APPARATUS TO MANIPULATE PRODUCTS TO BE FORGED

Description

FIELD OF THE INVENTION

[0001] The present invention concerns a manipulator apparatus which allows to support and manipulate one or more products during forging.

[0002] By way of example only, the present invention can be used to position or orient unrefined products to be forged in a press or hammer, during forging operations.

[0003] With the term unrefined products we generally mean ingots and metal pieces having various sections, which are usually brought to a suitable temperature in order to be permanently deformed so that they take on predefined and/or desired shapes and sizes.

BACKGROUND OF THE INVENTION

[0004] It is known to use metal products, already roughed and semi-finished by forging with presses or hammers, to be finished subsequently in machine tools and to obtain final products with better characteristics of mechanical strength.

[0005] Presses and hammers typically comprise an anvil on which the product is positioned, on each occasion, and a ram, which normally operates in a vertical direction with respect to the anvil and is configured to descend and hit the product with a determinate energy, or pressure, and deform it.

[0006] Typically, the products to be forged have considerable weight and sizes. By way of example only, the weight can vary from about 0.5 tons to about 50 tons and more, and the sizes can vary from about 0.5m to 10m and more.

[0007] In addition, before the forging operations, the product has to be heated to a temperature which makes the material plastically deformable, for example to temperatures from about 1000° C to about 1100° C.

[0008] It is evident that the manipulation of these products in the various forging steps is complex due to the heavy weight and the large size of the products, and the high temperatures involved.

[0009] In addition, the correct positioning, on each occasion, of the product above the anvil is essential in order to obtain the desired deformations and the required result.

[0010] An example of an apparatus to manipulate products to be forged is described in Italian patent IT 9.339.255 and comprises a manipulator provided with a gripper configured to support the product to be forged along a gripping axis.

[0011] The manipulator is provided, on its opposite sides, with a first front pivot and a second front pivot to which a front support structure is connected.

[0012] Furthermore, the manipulator comprises a third rear pivot connected, in turn, to a rear structure.

[0013] The manipulator is therefore supported by the front and rear structure in correspondence with its three points distanced from each other and lying on a common lying plane.

[0014] The front structure also comprises two levers pivoted respectively one to the first front pivot and the other to the second front pivot.

[0015] With the manipulator there is also associated a linear damper acting on fixed abutment elements of the support structure and configured to absorb shocks on the lying plane as above, allowing the movement of the manipulator, and of the gripper associated therewith, on the lying plane by rotating around the third rear pivot.

[0016] In this known solution, the linear damper is located in sliding contact with the fixed abutment elements and this generates high reciprocal friction between the parts, with consequent wear. Furthermore, the movements due to this linear damper are particularly noisy due to the sliding contact.

[0017] CN 102 935 480 B discloses a forging manipulator having a clamp hinged to the front end of a caliper, wherein front and rear linear actuators are hinged with a front suspension rod and a cart frame. This apparatus provides limited motion coupling, easy analysis of motion and dynamics, and a convenient control.

[0018] CN 102 019 340 A, which forms the basis for the preamble of claim 1, discloses a forging operation machine clamp rod lifting mechanism applied in the forging industry, mainly composed of a front lifting part, a rear lifting part, a synchronous connecting rod, a lifting cylinder, a pitch cylinder and a buffering component, and a front fixed shaft and a rear part in the front lifting part.

[0019] FR 1 028 869 A discloses a device provided with a clamp holder for holding and turning heavy forging pieces.

[0020] US 2 864 271 A discloses an apparatus for handling and manipulating work pieces particularly in and about forging presses.

[0021] The present invention intends to overcome all the technical and technological limits of the apparatuses to manipulate metal products known in the state of the art during the forging steps.

[0022] One purpose of the present invention is to provide an apparatus to manipulate products to be forged which guarantees a correct and rapid positioning of the gripper during forging.

[0023] Another purpose of the present invention is to provide a manipulation apparatus which has a manipulator with a simplified structural layout, in order to improve both the positioning of the manipulation gripper and also its management.

[0024] It is also a purpose of the invention to provide a manipulation apparatus that allows to optimally damp the stresses that are induced on it due to the action of the hammer or the press.

[0025] Another purpose of the present invention is to provide a manipulation apparatus which reduces the maintenance interventions required.

[0026] It is also a purpose of the present invention to provide a manipulation apparatus which is quieter and does not cause damage to the structure.

[0027] The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

SUMMARY OF THE INVENTION

[0028] The present invention is set forth and characterized in the independent claim.

