DD261977A1

DD261977A1 - MANIPULATOR FOR COMPOUND TOOLS

Info

Publication number: DD261977A1
Application number: DD30467887A
Authority: DD
Inventors: Ingo Muench; Bernd Marquardt; Dieter Beger
Original assignee: Elektroprojekt Anlagenbau Veb
Priority date: 1987-07-06
Filing date: 1987-07-06
Publication date: 1988-11-16

Abstract

Die Erfindung betrifft einen Manipulator fuer Verbundwerkzeuge zur Beschickung und Entsorgung von Verbundwerkzeugen mit vorzugsweise streifenfoermigem Material. Die Beschickung und Entsorgung erfolgt von der Rueckseite der Werkzeugmaschine, um die Bedienseite fuer Werkzeugwechsel und zur Wartung freizuhalten. Der Manipulator ist entsprechend der Anzahl der Einzelwerkzeuge mit genau einem Greifersystem mehr ausgeruestet. Die Greifersysteme sind miteinander gekoppelt absenkbar und mittels eines Schlittens zwischen drei Stellungen in der Horizontalen verfahrbar. Der Steuerungsaufwand ist gering und unabhaengig von der Anzahl der Einzelwerkzeuge im Verbundwerkzeug.The invention relates to a manipulator for composite tools for loading and disposal of composite tools with preferably strip-shaped material. The loading and disposal is done from the back of the machine tool to keep the operator side free for tool change and maintenance. The manipulator is equipped according to the number of individual tools with exactly one gripper system more. The gripper systems are coupled lowered and moved by means of a carriage between three positions in the horizontal. The control effort is small and independent of the number of individual tools in the composite tool.

Description

An einer Werkzeugmaschine 16 mit einem Verbundwerkzeug 3 bestehend aus Lochwerkzeug 4, Schnittwerkzeug 5 und Biegewerkzeug 6 ist beidseitig zum Verbundwerkzeug 3 eine Zweisäulenführung fest angeordnet. Ein darauf verfahrbarer Schlitten 1 trägt auf seiner Unterseite die Greifersysteme 7,8,9,10, die miteinander verbunden und mittels einer Hubeinrichtung 14 gleichzeitig absenkbar sind. Außerhalb der Werkzeugmaschine 16 befindet sich im Arbeitsraum des Schlittens 1 eine Rollenbahn 12 zur Ablage der Fertigteile 13 und eine Zuführstation für die Rohteile 11. Etwa im Bereich des Biegewerkzeuges 6 ist an der Werkzeugmaschine 16 ein senkrecht zur Zweisäulenführung 2 ausrückbarer Anschlag 15 angeordnet. (Fig. 1) Während des Arbeitstaktes der Werkzeugmaschine steht der Schlitten 1 außerhalb des Verbundwerkzeuges in der Ausgangsposition. (Fig.2)On a machine tool 16 with a composite tool 3 consisting of punching tool 4, cutting tool 5 and bending tool 6, a two-column guide is fixedly arranged on both sides of the composite tool 3. A movable carriage 1 carries on its underside the gripper systems 7,8,9,10, which are interconnected and simultaneously lowered by means of a lifting device 14. Outside the machine tool 16 is located in the working space of the carriage 1, a roller conveyor 12 for storing the finished parts 13 and a feed station for the blanks 11. Approximately in the area of the bending tool 6, a perpendicular to the two-post guide 2 disengageable stop 15 is arranged on the machine tool 16. (Fig. 1) During the power stroke of the machine tool, the carriage 1 is outside the composite tool in the starting position. (Fig.2)

In dieser Position befindet sich der Rohteilgreifer 7 über den gestapelten Rohteilen 11 und der Fertigteilgreifer 10 über der Rollenbahn 12. Die Greifersysteme 7,8,9,10 werden abgesenkt, ein Rohteil 11 gegriffen und ein Fertigteil 13 abgelegt. Nachdem Arbeitstakt und dem Öffnen des Verbundwerkzeuges 3 führt der Schlitten 1 in die Zwischenposition, die durch den Anschlag 15 bestimmt wird. (Fig. 3). Die Werkstücke 17,18,19 werden aus dem Lochwerkzeug 4, dem Schnittwerkzeug 5 und dem Biegewerkzeug 6 durch den Lochteilgreifer8, den Schnitteilgreifer9 und den Fertigteilgreifer 10 entnommen. Anschließendführt der Schlitten 1 durch Ausrücken des Anschlages 15 in die Endposition (Fig. 4). Das Lochwerkzeug 4 wird mit einem Rohteil 11 neu beschickt, die anderen Werkstücke werden in das nächste Werkzeug 5,6 abgelegt und dasfertig bearbeitete Werkstück wird vom Fertigteilgreifer 10 festgehalten. Danach verfährt der Schlitten 1 in die Ausgangsstellung, die Werkzeugmaschine 16 führt den Arbeitstakt aus und der Zyklus beginnt erneut.In this position, the unmachined part gripper 7 is above the stacked unmachined parts 11 and the finished part gripper 10 above the roller conveyor 12. The gripper systems 7, 8, 9, 10 are lowered, a blank 11 is gripped and a finished part 13 is deposited. After power stroke and the opening of the composite tool 3, the carriage 1 leads to the intermediate position, which is determined by the stop 15. (Fig. 3). The workpieces 17,18,19 are removed from the punching tool 4, the cutting tool 5 and the bending tool 6 through the Lochteilgreifer8, the Schnitteilgreifer9 and the finished part gripper 10. Subsequently, the carriage 1 is moved by disengaging the stop 15 into the end position (FIG. 4). The hole tool 4 is re-fed with a blank 11, the other workpieces are stored in the next tool 5,6 and the finished workpiece is held by the finished part gripper 10. Thereafter, the carriage 1 moves to the starting position, the machine tool 16 carries out the power stroke and the cycle begins again.

