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
  • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
  • B21D43/02—Advancing work in relation to the stroke of the die or tool
  • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
  • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
• • 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
  • Y10T74/00—Machine element or mechanism
  • Y10T74/20—Control lever and linkage systems
  • Y10T74/20207—Multiple controlling elements for single controlled element
  • Y10T74/20305—Robotic arm
  • Y10T74/20323—Robotic arm including flaccid drive element

Definitions

• the invention relates to a transfer device.
• the removal of manufactured parts is carried out in a corresponding manner by suitable transfer devices.
• the device picks up the finished part on the press, lifts it and transfers it in the horizontal direction to the next processing station or to an intermediate storage device on which the finished part is discontinued.
• a typical application of transfer devices occurs in multi-stage presses, in which numerous workpieces, which are located at a respective processing station of the multi-stage press, are first gripped by a lateral movement of gripper rails and subsequently lifted by a vertical movement.
• a feed device which is usually provided separately, provides the feed in the machining direction.
• the transfer device for moving the so-called gripper rails has to implement two movements in mutually different directions.
• Feed carriages are coupled firmly and transversely movable in the feed direction.
• the gripper rails can be moved together in the feed direction by a feed drive.
• the gripper rails are driven in opposite directions to the feed direction by means of a transverse drive.
• a transverse drive By suitable guidance of a toothed belt, for example, the opposite transverse movement can be realized by a single drive.
• this drive must be moved with the feed slide, so that the drive for the feed slide must be dimensioned comparatively large.
• those cables that lead to the transverse drive have to move constantly during operation, which endangers the integrity of the cables or requires expensive protective measures.
• DE 43 09 642 AI describes a transfer device in which gripping devices are driven by individual motors in the axes. The transmission of the movement is realized by toothed belts that are constantly engaged. In this case too, the drive motors have to be moved at least partially, which leads to the problems described above.
• a transfer device in which a carriage is moved by a fixed motor via an endless belt fixedly attached to the carriage.
• the lifting and lowering of a plunger in the carriage is carried out by a likewise fixed lifting drive, which is guided over the carriage and in particular over its plunger via a further belt.
• the invention has for its object to provide a simply designed and easy-to-operate transfer device in which two movements with different directions can be realized independently of one another with fixed and particularly small-sized motors.
• the transfer device has a guide on which a carriage can be moved.
• the guide on which the carriage can be moved is usually designed to be stationary.
• the leadership with respect to a fixed Frame or frame is movable in order to bring about a movement in a third direction by means of the movable guide, in addition to the two directions which are realized by means of the transfer device according to the invention.
• a plunger can be moved on the slide in a direction that differs from the direction of movement of the slide.
• the term “plunger” indicates that the plunger will usually move in the vertical direction with respect to the slide, while the slide usually moves in the horizontal direction.
• the transfer device could be designed in such a way that the slide is moved horizontally, and the plunger is essentially perpendicular to the direction of travel of the slide, but is also horizontal. Even if the transfer device is designed in such a way that two independent, horizontal movements are realized, the device unfolds its advantages.
• the so-called carriage could be vertically movable, and the plunger could be horizontal in any direction.
• two movements can be realized by a particularly simple and less susceptible device in that two motors are provided which are at least fixed with respect to the slide.
• the two motors drive a first and a second drive wheel section, which together with a third drive wheel section can be rotated together, but are non-rotatably provided on the carriage with respect to one another.
• the drive wheel sections are preferably fixedly attached to a common shaft or rotatably provided together on an axis.
• the three Drive wheel sections not movable with respect to each other. According to the invention, it is conceivable that all three drive wheel sections are provided on a common, comparatively wide drive wheel. However, it is preferred and therefore described accordingly below that the three drive wheel sections are provided on separate drive wheels.
• Traction means in particular a belt or a chain, are engaged on opposite sides with the first and second drive wheel sections.
• the first or second drive wheel section is driven on its upper side
• the other drive wheel section is driven on its lower side.
• all drive wheels can be rotated together by operating the two drive motors in opposite directions.
• the two traction means are in engagement with the respective drive wheel section on the opposite sides and are held in engagement by suitable measures.
• the traction means are wrapped around the respective drive wheel section at least in sections.
