstadium;

FIG. 4

die Vorrichtung der FIG. 3 in einem zweiten Betriebsstadium, und

FIG. 5

die Vorrichtung der FIG. 3 in einem dritten Betriebsstadium.

Exemplary embodiments of the invention are described below with reference to the attached figures. Show it:

FIG. 1

schematically a first embodiment of a device for hot forming in a first operating stage;

FIG. 2

the device of FIG. 1 in a second stage of operation;

FIG. 3

schematically a second embodiment of a device for hot forming in a first operating stage;

FIG. 4

the device of FIG. 3 in a second stage of operation, and

FIG. 5

the device of FIG. 3 in a third stage of operation.

In the figures, identical or functionally identical or functionally analogous elements and components are denoted by the same reference symbols.

figure 1 shows schematically, at least in sections or in parts, a device for hot forming. The device comprises a forming machine 1 and a handling unit 2. The forming machine 1 can be a forming machine, in particular a percussive forming machine, such as a forging hammer, in particular a die forging hammer.

The forming machine 1 comprises an upper tool 4 (upper die) coupled to a ram 3, for example, and a lower tool 6 (lower die) coupled to a template 5, for example. The mode of operation for positioning a workpiece described below in connection with an anvil hammer can also be used for a counterblow hammer and other forming machines.

In the example shown, the lower tool 6 is stationary and the upper tool 4 can be moved up and down by a stroke movement H and a return stroke movement R. The upper tool 4 moves during the lifting movement H and the Return stroke movement R along a tool movement axis W. To execute a forming cycle, in particular a forging cycle, the ram 3 moves with the upper tool 4 starting from an upper reversal point in the stroke movement H towards the lower tool 6, with in the area of the lower reversal point in which the upper - and lower tool interact, the forming process takes place. From the bottom reversal point, the ram 3 with the upper tool 4 moves back up in the return stroke movement R and can go through another forming cycle when the top reversal point is reached.

The device also includes a handling device 7, which is set up and provided for picking up a workpiece 8 from a feed (not shown) and positioning it in the working space A of the forming machine 1, holding it during a forming process, and after the forming process on a (not shown) deposit. The handling device 7 , for example comprising an industrial robot, is responsible for or set up for the (automatic) handling of the workpiece 8 .

The handling device 7 comprises a manipulator 9, for example a robot arm, with a rotary drive 10, from which a manipulator arm 11 extends. The rotary drive 10 enables the manipulator arm 11 to be rotated about an axis of rotation which runs parallel to the longitudinal extension of the manipulator arm 11 in the view of the figures.

The manipulator arm 11 has a coupling element 12 at its free end. In the present example, the coupling element 12 extends approximately perpendicularly to the manipulator arm and has a bearing surface 20 ( FIG. 2 and FIG. 3 ) on. in the in FIG. 1 The operating state shown is a leg 13 of a gripper system 14 on the support surface 20 so that the leg 13 is supported on the manipulator arm 11. The coupling between the coupling element 12 and the leg 13 can include loose contact (a rigid coupling within the meaning of the application). In configurations, the coupling can comprise a coupling element or a coupling mechanism, with which the leg 13 can be actively mechanically coupled to the manipulator arm 11 . For this purpose, the coupling element 12 can include, for example, an actively releasable and closable locking mechanism. If a coupling element is present, the leg 13 with the manipulator arm 11 can, for example, as part of the movements for the supply and removal of Workpieces 8 are coupled so that the leg 13 is rigidly coupled to the manipulator arm 11 . During the forming or during a forming cycle, if present, the rigid coupling is released, so that the manipulator arm 11 is elastically decoupled from the leg 13 via the damper element 15 and, due to the elasticity of the damper element 15, to a certain extent relative to the leg 13 can be tilted. The tilting between the leg 13 and the manipulator arm 11 to cancel or produce the rigid coupling is described in more detail below.

The coupling element 12 is in the FIG. 1 shown operating stage coupled to the leg 13 (or arm) of the gripper system 14, and rests on the support surface 20, is therefore rigidly coupled to the leg 13.

