EP0384100A2 - Power driven pliers-type tool holder for handling devices - Google Patents

Power driven pliers-type tool holder for handling devices Download PDF

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Publication number
EP0384100A2
EP0384100A2 EP90100068A EP90100068A EP0384100A2 EP 0384100 A2 EP0384100 A2 EP 0384100A2 EP 90100068 A EP90100068 A EP 90100068A EP 90100068 A EP90100068 A EP 90100068A EP 0384100 A2 EP0384100 A2 EP 0384100A2
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EP
European Patent Office
Prior art keywords
cam
pliers
tool carrier
assigned
cam track
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP90100068A
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German (de)
French (fr)
Other versions
EP0384100B1 (en
EP0384100A3 (en
Inventor
Gerd-Jürgen Eckold
Hans Maass
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
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Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
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Publication of EP0384100A2 publication Critical patent/EP0384100A2/en
Publication of EP0384100A3 publication Critical patent/EP0384100A3/en
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Publication of EP0384100B1 publication Critical patent/EP0384100B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/03—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal otherwise than by folding
    • B21D39/031—Joining superposed plates by locally deforming without slitting or piercing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53709—Overedge assembling means
    • Y10T29/5377—Riveter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53796—Puller or pusher means, contained force multiplying operator
    • Y10T29/5383—Puller or pusher means, contained force multiplying operator having fluid operator

Definitions

  • the invention relates to a power-operated pliers-like tool holder for handling devices.
  • a handling device commonly referred to as a “robot”, is to be understood as a device that can execute program-controlled movements in the direction of several degrees of freedom.
  • a well-known example are automatic welding machines which place spot welds at predetermined positions on motor vehicle bodies.
  • the body or, more generally, the workpiece is supported in a predetermined position, which provides a spatial reference coordinate system according to which the machine is programmed.
  • both electrodes exert the same, oppositely directed forces on the workpiece so that it is not deformed, for example by a bending load.
  • the object of the invention is to provide a tool carrier for handling devices of this type for carrying out work processes in which forces acting on one side can occur.
  • the cam track head determines the course of movement of the individual (at least two) pliers links through the course of the respective cam tracks, but only a single drive needs to be provided.
  • Figures 1 to 3 show a partially sectioned side view of a tool carrier according to the invention in three successive stages of the movement sequence.
  • the sheets to be connected are supported on a die 14, while a punch cuts the sheets from the other side and penetrates them into the die cavity, after which the material which has passed through is spread out laterally; then the punch 16 is withdrawn again and the die is released from the workpiece.
  • the tool carrier comprises a base 20 which can be attached to a working arm (not shown) of a handling device in a predetermined position, e.g. by screwing.
  • the position of the base relative to the working axes of the handling device is thus fixed.
  • the working arm can be displaced in the direction of an axis 22 and can pivot about this axis.
  • the underside of the sheet 10 is the reference plane in which the axis 22 should lie, and that the base 20 is rotated about the axis 22 such that the axis 24 of the joint 26 runs parallel to this reference plane . If, as provided here, the axis 22 intersects the hinge axis 24 perpendicularly, the programming is simplified.
  • joints can also be provided, which preferably have axes that are parallel to one another.
  • Two pliers members 30 and 32 are pivotable about the axis 24, of which the pliers member 30 carries the die 14 and the pliers member 32 carries the punch 16.
  • the tong sections are designed as two-armed levers. The free tool facing away from the die or die Each end is equipped with a cam follower 34, the engagement surface 36 of which is rounded.
  • a working cylinder preferably a hydraulic cylinder 40, is mounted on the base, the piston of which carries a cam track head 42.
  • the cam track head is interchangeable to adapt to different tools that can be mounted on the pliers links.
  • the cam track head has cam tracks 44, 46, one for each tong member, the cam follower of which is held in contact with the associated cam track by means of a biasing spring 48.
  • the tool carrier In the starting position according to FIG. 1, the tool carrier is in its open position, so that it can be moved along the axis 22 via the sheet metal angle 12 in the working position.
  • the working cylinder 40 If the working cylinder 40 is then actuated, the pliers member 30 is first pivoted into its end position by the cam track 44, in which the die just comes to rest on the side of the sheet 10 facing it. At the same time, the stamp is steadily approached the sheet metal angle 12.
  • the pliers member 30 stops (the corresponding section of the cam track 44 runs parallel to the reference plane), while the cam track 46 pivots the punch 16 into the position shown in FIG. 3, in which the joining process is finished.
  • the movements of the tong links run in reverse order.
  • pliers links can be actuated simultaneously.
  • another pliers member could have an ejector element that detaches the workpiece from the die.
  • one could dispense with the bias springs if the cam followers were guided in channel-like cam tracks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Mounting, Exchange, And Manufacturing Of Dies (AREA)
  • Automatic Assembly (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Scissors And Nippers (AREA)
  • Processing Of Terminals (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)