[0029] The dependent claims describe other characteristics of the invention or variants to the main inventive idea.

[0030] In accordance with the above purposes, an apparatus to move products to be forged, in accordance with the present invention, comprises:

• a manipulator provided with a gripper configured to support a product to be forged along a gripping axis, and a first front pivot, a second front pivot, a third rear pivot all lying on a common support plane;
• a front structure connected to the first front pivot and to the second front pivot;
• a rear structure connected to the third rear pivot;
• a movement slider configured to support the front structure and the rear structure.

[0031] In accordance with one aspect of the present invention, front structure comprises a first lever and a second lever connected respectively to the first front pivot and to the second front pivot, and a damping device, comprising a linear damper or a hydraulic damper, connected to the first lever and configured to damp the stresses suffered by the gripper in a transverse direction with respect to the gripping axis by a rotation of the manipulator on the support plane and with respect to the third rear pivot. The first front pivot and the second front pivot are aligned along a common front pivoting axis, and the damping device has a damping axis located transverse to the gripping axis. The front structure comprises a front frame provided with a first pivoting portion of the first lever and a second pivoting portion of the second lever. The first pivoting portion comprises a hinge having a pivoting axis orthogonal to the front pivoting axis. The second pivoting portion comprises a spherical joint configured to allow a spherical pivot of said second lever.

[0032] In accordance with possible variant embodiments, the damping device can be suitably controlled both in order to damp the transverse stresses to which the gripper is subjected, and also in order to obtain a swiveling of the manipulator on the support plane thanks to a controlled rotation of the first lever and of the second lever.

[0033] The action of the damping device directly on the first lever prevents reciprocal sliding and sliding contacts between the components of the machine during the movements of the manipulator.

[0034] This allows to limit the maintenance interventions on the manipulator and to increase the absorption capacity, that is, the damping of the stresses to which the apparatus is subjected under the action of a hammer or a press.

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] These and other characteristics of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein:

• fig. 1 is a lateral view of an apparatus to manipulate products to be forged according to the present invention;
• fig. 2 is a perspective view of part of the apparatus, according to the present invention, in accordance with the embodiments described here;
• fig. 3 is a lateral view of fig. 2;
• fig. 4 is a top plan view of fig. 3;
• fig. 5 is a front view of some components of fig. 2;
• figs. 6-11 are lateral views of fig. 2, in different operative positions.

[0036] To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can conveniently be incorporated into other embodiments without further clarifications.

DETAILED DESCRIPTION OF SOME EMBODIMENTS

[0037] We will now refer in detail to the various embodiments of the present invention, of which one or more examples are shown in the attached drawings. Each example is supplied by way of illustration of the invention and shall not be understood as a limitation thereof. For example, the characteristics shown or described insomuch as they are part of one embodiment can be adopted on, or in association with, other embodiments to produce another embodiment, without departing from the scope of the appended claims. It is understood that the present invention shall include all such modifications and variants.

[0038] Embodiments described using the attached drawings concern an apparatus to move products to be forged, indicated as a whole with reference number 10 in the attached drawings.

[0039] In accordance with some embodiments, the movement apparatus 10 comprises a manipulator 11 provided with a gripper 12 configured to support a product to be forged along a gripping axis X.

[0040] Specifically, the manipulator 11 has a mainly oblong development along the gripping axis X.

[0041] The manipulator 11 is also provided with a mandrel 13 configured to rotate the gripper 12 around the gripping axis X and allow the correct orientation of the product to be forged. The mandrel 13 can comprise a hydraulic motor suitable to make the gripper 12 rotate around the gripping axis X.

[0042] The mandrel 13 supports the gripper 12 cantilevered.

[0043] The gripper 12 can be provided with at least two jaws 14 which can be opened and closed, and in which the product to be forged is held.

[0044] According to another aspect of the invention, the manipulator 11 is provided with three pivoting portions, that is, respectively a first front pivot 15, a second front pivot 16, and a third rear pivot 17 which substantially lie on the same support plane π.

[0045] In particular, the front pivot 15 and the rear pivot 17 can comprise through holes for the insertion of hinging members, as described below.

[0046] According to a possible solution, the first front pivot 15 and the second front pivot 16 can be aligned along a common front pivoting axis Y1.

[0047] In accordance with possible solutions, the first front pivot 15 and the second front pivot 16 can be located in a symmetrical position with respect to the gripping axis X.

[0048] The front pivoting axis Y1 lies on the support plane π as above, and can be substantially orthogonal to the gripping axis X.