At the end pointing away from the manipulator 9, the gripper system 14 has gripping elements 16 (or: a gripper unit) attached to the leg 13 (not shown in detail), which are designed and provided to grip and hold the workpiece 8, the Gripping elements 16 are designed in such a way, e.g. with regard to the overall height and arrangement of the holding or gripping elements 16, that they can also hold the workpiece 8 during a forming process.

The leg 13 is coupled to the manipulator arm 11 via the damper element 15 at the end pointing towards the manipulator 9 . For example, the damper element 15 can be attached to the manipulator arm 11 on the one hand and to the leg 13 on the other hand, e.g. by a mechanically fixed or detachable connection. Between the attachment points on the manipulator arm 11 and the leg 13, the damping element 15 has a section with or made of elastic material, which fulfills two functionalities.

On the one hand, due to its elasticity, the damping element 15 allows the leg 13 to be tiltable relative to the manipulator arm 11 . This ability to tilt makes it possible to position the leg 13 and the manipulator arm 11 in a first operating state ( FIG. 1 ) via the coupling element 12 to be mechanically rigidly coupled. It is also possible to remove the manipulator arm 11 from the leg 13 in a second operating state ( FIG. 2 , 3 ) to be elastically decoupled, with the leg 13 and the manipulator arm 11 being connected to one another in the second operating state via the damper element 15 and at the same time being coupled via the elastic material acting as a damper and/or absorber.

On the other hand, the damping element 15 or the elastic material in the second operating state causes a damping or absorption of mechanical energy which, when the rigid coupling is released, is transmitted from the workpiece 8 to the leg 13 when it is deformed. As a result of this damping or absorption, a propagation of the mechanical energy transmitted via the workpiece 8 to the leg 13 during forming into the manipulator arm 11 and into components mechanically connected thereto is reduced, preferably essentially avoided. In this way sensitive components of the manipulator 9 can be protected.

The damping element 15 can be embodied, for example, as a type of rubber bearing, and can comprise, for example, two metal plates or disks opposite one another with a block of rubber or, in general, of an elastic material arranged between them. The metal plates or discs are fixed to the block, which metal plates or discs may have attached or integral fasteners for screw attachment. By means of the fastening elements, which can be provided on opposite sides of the damper element, such a damper element can be operatively fastened, for example, to the leg 13 on the one hand and to the manipulator arm 11 on the other hand, so that the interposed block decouples the leg 13 and the manipulator arm 11 elasto-mechanically .

The coupling element 12 and the damping element 15 are attached to the manipulator arm 11 at opposite ends. In the configurations shown, the coupling element 12 is located at the free end of the manipulator arm 11, and the damping element 15 is located at the end facing the rotary drive 10, in the example shown at a predetermined distance from the rotary drive 10. The damping element 15 is on the leg 13 attached to the end facing away from the gripping elements 16 .

The coupling element 12 and the damping element 15 are attached and set up so that the gripper system 14, in particular the leg 13, in a first operating position FIG. 1 is rigidly coupled to the manipulator 9, in particular the manipulator arm 11, and that the gripper system 14, in particular the leg 13, in a second operating position FIG. 2 (and e.g. according to the operating positions FIG. 3 to FIG. 5 ) is elastically decoupled from the manipulator 9, in particular the manipulator arm 11. These operating positions are discussed in more detail below.

In the elastically decoupled operating position FIG. 2 the gripper system 14, specifically the leg 13, is only connected to the manipulator arm 11 via the damper element 15. In this operating position, the damper element 15 acts as a damper or absorber element for forces acting on the leg 13 that arise during the forming process, and thus causes an elastic decoupling of the leg 13 from the manipulator arm 11. Without the damper element 15, these forces would act via the leg 13 of the gripper system 14, which holds the workpiece 8 during the forming process, are essentially completely transferred to the manipulator arm 11 and the manipulator 9 as a whole, which would or could lead to damage when using common or conventional manipulators, eg industrial robots. In the rigidly coupled operating position, the damping element 15 essentially acts like a fixed bearing, with the leg 13 of the gripper system 14 being positioned rigidly via the coupling element 12 .

In a forming process with the device according to FIG. 1 the manipulator 9 with the gripper system 14 positions the workpiece 8 in the working area A of the forming machine 1 in a pre-position V or a waiting position. This positioning can take place, for example, while the ram 3 is performing the return stroke movement R, the ram 3 is in the region of the top reversal point and/or in an initial phase of the lifting movement H (working stroke).

