Integrated control for a manipulator, and open-die forging press interacting with the latter and a manipulator with a measuring device for this purpose

摘要

The tong carriers of forging manipulators used in open-die forging are either moved together with the manipulator carriage, in step with the latter, or, where the manipulator carriage moves approximately uniformly, in a tong step motion relative to the latter. The ponderousness of the carriage step motion and the difficulties of coordinating the tong step motion are overcome, according to the invention, by means of a control which lowers the speed of the tong carrier (2) to virtually zero (/= APPROX 30 mm/s) as the forging (20) is grasped by the tools (18, 19) and controls the acceleration and retardation of the tong carrier (2), which is positioned freely relative to the carriage (1), using signals for the position of the tong carrier (2) relative to the press and operating data of the press. The manipulator has a displacement cylinder (11), designed, in particular, as a constant-speed cylinder with a continuous piston rod (12), with a continuous piston displacement for the entire motional play of the tong carrier (2). Arranged between the carriage (1) and the tong carrier (2) there is furthermore a position-measuring device which measures the position of the tong carrier (2) relative to the carriage (1) both in the vertical and in the horizontal direction of travel and the measurement results of which are added to the carriage displacement values to give the exact or almost exact position relative to the press. IMAGE