JPH0698438B2 - Forged manipulator peel carrier suspension synchronizer - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the technology of a forged manipulator used for the handling of incandescent steel ingots, and in particular, a structure in which the peel carrier vertical synchronization of the forged manipulator is performed by hydraulic control, The present invention relates to a peel carrier vertical synchronizing device for a forged manipulator, which achieves reduction of the weight of the forged manipulator main body, simplification of structure, and facilitation of maintenance work.

[0002]

2. Description of the Related Art A forged manipulator is used for handling a red-hot steel ingot, and can perform all operations such as raising, lowering, rotating, running, traversing, and tilting the red-hot steel ingot arbitrarily and promptly. It is required and therefore its structure is very complicated. In addition, the weight of the device is large in proportion to the complexity of the structure, and the large device has a weight of more than 1000 tons.

There are various types of suspension systems for peel carrier of forged manipulators, as shown in FIGS. 5 and 6, and their characteristics are also various.

The suspension device for the peel carrier shown in FIG. 5 has the following structure. Red-hot steel ingot a
The peel carrier 101 for gripping is suspended from main shafts (front / rear) 104, 105 by four suspension rods (front / rear) 102, 103. Both ends of the main shaft (front) 104 are supported by elevating cylinders 106 on the left and right, and move up and down along an elevating guide 107. The front and rear connecting rods 108 and 109 connect the front and rear main shafts 104 and 105 to the front and rear toggle levers 110 and 111, respectively. The toggle levers 110 and 111 are connected to the front and rear connecting shafts 112 and 11 respectively.
Rotate around 3. In addition, front and rear left and right toggle levers 11
0 and 111 are high-rigidity connecting shafts (front and rear) 112,
They are integrally coupled by 113, and their respective rotation angles are exactly the same. The front and rear toggle levers 110 and 111 are connected by a tilting cylinder 114. Both ends of the main shaft (rear) 105 are supported by connecting rods (rear) 109, and a lifting guide (rear) 11
Go up and down along 5.

The suspension system for the peel carrier shown in FIG. 6 has the following structure. The main shaft (front) 202 is integrally coupled with the toggle lever 203 and the synchronization frame (front) 204, and is supported by the left and right bearings. A front portion of the peel carrier 201 that holds the red hot steel ingot a is suspended from a front end of a synchronization frame (front) 204 by a suspension rod (front) 205. The main shaft (rear) 206 is integrally coupled with the lever 207 and the synchronization frame (rear) 208 and supported by the left and right bearings. The rear portion of the peel carrier 201 is a suspension rod (rear) 209 from the front end of the synchronization frame (rear) 208.
It is suspended by. The toggle lever 203 and the lever 207 are connected by a tilting cylinder 210. The elevating cylinder 211 is connected to the front end of the toggle lever 203.

[0006]

By the way, in the hot forging industry in recent years, the demand for speeding up of forging work has been further increased in combination with the increase in size of products and the sophistication of product accuracy.

In the forging press, it is already 120-150 spm
Now that high-speed forging is about to be realized, it is necessary to develop high-speed performance that can sufficiently follow this high-speed forging even in manipulators.

On the other hand, there is also a great demand for simplification of maintenance and inspection in order to save maintenance personnel from the standpoint of labor saving.

As described above, reduction of weight for obtaining high-speed performance and simplification of structure for obtaining simplification of maintenance and inspection are problems strongly required for the current manipulators.

However, in the conventional method, since the front and rear and left and right of the peel carrier are mechanically synchronized, the weight of the parts constituting the mechanical device is large, and as described above, the forged manipulator whose total weight exceeds 1000 tons. In addition, the structure is complicated and it is extremely difficult to meet the above-mentioned requirements.

The present invention has been made in view of the above problems and was devised to solve the problems. The object of the present invention is to use a conventional method before and after a peel carrier.
In the present invention, the mechanical synchronization between the left and right sides has been achieved, but by satisfying all of those synchronization hydraulically, the weight of the main body is reduced to enhance the high-speed performance of the manipulator, and maintenance and inspection is simplified. It is to simplify the structure for measuring.

