| 摘要 |
<p>The tongs carriers of manipulators, used in hammer forging, for the forgings are moved either together with the manipulator carriage in ''carriage steps'' or, with an approximately uniformly travelling manipulator carriage, counter to the latter in ''tongs steps''. The difficulty of the ''carriage step'' and the difficulties of coordinating the ''tongs step'' are overcome according to the invention by a control system which reduces the speed of the tongs carrier (2), when the forging (20) is grasped by the tools (18, 19), approximately to zero (</= APPROX 30 mm/s) and controls the acceleration and deceleration of the tongs carrier (2), freely positioned with respect to the carriage (1), using position signals of the tongs carrier (2) relative to the press and using the operating data of the press. The manipulator possesses a displacement cylinder (11) which is designed, in particular, as a synchronising cylinder with continuous piston rod (12) and has a continuous piston stroke for the entire movement clearance of the tongs carrier (2). Furthermore, between carriage (1) and tongs carrier (2) there is arranged a path-measuring apparatus, which measures the position of the tongs carrier (2) relative to the carriage (1) both in the vertical and in the horizontal direction of travel and, its measurement results added to the carriage path values, presents the exact or approximately exact position relative to the press. <IMAGE></p> |
