US3129616A - Peel control - Google Patents

Description

April 21, 1964 BELL, JR 3,129,616

PEEL. CONTROL Filed March 1, 1962 i 1 I Q l l 3/ Eh INVEN TOR. 6:02 M4 vs 5:44, .Ie.

Arne/gins United States Patent 3,129,616 PEEL CONTRUL George Hays Bell, Jr., Salem, (Phio, assignor to The Morgan Engineering Co., Alliance, ()hio, a corporation of Ohio Filed Mar. 1, 1962, Ser. No. 176,708 9 Claims. (CI. 78-96) This invention relates to workpiece handling and manipulating apparatus such as apparatus for handling and manipulating of forgings in and about furnaces and forging presses and of the general type described in United States Patent No. 2,864,271 granted December 16, 1958, to E. H. Kendall. The invention is concerned specifically with control of the longitudinally extending and generally horizontal shaft or peel of such a forging manipulator.

As described in the aforementioned patent, the peel carries at its forwardly projecting end a powerful pair of tongs or clamp which grips and holds the workpiece. In order to adequately handle and manipulate the workpiece, the peel is mounted for rotation about its longi tudinal axis, for vertical translation of its longitudinal axis, for tilting of its longitudinal axis in a vertical plane about a horizontal axis normal thereto, for tilting about a vertical axis normal to its longitudinal axis or horizontal translation of its longitudinal axis and for displacement along its longitudinal axis. This invention provides a new and improved means for providing and controlling vertical translation and tilting in a vertical plane of the longitudinal axis of the peel. The other aforementioned movements and their control may be provided by the means and in the manner described in the aforementioned patent or by any other suitable arrangement.

In forging operations, it is often desirable to maintain the axis of the workpiece that is coincident with the longitudinal axis of the peel in a parallel or constant angular relationship with the plane of the forging press anvil. For example, as the transverse dimensions of a workpiece are reduced in a vertically operating forging press, the workpiece must be moved to and between a number of axially parallel positions in order to maintain contact between the workpiece and the anvil surface. In manipulators such as the one described in the Kendall patent referred to above, the peel is supported at two longitudinally spaced points along its length by means which can only be separately and independently moved and controlled. Thus, the operator of such a forging manipulator must separately control and coordinate the two means operating to lower or raise the peel supporting points in order to maintain the desired axial parallelism between various positions of the peel and workpiece throughout the forging operation.

Therefore, it is an object of my invention to provide improved and simplified means for moving and controlling the peel of a forging manipulator of the general type described in the aforementioned Kendall patent.

It is also an object of my invention to movably support such a peel at two points longitudinally spaced along its length by means adapted to permit their independent and separate movement and control and which also are adapted to permit and to automatically insure their co ordinated movement and control.

Another object is to provide means for automatically insuring the equal displacement in the same direction and along parallel paths of the two movable supporting points of such a manipulator peel and thereby the translation of the peel to and between positions of longitudinal parallelism.

Another object of my invention is to provide means for automatically translating such a peel to and between positions of longitudinal parallelism by operation of a single control.

The means for and manner of accomplishment of the foregoing objects as well as other objects and advantages of my invention will become apparent from the following description of a preferred embodiment thereof taken together with the accompanying drawing which is a partial longitudinal section of a forging manipulator of the general type described in the Kendall Patent No. 2,864,271 referred to above and embodying the peel control of my invention.

As seen in the drawing, the peel control of my invention is embodied in a forging manipulator of the general form and arrangement as that described in the Kendall patent mentioned above. Briefly, the manipulator comprises a carriage indicated generally by reference numeral 10 having supporting wheels 11, at least some of which are adapted to be power driven by a reversible motor 12 on and along rails (not shown) to provide for longitudinal movement of the carriage and thereby movement of the peel 14 along its longitudinal axis. Carriage 10 is a boxlike assembly formed with a centrally disposed and longitudinally extending tunnel-like opening in which is mounted and housed the major portion of the elongate and rod-like peel 14. The forward end of peel 14 projects from the forward side of carriage 1t) and carries a powerful pair of tongs 15 for grasping a workpiece. Tongs 15 and their control and actuators are similar in structure and operation to the gripping means fully described in the aforementioned Kendall patent. The drawing may be viewed as a side elevation of carriage 10 with one side of the box-like assembly removed and exposing the interior of the central tunnel-like passage, peel 14, and the peel supporting and positioning apparatus.