[0012]

In order to achieve the above object, the invention of claim 1 has a front part of a peel carrier for holding a red hot steel ingot, a front part main part having both ends fixed to a forging manipulator body. Suspended by the left and right front hydraulic cylinders that hang on the shaft, and the rear part of the peel carrier by the left and right rear hydraulic cylinders that are hung on the rear main shaft that has both ends fixed to the forged manipulator body. , The left front hydraulic cylinder and the right rear hydraulic cylinder are connected by a hydraulic passage, the right front hydraulic cylinder and the left rear hydraulic cylinder are connected by a hydraulic passage, and each hydraulic cylinder is expanded. Chambers and compression chambers are connected by hydraulic passages, the expansion chambers and compression chambers that are connected by hydraulic passages have the same area, and a hydraulic circuit for horizontal synchronization correction is connected to each hydraulic passage. It is made from formed.

According to the second aspect of the present invention, the front portion of the peel carrier for holding the incandescent steel ingot is supported by the front main shaft which is supported at its both ends by a front lifting guide provided in the forged manipulator body. A pair of left and right front liquids that suspend and hang the rear part of the peel carrier by a rear main shaft whose both ends are liftably supported by a rear lift guide provided in the forged manipulator body, and lift the front main shaft. A pair of left and right rear hydraulic cylinders for raising and lowering the rear main shaft are provided, and a front hydraulic cylinder on the left side and a rear hydraulic cylinder on the right side are connected by a hydraulic passage to connect the front hydraulic cylinder on the right side. The left rear hydraulic cylinder is connected through the hydraulic passage, and the expansion chamber and compression chamber of each hydraulic cylinder are connected through the hydraulic passage, and the rear hydraulic cylinder is led through the hydraulic passage. Equal the area of the expansion chamber and the compression chamber being, which has the constitution of connecting the hydraulic circuit for the left and right horizontal synchronization correction to each hydraulic passage.

[0014]

The present invention having the above-described structure operates as follows. That is, the vertical movement and the forward / backward tilt of the peel carrier are achieved only by the expansion / contraction operations of the front hydraulic cylinders 3L, 3R and the rear hydraulic cylinders 5L, 5R, and the position of the center of gravity changes as the peel carrier moves in the left / right direction. Even in this case, it is possible to prevent the peel carrier from tilting in the left-right direction, so that it is possible to eliminate the need for a conventional mechanical structure.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described more concretely with reference to the embodiments shown in the drawings. [First Embodiment] FIG. 1 is a perspective view and FIG. 2 is a circuit diagram.

In FIG. 1, the front portion of the peel carrier 1 for holding the red hot steel ingot a has a pair of left and right front hydraulic cylinders suspended from a front main shaft 2 whose both ends are fixed to a forged manipulator body (not shown). It is directly suspended by 3L and 3R.

The rear portion of the peel carrier 1 is directly suspended by a pair of left and right rear hydraulic cylinders 5L, 5R suspended from a rear main shaft 4 whose both ends are fixed to a forged manipulator body (not shown).

Left and right front hydraulic cylinders 3L, 3R
The area S ₃ of the lower hydraulic chamber 3a and the area S ₂ of the upper hydraulic chambers 5b of the left and right rear hydraulic cylinders 5L and 5R are the same, and the upper hydraulic chamber 5 of the right rear hydraulic cylinder 5R is
b and the lower hydraulic chamber 3a of the left front hydraulic cylinder 3L are connected by a hydraulic passage A. The upper hydraulic chamber 5b of the left rear hydraulic cylinder 5L and the lower hydraulic chamber 3a of the right front hydraulic cylinder 3R are also electrically connected by the hydraulic passage B.

When the rods of the front hydraulic cylinders 3L, 3R extend downward, the lower hydraulic chambers 3a of the left and right front hydraulic cylinders 3L, 3R become compression chambers. At this time, the lower hydraulic pressure chambers become expansion chambers. Chamber 3a and hydraulic passages A and B
Left and right rear hydraulic cylinders 5L, which are connected by
The upper hydraulic chamber 5b of 5R serves as an expansion chamber. On the contrary,
When the rods of the front hydraulic cylinders 3L, 3R contract upward, the lower hydraulic chambers 3a of the left and right front hydraulic cylinders 3L, 3R become expansion chambers, and at this time, the lower hydraulic chambers 3a become the expansion chambers. The upper hydraulic chamber 5b of each of the left and right rear hydraulic cylinders 5L, 5R that are electrically connected by the hydraulic passages A, B serves as a compression chamber.

