US1881169A - Manipulator - Google Patents

Description

E. E. BROSIUS Oct. 4, 1932.

MANIPULATOR Filed June 25, 1931 5 Sheets-Sheet 1 INVENTOR m 0. amp gwa M fiwag;

E. E4 BROSIUS MANIPULATOR Oct, 4, 1932.

Filed June 25, 1931 5 $heets-Sheet 2 INVENTOR E' E. BROSIUS Oct. 4, 1932.

MANIPULATOR l Filed June 23,

1931 5 Sheets-Sheet 3 wow, 5% QN N RN E. E. BROSIUS Oct. 4, 1932.

MANIPULATOR Filed June 23, 1951 5 Sheets-Sheet 4 WV TOR (Q Oct. 4, 1932. E, BRQSIUS 1,881,169

MANIPULATOR Filed June 25, 1951 5 Sheets-Sheet 5 ,figrll.

Patented Oct. 4, 1932 EDGAR BROSIUS, O1! PITTSBURGH, PENNSYLVANIA MANIPULATOR Application filed June 23, 1931. Serial No. 546,284.

The present invention relates broadly to the art of metal working, and more particularly to improved machines effective for the handling and manipulating of bars, billets, ingots and other shapes and articles during the performance of a forging operation thereon.

In the art to which the present invention relates it is customary at the present time to provide different forms of equipment and apparatus effective for the handling and manipulating of articles while sub ected to a forging operation under a forging harnmer. Such apparatus or equipment as now available, while generally satisfactory for the purposes intended,- is not of such flexible operating characteristics asto permit the obtaining of the fullest advantages therefrom. e

The present invention has for one of its objects the provision of a portable manipulator adapted to move universally over a floor surface or mill surface for transport ing articles to be forged from any desired point to the forging machine, and for handling and manipulating the same during the forging operation.

In the accompanying drawings I have shown for purposes of illustration only, one embodiment of a machine constructed in accordance with the present invention. In the drawings:

Figure 1 is a partial side elevational view off'the manipulator constructed in accord- 85 ance with the present invention;

Figure 2 is a top plan view of the structure illustrated in Figure 1;

Figure 3 is anenlarged view, in plan, partly broken away, of a portion of the structure shown in igure 2;

Figure 4 is a detail sectional view along the line IVIV of Figure 3;

Figure 5 is a side elevational view, on an enlarged scale, of a portion of the manipulator shown in Figures 1 and 2;

Figure 6 is a top plan view of the structure shown in Figure 5; V

Figure 7 is a detail sectional view on the line VII-VII of Figure 5, looking in the direction of the arrows;

Figure 8 is a detail sectional view on an enlarged scale through the inner and outer flange springs Figure 9 is an end elevational view of one of the peel flanges;

Figure 10 is a detail sectional view along the line XX of Figure 9;

Figure 11 is a detail sectional view on an enlarged scale through a portion of the main frame and the peel elevating cylinder; and

Figure 12 is a front elevational structure shown in Figure 11.

present invention, there is provided a main frame In accordance with the view of the 2 of generally elongated narrow contour constructed to receive floor engaging wheels 3 at its forward end. At its opposite end there is provided a combined steering and tractionwheel fadapted to be driven by a motor 5 and steered by a suitable control 6 in the desired relation to an operators seat 7 The operators seat is conveniently mounted between spaced rearwardly extending arms 8 secured to and project- 1ng rearwardly from the main frame.

The

seat and operator thus serve to some extent as a counterbalancing means for the entire structure as will be hereinafter more fully apparent. At the front of the main frame 2 there is provided a bearing 9 substantially in .the vertical plane of the axis of rotation of the wheels 3. This pivotal mounting may be utilized as a support for a peel structure 10.

In the illustrated embodiment, vpeel structure is shown as having a pivotal however, the

mounting 11 on the upper end of a piston rod 12 carried by a piston 14 in a fluid pressure cylinder 15. Thus by admitting fluid under pressure to the lower end of the cylinder, hereinafter referred to as a peel elevating cylinder, the

plane of operation of the peel may be changed, thus adapting it for cooperation with hammers or forging presses of different types and sizes.

In addition to being able to change the horizontal plane of the peel, means is preferably provided for rocking it about its pivotal mounting 11. This means is herein illus trated as comprising a peel tiltin cylinder 16 m which is mounted a piston the piston rod 17 of which has not shown), a pivotal conits nection 18 with the rear end of the peel structure. By supplyin fluid under pressure to the opposite ends 0 the peel tilting cylinder, the peel structure may be bodily rocked about its pivotal mounting 11.