Peel 14 is movably supported within carriage 10 at two longitudinally spaced points along its length. The forward end of peel 14 is supported by an assembly which includes a block 16 surrounding peel 14 near the forward end of carriage 10. Block 16 houses a sprocket mounted in and keyed to peel 14 in the manner described in the aforementioned Kendall patent. The vertical and parallel sides 17 of the block 16 slidably engage hardened steel wear plates 18 mounted in parallel spaced apart fashion on the inside forward walls of the central tunnel-like opening in carriage 10. A depending loop of an endless chain 19 engages the sprocket within block 16 while the upwardly extending reaches of chain 19 pass over a pair of pulleys 2t) journaled on carriage 10 above the forward end of the tunnellike opening therethrough.

An upper assembly, generally designated by reference numeral 21, is mounted on spaced parallel rods 22 for longitudinal movement back and forth along the upper side of the tunnel-like opening in carriage 10. Assembly 21 includes a rotatable sprocket (not shown) lying in a substantially horizontal plane parallel to the direction of travel of the assembly on rods 22 and which engages a loop of endless chain 19 and which is driven by a reversible hydraulic fluid motor 23 through a worm gear reducer 24. Thus, through interconnection by chain 19, forward and rearward movement of assembly 21 including its sprocket along rods 22 lowers and raises the forward support point of peel 14- while rotation of the sprocket in assembly 21 rotates peel 14 in the manner and as more fully described in the Kendall patent referred to above. Assembly 21 is shifted back and forth on rods 22 by a hydraulic motor indicated generally by 25 and having one end anchored to assembly 21 at 26 and the other end to the rearward peel support apparatus at 27 and as described more fully below.

The rearward end of peel 14 is supported by apparatus which includes a pair of cranks 28 (one of which is shown in the drawing and the other of which is deleted) standing on opposite sides of peel 14 and held in a laterally spaced parallel relationship as by spacer tube 29. The cranks 28 are mounted for rotation on and have a center of rotation about stub shafts 3t anchored at their ends to the carriage structure lltl. Peel 14 is attached to and supported by cranks 28 through an annular bearing 31 mounted for rotational and limited axial movement about and along peel 14. A pair of horizontally aligned trunnions 32 carried by hearing 31 are journaled for rotation in corresponding bearing blocks 33 attached to cranks Z8 generally forward of their axis of rotation about stub shafts 3i). Coil springs 34 engage opposite ends of bearing 31 and at their outer ends have suitable abutting relationship with flanges 35 on peel 14 so that while the latter has a normally fixed longitudinal relation to the supporting member or bearings 31, it can be displaced longitudinally in either direction with respect thereto for the absorption of shocks.

Hydraulic motors 25, which are connected to assembly 21 as at 26, are also connected to cranks 23 as at 27. A pair of double-acting hydraulic cylinders 36 are connected to cranks 28 as at 37. The other ends of hydraulic cylinders 36 are pivotally anchored to the frame of carriage it) as at 38.

The operation of the peel control described above and illustrated in the accompanying drawing of a preferred form of my invention is as follows: The attitude of the longitudinal axis of peel 14 in a vertical plane with respect to a horizontal, i.e. the tilt of peel 14-, is controlled by hydraulic motors 25. Assuming that the cranks 255 are maintained in a fixed position by hydraulic cylinders 36, it will be apparent that the extension of hydraulic motors 25 will move upper assembly 21 forward along its sup porting rods 22 thereby lowering both of the upwardly extending reaches of chain 19 and thus the forward end of peel 14. Since trunnions 32 or the support point of the rearward end of peel 14 remains fixed, the peel will tilt about trunnions 32 into a position with its forward end lower than its rearward end. The maximum depression of the longitudinal axis of peel 14 from a horizontal through trunnions 32 is indicated by dashed line 39. By retraction of hydraulic motors 25, of course, the reverse motion can be accomplished and the forward end of peel 14 raised with respect to its rearward end.