The lower hydraulic chambers 3a of the left and right rear hydraulic cylinders 5L and 5R are connected by hydraulic passages, and pilot check valves 24 and 25 are provided in the middle of these hydraulic passages. A switching valve 11, a pilot check valve 21, and a flow rate control valve 31 are provided in another hydraulic passage that connects a tilting hydraulic circuit 7 described later. Further, the left and right rear hydraulic cylinders 5L and 5R have position detectors 41 and 4 respectively.
2 is provided and is used for detecting the tilt state of the peel carrier 1 in the left-right direction.

The hydraulic circuit 6 for left-right horizontal synchronization correction is a circuit for correcting the left-right inclination of the peel carrier 1 and is connected to the hydraulic passages A and B, respectively. The hydraulic circuit 6 includes switching valves 14 and 15 and pilot check valves 26 and 2.
7, flow control valves 33, 34, etc. are provided.

The tilting hydraulic circuit 7 is a circuit for controlling the front-back inclination of the peel carrier 1 and has a hydraulic passage A, respectively.
Connected to B. In this tilting hydraulic circuit 7,
Switching valve 12, flow control valve 32, pilot check valve 2
2, 23, etc. are provided.

Next, the operation of the peel carrier 1 based on the structure of the first embodiment will be described. The rear part of the peel carrier 1 moves up and down by supplying and discharging the pressurized liquid to and from the lower hydraulic chambers 3a of the left and right rear hydraulic cylinders 5L and 5R.
At this time, since the left and right rear hydraulic cylinders 5L and 5R and the front hydraulic cylinders 3L and 3R have the same lifting amount, the front part of the peel carrier 1 also moves in synchronization with the rear part.

[Front-rear synchronization] Further, by fixing the left and right rear hydraulic cylinders 5L and 5R and supplying and discharging the hydraulic fluid to and from the hydraulic passages A and B, the left and right front hydraulic cylinders 3L and 3R are provided.
R moves up and down, whereby the peel carrier 1 can be tilted upwards and downwards. If there is no change in the amount of pressure liquid in both the hydraulic passages A and B, the peel carrier 1 moves up and down while maintaining a constant posture without tilting left and right.

[Left-right synchronization] When pressure fluid leaks from the fluid pressure passage A, the front portion of the peel carrier 1 inclines to the left and the rear portion inclines to the upper right. When the pressure fluid leaks from the fluid pressure passage B, the front portion of the peel carrier 1 is inclined to the right and the rear portion is inclined to the upper left. When the leaked pressure liquid is replenished, the peel carrier 1 returns to the left and right horizontally. If there is no leakage of the pressure liquid, the peel carrier 1 maintains the horizontal state even when the load center of the peel carrier 1 moves in the left-right direction.

Next, the operation of the hydraulic circuit as the hydraulic circuit will be described with reference to FIG. [Horizontal elevation of peel carrier 1] The area S ₃ of the lower hydraulic chambers 3a of the left and right front hydraulic cylinders 3L, 3R and the area S ₂ of the upper hydraulic chambers 5b of the left and right rear hydraulic cylinders 5L, 5R are matched. Equally S ₂ = S ₃ and each lower hydraulic chamber 3
As shown in FIG. 2, a and the upper hydraulic chamber 5b are connected to each other in the hydraulic passages A and B to establish electrical connection.

Now, when the switching valve 11-b is turned on, the pressure liquid passes through the pilot check valve 21, the flow rate control valve 31, and the pilot check valves 24 and 25, and the lower hydraulic pressures of the left and right rear hydraulic cylinders 5L and 5R. It flows into the chamber 5a (area S ₁ ) and raises the rear part of the peel carrier 1.