[0049] The axis of the third rear pivot 17 is aligned with an axis located on a median plane of the manipulator 11 itself. Furthermore, the axis of the third rear pivot 17 is distanced, along the gripping axis X, with respect to the first front pivot 15 and the second front pivot 16.

[0050] According to another aspect of the present invention, the apparatus 10 comprises a front structure 18 connected to the first front pivot 15 and to the second front pivot 16, a rear structure 19 connected to the third rear pivot 17, and a movement slider 20 configured to support and move the front structure 18 and the rear structure 19.

[0051] In accordance with one embodiment of the invention, the front structure 18 comprises a first lever 21 and a second lever 22 connected respectively to the first front pivot 15 and to the second front pivot 16, and a damping device 23 connected to the first lever 21 and configured to damp, that is, cushion, the stresses suffered by the gripper 12 in a transverse direction with respect to the gripping axis X, by rotating the manipulator 11 on the support plane π and with respect to the third rear pivot 17.

[0052] In accordance with a possible embodiment of the invention, the damping device 23 can comprise a linear damper.

[0053] Advantageously, the damping device 23 can comprise a hydraulic damper.

[0054] In this way, it is possible to control the rigidity of the damping device 23, that is, the intensity of the resistance that it opposes to a stress, acting directly on the pressure of the fluid, for example oil, required for its functioning.

[0055] Therefore, it can be provided that the manipulator 11 maintains a stable positioning during determinate steps of the forging process, or that the manipulator 11, for example when a determinate stress in the transverse direction with respect to the gripping axis X is exceeded, can vary its position so as to prevent the stress from unloading onto the manipulator 11 causing damage and breakage. Once the stress has ceased, the damping device 23 allows the manipulator 11 to return to the correct position in the shortest time possible.

[0056] In accordance with the invention, the damping device 23 has a damping axis Z located transverse to the gripping axis X and, in this specific case, parallel, or substantially parallel, to the front pivoting axis Y1. This disposition allows to damp the stresses suffered by the gripper 15 in that direction.

[0057] According to the invention, the front structure 18 comprises a front frame 24 provided with a first pivoting portion 25 and a second pivoting portion 26 to which respectively the first lever 21 and the second lever 22 are pivoted.

[0058] In accordance with the invention, the first pivoting portion 25 comprises a hinge 27 having a hinging axis Z1, orthogonal to the front pivoting axis Y1, for the hinging of the first lever 21.

[0059] According to the invention, the second pivoting portion 26 comprises a spherical joint 28 configured to allow a spherical hinging of the second lever 22.

[0060] The first pivoting portion 25 and the second pivoting portion 26 are aligned along a common axis, substantially parallel to the front pivoting axis Y1.

[0061] In accordance with a possible embodiment of the invention, the first lever 21 is provided with a first end 29 pivoted to the first front pivot 15 of the manipulator 11, with a second end 30, opposite the first end 29 and to which the damping device 23 is connected, and with a pivoting portion 31 interposed between the first end 29 and the second end 30 and pivoted to the front frame 24.

[0062] When the gripper 12 receives a stress in a direction transverse to the gripping axis X, the damping device 23 allows the first lever 21 to rotate in a controlled manner around the first pivoting portion 25, and therefore obtain the swiveling of the manipulator 11 on the support plane π, limiting the dynamic overloads of the structure.

[0063] The damping device 23 is provided with a first end connected to the second end 30 of the first lever 21, and with a second end connected to the front frame 24.

[0064] According to one embodiment of the present invention, the second lever 22 is provided, in turn, with a first end 32 connected to the second front pivot 16, and with a second end 33, opposite the first end 32, and pivoted to the front frame 24.

[0065] In some embodiments, the first front pivot 15 and the second front pivot 16 can comprise a spherical joint for the hinging respectively of the first lever 21 and of the second lever 22.

[0066] In this way, when the gripper suffers a stress in any direction whatsoever, this stress is not transmitted rigidly to the front structure 18, thus preventing damage or breakage.

[0067] In accordance with a possible solution, the front structure 18 comprises a support shaft 34 configured to support the front frame 24 and allow a rotation thereof around an axis of rotation W.

[0068] In accordance with a possible solution, the support shaft 34 can have a cylindrical conformation, or be provided with at least one pivoting portion to which the front frame 24 is pivoted.

[0069] According to a possible solution, the front frame 24 can be constrained at least axially, along the axis of rotation W, to the support shaft 34 by means of suitable abutment elements, not visible in the drawings.