Extending through the peel structure is a peel 19 provided adjacent its pivotal mounting with an anti-friction bearing 20, as illustrated in detail in Figure 4. Adjacent the rear end of the peel, there is a second antifriction mounting 21, these anti-friction mountings providing spaced bearings in which the peel is rotatable. Rotation is obtained by securing to the peel a gear 22 adapted to be driven by a motor 23 through a suitable gear train 24 (Figure 3). The motor 23 is preferably of the reversible type whereby rotation may be had at will in either direction for effecting corresponding rotation of the peel.

In front of the bearing 20 the peel terminates in a flange 25, which flange is formed on its forward face with a recess 26, the flange being provided with a peripheral series of o enings 27. Adapted to cooperate with the ange 25 and constitute a continuation of the peel is a peel section 28. This peel section comprises oppositely disposed flanges 29 and 30 on its opposite ends, reinforced by ribs 31 and 32, the ribs being so disposed as to provide a series of radially opening spring receiving pockets. The flange 29 is formed with a peripheral series of openings adapted to aline with the openings 27 in the flange 25 to permit the passage through the alined openings of bolts 33, which bolts are provided with inner and outer flange springs 34 and 35 respectively, as shown in detail in Figure 8, the spring nests being located in the pockets formed intermediate the ribs 31.

By reference to the drawings, it will be apparent that the outer faces of the flanges 29 and 30 are cut away, thus providing a peripheral recess 36 between the flanges. Theflange 29 is also formed with a projection 37 adapted to enter the recess 26 and provide an engagement between the flanges which will preclude relative lateral movement therebetween, while permitting rocking movement to the extent permitted by the peripheral recess 36. The ease of this rocking movement is controlled by the degree of compression exerted on the spring nests by the nuts 38 on the bolts 33.

Beyond the peel section 28 is a tongs head '39 provided with a flange 40 adapted to cooperate with the flange 30, and provide there with an articulate spring controlled joint similar to that provided between the flanges 25 and 29. It is thus apparent that there is provided a peel of articulated construction composed of three main sections the relative movement between which is controlled by spring nests, the effective pressure of which may be varied at will. The joints each provide a rocking movement, thus permitting the tong head to assume different angular positions regardless of the adjustment of the peel itself. In addition to this, the springs serve as shock absorbing means preventing the transmission of damaging shocks to the main frame.

Carried by the tongs head 39 are tongs 41 carryingsuitable jaws 42 adapted to grip an article 43 to be forged. The tongs have pivotal mountings 44 in the tongs head 39 and are operated through angular extensions or arms 45 through which passes a pin 46 for interconnecting the tongs to a clevis 47. The clevis 47 is in turn connected to an axially extending tongs rod 48 by a clevis key 49. The tongs rod 48 extends rearwardly through the peel 19 and is provided with a flexible joint connection 50 with a tongs operating piston rod 51 carried by piston 52 in a tongs operating cylinder 53. By supplying fluid to the tongs operating cylinder 53 at the left hand end thereof as Viewed in Figure 4, the piston 52 will be caused to assume its full line position, thus advancing the tongs operating rod and swinging the tongs 41 to open position, while upon supplying fluid under pressure to the opposite end of the cylinder 53, the tongs will be held in gripping engagement with the article to be mani ulated.

By reference more particularly to igures 2 and 3 of the drawings, it will be noted that the cylinder 53 is secured to the peel frame 10 by pins 54 extending through suitable bosses 55 on the cylinder 53 and secured in similar bosses 56 on the peel frame. Cooperating with the tongs operating cylinder is a compensator or accumulator 57 effective for maintaining a total pressure within the tongs operating cylinder which cannot fall below the pressure exerted by the compensating spring 58. In this manner firm engagement between the tongs and the article engaged thereby is insured at all times, irrespective of gradual leakage of fluid past the piston 52.

In order that the structure may be truly portable, itis preferably provided with its own power generating means for operating the peel elevating motor, the peel tilting motor and the tongs operating motor. This may be obtained by mounting on the main frame 2 a motor 59 operatively connected to the shaft 60 of a fluid pressure pump 61 adapted to receive its supply of fluid from a reservoir 62 and deliver the same to the respective motors or cylinders as controlled by one or more valves 63. The construction in this respect is preferably similar to that described and claimed in my co-pending application Serial No. 451,047 filed May 9, 1930, and constitutes no essential part ofthe present invention. 7

From the foregoing description taken in connection with the drawings, it will be apparent that I have provided a mani ulator which is universally movable over a oor or other surface under the full control of an operator riding on the structure itself. It is thus possibleto utilize the manipulator without special tracks or the like, and thereby possible to move the truck without restriction from one point to another, thus providing a structure which may be utilized for removing an ingot, billet, bar or the like di rectly from the furnace, and carrying it to a press or hammer, and for supporting the article while it is subjected to forging.