At this time, the hydraulic fluid in the upper hydraulic chambers 5b of the rear hydraulic cylinders 5L, 5R is pushed out to the left and right, passes through the hydraulic passages A and B, and the left and right front hydraulic cylinders 3L, 3
They flow into the R lower hydraulic chambers 3a, respectively. This raises the front part of the peel carrier 1. At this time, S ₂ = S
₃ , the rear hydraulic cylinders 5L and 5R and the front hydraulic cylinders 3L and 3R have the same rising stroke amount. Therefore, the peel carrier 1 automatically moves in the horizontal direction simultaneously in front, rear, left and right simultaneously.

When the switching valve 11-a is turned on, the pilot check valve 21 opens and the pressure fluid in the lower hydraulic chamber 5a of the rear hydraulic cylinders 5L and 5R is pilot check valves 24 and 25 and the flow control valve. It flows out into the tank through 31, the pilot check valve 21, and the switching valve 11, and the peel carrier 1 automatically descends horizontally in front, rear, left and right simultaneously in the opposite operation to the case of rising.

[Chilling (Front and Back Inclination of Peel Carrier 1)] When the switching valve 12-b is turned on, the pressure fluid flows into the fluid pressure passages A and B through the flow rate control valve 32 and the pilot check valves 22 and 23. . At this time, since the pilot check valves 24 and 25 are closed, the lower hydraulic chambers 5a of the rear hydraulic cylinders 5L and 5R are in a sealed state, and neither the left or right side moves. Therefore, the hydraulic fluid flowing into the hydraulic passages A and B flows into the lower hydraulic chambers 3a of the front hydraulic cylinders 3L and 3R, only the front portion of the peel carrier 1 rises, and the peel carrier 1 tilts upward. .

At this time, when the load center of the peel carrier 1 is eccentric to the left or right, a difference occurs in the left and right pressures of the lower hydraulic chambers 3a of the front hydraulic cylinders 3L and 3R, and the inflowing hydraulic fluid is generated. The amount of difference also occurs, and therefore the front part of the peel carrier 1 should be tilted to the left and right, but since the peel carrier 1 is integrated in the front and rear,
Since the rear part is horizontally held by the rear hydraulic cylinders 5L and 5R, even if the front part also has a difference in the pressures of the left and right front hydraulic cylinders 3L and 3R, the left and right parts are synchronized horizontally. To rise. That is, even in the tilting operation, the left and right horizontal synchronization is automatically performed.

When the switching valve 12-a is turned on, the pilot check valves 22 and 23 are opened, and the hydraulic fluid in the lower hydraulic chambers 3a of the left and right front hydraulic cylinders 3L and 3R is hydraulic passages A and B. Through pilot check valves 22, 2
3, it passes through the flow control valve 32 and the switching valve 12, flows out to the tank, and the peel carrier 1 tilts downward in synchronism with the horizontal direction in the opposite operation to the upward operation.

[Correction of left and right horizontal synchronization] Peel carrier 1
Must always be held almost horizontally in the left-right direction. However, when the leak of the pressurized liquid occurs from the hydraulic passages A and B, or from all the devices and the cylinders connected to them, the peel carrier 1 may tilt in the left-right direction.

For example, when the hydraulic fluid in the hydraulic passage A leaks, the front hydraulic cylinder 3L goes down and the rear hydraulic cylinder 5R goes up. At this time, front hydraulic cylinder 3R
And the rear hydraulic cylinder 5L is not displaced. Therefore, the peel carrier 1 inclines to the left and down in the front and back. At this time, the changeover valve 14-b is turned on to supply the hydraulic fluid 1 to the hydraulic passage A, whereby the lateral inclination of the peel carrier 1 is corrected and the original horizontal state is restored.

When the pressure liquid in the hydraulic pressure passage B leaks, the peel carrier 1 tilts to the lower right by operating symmetrically to the case of the hydraulic pressure passage A. At this time, the switching valve 15-b is turned on to restore the original horizontal state.

The lateral inclination of the peel carrier 1 is detected by the position detectors 41 and 42, and when the inclination exceeds a certain amount, the switching valve 14-b or the switching valve is automatically switched based on this signal. The valve 15-b is turned on and correction is performed.
As a result, the peel carrier 1 is always held horizontally.

[Second Embodiment] FIG. 3 is a perspective view and FIG. 4 is a circuit diagram.