[0070] According to possible solutions, the front frame 24 is integrally attached to the support shaft 34, and the support shaft 34 is pivoted to the front frame 24, thus defining a pivoting axis for the latter.

[0071] In accordance with a possible solution, with the support shaft 34 there can be associated a translation member 35 configured to translate the support shaft 34 and therefore also the front frame 24 associated therewith along the axis of rotation W.

[0072] The translation member 35 can be integrated, at least partly, into the support shaft 34.

[0073] According to a possible solution, the translation member 35 can comprise at least one plunger cylinder 36 provided at at least one end of the support shaft 34 and configured to translate the latter along the axis of rotation W.

[0074] In particular, the plunger cylinder 36 can comprise a cavity 37 made open toward one end of the support shaft 34, and a guide piston 38 integrally attached to the front structure 18 and slidingly inserted into the cavity 37.

[0075] The plunger cylinder 36 also comprises a jacket 39 of the cylinder in which the guide piston 38 is attached and in which an end portion of the support shaft 34 is slidingly inserted.

[0076] The jacket 39, the guide piston 38 and the cavity 37 together define at least two drive chambers into at least one of which a drive fluid, usually hydraulic oil, is fed in order to axially move the support shaft 34 with respect to the front structure 18 itself.

[0077] Although we have described and shown solely the application of the plunger cylinder 36 to one end of the support shaft 34, it is not excluded that, in some embodiments, also the opposite end of the support shaft 34 is provided with a similar plunger cylinder 36.

[0078] As well as having a function of controlling the axial position, along the axis of rotation W, of the front frame 24, and therefore of the manipulator 11, the translation element 35 described above can also have the function of secondary damping, or limiting the transverse stresses, that is, acting in a direction parallel to the axis of rotation W, induced by the forging actions.

[0079] The combined action of the damping device 23 and of the translation member 35 allows to damp the transverse stresses to which the gripper 15 is subjected, facilitating the precise repositioning operations of the latter, following a forging action, and reducing the damage and wear to which the components are subjected.

[0080] According to possible implementations of the invention, the front structure 18 can comprise two front arms 40 pivoted, with their front pivoting portions 41, to the movement slider 20.

[0081] The front arms 40 are pivoted to the support shaft 34 in correspondence with its ends.

[0082] According to a possible solution, with the front structure 18 there are associated front drive devices 42 configured to move the manipulator 11 on a drive plane θ located transverse to the support plane π and on which the gripping axis X lies.

[0083] The drive plane θ can be located, during use, substantially vertical.

[0084] The front drive devices 42 can comprise two front actuators 43 each connected to the movement slider 20 and to one of the two front arms 40, and configured to rotate the front arms 40 themselves around the front pivoting portions 41.

[0085] The front arms 40 can be connected to each other by a pivoting shaft 44. The front actuators 43 are connected to the ends of the pivoting shaft 44.

[0086] The pivoting shaft 44 can be located substantially parallel to the axis of rotation W.

[0087] In accordance with some embodiments of the invention, the rear structure 19 can comprise a rear frame 45 pivoted, with a first end thereof, to the third rear pivot 17 and, with a second end thereof, opposite the first, to a connection body 46 of the rear structure 19.

[0088] The third rear pivot 17 can comprise a spherical joint in order to allow a spherical movement of the manipulator 13.

[0089] The connection body 46, in turn, is connected to the movement slider 20.

[0090] In accordance with a possible solution, the rear frame 45 is pivoted to the connection body 46 by means of a connection shaft 47. The connection shaft 47 can have a rear pivoting axis R substantially parallel to the axis of rotation W.

[0091] A translation device 48 can be associated with the rear frame 45 configured to translate the rear frame 45 along the connection shaft 47.

[0092] In particular, by combining the actuation of the translation member 35, provided to translate the front frame 24, with the actuation of the translation device 48, provided to translate the rear frame 45, it is possible to obtain a desired translation of the manipulator 11 on the support plane π. Furthermore, according to possible embodiments, the combined action of the translation member 35 and of the translation device 48 along the respective axes, allows to obtain, within limited limits of movement, also a rotation of the manipulator 11 on the support plane π.

[0093] The translation device 48 can comprise a jacket positioned sliding on the connection shaft 47 and defining a translating actuator with the latter.

[0094] In accordance with some embodiments, the connection body 46 can be pivoted to the movement slider 20 in correspondence with rear pivoting portions 49.

[0095] The rear pivoting portions 49 are aligned along a common pivoting axis Q.

