SU724267A1

SU724267A1 - Forging manipulator control method

Info

Publication number: SU724267A1
Application number: SU782667079A
Authority: SU
Inventors: Юрий Михайлович Титяков; Вадим Дмитриевич Шрамко
Priority date: 1978-09-25
Filing date: 1978-09-25
Publication date: 1980-03-30

Description

Изобретение откоситс /к вспомогательному оборудованию кузнечно-ирессового производства, а именно к способам управлени ковочными манипул торами.The invention contributes to auxiliary equipment of forging and press production, in particular, to methods of controlling forging manipulators.

Известен способ управлени ковочным манипул тором При ковке заготовок на прессе последовательными обжати ми, включающий непрерывное перемещение тележки манипул тора с регулируемой скоростью и осевое перемещение хобота на шаг подачи в период между обжати ми, про:изводимое с последовательными ускорением путем разгона и замедлением путем торможени 1.Known control method of the forging manipulator When forging workpieces on a press with successive compression, including continuous movement of the manipulator trolley at an adjustable speed and axial movement of the trunk in the feed step between the compression, acceleration and deceleration by braking 1 .

Недостатком известного способа вл етс невысока производительность работы из-за невысокой точности отработки шага подачи к рабочему инструменту пресса и невысокой синхронизации перемещений тележки и хобота.The disadvantage of this method is the low productivity of work due to the low accuracy of working out the feed step to the working tool of the press and the low synchronization of the movements of the trolley and trunk.

Целью .изобретени вл етс повышение производительности за счет повышени тоЧНости отработки шага подачи к рабочему инструменту пресса и улучшение условий синхронизации перемещений тележки и хобота.The purpose of the invention is to increase productivity by increasing the current performance of the feeding step to the press working tool and to improve the conditions for synchronizing the movements of the trolley and trunk.

С этой целью торможение хобота при его осевом перемещении производ т с посто нным замедлением, равным по величине ускорению на участке разгона хобота.To this end, the trunk is braked during its axial movement with a constant deceleration equal in magnitude to the acceleration at the site of acceleration of the trunk.

при этом торможение начинают после прохождени хоботом относительно пресса рассто ни , равного половине шага подачи, и заканчивают в момент остановки хобота, а регулирование скорости перемещени тележ .ки манипул тора осуществл ют в зависимости от фактической продолжительности цикла ковки во врем остановки хобота, при этом скорость .перемещени тележки междз обжати ми поддерживают посто нной .braking begins after the trunk passes a press of a distance equal to half the feed step and ends when the trunk is stopped, and the speed of movement of the trolley carriage of the manipulator is controlled depending on the actual duration of the forging cycle during the stop of the trunk, and the speed The movement of the trolley between cuts is kept constant.

На чертеже приведена циклограмма, где лини / показывает путь бойка пресса, лини 2 - перемещение тележки манипул 5 тора, лини 3 - осевое перемещение хобота с заготовкой, лини 4 - скорость хобота относительно неподвижного основани .The drawing shows a sequence diagram, where line / shows the path of the die head, line 2 - movement of the trolley manipulator 5 of the torus, line 3 - axial movement of the trunk with the workpiece, line 4 - speed of the trunk relative to the fixed base.

В первом ковочном цикле тележка манипул тора перемещаетс с посто нной ско0 ростью, соответствующей расчетному времени ковочного цикла и заданному шагу подачи заготовки. хобота начинаетс при подъеме подвижного бойка пресса после обжати , когда освобождаетс прост5 ранство дл осевого перемещени заготовки . По сигналу начала движени , например , от датчика высоты подъема бойка пресса хобот с заготовкой перемещают с посто нным ускорением а. Одновременно с In the first forging cycle, the manipulator carriage moves at a constant speed, corresponding to the estimated time of the forging cycle and a predetermined feed step of the workpiece. The trunk begins when the movable die is lifted after compression, when the space for axial movement of the workpiece is released. According to the start signal, for example, from the pick-up height sensor of the press, the trunk with the workpiece is moved with constant acceleration a. At the same time with

Claims

With the help of known devices (differential, adder of trolley movement and relative displacement of the trunk, etc.), the distance traveled by the trunk since the start of acceleration relative to the Fixed Base is measured. At that moment, when this distance becomes equal to 112, i.e. half of the predetermined feed step /, paBHoycKopeiHHoe movement, the trunk is replaced by braking. Thus, the absolute speed of the trunk at the time of the start of deceleration V al and the acceleration time will be / p 1 /// a. The braking of the trunk is made with a low.st0 | slowing down, equal in magnitude to the acceleration during the acceleration period, so that the absolute velocity of the trunk of the statortumor, VNoy nzlyu when the trunk passes from the beginning of the movement distance -y + .-, -, the deceleration time t-, a, and the total travel time the feed rate is 5 p 2 | /// a. After stopping the trunk in absolute motion and, consequently, precise processing of a given braking supply jaw for: KANCH, the workpiece is crimped by strikers of the press. The duration of the press of the press, as a rule, is regulated either by the height of the striker or in the upright position of the striker. For synchronous work of the press and the mechanism of axial blocking of the forging, it is necessary that the time from the beginning of the acceleration of the trunk to the beginning of the reduction of the workpiece is not less than the time t, the axial feed of the blank. Since time / „does not depend on the speed of the bogie, the value is 4, and therefore (known speed parameters of the idle speed of the load), and the height of the head above the workpiece can be calculated in advance, which simplifies the synchronization of the movements of the press and manipulator mechanisms. The foregoing is valid if the speed of the trolley during the axial movement of the trunk is constant, otherwise there may be a violation of the development of the Feed Step due to the effect of the acceleration of the trolley on the absolute movement of the trunk. Therefore, the speed of the trolley is adjusted in accordance with the time of the forging cycle (which varies depending on the thickness of the workpiece, its temperature, etc.) only during the stopping of the trunk. The trolley speed regulation, necessary to prevent an excessive deviation of the trunk from the Average position relative to the trolley, can be done, for example, by the deviation of the A / D / 2, etc., trunk from the average position at the moment of the beginning of braking to reduce the specified deviation to the Minimum. The described method of controlling a forging manipulator makes it possible to increase its productivity. The invention The method of controlling a forging manipulator for forging blanks on a press by successive crimping, including the continuous movement of the manipulator carriage with an adjustable speed and axial movement of the trunk to the feed into the rioorod 1. between compresses produced with successive acceleration by acceleration and deceleration by deceleration, for example. and h and y with and with those m., with the aim of increasing productivity by increasing the accuracy of working out the feed step to the working tool of the press and the improved sync conditions the movement of the carriage and trunk, the trunk is braked during its axial movement with a constant deceleration equal to the acceleration in the acceleration section of the trunk, and the braking begins after a distance of half the feed step with the hobom and ends at stopping the trunk, and adjusting the speed of movement of the trolley of the manipulator is carried out depending on the actual intensity of the forging cycle iBO of the trunk and the speed of movement of the trolley Between the cuts they maintain a constant. / The source of information taken into account in the examination: 1. Patent of Great Britain No. 1073226, cl. In 3 N, 1972.