In FIG. 3, the front part of the peel carrier 1 on the side for gripping the red-hot steel ingot a is supported by the front elevating guides 8L, 8R provided on the not-shown forged manipulator main body so that both ends can be moved up and down. It is directly suspended by the left and right suspension rods 9, 9 suspended from the main shaft 2.

The rear portion of the peel carrier 1 has left and right suspension rods 9 suspended from a rear main shaft 4 whose both ends are supported by rear elevation guides 10L and 10R provided on a forged manipulator body (not shown). , 9 are directly suspended.

A pair of left and right front hydraulic cylinders 3L, 3R for raising and lowering both ends of the front main shaft 2 along the front elevation guides 8L, 8R are provided. Both ends of the front main shaft 2 are supported and connected to the ends of the telescopic rods of the front hydraulic cylinders 3L and 3R. This second
In the embodiment, the front hydraulic cylinders 3L and 3R are mounted so as to expand and contract upward, but may be mounted so as to expand and contract downward.

A pair of left and right rear hydraulic cylinders 5L and 5R for raising and lowering both ends of the rear main shaft 4 along the rear elevation guides 10L and 10R are provided. Both ends of the rear main shaft 4 are supported and connected to the ends of the telescopic rods of the rear hydraulic cylinders 5L and 5R. This second
In the embodiment, the rear hydraulic cylinders 5L and 5R are mounted so as to expand and contract upward, but may be mounted so as to expand and contract downward.

Left and right front hydraulic cylinders 3L, 3R
The area S ₃ of the lower hydraulic chamber 3a and the area S ₂ of the upper hydraulic chambers 5b of the left and right rear hydraulic cylinders 5L and 5R are the same, and the upper hydraulic chamber 5 of the right rear hydraulic cylinder 5R is
b and the lower hydraulic chamber 3a of the left front hydraulic cylinder 3L are connected by a hydraulic passage A. The upper hydraulic chamber 5b of the left rear hydraulic cylinder 5L and the lower hydraulic chamber 3a of the right front hydraulic cylinder 3R are also electrically connected by the hydraulic passage B.

When the rods of the front hydraulic cylinders 3L and 3R move downward, the left and right front hydraulic cylinders 3
The lower hydraulic chambers 3a of L and 3R are compression chambers. At this time,
Left and right rear hydraulic cylinders 5L and 5R that are electrically connected to the lower hydraulic chamber 3a, which is the compression chamber, by the hydraulic passages A and B.
The upper hydraulic chamber 5b of 5 becomes an expansion chamber. On the other hand, when the rods of the front hydraulic cylinders 3L and 3R move upward, the lower hydraulic chambers 3a of the left and right front hydraulic cylinders 3L and 3R become expansion chambers. The upper hydraulic chamber 5b of each of the left and right rear hydraulic cylinders 5L, 5R that are electrically connected to the hydraulic chamber 3a by the hydraulic passages A, B.
Is a compression chamber.

The lower hydraulic chambers 5a of the left and right rear hydraulic cylinders 5L, 5R are connected by a hydraulic passage, and pilot check valves 24, 25 are provided in the middle of this hydraulic passage. A switching valve 11, a pilot check valve 21, and a flow rate control valve 31 are provided in another hydraulic passage that connects a tilting hydraulic circuit 7 described later. Further, the left and right rear hydraulic cylinders 5L and 5R have position detectors 41 and 4 respectively.
2 is provided and is used for detecting the tilt state of the peel carrier 1 in the left-right direction.

The hydraulic circuit 6 for horizontal and horizontal synchronization correction is a circuit for correcting the lateral inclination of the peel carrier 1 and is connected to the hydraulic pressure passages A and B, respectively. The hydraulic circuit 6 includes switching valves 14 and 15 and pilot check valves 26 and 2.
7, flow control valves 33, 34, etc. are provided.

The tilting hydraulic circuit 7 is a circuit for controlling the front-back inclination of the peel carrier 1 and has hydraulic passages A and A, respectively.
Connected to B. In this tilting hydraulic circuit 7,
Switching valve 12, flow control valve 32, pilot check valve 2
2, 23, etc. are provided.