[0096] In accordance with solutions of the present invention, the rear structure 19 can comprise a damping member 51 connected to the rear frame 45, and configured to damp the stresses suffered by the gripper 12 in a direction parallel to the gripping axis X.

[0097] According to a possible solution, the damping member 51 can lie on the drive plane θ.

[0098] According to a possible solution, the damping member 51 can be chosen in a group comprising a hydraulic damper, a spring, a rubberized element.

[0099] Advantageously, the damping member 51 can be of the hydraulic type.

[0100] In this way, it is possible to control the rigidity of the damping member 51, that is, the intensity of the resistance that it opposes to a stress, acting directly on the pressure of the fluid, for example oil, necessary for its functioning.

[0101] In embodiments shown, the damping member 51 is connected to the rear frame 45 and the movement slider 20 by means of respective spherical joints 52.

[0102] Specifically, the damping member 51 can be connected to the rear frame 45 in an intermediate position between the third rear pivot 17 and the connection shaft 47. This embodiment configuration allows to be able to move the gripper 12 in a substantially vertical direction.

[0103] According to possible solutions, the connection body 46 is provided with first arms 50 attached integrally to the rear pivoting portions 49 and having respective ends pivoted with the rear frame 45, in this specific case pivoted to the connection shaft 47.

[0104] In accordance with solutions of the invention, the connection body 46 can comprise second arms 53 attached integrally to the rear pivoting portions 49 and located at an angle with respect to the first arms 50.

[0105] The first arms 50 and the second arms 53 are fixed each with respect to the others, that is, an angular rotation of the connection body 46 around the rear pivoting portions 49 determines an analogous angular rotation of the first arms 50 and of the second arms 53.

[0106] The second arms 53 of the connection body 46 and the front arms 40 are connected to each other by means of lateral actuators 54 configured to determine, in combination with the front actuators 43, a movement of the manipulator 11 on the drive plane θ.

[0107] In accordance with a possible solution of the invention, the front arms 40 have an elbow-like conformation, and are provided with a first end to which the support shaft 34 of the front frame 24 is connected, and a second end to which the lateral actuators 54 are connected.

[0108] In accordance with possible solutions of the present invention, the movement slider 20 is configured to be moved at least in a direction parallel to the gripping axis X.

[0109] The movement slider 20 can comprise wheels 55 to allow the support and movement of the movement apparatus 10.

[0110] With reference to figs. 6-11, these show possible movement modes of the manipulator 11.

[0111] In a first functioning mode with reference to figs. 6-8, the front actuators 43 are in the configuration of minimum extension, and the gripper 12 is supported by the mandrel 13 in a condition facing downward. By keeping the front actuators 43 in a fixed position, the front arms 40 are not rotated with respect to the front pivoting portions 41.

[0112] With reference to fig. 7, the lateral actuators 54 are further extended and this causes an angular movement of the connection body 46 with a consequent rotation of the manipulator 11 on the drive plane θ, in order to dispose the gripping axis X substantially horizontal.

[0113] Fig. 8 shows another position of the manipulator 11 in which the connection body 46 has been further rotated with respect to the rear pivoting portions 49, in order to dispose the gripping axis X facing upward.

[0114] By comparing figs. 6-8, it can be seen how keeping the position of the front actuators 43 fixed and driving the lateral actuators 54, it is possible to obtain a rotation of the manipulator 11 around the first front pivot 15 and the second front pivot 16.

[0115] In a second functioning mode with reference to figs. 9-11, it is provided that the front actuators 43 are in the configuration of maximum extension.

[0116] During the second functioning mode, the lateral actuators 54 are taken in succession from a configuration of minor extension (fig. 9) to a configuration of intermediate extension (fig. 10) up to a configuration of maximum extension (fig. 11).

[0117] In particular, the second functioning mode is comparable to the first functioning mode.

[0118] It is clear that modifications and/or additions of parts may be made to the apparatus to manipulate products to be forged as described heretofore, without departing from the scope of the appended claims.