In the preliminary position V, the workpiece 8 has a predetermined distance D from the lower tool 6 and also a distance from the upper tool 4. The distance D is selected such that no significant heat transfer from the workpiece 8 to the lower tool 6 can take place. Furthermore, the distance D is selected so that the workpiece 8 is positioned sufficiently close to the lower tool 6, so that on the one hand the workpiece 8 is positioned as long as possible in the pre-position V, i.e. floating above the lower tool 6, within the scope of the lifting movement H, and on the other hand the Workpiece 8 in a comparatively short time by the manipulator 9 in the forming position U ( FIG. 2 ) can be transferred to the lower tool 6. The distance D between the upper side of the lower tool 6 and the lower side of the workpiece 8 can be in the range between 1 mm and 10 mm, in particular between 1 mm and 5 mm.

The positioning of the workpiece 8 in the pre-position V, for example in such a way that the workpiece 8 is floating, in particular floating, for as long as possible resting, is held over the lower tool 6 has the advantage that the contact time of the warm workpiece 8 with the lower tool 6, ie the thermal contact, can be significantly reduced, thereby reducing the cooling or cooling of the workpiece 8 in the period before the forming process can be. This in turn has an advantageous effect on the forming result, for example.

To carry out a forming process, the workpiece 8 is transferred to the forming position U on the lower tool 6 by a corresponding movement of the manipulator 9 . The transfer to the forming position U can, for example, be triggered or initiated as soon as the ram 3 or the upper tool 4 reaches a reference position P ( FIG. 1 ) reached.

If the ram reaches 3 or the upper tool 4 (as in FIG. 1 ) the reference position P, which can be determined or detected, for example, by a path measuring system (not shown), the handling device 7 is instructed, for example by a control unit (not shown) such as a computer unit, to transfer the workpiece 8 to the forming position. the FIG. 2 shows the operating stage in which the workpiece 8 is positioned in the forming position U on the lower tool 6, ie after the handling device 7 has transferred the workpiece 8 from the pre-position V to the forming position U.

The workpiece 8 is transferred from the pre-position V to the forming position U synchronously with the movement of the upper tool 4 or ram 3 in the direction of the lower tool 6, with the handling device 7 being controlled in such a way that the workpiece 8 precedes the upper tool 4 and the workpiece 8 reaches the forming position U before the upper tool 4 hits the workpiece 8 .

The running ahead, in particular the movement guidance of the handling device 7, and the reference position P are selected or set in such a way that the handling device 7 still has sufficient time after reaching the forming position U, the rigid coupling caused by the coupling element 12 between the manipulator arm 11 and the Leg 13 to solve.

As can be seen from a synopsis of the Figures 1 and 2 results, the handling device 7 moves the workpiece 8 first parallel to the lifting movement H of the ram 3 down into the forming position U on the lower tool 6. This movement is in FIG. 1 indicated by the arrow 17. Immediately thereafter, i.e. after the workpiece 8 has been placed in the forming position U, the manipulator 9 performs a rotary, tilting or rotational movement, indicated by the curved arrow 18 in FIG. 2 , The leg 13 and the manipulator arm 11 tilting relative to one another with respect to an imaginary axis of rotation in the region of a tipping point or a tipping axis K in the region of the damping element 15, in particular the elastic material. Through this or in connection with this rotary, tilting or rotational movement, in which the workpiece 8 remains unchanged in its position on the lower tool 6, the rigid coupling between the leg 13 and the manipulator arm 11 caused by the coupling element 12 is canceled, so that the manipulator arm 11 is elastically decoupled from the arm 13 of the gripper system 14 via the damper element 15.

Time after the lifting of the rigid coupling, the ram 3 reaches the forming point U through its continuous further movement parallel to the lifting movement H in the direction of the lower tool 6, and the workpiece 8 is formed accordingly.