Abstract

Ein kraftbetriebener Werkzeugträger für Handhabungsgeräte umfaßt einen Sockel (20), an dem Zangenglieder (30, 32) angelenkt sind. Diese sind als zweiarmige Hebel ausgebildet und tragen am einen freien Ende ein Werkzeug (14, 16), am andern einen Nockenfolger (34). Ein allen Zangenglieden gemeinsam zugeordneter Nockenbahnkopf (42) ist hydraulisch verlagerbar und weist für jedes Zangenglied eine individuell angepaßte Nockenbahn (44, 46) auf, an der der zugeordnete Nockenfolger (34) anliegt.

Figure imgaf001
A power-operated tool carrier for handling devices comprises a base (20) on which pliers members (30, 32) are articulated. These are designed as two-armed levers and carry a tool (14, 16) on one free end and a cam follower (34) on the other. A cam track head (42), which is assigned to all tong sections, is hydraulically displaceable and has an individually adapted cam track (44, 46) for each tong link, against which the assigned cam follower (34) bears.
Figure imgaf001

Description

Die Erfindung betrifft einen kraftbetriebenen zangenartigen Werk­zeugträger für Handhabungsgeräte.The invention relates to a power-operated pliers-like tool holder for handling devices.

Unter einem Handhabungsgerät, landläufig "Roboter", soll ein Gerät verstanden werden, das programmgesteuert Bewegungen in Richtung meh­rerer Freiheitsgrade ausführen kann. Ein bekanntes Beispiel sind Schweißautomaten, die an vorgegebenen Stellen von Kraftfahrzeugka­rossen Punktschweißungen setzen. Dabei wird die Karosse oder, allge­meiner, das Werkstück in einer vorbestimmten Position abgestützt, wodurch ein räumliches Bezugs-Koordinatensystem gegeben ist, gemäß dem der Automat programmiert wird. Beim Schweißen üben beide Elek­troden gleiche, entgegengesetzt gerichtete Kräfte auf das Werkstück aus, so daß dieses nicht deformiert, etwa durch eine Biegebelastung, wird.A handling device, commonly referred to as a “robot”, is to be understood as a device that can execute program-controlled movements in the direction of several degrees of freedom. A well-known example are automatic welding machines which place spot welds at predetermined positions on motor vehicle bodies. The body or, more generally, the workpiece is supported in a predetermined position, which provides a spatial reference coordinate system according to which the machine is programmed. When welding, both electrodes exert the same, oppositely directed forces on the workpiece so that it is not deformed, for example by a bending load.

Aufgabe der Erfindung ist es, einen Werkzeugträger für derartige Handhabungsgeräte für die Ausführung von Arbeitsgängen zu schaffen, bei denen einseitig wirkende Kräfte auftreten können.The object of the invention is to provide a tool carrier for handling devices of this type for carrying out work processes in which forces acting on one side can occur.

Diese Aufgabe wird durch die im Patentanspruch 1 angegebenen Merkmale gelöst. Der Nockenbahnkopf bestimmt dabei durch den Verlauf der je­weiligen Nockenbahnen den Bewegungsablauf der einzelnen (mindestens zwei) Zangenglieder, wobei jedoch nur ein einziger Antrieb vorgesehen zu sein braucht.This object is achieved by the features specified in claim 1. The cam track head determines the course of movement of the individual (at least two) pliers links through the course of the respective cam tracks, but only a single drive needs to be provided.