[0119] It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of apparatus to manipulate products to be forged, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

Claims

1. Apparatus to move products to be forged comprising:

- a manipulator (11) provided with a gripper (12) configured to support a product to be forged along a gripping axis (X), and a first front pivot (15), a second front pivot (16), a third rear pivot (17) all lying on a common support plane (π),

- a front structure (18) connected to the first front pivot (15) and to the second front pivot (16),

- a rear structure (19) connected to the third rear pivot (17),

- a movement slider (20) configured to support the front structure (18) and the rear structure (19),

said front structure (18) comprising a first lever (21) and a second lever (22) connected respectively to said first front pivot (15) and to said second front pivot (16), and a damping device (23) comprising a linear damper or a hydraulic damper, connected to said first lever (21) and configured to damp the stresses suffered by said gripper (12) in a transverse direction with respect to said gripping axis (X) by rotating said manipulator (11) on said support plane (π) and with respect to said third rear pivot (17),

wherein said first front pivot (15) and said second front pivot (16) are aligned along a common front pivoting axis (Y1), wherein said damping device (23) has a damping axis (Z) located transverse to said gripping axis (X),

wherein said front structure (18) comprises a front frame (24) provided with a first pivoting portion (25) of said first lever (21) and a second pivoting portion (26) of said second lever (22), wherein said first pivoting portion (25) comprises a hinge (27) having a pivoting axis (Z1) orthogonal to said front pivoting axis (Y1),

characterized in that said second pivoting portion (26) comprises a spherical joint (28) configured to allow a spherical pivot of said second lever (22).

2. Apparatus as in claim 1, characterized in that said first lever (21) is provided with a first end (29) pivoted to said first front pivot (15), a second end (30), opposite the first end (29) and to which said damping device (23) is connected, and a pivoting portion (31) interposed between the first end (29) and the second end (30) and pivoted to said front frame (24).

3. Apparatus as in any claim hereinbefore, characterized in that said rear structure (19) comprises a rear frame (45) pivoted, with a first end thereof, to said third rear pivot (17) and, with a second end thereof, opposite the first end, to a connection body (46) of said rear structure (19), and in that said rear structure (19) comprises a damping member (51) connected to the rear frame (45) and configured to damp the stresses suffered by said gripper (12) in a direction parallel to said gripping axis (X).

4. Apparatus as in claim 3, characterized in that said rear frame (45) is pivoted to said connection body (46) by means of a connection shaft (47), and in that said damping member (51) is connected to said rear frame (45) in an intermediate portion between said third rear pivot (17) and said connection shaft (47).

5. Apparatus as in claim 4, characterized in that a translation device (48) is associated with said rear frame (45), configured to translate said rear frame (45) along said connection shaft (47).

6. Apparatus as in any claim hereinbefore, characterized in that said front structure (18) comprises a support shaft (34) configured to support said front frame (24) and allow a rotation of the latter around an axis of rotation (W).

7. Apparatus as in claim 6, characterized in that a translation member (35) is associated with said support shaft (34), configured to translate said support shaft (34) and said front frame (24) along said axis of rotation (W).

8. Apparatus as in any claim hereinbefore, characterized in that front drive devices (42) are associated with said front structure (18), configured to move said manipulator (11) on a drive plane (θ) located transverse to the support plane (π) and on which said gripping axis (X) lies.

Ansprüche

1. Vorrichtung, um zu schmiedende Produkte zu bewegen, welche aufweist:

- einen Manipulator (11), der mit einem Greifer (12), der eingerichtet ist, um ein zu schmiedendes Produkt entlang einer Greifachse (X) zu halten, und einem ersten vorderen Gelenk (15), einem zweiten vorderen Gelenk (16), einem dritten hinteren Gelenk (17), die alle auf einer gemeinsamen Halteebene (π) liegen, versehen ist,

- eine vordere Struktur (18), die mit dem ersten vorderen Gelenk (15) und mit dem zweiten vorderen Gelenk (16) verbunden ist,

- eine hintere Struktur (19), die mit dem dritten hinteren Gelenk (17) verbunden ist,

- einen Bewegungsschieber (20), der eingerichtet ist, um die vordere Struktur (18) und die hintere Struktur (19) zu halten,

wobei die besagte vordere Struktur (18) einen ersten Hebel (21) und einen zweiten Hebel (22), die in zugeordneter Weise mit dem besagten ersten vorderen Gelenk (15) und mit dem besagten zweiten vorderen Gelenk (16) verbunden sind, und eine Dämpfungsvorrichtung (23), die einen Lineardämpfer oder einen hydraulischen Dämpfer aufweist, die mit dem besagten ersten Hebel (21) verbunden ist und die eingerichtet ist, um die Belastungen zu dämpfen, die von dem besagten Greifer (12) in einer Querrichtung in Bezug auf die besagte Greifachse (X) erlitten werden, durch Drehen des besagten Manipulators (11) auf der besagten Halteebene (n) und in Bezug auf das besagte dritte hintere Gelenk (17),