• the traction means for example a toothed belt, can be guided around and around half of the circumference of a drive wheel section before and after the respective drive wheel.
• the other traction means is correspondingly wrapped around a part of the drive wheel section on the opposite side.
• flexible means such as B. timing belts or chains are particularly suitable. In principle, however, it is also conceivable to shift a toothed rack by means of a suitable drive, said rack being in engagement with the respective drive wheel section on a suitable side.
• the first motor Due to the opposite engagement of the respective traction mechanism via the first or second drive wheel, the first motor must be driven in the opposite direction to the second motor in order to realize a rotation of the shaft in the slide by means of the engagement between the respective traction mechanism and the drive wheel , It is fundamentally conceivable here to provide a single motor with two drive wheels which can be driven in the same direction on the one hand and in opposite directions on the other hand by a suitable, switchable gear. With such an arrangement, the drive movements in the transfer device according to the invention can be realized by a single motor. Such an arrangement also corresponds to the basic idea of the invention, even if two separate motors are mentioned below.
• the joint rotation of the first and second drive wheel sections described above also drives the third drive wheel section, which is drivingly connected to the plunger, so that the plunger is moved with respect to the slide by rotation of the third drive wheel can be.
• the drive wheel will preferably be designed as a gearwheel which engages with a toothed rack or a toothed belt which are fixedly fastened in or on the tappet.
• the movement of the ram with respect to the slide can be achieved according to the invention by suitable operation of the two motors.
• the two drive motors are not driven in the opposite direction, but in such a way that the two in pull in the opposite direction around the two drive wheels traction means in the same direction on the two drive wheels. Since the traction means, as mentioned, are guided on opposite sides over the drive wheels, one traction means pulls "top” on the associated drive wheel, so to speak, while the other traction means pulls the drive wheel “bottom” in the same direction. However, this does not produce any rotation of the common shaft, rather the carriage is moved by the interaction of the two drive motors.
• the last-mentioned aspect is a particular advantage of the transfer device according to the invention in addition to the fact that the two motors can be designed to be stationary.
• the two motors work together in the realization of all movements.
• both motors pull on the respective traction means on the respective drive wheel and thus on the slide as a whole in order to move it together.
• the rotation of the third drive wheel, and thus the movements of the tappet with respect to the slide are achieved by the interaction of the two motors.
• the motors can be designed to be particularly small, since neither of the two motors is provided "alone" for the movement of the slide or the plunger.
• both motors can be fixed, at least with respect to the slide, so that neither of the two motors has to be designed to move the other motor together with the element actually to be moved, that is to say the slide.
• the transfer device according to the invention does not require any cables that would have to be routed to a moving motor. This ensures the integrity of the cables and eliminates them elaborate protective measures for the cables subject to constant movement and in particular bending.
• the drive wheel sections are preferably provided as separate drive wheels, which leads to the advantage that the respective traction means engage with the respective drive wheel at locations which are separated from one another and cannot come into conflict with one another.
• the two drive motors are each assigned a device for controlling the path of the motor.
• a path control of the respective motor is understood to mean that a precise assignment in a very fine grid is used to determine at what point in time the device moved by the motor is at which location. This technology enables the movements of the two motors to be controlled in such a way that their output deviates from one another to such a small extent that no undesired movements are to be feared.
• both motors must pull the movable carriage simultaneously with movements that are precisely coordinated with one another in order to move the carriage. If the Movement of one of the two motors deviates from that of the other motor, this leads, as explained above, to an at least slight rotation of the axis on which all drive wheels are located. Such a rotation would trigger an at least slight movement of the plunger with respect to the slide, which is undesirable and is particularly dangerous. This can be prevented and the reliable and trouble-free operation of the transfer device according to the invention ensured by the preferably provided path control and the precise movement control of the two drive motors achieved thereby.
• Toothed belts can, however, be designed for the purpose according to the invention in such a way that their elongation is kept within reasonable limits under load.
• the traction means in particular the toothed belts, must be guided over comparatively long distances, namely over the travel path of the carriage and back to the fixed motors.
• a guide for the traction means This guide extends parallel to the direction of movement of the slide to a certain extent to the side of the respective traction device and guides at least one specific point on the traction device.