After the forming process, the ram 3 moves with the upper tool 4 in the return stroke movement R to the upper reversal point of the ram 3. After the forming process, the handling device 7, in particular the manipulator arm 11, performs a movement that is opposite to the rotary, tilting or rotational movement mentioned above , As a result of which the coupling element 12 rests against the leg 13 again, or engages and/or is coupled to this. As a result, the leg 13 is once again rigidly coupled to the manipulator arm 11 . In this rigidly coupled operating position, the handling device 7 can carry out further movements with the workpiece 8, e.g. repositioning for further forming operations, or the handling device can transfer the formed workpiece 8 to a storage unit. Thereafter, the handling device 7 can transfer another workpiece 8 to the work space A, with subsequent forming in accordance with the steps described above.

The mode of operation described with positioning in the pre-position and decoupling of the gripper system 14 or the leg 13 from the manipulator arm 11 in the forming position U can be carried out in a corresponding manner for each forming process.

In the FIG. 3 to FIG. 5 The second embodiment shown is essentially based on the same forming machine, so that reference is made to the above statements regarding the forming machine as such.

The second embodiment differs from the first in the manner in which the workpiece 8 is transferred to the forming position U, which will be described in more detail below, with components that are the same and have the same function as the handling unit 2 in particular being denoted by the same reference symbols.

Just like in the first embodiment FIG. 1 and 2 will follow in the second embodiment FIG. 3 to 5 the workpiece 8 in the preliminary position V, in particular initially floating, in particular floating at rest, above the lower tool 6 and at the same time at a distance from the upper tool 4 ( FIG. 3 ) positioned. The subsequent transfer of the workpiece 8 into the forming position ( FIG. 4 and FIG. 5 ) is different from the first embodiment.

While in the first embodiment the workpiece 8 is actively moved by the handling device 7 as such to the forming position U (also referred to above as process sequence d2), in the second embodiment the workpiece 8 is transferred from the pre-position V to the forming position U by the moving upper tool 4 (also referred to as method sequence d1 above).

In the example of Figures 3 to 5 the handling unit 2 also has a handling device 7 , a manipulator 9 , a rotary drive 10 , a manipulator arm 11 and a gripper system 14 . As in the first embodiment, the gripper system 14 is coupled to the manipulator arm 11 via a leg 13 via a damping element 15 . Analogously to the first embodiment, the damping element 15 brings about an elastic decoupling of the manipulator arm 11 and the gripper system 14 or leg 13 , provided there is no rigid coupling between the leg 13 and the coupling element 12 . A change between the rigidly coupled and the elastically decoupled position can take place, analogously to the first embodiment, by a tilting, pivoting or rotating movement.

the figure 3 shows the situation in which the workpiece 8 is floating above the upper tool 6 in the pre-position V (waiting position) and is still at a distance from the upper tool 4. By moving the upper tool 4 in the direction of Stroke movement H, this strikes the workpiece 8 in the course of the stroke movement H in a floating position ( FIG. 4 ) and take it with you. figure 4 shows the situation in which the workpiece 8 is positioned in the pre-position V and the upper tool 4 has already been moved so far towards the workpiece 8 as part of the lifting movement H that the upper tool 4 takes the workpiece 8 with it or moves it along with it during further movement. As a result of the entrainment, the workpiece 8 is entrained from the pre-position V and, after covering the distance D, reaches the forming position U, as in FIG. 5 shown. The workpiece 8 is formed by further downward movement of the upper tool 4 .

In order to prevent the manipulator arm 11 and the manipulator 9 from being damaged when the workpiece 8 is taken along, the handling device 7 of the second embodiment has a prestressing element 19 which, in the longitudinal extension of the manipulator arm 11, is located between the damper element 15 and the end of the Manipulator arm 11, corresponding to the end at which the coupling element 12 is present in the embodiment shown. In variants of the second embodiment, it is possible to use a manipulator arm 11 without a coupling element 12 .

The prestressing force of the prestressing element 19 is set so that it absorbs the weight of gripper system 14 with leg 13 and tool 8, and keeps leg 13 with workpiece 8 held by gripper system 14 at a distance from manipulator arm 11, in particular can keep it in a floating position.