wobei das besagte erste vordere Gelenk (15) und das besagte zweite vordere Gelenk (16) entlang einer gemeinsamen vorderen Gelenkachse (Y1) ausgerichtet sind, wobei die besagte Dämpfungsvorrichtung (23) eine Dämpfungsachse (Z) hat, die quer zur besagten Greifachse (X) angeordnet ist,

wobei die besagte vordere Struktur (18) einen vorderen Rahmen (24) aufweist, der mit einem ersten Gelenkabschnitt (25) des besagten ersten Hebels (21) und einem zweiten Gelenkabschnitt (26) des besagten zweiten Hebels (22) versehen ist, wobei der besagte erste Gelenkabschnitt (25) ein Scharnier (27) aufweist, das eine Gelenkachse (Z1) hat, die orthogonal zu der besagten vorderen Gelenkachse (Y1) ist,

dadurch gekennzeichnet, dass der besagte zweite Gelenkabschnitt (26) ein Kugelgelenk (28) aufweist, das eingerichtet ist, um ein sphärisches Schwenken des besagten zweiten Hebels (22) zu ermöglichen.

2. Vorrichtung wie in Anspruch 1, dadurch gekennzeichnet, dass der besagte erste Hebel (21) mit einem ersten Ende (29), das mit dem besagten ersten vorderen Gelenk (15) gelenkverbunden ist, einem zweiten Ende (30), das entgegengesetzt zu dem ersten Ende (29) ist und mit welchem die besagte Dämpfungsvorrichtung (23) verbunden ist, und einem Gelenkabschnitt (31), welcher zwischen dem ersten Ende (29) und dem zweiten Ende (30) angeordnet ist und welcher mit dem besagten vorderen Rahmen (24) gelenkverbunden ist, versehen ist.

3. Vorrichtung wie in irgendeinem vorherstehenden Anspruch, dadurch gekennzeichnet, dass die besagte hintere Struktur (19) einen hinteren Rahmen (45) aufweist, welcher, mit einem ersten Ende davon, mit dem besagten dritten hinteren Gelenk (17) und, mit einem zweiten Ende davon, welches entgegengesetzt zu dem ersten Ende ist, mit einem Verbindungskörper (46) der besagten hinteren Struktur (19) gelenkverbunden ist, und dadurch, dass die besagte hintere Struktur (19) ein Dämpfungselement (51) aufweist, welches mit dem hinteren Rahmen (45) verbunden ist und welches eingerichtet ist, um die Belastungen zu dämpfen, welche von dem besagten Greifer (12) in einer Richtung parallel zur besagten Greifachse (X) erlitten werden.

4. Vorrichtung wie in Anspruch 3, dadurch gekennzeichnet, dass der hintere Rahmen (45) mittels eines Verbindungsschafts (47) mit dem besagten Verbindungskörper (46) gelenkverbunden ist, und dadurch, dass das besagte Dämpfungselement (51) mit dem besagten hinteren Rahmen (45) in einem Zwischenabschnitt zwischen dem besagten dritten hinteren Gelenk (17) und der besagten Verbindungswelle (47) verbunden ist.

5. Vorrichtung wie in Anspruch 4, dadurch gekennzeichnet, dass eine Verschiebevorrichtung (48) mit dem besagten hinteren Rahmen (45) assoziiert ist, welche eingerichtet ist, um den besagten hinteren Rahmen (45) entlang des besagten Verbindungsschafts (47) zu verschieben.

6. Vorrichtung wie in irgendeinem vorherstehenden Anspruch, dadurch gekennzeichnet, dass die besagte vordere Struktur (18) eine Haltewelle (34) aufweist, welche eingerichtet ist, um den besagten vorderen Rahmen (24) zu halten und eine Drehung des letzteren um eine Drehachse (W) herum zu ermöglichen.

7. Vorrichtung wie in Anspruch 6, dadurch gekennzeichnet, dass ein Verschiebeelement (35) mit der besagten Haltewelle (34) assoziiert ist, welches eingerichtet ist, um die besagte Haltewelle (34) und den besagten vorderen Rahmen (24) entlang der besagten Drehachse (W) zu verschieben.

8. Vorrichtung wie in irgendeinem vorherstehenden Anspruch, dadurch gekennzeichnet, dass vordere Vorrichtungen (42) mit der besagten vorderen Struktur (18) assoziiert sind, welche eingerichtet sind, um den besagten Manipulator (11) auf einer Antriebsebene (θ) zu bewegen, die quer zur Halteebene (n) angeordnet ist und auf welcher die besagte Greifachse (X) liegt.