Zum Betrieb des erfinderischen Manipulators ist nur ein minimaler Steuerungsaufwand erforderlich, der insbesondere unabhängig von der Zahl der Einzelwerkzeuge ist. Als Antrieb können Pneumatik- oder Hydraulikzylinder eingesetzt werdenFor the operation of the inventive manipulator only a minimal control effort is required, which is in particular independent of the number of individual tools. As drive pneumatic or hydraulic cylinders can be used

Um die Vorrichtung flexibel einsetzen zu können, ist es vorteilhaft, die Greifersysteme 7,8,9,10 und den Anschlag 15 verschiebbar auszulegen, um die Umrüstzeiten bei Umstellung auf andere Werkstücke zu minimieren. In order to be able to use the device flexibly, it is advantageous to design the gripper systems 7, 8, 9, 10 and the stop 15 in a displaceable manner in order to minimize the changeover times when changing over to other workpieces.

Claims

1. A manipulator for composite tools for feeding and disposing of machine tools with preferably strip-shaped material by means of a system integrated with the machine tool of guide elements and movable thereon carriage with gripping or holding devices, characterized in that the carriage (1) the number of individual tools (4, 5.6) in the composite tool (3) according to exactly one gripper system (7,8,9,10) is more equipped and that at right angles to the guide of the carriage (1) a disengageable stop (15) is arranged.

2. Manipulator according to claim 1, characterized in that the gripper systems (7,8,9,10) coupled to each other in the same pitch as the individual tools (4,5,6) in the composite tool (3) are arranged and with a lifting device (14 ) are connected.

For this 4 pages drawings

Field of application of the invention

The invention relates to a manipulator for handling preferably strip-shaped material, for use in automatic processing plants with composite tools.

Characteristic of the known state of the art

For the feeding and removal of workpieces during machining, devices are known which employ a suitably guided carriage which is equipped with holding or gripping means for the workpiece. A device of this type is contained in DE-OS 2235799. On the carriage which can be moved along a guide, a carrying arm with a gripper head is mounted. For fine adjustment of the gripper head an adjustment transverse to the carriage guide is provided for the purpose of adaptation to the workpieces. The device is suitable for very accurately gripping a workpiece and for placing it in a tool with linked machines. Their use is not effective in fast-working machine tools such as pressing and punching because of the relatively long handling times. In contrast, DE-OS 3437642 describes a device for rapid input and advancement of metal sheets. The short handling times are achieved by a system of guides arranged at right angles to one another and two slides which can be moved independently of each other. The device is used. Placed panels fed to a press that punches a predetermined number of blanks from the panel. The effort for the control of the system is very high. The use of this known device for feeding machine tools with composite tools is not appropriate, since both the design effort in the use of multiple slides as well as the effort with respect. The control increases with increasing number of individual tools.

Object of the invention

The aim of the invention is to provide a device for workpiece handling of machine tools with composite tools, which allows a quick and safe handling of the workpieces and facilitates access to the source of interference in case of an accident.

Explanation of the essence of the invention

The invention has for its object to provide a manipulator for composite tools, which is structurally simple and works safely and quickly with minimal control effort. According to the invention, this object is achieved in that in the integrated with the processing plant manipulator, which consists essentially of a Zweisäulenführung with slide and according to the number of individual tools of the composite network tool with exactly one gripper system is more equipped. The carriage on which the gripper systems are arranged, is movable in three positions, wherein the intermediate position is determined by a disengageable stop. The gripper systems are coupled to a drive and simultaneously lowered.

embodiment

Hereinafter, the inventive solution will be explained in more detail by way of example. The accompanying drawings show:

Fig. 1: Manipulator in plan view

Fig. 2: manipulator in section, starting position

FIG.

3: manipulator in section, intermediate position

FIG.

4: manipulator in section, end position