The operation of the peel carrier 1 based on the configuration of the second embodiment is the same as that of the first embodiment, so its explanation is omitted. The operation of the hydraulic circuit as the hydraulic circuit based on FIG. 4 is also the same as that in the case of the first embodiment, and therefore its explanation is omitted.

The present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the invention.

[0049]

As is apparent from the above description, according to the peel carrier suspension synchronizing device of the forged manipulator according to the present invention, the conventional method mechanically synchronizes the front and rear and left and right of the peel carrier. In the present invention, by satisfying all of these synchronizations hydraulically, it is possible to eliminate the conventional mechanical device for adjusting the synchronization,
As a result, the total weight of the forged manipulator can be reduced by about 20%. For example, if the total weight is 1000 tons, the weight can be reduced by about 200 tons.

As described above, it is possible to reduce the weight of the main body for improving the high-speed performance of the forged manipulator and to simplify the maintenance and inspection, and the cost of the entire apparatus is significantly reduced. It has a new beneficial effect.

[Brief description of drawings]

FIG. 1 is a perspective view of a first embodiment of the present invention.

FIG. 2 is a circuit diagram of a first embodiment of the present invention.

FIG. 3 is a perspective view of a second embodiment of the present invention.

FIG. 4 is a circuit diagram of a second embodiment of the present invention.

FIG. 5 is a perspective view of a conventional device.

FIG. 6 is a perspective view of a conventional device.

[Explanation of symbols]

 1: Peel carrier 2: Front main shaft 3L, 3R: Front hydraulic cylinder 3a: Lower hydraulic chamber 3b: Upper hydraulic chamber 4: Rear main shaft 5L, 5R: Rear hydraulic cylinder 5a: Lower hydraulic chamber 5b : Upper hydraulic chamber 6: Hydraulic circuit for left-right horizontal synchronization correction 7: Tilting hydraulic circuit 8L, 8R: Front lifting guide 9: Suspending rod 10L, 10R: Rear lifting guide A, B: Hydraulic passage 11 -15: Switching valve 21-27: Pilot check valve 31-34: Flow control valve 41, 42: Position detector

Claims (2)

[Claims] 1. A front part of a peel carrier for gripping a red-hot steel ingot is hung by front left and right front hydraulic cylinders suspended from a front main shaft whose both ends are fixed to a forged manipulator body, and the front part of the peel carrier is suspended. The rear part is suspended by the left and right rear hydraulic cylinders that are suspended from the rear main shaft that is fixed at both ends to the forged manipulator body, and the left front hydraulic cylinder and the right rear hydraulic cylinder are connected by a hydraulic passage. Then, the front hydraulic cylinder on the right side and the rear hydraulic cylinder on the left side are connected by a hydraulic passage, and the expansion chambers and compression chambers of each hydraulic cylinder are connected by a hydraulic passage, and the expansion is conducted by the hydraulic passage. A peel carrier vertical synchronizing device for a forged manipulator, characterized in that the areas of the compression chamber and the compression chamber are made equal, and a hydraulic circuit for horizontal synchronization correction is connected to each hydraulic passage. 2. A front part of a peel carrier for holding a red-hot steel ingot is hung by a front main shaft whose both ends are supported by a front lifting guide provided on a forged manipulator main body, and the front part of the peel carrier is lifted. The rear part is suspended by a rear main shaft whose both ends are lifted by a rear elevating guide provided on the forged manipulator body, and a pair of left and right front hydraulic cylinders for elevating the front main shaft are provided. A pair of left and right rear hydraulic cylinders for raising and lowering the shaft are provided.The left front hydraulic cylinder and the right rear hydraulic cylinder are connected by a hydraulic passage, and the right front hydraulic cylinder and the left rear hydraulic cylinder are connected. In addition to being electrically connected in the hydraulic passage, the expansion chamber and the compression chamber of each hydraulic cylinder are electrically connected in the hydraulic passage, and the expansion chamber and the compression chamber are made in conduction in the hydraulic passage. A peel carrier vertical synchronizing device for a forged manipulator, characterized in that the areas are made equal and a hydraulic circuit for correcting horizontal synchronization is connected to each hydraulic passage.