Revendications

1. Appareil pour déplacer des produits à forger, comprenant :

- un manipulateur (11) pourvu d'une pince (12) configuré pour supporter un produit à forger le long d'un axe de préhension (X), et un premier pivot avant (15), un deuxième pivot avant (16), un troisième pivot arrière (17), tous situés sur un plan de support commun (π),

- une structure avant (18) connectée au premier pivot avant (15) et au deuxième pivot avant (16),

- une structure arrière (19) connectée au troisième pivot arrière (17),

- un coulisseau de déplacement (20) configuré pour supporter la structure avant (18) et la structure arrière (19),

ladite structure avant (18) comprenant un premier levier (21) et un second levier (22) connectés respectivement audit premier pivot avant (15) et audit deuxième pivot avant (16), et un dispositif d'amortissement (23) comprenant un amortisseur linéaire ou un amortisseur hydraulique, connecté audit premier levier (21) et configuré pour amortir les contraintes subies par ladite pince (12) dans une direction transversale par rapport audit axe de préhension (X) en faisant tourner ledit manipulateur (11) sur ledit plan de support (π) et par rapport audit troisième pivot arrière (17),

dans lequel ledit premier pivot avant (15) et ledit deuxième pivot avant (16) sont alignés le long d'un axe de pivotement avant commun (Y1), dans lequel ledit dispositif d'amortissement (23) présente un axe d'amortissement (Z) situé transversalement par rapport audit axe de préhension (X),

dans lequel ladite structure avant (18) comprend un cadre avant (24) pourvu d'une première partie pivotante (25) dudit premier levier (21) et d'une seconde partie pivotante (26) dudit second levier (22), dans lequel ladite première partie pivotante (25) comprend une charnière (27) présentant un axe de pivotement (Z1) orthogonal audit axe de pivotement avant (Y1),

caractérisé en ce que ladite seconde partie pivotante (26) comprend une articulation sphérique (28) configurée pour permettre un pivot sphérique dudit second levier (22).

2. Appareil selon la revendication 1, caractérisé en ce que ledit premier levier (21) est pourvu d'une première extrémité (29) pivotée vers ledit premier pivot avant (15), d'une seconde extrémité (30), opposée à la première extrémité (29) et à laquelle ledit dispositif d'amortissement (23) est connecté, et d'une partie pivotante (31) interposée entre la première extrémité (29) et la seconde extrémité (30) et pivotée vers ledit cadre avant (24).

3. Appareil selon l'une quelconque des revendications précédentes, caractérisé en ce que ladite structure arrière (19) comprend un cadre arrière (45) pivoté, avec une première extrémité de celui-ci, vers ledit troisième pivot arrière (17) et, avec une seconde extrémité de celui-ci, opposée à la première extrémité, vers un corps de connexion (46) de ladite structure arrière (19), et en ce que ladite structure arrière (19) comprend un élément d'amortissement (51) connecté au cadre arrière (45) et configuré pour amortir les contraintes subies par ledit dispositif de préhension (12) dans une direction parallèle audit axe de préhension (X).

4. Appareil selon la revendication 3, caractérisé en ce que ledit cadre arrière (45) est pivoté vers ledit corps de connexion (46) au moyen d'un arbre de connexion (47), et en ce que ledit élément d'amortissement (51) est connecté audit cadre arrière (45) dans une partie intermédiaire entre ledit troisième pivot arrière (17) et ledit arbre de connexion (47).

5. Appareil selon la revendication 4, caractérisé en ce qu'un dispositif de translation (48) est associé audit cadre arrière (45), configuré pour déplacer ledit cadre arrière (45) en translation le long dudit arbre de connexion (47).

6. Appareil selon l'une quelconque des revendications précédentes, caractérisé en ce que ladite structure avant (18) comprend un arbre de support (34) configuré pour supporter ledit cadre avant (24) et permettre une rotation de ce dernier autour d'un axe de rotation (W).

7. Appareil selon la revendication 6, caractérisé en ce qu'un élément de translation (35) est associé audit arbre de support (34), configuré pour déplacer ledit arbre de support (34) et ledit cadre avant (24) en translation le long dudit axe de rotation (W).

8. Appareil selon l'une quelconque des revendications précédentes, caractérisé en ce que des dispositifs d'entraînement avant (42) sont associés à ladite structure avant (18), configurés pour déplacer ledit manipulateur (11) sur un plan d'entraînement (θ) situé transversalement par rapport au plan de support (π) et sur lequel se trouve ledit axe de préhension (X).

Drawing