The level of the longitudinal axis of peel 14 in the vertical plane is controlled by operation of hydraulic cylin ders 36 acting between their connection points 38 with the frame of carriage 1i) and connection points 37 with the cranks 28. When hydraulic cylinders 3e are extended from their position as shown in the drawing, the cranks 28 will rotate in a clockwise direction about shafts 3t). Clockwise rotation of cranks 28 lowers trunnions 32 and the rearward end of peel 14 and moves hydraulic motors 25 along rods 22 toward the forward end of peel 14, thereby lowering the upwardly extending reaches of chain 19 and the forward end of peel 14. Retraction of hydraulic cylinders 36 from an extended position rotates cranks 28 in a counterclockwise direction raising trunnions 32 and the rearward end of peel 14 and moving rearwardly hydraulic motors 25 and thus raising the forward end of peel 14. In the drawing, peel 14 is shown in its highest level position indicated by dashed line 49. Its lowest level position is indicated by dashed line 41.

The maximum elevation of the longitudinal axis of peel 14 with respect to a horizontal through trunnions 32 is indicated by dashed line 42. To assume this position peel 14 is first moved from the position shown in the drawing to a position indicated by dashed line 41 by extending hydraulic cylinders 36 and lowering the peel in horizontal attitude after which hydraulic motors 25 are retracted moving upper assembly 21 back and raising the upwardly extending reaches of chain 19 and thus the forward end of peel 14. It will be apparent, of course, that the peel may be positioned in any level position between that shown in the drawing and that indicated by dashed line 41 as well as in any tilted position between those indicated by dashed lines 39 and 42 by proper operation of hydraulic cylinders 36 and hydraulic motors 25.

As explained above, the translation in a vertical plane of the longitudinal axis of peel 14 through various positions of parallelism, either horizontal or tilted from the horizontal, is accomplished solely by the extension 01' retraction of hydraulic cylinders 36 and the rotation of cranks 28 about shafts 30.

In order to insure the translation of the longitudinal axis of peel 14 through various positions of parallelism by the extension and retraction of hydraulic cylinders 36, the points of connection 27 and 32 of the hydraulic motors 25 and peel 14 to the cranks 28, respectively, must be located so that rotation of crank arms 28 through a given angle raises or lowers both the forward and rearward support points of peel 14 equal amounts on and along parallel paths.

Broadly, this is accomplished by arranging pivot point 27 and the axis of trunnions 32 with respect to the center of rotation of cranks 2S, i.e. the axis of shafts 30, so that the perpendicular distance between the center of rotation of cranks 28 and a line passing through pivot point 27 parallel to or coincident with a line of linear displacement of chain 19 and the perpendicular distance between the axis of shafts 3i and a line parallel to or coincident with the desired path of travel of both the forward and rearward support points of peel 14 are equal.

In the specific embodiment illustrated in the drawing, the desired paths of travel of the forward and rearward support points are parallel vertical lines passing through these points. A line parallel to or coincident with a path of linear displacement of chain 19 is horizontal if that por tion of the chain whose displacement is to be considered is the portion extending between pulleys Ztl and upper assembly 21. Thus, the perpendicular distance between a horizontal line passing through pivot point 27 and the axis of shafts 30 is made equal to the perpendicular distance between the desired vertical path of travel of the axis of trunnions 32 and the axis of shafts 30. Additionally, in the case shown in the drawing, a line through pivot point 27 and the axis of shafts 30 is perpendicular to a line through the axis of trunnions 32 and the axis of shafts 30 because the desired path of travel of the forward and rearward support points is perpendicular to the path of travel of upper assembly 21 along rods 22 and a line coincident with a line of linear displacement of that portion of chain 19 between upper assembly 21 and pulleys 20.

In a forging manipulator, it is, of course, desirable that the forward and rearward support points of the peel be able to be translated in substantially parallel vertical paths and this consideration generally fixes the location of the center of rotation of the cranks with respect to the axis of the trunnions or the rearward support point of the peel. Thus, the axis of shafts 39 should be located vertically on substantially the same level as the midpoint of the vertical distance between the upper and lower limits of travel of the rearward support point of peel 14.

While the forward and rearward support points, strictly speaking, travel on the arcs of circles and on arcs of circles of different radii, the number of degrees of travel along their respective arcs is sufiiciently small that the straight line treatment of their motion in the description above is substantially correct.

Further, with respect to the apparatus of the peel control of my invention, it will of course, be obvious that the structure could be arranged so that more or less hydraulic motors 25, hydraulic cylinders 36 and cranks 28 might be employed in various combinations to accomplish the same results as the preferred embodiment described above. The system for supplying hydraulic power to the hydraulic motors and cylinders of the apparatus and the controls, therefore, may be of conventional construction and arrangement and, for example,

of the general type and similar to those described in the aforementioned Kendall patent.

