GB1088152A - Improvements in or relating to manipulators - Google Patents

Abstract

1,088,152. Forging and rolling manipulators. ZDARSKE STROJIRNY A SLEVARNY NARODNI PODNIK. July 12, 1965, No. 29389/65. Headings B3H and B3M. An hydraulically operated manipulator, particularly for use with forging presses and hammers and in steel mills, comprises a mobile frame 1 carrying work gripping jaws 16 on an elongated support beam or peel 15 mounted in the frame on suspensions 17, 18 which support the centre part of the beam from above and the rear part from below. The manipulator runs on rear wheels 4 and a front bogie 5, Fig. 2 (not shown). Jaws 16 are opened and closed by a hydraulic motor on peel 15 and the latter is rotatable about its axis by a hydraulic motor 21 and gear-box 20, Fig. 2 (not shown). Upper resilient suspension 17 is connected by linkage to a shaft 9 and a lower resilient suspension 18 is connected by linkage 7 to a shaft 6. Shafts 6, 9 are also interconnected by linkage 8, 11 and hydraulic motors 12, and shaft 9 is also connected by rods 13 to hydraulic motors 14. These motors effect raising and lowering of the peel whilst the motors 12 produce a pivoted motion of the peel in a vertical plane. Pivotal motion of the peel in a horizontal plane is produced by transverse movement of suspension 17 along a splined part of shaft 9. In another embodiment, Figs. 3, 4 (not shown) the peel is in two parts pivoted together on a vertical axis; the horizontal pivotal movement of the peel is effected by hydraulic motors 22. In this embodiment the peel is in two parts 15a, 15b interconnected by a vertical pivot. In another embodiment, Fig. 14 (not shown), the forward suspension is provided by two pairs of inclined hydraulic cylinders 24. The manipulator may be controlled remotely through a cable.