In the exemplary embodiment, the pretensioning element 19 is designed as a pneumatic or hydraulic element which is arranged between the manipulator arm 11 and the leg 13 and is connected to them. Such prestressing elements 19 allow variable adjustment of the prestressing force and thus, for example, an adjustment of the prestressing force to the weight of the gripper system 14 and the workpiece 8 or to the torque generated by them with respect to the tilting axis K. If the handling unit 2 of the second embodiment provides a rigid coupling, the manipulator arm 11 can include a coupling element 12, analogously to the first embodiment. A variably adjustable prestressing element 19 can be provided, which is or can be operated in such a way that, for example by reducing the prestressing force, the leg 13 can be or is rigidly coupled to the coupling element 12 when the workpiece 8 is gripped in a first operating state, and that, e.g. by increasing the preload force, the leg 13 is no longer rigidly coupled to the coupling element 12 when the workpiece 8 is gripped in a second operating state, and the leg 13 is elastically decoupled from the manipulator arm 11 via the damping element 15 . In the rigidly coupled state, the leg 13 can rest on the bearing surface 20, and in the decoupled state, the leg 13 can be lifted off the bearing surface 20.

In addition, a suitably configured hydraulic or pneumatic prestressing element 19 can generate a damping effect that supports the damping element 15 .

The pretensioning element 19 is set up to generate a variable pretensioning force which acts between the point of application on the manipulator arm 11 and the point of application on the leg 13 . As a result, the leg 13 and with it the entire gripper system 14 is supported against the manipulator arm 11, so that the gripper system 14 with the workpiece 8 can be positioned stably through the action of the prestressing force, for example in the pre-position V floating above the lower tool 6.

The biasing element 19 and the biasing force are in accordance with the design FIG. 3 to 5 designed or adjusted in such a way that when the workpiece 8 is carried along by the upper tool 4, the prestressing force can be suppressed. When overpressing, the prestressing element 19 is upset or compressed, as a result of which the leg 13 can move or rotate in the direction of the manipulator arm 11 due to the elasto-mechanical properties of the damping element 15 . In other words, the angle between the manipulator arm 11 and the leg 13 decreases until the workpiece 8 that is taken along rests on the lower tool 6 in the forming position U. The length of the prestressing element 19, and therefore the distance between the leg 13 and the manipulator arm 11 or the coupling element 12, is selected in such a way that there is no rigid coupling between the leg 13 and the manipulator arm 11 or the coupling element 12 even after overpressing. ie that the manipulator arm 11 and the leg 13 are still decoupled elastically.

This makes it possible that the manipulator arm 11 does not have to follow the entrainment movement and can remain stationary at least for the period from the entrainment to the forming point U and during the forming and at the same time remain elastically decoupled from the leg 13 .

After the forming, the upper tool 4 moves in the return stroke R and the prestressing element 19 can, due to the effect of the prestressing force, resume the shape that it was not pressed over, as a result of which the workpiece is lifted off the lower tool 6, for example.

In the second embodiment, it can be provided that the handling unit 2 or the handling device 7, analogously to the first embodiment, is set up in such a way that the gripper system 14 and the manipulator arm 11 can be moved by tilting, pivoting or rotating the manipulator arm 11 and/or by adjusting or Changing the biasing force of the biasing element 19 are rigidly coupled in an operating state.

However, the active decoupling or coupling described above is in the second embodiment FIG. 3 to 5 not absolutely necessary if, for example, the prestressing force of the prestressing element 19 is selected or adjusted or can be adjusted in such a way that in the non-overpressed state there is a quasi-rigid coupling in which the prestressing force is greater than the weight from the gripper system acting on the prestressing element 19 14 and workpiece 8.

Apart from hydraulically or pneumatically adjustable or adjustable pre-tensioning elements 19, pre-tensioning elements 19 with non-adjustable pre-tensioning force, such as spring elements, can also be considered.

It goes without saying that the handling unit 2 or the handling device 7 of the second embodiment can also be used in the mode of operation described in connection with the first embodiment. Mixed forms are also possible, in which the workpiece 8 is transferred to the forming position U by the handling device 7 being lowered and the workpiece 8 being carried along at least part of the way by the upper tool 4 . As already indicated, the modes of operation can also be used with counterblow hammers in which both tools move.

The above statements show that with the invention described herein, cooling or cooling of the workpiece during hot forming before the forming process can be reduced by reducing the contact time between the workpiece and the tools. In particular, can better forming results can be achieved as a result. The heat input into the tools can also be reduced by reducing the contact time between the workpiece and the tool(s).