Die Unteransprüche definieren zweckmäßige Weiterbildungen des in Pa­tentanspruch 1 zusammengefaßten Konzepts.The sub-claims define expedient developments of the concept summarized in claim 1.

Ein Ausführungsbeispiel des Gegenstandes der Erfindung ist in den beigefügten Zeichnungen weitgehend schematisiert dargestellt.An embodiment of the object of the invention is shown largely schematically in the accompanying drawings.

Die Figuren 1 bis 3 zeigen in teilgeschnittener Seitenansicht einen Werkzeugträger gemäß der Erfindung in drei aufeinanderfolgenden Etappen des Bewegungsablaufs.Figures 1 to 3 show a partially sectioned side view of a tool carrier according to the invention in three successive stages of the movement sequence.

Als Beispiel wird angenommen, daß ein Blechteil 10 mit einem Blech­winkel 12 mittels Durchsetzfügung verbunden werden soll; die hierfür verwendeten Werkzeuge sind im einzelnen in der Europäischen Patent­schrift 77 932 beschrieben. Es genügt daher die nachfolgende Kurzbe­schreibung:As an example, it is assumed that a sheet metal part 10 is to be connected to a sheet metal bracket 12 by means of clinching; the tools used for this are described in detail in European patent specification 77 932. The following brief description is therefore sufficient:

Die zu verbindenden Bleche werden auf einer Matrize 14 abgestützt, während ein Stempel von der andern Seite her die Bleche einschneidet und in den Matrizenhohlraum durchsetzt, wonach das durchgesetzte Ma­terial seitlich gebreitet wird; danach wird der Stempel 16 wieder zurückgezogen, und die Matrize wird vom Werkstück gelöst.The sheets to be connected are supported on a die 14, while a punch cuts the sheets from the other side and penetrates them into the die cavity, after which the material which has passed through is spread out laterally; then the punch 16 is withdrawn again and the die is released from the workpiece.

Der Werkzeugträger umfaßt einen Sockel 20, der an einem Arbeitsarm (nicht gezeigt) eines Handhabungsgeräts in vorgegebener Position be­festigt werden kann, z.B. durch Verschrauben. Damit ist die Lage des Sockels relativ zu den Arbeitsachsen des Handhabungsgeräts festge­legt. Es sei angenommen, daß der Arbeitsarm in Richtung einer Achse 22 verlagerbar sei und um diese Achse schwenken kann. Bei der Pro­grammierung wird davon ausgegangen, daß die Unterseite des Blechs 10 die Bezugsebene ist, in der die Achse 22 liegen soll, und daß der Sockel 20 um die Achse 22 so gedreht wird, daß die Achse 24 des Ge­lenks 26 parallel zu dieser Bezugsebene verläuft. Wenn, wie hier vorgesehen, die Achse 22 die Gelenkachse 24 senkrecht schneidet, wird die Programmierung vereinfacht.The tool carrier comprises a base 20 which can be attached to a working arm (not shown) of a handling device in a predetermined position, e.g. by screwing. The position of the base relative to the working axes of the handling device is thus fixed. It is assumed that the working arm can be displaced in the direction of an axis 22 and can pivot about this axis. When programming, it is assumed that the underside of the sheet 10 is the reference plane in which the axis 22 should lie, and that the base 20 is rotated about the axis 22 such that the axis 24 of the joint 26 runs parallel to this reference plane . If, as provided here, the axis 22 intersects the hinge axis 24 perpendicularly, the programming is simplified.

Abweichend von der vorgestellten Konstruktion können aber auch meh­rere Gelenke vorgesehen sein, die vorzugsweise zueinander parallele Achsen aufweisen.Deviating from the construction presented, several joints can also be provided, which preferably have axes that are parallel to one another.