It is also true that upper assembly 21 need not travel in a horizontal path or a line substantially perpendicular to the parallel paths of travel of the forward and rearward support points of the peel in order to achieve the vertical translation through successive positions of parallelism of the peel provided that the point of connection 27 between crank arms 28 and chain 19 be suitably selected with respect to the center of rotation of cranks 28' and a corresponding location of the axis of trunnions 32. in the manner explained above.

From the foregoing explanation and the description of a preferred embodiment of my invention, it will be apparent that I have provided a peel control for a forging manipulator capable of translating the longitudinal axis of the peel through various positions of parallelism automatically by the application of a force to a single point on the apparatus, ie the actuation of hydraulic cylinders 36. Also, the peel control of my invention permits tilting in a vertical plane of the longitudinal axis of the peel above and below the horizontal and the automatic translation of the longitudinal axis of the peel to various positions of parallelism when the axis is horizontal or tilted in a vertical plane with respect to the horizontal. Further, my invention of an apparatus for controlling the motion of a forging manipulator peel in a vertical plane is compatible with known ways of providing rotational motion of the peel about its longitudinal axis, displacement of the peel along its longitudinal axis and displacement of the peel in a horizontal plane containing its longitudinal axls.

Changes, modifications and improvements may be made to the above-described preferred form of my invention without departing from the precepts and principles of the invention. Therefore, I do not wish my patent to be limited to the particular form of my invention specifically illustrated and described nor in any manner inconsistent with the extent to which my invention has promoted the art.

I claim:

1. In a forging manipulator the combination of a peel having one forward support point and one rearward support point, means including a hydraulic motor for movably supporting said peel at one of said points, crank means for movably supporting said peel at the other of said points, means anchoring said motor on said crank means for moving said motor when said other support point is moved, and means independent of said motor for moving said crank.

2. The manipulator of claim 1 With means for actuating said motor independently of said crank.

3. In a forging manipulator the combination of a peel having first and second points of support, means including a hydraulic motor for movably supporting said peel at one of said points, crank means for movably supporting said peel at the other of said points and for moving said motor, and means independent of said motor for moving said crank.

4. The manipulator of claim 3 with means for actuating said motor independently of said crank.

5. The manipulator of claim 3 wherein said crank means has a center of rotation and is connected to said peel and said motor at points located at equal distances from said center of rotation of said crank means measured perpendicular to the path of movement of said motor and the path of travel of said points of support.

6. In a forging manipulator, the combination of a peel having longitudinally spaced first and second points of support, first and second means for movably supporting said peel at said first and second points of support respectively, movable extensible and retractable means for interconnecting said first and second means whereby to move said points of support of said peel, and means for moving said interconnecting means.

7. In a forging manipulator, the combination of a peel having longitudinally spaced first and second points of support, first means including an extensible and retractable link for movably supporting said peel at one of said points, crank means for movably supporting said peel at the other of said points and interconnected with and for moving said first means, and means for moving said crank.

8. The manipulator of claim 7 in which said crank means has an axis of rotation fixed with respect to said peel and about which it is rotated by said last-named means, the interconnection of said first means with said crank means being so located with respect to said axis of rotation and said other point of support that said first and second points of support are caused tomove equal amounts in the same direction along parallel paths upon rotation of said crank means by actuation of said lastnamed means.

9. The manipulator of claim 7 in which said one of said points is moved with respect to said other of said points by extension and retraction of said link.

References Cited in the file of this patent UNITED STATES PATENTS 2,257,546 Dienenthal et a1 Sept. 30, 1941 2,345,572 Brosius Apr. 4, 1944 2,720,800 Taylor Oct. 18, 1955 2,864,271 Kendall Dec. 16, 1958

Claims (1)

1. IN A FORGING MANIPULATOR THE COMBINATION OF A PEEL HAVING ONE FORWARD SUPPORT POINT AND ONE REARWARD SUPPORT POINT, MEANS INCLUDING A HYDRAULIC MOTOR FOR MOVABLY SUPPORTING SAID PEEL AT ONE OF SAID POINTS, CRANK MEANS FOR MOVABLY SUPPORTING SAID PEEL AT THE OTHER OF SAID POINTS, MEANS ANCHORING SAID MOTOR ON SAID CRANK MEANS FOR MOVING SAID MOTOR WHEN SAID OTHER SUPPORT POINT IS MOVED, AND MEANS INDEPENDENT OF SAID MOTOR FOR MOVING SAID CRANK.

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