• the guide is preferably designed so that it guides a lock, which is provided on the endless traction means, so preferably the endless toothed belt.
• the lock which has a larger mass than the belt, so that it is susceptible to vibration, cannot move in a direction perpendicular to the guide. Vibrations that would endanger the movements are prevented. It should be noted that a guide is of course also conceivable in which an edge section of a traction device is guided over the entire length of free sections.
• the driving connection between the third drive wheel and the tappet has proven to be particularly advantageous to design the third drive wheel as a toothed wheel which is located with a toothed rack fixedly attached to the tappet or with a toothed belt firmly attached to the tappet at its ends and guided around the third drive wheel.
• FIG. 1 shows a side view of the transfer device according to the invention
• FIG. 2 shows a side view of a section of the transfer device according to the invention
• 3 shows a side view of part of the transfer device according to the invention in a first embodiment
• Fig. 4 is a plan view of part of the transfer device according to the invention in a second embodiment.
• Fig. 1 an embodiment of the transfer device 10 according to the invention is shown, which as
• Board feeder or so-called feeder is designed. Specifically, the transfer device 10 first raises individual boards from a board stack 12 in the vertical direction and then moves them to the left in the horizontal direction, in accordance with FIG. 1, in order to be deposited at the entry region, for example of a hydraulic press, by a movement in the vertical direction .
• the gripping of individual boards is essentially realized by suction devices. After placing a board on the insertion area of a press or a punch, the gripper with the suction devices is raised at least slightly, by a horizontal movement, to the right according to FIG. 1, brought back over the stack of boards, and by lowering in the vertical direction the next one Board gripped.
• a slide 14 which can be moved in the horizontal direction and on the other hand by a slide in the slide 14 in the vertical direction Ram 16 realized, at the lower end of which the gripper is attached.
• the plunger 14 moves in a horizontal guide over a plurality of rollers 18, which can have a tapered shape and run in a guide rail that has a complementary shape. Similar roles are indicated with the reference number 20 for the movement of the plunger 16 in the carriage 14.
• Fig. 1 can also be seen the two drive motors 22 which drive a drive wheel via suitable gears, each of which moves a belt which is guided in a manner explained in more detail below via drive wheels which are provided in the carriage.
• FIG. 1 the entire guidance of the drive belts, which will be explained in more detail below, is shown in FIG. 1.
• the straps run essentially in the form of a "U" turned by 90 ° and opened to the left.
• the two belts are, as it were, guided one behind the other on the outside.
• the two belts are guided to different levels in order, as explained in detail below, to implement engagement with the respective drive wheel sections on opposite sides.
• the section of the carriage 14 according to FIG. 2 shows the belt guide in connection with the transfer device according to the invention.
• a first belt 24 is guided over a first deflection roller 26 and further on the underside of a first drive wheel 28.
• On one side to the right of the deflection wheel 30, the first belt 24 is at the same level as to the left of the first deflection roller 26, namely an "upper" level.
• a second belt 32 is located at a "lower” level and is guided from the underside of a further deflection roller, which according to the illustration in FIG. 2 is “behind” the deflection roller 26 shown, to the top of a second drive wheel which is located is also located “behind” the drive wheel 28 shown.
• the second belt 32 engages with the second drive wheel by means of the teeth.
• Another deflection roller on the right side ensures that the second belt 32 is in turn guided from the top of the second drive wheel to the “lower” level.
• the respective traction means are not guided around the respective drive wheel, as provided in the preferred embodiment, but are only in engagement with the respective drive wheel on opposite sides and are held in engagement at this point by suitable measures.
• the described, opposite looping of two drive wheels enables the carriage 14 to be moved in the horizontal direction in the following manner.
• the belts 24 and 32 it should be noted that they are designed as endless belts, so that they can be driven in both directions by the respectively assigned drive motor 22. If the belt 24 is now driven in such a way that it moves in the direction of the arrow A at the point at which the arrow A is located in FIG.
• the plunger 16 is to be moved in the vertical direction with respect to the carriage 14, then the two belts are driven in different directions in such a way that the two drive wheels rotate with respect to the carriage 14, and a third drive wheel which rotates on a common shaft the other two drive wheels, also rotates so that the plunger can be moved.