Um die Achse 24 schwenkbar sind zwei Zangenglieder 30 und 32, von denen das Zangenglied 30 die Matrize 14 und das Zangenglied 32 den Stempel 16 trägt. Die Zangenglieder sind als zweiarmige Hebel ausge­führt. Das den Werkzeugen -- Matrize bzw. Stempel -- abgewandte freie Ende ist jeweils mit einem Nockenfolger 34 bestückt, dessen Ein­griffsfläche 36 abgerundet ist.Two pliers members 30 and 32 are pivotable about the axis 24, of which the pliers member 30 carries the die 14 and the pliers member 32 carries the punch 16. The tong sections are designed as two-armed levers. The free tool facing away from the die or die Each end is equipped with a cam follower 34, the engagement surface 36 of which is rounded.

Am Sockel ist ein Arbeitszylinder, vorzugsweise ein Hydraulikzylinder 40 montiert, dessen Kolben einen Nockenbahnkopf 42 trägt. Der Nok­kenbahnkopf ist auswechselbar zur Anpassung an unterschiedliche, an den Zangengliedern montierbare Werkzeuge. Der Nockenbahnkopf weist Nockenbahnen 44, 46 auf, jeweils eine für jedes Zangenglied, dessen Nockenfolger an der zugeordneten Nockenbahn mittels einer Vorspann­feder 48 in Anlage gehalten wird.A working cylinder, preferably a hydraulic cylinder 40, is mounted on the base, the piston of which carries a cam track head 42. The cam track head is interchangeable to adapt to different tools that can be mounted on the pliers links. The cam track head has cam tracks 44, 46, one for each tong member, the cam follower of which is held in contact with the associated cam track by means of a biasing spring 48.

In der Ausgangsposition nach Fig. 1 ist der Werkzeugträger in seiner Offenstellung, so daß er längs der Achse 22 über den Blechwinkel 12 in Arbeitsposition verfahren werden kann. Wird dann der Arbeitszy­linder 40 betätigt, so wird zunächst das Zangenglied 30 durch die Nockenbahn 44 in seine Endlage verschwenkt, in der die Matrize gerade an der ihr zugekehrten Seite des Blechs 10 zur Anlage kommt. Zugleich wird der Stempel stetig dem Blechwinkel 12 genähert. Bei weiterem Hub des Arbeitskolbens bleibt das Zangenglied 30 stehen (der entspre­chende Abschnitt der Nockenbahn 44 verläuft parallel zur Bezugs/ebe­ne), während die Nockenbahn 46 den Stempel 16 in die in Fig. 3 dar­gestellte Position verschwenkt, in der der Fügevorgang beendet ist. Beim Rückhub des Arbeitskolbens verlaufen die Bewegungen der Zang­englieder in umgekehrter Reihenfolge.In the starting position according to FIG. 1, the tool carrier is in its open position, so that it can be moved along the axis 22 via the sheet metal angle 12 in the working position. If the working cylinder 40 is then actuated, the pliers member 30 is first pivoted into its end position by the cam track 44, in which the die just comes to rest on the side of the sheet 10 facing it. At the same time, the stamp is steadily approached the sheet metal angle 12. When the working piston is lifted further, the pliers member 30 stops (the corresponding section of the cam track 44 runs parallel to the reference plane), while the cam track 46 pivots the punch 16 into the position shown in FIG. 3, in which the joining process is finished. During the return stroke of the working piston, the movements of the tong links run in reverse order.

Es versteht sich, daß nicht nur -- wie im Ausführungsbeispiel -- zwei, sondern noch mehr Zangenglieder simultan betätigt werden kön­nen. So könnte beispielsweise ein weiteres Zangenglied ein Auswerfe­relement aufweisen, das das Werkstück aus der Matrize löst. Ferner könnte man auf die Vorspannfedern verzichten, wenn die Nockenfolger in kanalartigen Nockenbahnen zwangsgeführt würden.It goes without saying that not only - as in the exemplary embodiment - two, but even more pliers links can be actuated simultaneously. For example, another pliers member could have an ejector element that detaches the workpiece from the die. Furthermore, one could dispense with the bias springs if the cam followers were guided in channel-like cam tracks.