Inasmuch as the article may be freely rotated, elevated or tilted, it may be easily and quickly moved to the desired position with respect to the press or hammer. The articulated peel structure prevents the transmission of shocks of a detrimental nature to the main frame and the operating units mounted thereon, and insures such a flexibility between the peel 19 and the tongs head 39 as to permit the article being forged to rest firmly on the bed or anvil of the press or hammer. The universal movability of the manipulator together with the flexibility of its operation and control, constitute advantages of the present invention.

While I have herein illustrated and described certain preferred embodiments of the invention, it will be understood that changes may be made in the construction and operation of the parts without departing either from the spirit of the invention or the scope of my broader claims.

I claim:

' 1. In a manipulator, a floor supported vehicle, a sectional articulated material handling peel mounted thereon, and yielding means normally maintaining the sections of said peel in substantially axial alinement.

2. In a manipulator, a floor supported vehicle, articulated material handling peel pivotally mounted thereon, and yielding means normally maintaining the sections of said peel in substantially axial alinement.

3. In a manipulator, a. floor supported vehicle, and a peel mounted thereon for supporting the material to be manipulated, said peel having a plurality of articulations therein each of the articulations comprising a substantially universally movable connection.

4. In a manipulator, a floor supported vehicle, and a peel mounted thereon for sup porting the material to be manipulated, said peel having a plurality of spring controlled articulations therein.

5. In a manipulator, a floor supported ve hicle, and a pivotally mounted peel thereon for supporting the material to be manipulated, said peel having a plurality of articulations therein, each articulation permitting movement in a plurality of directions substantially normal to the peel axis.

6. In a manipulator, a floor supported vehide, and a pivotally mounted peel thereon for supportin the material to be manipulated, said pee having a plurality of sprmg controlled articulations therein.

7. In a manipulator, a floor supported vehicle, means for propelling and steering the same over a floor surface, an articulated peel carried thereby, and means for angularly and vertically adjusting said peel.

8. In a manipulator, a floor su ported vehicle, an articulated peel carried t ereby, and naeanslfor vertically adjusting said articulate pee 9. In a manipulator, a floor sup orted vehicle, an articulated peel carrie thereby, said peel comprising a plurality of relatively movable sections having axial alining means formed thereon, and means for angularly adjusting said articulated peel.

10. In a manipulator, a floor supported vehicle, an articulated peel carried thereby, and means for vertically and angularly adjusting said articulated peel.

11. In a manipulator, a floor supported vehicle, an articulated peel carried thereby,

and means for vertically adjustin said articulated peel, there being means or rotating said peel.

12. In a manipulator, a floor supported vehicle, an articulated peel carried thereby, and means for angularly adj ustin said articulated peel, there being means or rotating said peel.

13. In a manipulator, a floor supported vehicle, an articulated peel carried thereby, and means for verticall and an larl adjusting said articulate peel, t ere eing means for rotating said peel.

14. In a mani ulator, a floor vehicle, a peel carried there y and comprising a plurality of alined sections, spring controlled artic; ulations between such sections, material holding means carried by one of said sections, and means for operating said holding means.

15. In a manipulator, a floor vehicle, a peel carried thereby and comprising a plurality of alined sections, spring controlled articulations between such sections, material holding means carried by one of said sections, and means for operating said holding means, there being means for bodily elevating said peel.

16. In a mani ulator, a floor vehicle, a peel carried there y and comprising a plurality of alined sections, spring controlled articulations between such sections, material holding means carried by one of said sections, and means for operating said holding means, there being means for angularly adjusting said peel.

17. In a mani ulator, a floor vehicle, a peel carried there y and comprising a plurality of alined sections, spring controlled articulations between such sections, material holding means carried by one of said sections, and means for operating said holding means there being means for vertically elevating and angularly adjusting said peel.

18. In a manipulator, a floor supported vehicle, and a. peel carried thereby, said peel comprising a relatively rigid rear section, a

Bivotal support for said section, and an overung sectlon having an articulation formed therein.

19. In a manipulator, a movable supporting vehicle, and a peel mounted thereon for carrying the material to be mani ulated, said peel including a s ring control ed articulation intermediate t e ends thereof.

In testimony whereof I have hereunto set my hand.

. EDGAR E. BROSIUS.

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