Reference List

1

forming machine

2

handling unit

3

bear

4

upper tool

5

scabbots

6

lower tool

7

handling device

8th

workpiece

9

manipulator

10

rotary drive

11

manipulator arm

12

coupling element

13

leg

14

gripper system

15

damper element

16

gripping element

17

arrow, parallel movement

18

arrow, rotary motion

19

biasing element

20

bearing surface

A

working space

D

Distance

H

lifting movement

K

tilt axis

P

reference position

R

return stroke movement

u

forming position

V

preposition

W

tool motion axis

Claims (15)

Method for hot forming, in particular for forging, a workpiece (8), in which a) the workpiece (8) is formed during a working stroke (H) in a working space (A) of two tools (4, 6) of a forming machine (1) moving towards one another in a forming process, and b) during the forming process, the workpiece (8) is held in a forming position (U) in the work area (A) by means of a handling device (7), whereby c) the handling device (7) pre-positions the workpiece (8) before the forming process in the working space (A) in a predetermined pre-position (V) at a distance from the tools (4, 6), and where d1) the workpiece (8) pre-positioned in the pre-position (V) is moved from the pre-position (V) to the forming position (U) by a tool (4) moved in the working stroke (H) along a tool movement axis (W) to the forming position (U). , and or d2) the workpiece (8) pre-positioned in the pre-position (V) by the handling device (7) in a movement synchronous to a tool (4) moved in the working stroke (H) along a tool movement axis (W) to the forming position (U) to the forming position ( U) is moved. Method according to Claim 1, in which the workpiece (8) pre-positioned in the pre-position (V) is positioned floating in the working space (A) for a predetermined minimum time interval, which depends on the respective forming process, within a working stroke, so that a contact time of the workpiece (8 ) is minimized with the tools (4, 6). Method according to claim 1 or 2, wherein the workpiece (8) in the pre-position (V), but at least when the pre-position (V) is reached, in the direction of a tool movement axis (W) along which the moving tool (4) moves, a predetermined Distance (D) from the Has forming position (U) and / or a predetermined distance (D) from a stationary tool (6). Method according to one of Claims 1 to 3, the synchronous movement in step d2) being executed and/or triggered as soon as the tool (4) moving towards the forming position (U) reaches a reference position (P) in the working stroke (H), wherein the synchronous movement is preferably carried out in such a way that the workpiece (8) reaches the forming position (U) before the tool (4) acts on the workpiece (8) for forming. Method according to one of Claims 1 to 4, wherein an alignment of the workpiece (8) in the pre-position (V) corresponds to an alignment provided for the forming position (U) apart from a displacement or movement parallel to the tool movement axis (W). Method according to one of Claims 1 to 5, in which the handling device (7) comprises a gripper system (14) and a manipulator (9) designed for spatial movement of the gripper system (14), the gripper system (14) being dampened via an interposed damping element ( 15) is connected to the manipulator (9). Method according to claim 6, wherein the handling device (7) is operated or can be operated in such a way that - the gripper system (14) is or will be elastically decoupled from the manipulator (9) via the damping element (15) when the workpiece (8) is pre-positioned, or is or will be elastically decoupled at least immediately before the tool (8) moves with it in step d1). ; and or - the gripper system (14) is supported on or against the manipulator (9) at least in the pre-position of the workpiece (8) by a prestressing element (19), in particular a spring, pneumatic or hydraulic element, with a variably adjustable or a fixed prestressing force is or is supported, wherein, optionally, the prestressing force is at least partially overridden by the moving tool (4) when the pre-positioned workpiece (8) is also moved after step d1). Method according to Claim 6, in which the workpiece (8) is placed on a tool (6) by the synchronous movement to the forming position (U), and in which the handling device (7) is operated with the workpiece (8) lying on it in such a way that the manipulator ( 9) is or is at least partially elastically decoupled from the gripper system (14) immediately before and during the forming process via the damping element (15). The method according to any one of claims 6 to 8, wherein the handling device (7) is operated so that the gripper system (14) and the manipulator (9) before positioning the workpiece (8) in the pre-position (V) and / or after The forming process is or are essentially rigidly coupled by a rigid coupling, wherein, preferably, the rigid coupling is adjusted and/or the rigid coupling is released between the gripper system (14) and the manipulator (9) by essentially complementary movements of the manipulator (9) relative to the gripper system (14) and/or by mutually essentially complementary movements of a coupling element (12), the gripper system (14) preferably being or remaining essentially stationary during the setting and/or the release of the rigid coupling , and wherein the movement of the manipulator (9) relative to the gripper system (14) preferably comprises pivoting and/or angling. Device for hot forming, in particular forging, of a workpiece, in particular for use in one of the methods according to one of Claims 1 to 9, comprising a) a forming machine (1), in particular a percussive one, with at least two tools (4, 6) that can be moved relative to one another for carrying out a forming process during a working stroke (H) in a working space (A) of the tools (4, 6); b) a handling device (7) for handling workpieces (8), which is set up to grip and/or hold the workpiece (8) even during the forming process; c) at least one control unit for controlling and/or regulating the movements of the tools (4, 6) and the handling device (7), the control unit being set up to control or regulate at least the handling device (7) in such a way that d) the workpiece (8) is pre-positioned in a predetermined pre-position (V) spaced apart from the tools (4, 6) before the forming process in the working space (A), and d1) the workpiece (8) pre-positioned in the pre-position (V) is moved from the pre-position (V) to the forming position (U) by a tool (8) moved in the working stroke (H) to the forming point (U), the workpiece (8 ) is held by the handling device (7) during the moving and the forming process; and or d2) the handling device (7) transfers the workpiece (8) from the pre-position (V) to the forming position (U) in a movement synchronous to a tool (4) moved in the working stroke (A) to the forming position (U) as soon as the Forming position (U) tool (4) moved towards the working stroke (A) reaches a reference position (P), the workpiece (8) being held by the handling device (7) during the forming process (U). The device according to claim 10, wherein the handling device (7) positions the workpiece (8) pre-positioned in the pre-position (V) in the work space (A) in a floating manner within a work stroke for a predetermined minimum time interval, which depends on the respective forming process, so that a contact time of the workpiece (8) with the tools (4, 6) is minimized. Device according to Claim 10 or 11, in which the handling device (7) comprises a manipulator (9) and a gripper system (14) connected to the manipulator (9), the gripper system (14) being connected to the manipulator (9) via an interposed damping element ( 15) is connected, wherein the control unit is preferably set up to control or regulate the manipulator (9) and/or a coupling element (12) in such a way that the gripper system (14) and the manipulator (9) during operation according to d2) are elastically decoupled via the damping element (15) when or immediately after the forming position (U) for the workpiece (8) is reached, but before the forming process. Device according to claim 10, wherein the handling device (7) has a manipulator (9) and a manipulator (9) connected to the gripper system (14), wherein the gripper system (14) with the manipulator (9) is connected via an interposed damping element (15), the control unit preferably being set up to control or regulate the manipulator (9) and/or a coupling element (12) in such a way that the gripper system (14) and the manipulator (9) is elastically decoupled via the damper element (15) during operation according to d1) at least when or immediately after reaching the pre-position (V) for the workpiece (8), but before the tool (4) moves with it. Device according to Claim 12 or 13, further comprising a prestressing element (19), in particular a spring, pneumatic or hydraulic element, with which the gripper system (14) is supported on or against the manipulator (9) with a variably adjustable or a fixed prestressing force is or can be supported, wherein the prestressing force is set up in such a way that, during operation according to d1), it is at least partially suppressed from the moment the workpiece (8) is moved along by the moving tool (4), and wherein, preferably, the manipulator (9) is or is kept essentially motion-free at least from the point at which it moves along until the end of the forming process, the control unit preferably also being set up to control or regulate a variably adjustable prestressing force such that the prestressing force at least in the pre-position (V) the gripper system (14) with the workpiece (8) resting on the manipulator (9), in particular with a prestressing force, and with one Operation according to d1) is at least partially overridden by the moving tool from the moment the workpiece (8) moves along with it. Device according to one of Claims 10 to 14, wherein the forming machine (1), the handling device (7) and the at least one control unit are set up to carry out a method according to one of Claims 1 to 10.

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