Claims (5)

1. Kraftbetriebener zangenartiger Werkzeugträger für Handha­bungsgeräte, umfassend:
einen in definierter Position mit dem Handhabungsgerät verbind­baren Sockel (20),
am Sockel angelenkte Zangenglieder (30, 32) in Form zweiarmiger Hebel, an deren Arbeitsende Werkzeuge (14, 16) befestigbar sind und an deren Antriebsende Nockenfolger (34) angeordnet sind,
einen am Sockel montierten Arbeitszylinder (40) zum Verlagern eines Nockenbahnkopfes (42) im wesentlichen senkrecht zu der Anlenk­achse (24), welcher Nockenbahnkopf für jedes Zangenglied eine eigene Nockenbahn (44, 46) aufweist, an der der zugeordnete Nockenfolger anliegt.1. Power operated plier-like tool carrier for handling devices, comprising:
a base (20) which can be connected to the handling device in a defined position,
pliers links (30, 32) articulated on the base in the form of two-armed levers, tools (14, 16) can be attached to the working end thereof and cam followers (34) are arranged at the drive end,
a working cylinder (40) mounted on the base for displacing a cam track head (42) substantially perpendicular to the articulation axis (24), which cam track head has a separate cam track (44, 46) for each tong member, against which the assigned cam follower bears. 2. Werkzeugträger nach Anspruch 1 mit koaxial angeordneten La­gern (26) für alle Zangenglieder (30, 32).2. Tool carrier according to claim 1 with coaxially arranged bearings (26) for all pliers members (30, 32). 3. Werkzeugträger nach Anspruch 2, der in einer solchen Posi­tion mit dem Handhabungsgerat verbindbar ist, daß eine Bezugsachse (22) desselben die Lagerachse (24) senkrecht schneidet.3. Tool carrier according to claim 2, which can be connected in such a position to the handling device that a reference axis (22) thereof intersects the bearing axis (24) perpendicularly. 4. Werkzeugträger nach einem der vorangehenden Ansprüche, bei dem die Nockenfolger elastisch in Anlage an den zugeordneten Nocken­bahnen gehalten sind.4. Tool carrier according to one of the preceding claims, in which the cam followers are held elastically in contact with the assigned cam tracks. 5. Werkzeugträger nach einem der vorangehenden Ansprüche mit meh­reren Paaren von Zangengliedern, wobei allen Zangengliedern eigene Nok­kenbahnen zugeordnet sind.5. Tool carrier according to one of the preceding claims with a plurality of pairs of pliers members, all pliers members being assigned their own cam tracks.
EP90100068A 1989-02-22 1990-01-03 Power driven pliers-type tool holder for handling devices Expired - Lifetime EP0384100B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3905466 1989-02-22
DE3905466A DE3905466A1 (en) 1989-02-22 1989-02-22 POWERED PLIERS-LIKE TOOL HOLDER FOR HANDLING DEVICES

Publications (3)

Publication Number Publication Date
EP0384100A2 true EP0384100A2 (en) 1990-08-29
EP0384100A3 EP0384100A3 (en) 1991-05-29
EP0384100B1 EP0384100B1 (en) 1993-08-11

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EP90100068A Expired - Lifetime EP0384100B1 (en) 1989-02-22 1990-01-03 Power driven pliers-type tool holder for handling devices

Country Status (9)

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US (1) US5040278A (en)
EP (1) EP0384100B1 (en)
JP (1) JPH02243287A (en)
AT (1) ATE92802T1 (en)
CA (1) CA2008433C (en)
DE (2) DE3905466A1 (en)
DK (1) DK0384100T3 (en)
ES (1) ES2044233T3 (en)
SU (1) SU1766242A3 (en)

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Also Published As

Publication number Publication date
DE3905466A1 (en) 1990-08-23
EP0384100B1 (en) 1993-08-11
ES2044233T3 (en) 1994-01-01
CA2008433A1 (en) 1990-08-22
US5040278A (en) 1991-08-20
CA2008433C (en) 1995-01-17
ATE92802T1 (en) 1993-08-15
EP0384100A3 (en) 1991-05-29
DK0384100T3 (en) 1993-10-25
DE59002234D1 (en) 1993-09-23
SU1766242A3 (en) 1992-09-30
JPH02243287A (en) 1990-09-27

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