• the "lower" belt 32 wrapped upward is moved such that it moves in the direction of arrow B at the point under consideration, while the upper belt 24, which is looped "below", moves in the opposite direction of arrow A. moves, then the two drive wheels turn in the direction clockwise.
• the respective drive motors 22 can be driven in such a way that the movement of the two belts is exactly opposite to one another, so that the carriage 14 stands still, and only the shaft with the three drive wheels is in the carriage 14 turns.
• a further toothed belt 36 is guided laterally over two deflection rollers 34 in such a way via the third drive wheel, which cannot be seen in FIG. 2, that rotation of the drive wheel causes a displacement of the belt 36, the ends of which are fixed in the tappet 16 are attached so that the plunger moves accordingly.
• the plunger moves upward when the drive wheel rotates clockwise, while it moves downward when the drive wheel is driven counterclockwise by the first belt 24 in the direction of arrow A and the second belt 32 in the opposite direction Arrow B moves.
• a lock 38 of a belt is shown therein, by means of which the two ends of the belt are connected to one another, so that there is an endless toothed belt. Since this lock has a comparatively high mass and therefore tends to vibrate in particular on longer free sections, it is preferably provided that a guide is provided in which at least one section of the lock is guided such that the lock cannot move in the vertical direction , and thus vibrations are prevented. It should also be noted that the movements of the two belts between the above-described modes of operation, sliding method on the one hand and moving the ram on the other, can be appropriately superimposed.
• the gripper provided on the plunger moves to a certain extent with the formation of a corner point, namely initially horizontally and vertically after stopping the horizontal movement.
• the vertical movement can be started earlier, provided that there are no obstacles with which the gripper could collide, so that the corner described is shortened or rounded to a certain extent. This can easily be achieved by suitable control of the two motors, in that the movements required for lowering are overlaid in sections with the movements for moving.
• Fig. 3 it is shown how the three drive wheels 28, 40 and 42 are fixedly mounted on a common shaft 44 which is rotatably mounted in the carriage 14.
• the trapezoidal guides 46 can be seen, on which the slide in the embodiment shown is guided over suitably designed rollers 48.
• the three drive wheels 28, 40, 42 are arranged next to one another in such a way that the opposite guidance of the belts 24 and 32 indicated in FIG. 3 does not lead to any mutual interference.
• the third drive wheel 40 which rotates with the shaft 44, which is then rotatably driven when the two drive wheels 28, 42 are actuated in opposite directions.
• the third drive wheel 40 transmits a vertical movement to the tappet 16 via a belt 36 which is guided to the side (see FIG. 2).
• An alternative embodiment for the transmission of the movement to the plunger 16 is shown in FIG. 4.
• the two drive wheels 28 and 42 are located to a certain extent within the carriage 40.
• the common shaft 44 which is rotatably mounted in the carriage 14, extends outside the carriage, where the third drive wheel 40 is provided.
• This drive wheel 40 is in engagement with a toothed rack 50 which is fixedly provided on the plunger 16, which is guided via suitable trapezoidal guides in rollers 52 which are rotatably provided on the plunger 14.
• the movement of the plunger 16 and in particular the gripping device provided thereon can be realized in two mutually perpendicular directions of movement by means of a simple and compact transfer device. It should also be noted that, as shown in FIG. 4, the plunger 16 is moved perpendicular to the plane of the drawing, and the carriage 14 is moved from top to bottom on the associated guide according to FIG. 4.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Friction Gearing (AREA)
• Vending Machines For Individual Products (AREA)
• Adjustment And Processing Of Grains (AREA)
• Control Of Conveyors (AREA)

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• 2000
  • 2000-09-29 EP EP00969365A patent/EP1320432B1/fr not_active Expired - Lifetime
  • 2000-09-29 US US10/381,645 patent/US6955518B1/en not_active Expired - Fee Related
  • 2000-09-29 CA CA002424071A patent/CA2424071C/fr not_active Expired - Fee Related
  • 2000-09-29 AT AT00969365T patent/ATE283127T1/de not_active IP Right Cessation
  • 2000-09-29 DE DE50008786T patent/DE50008786D1/de not_active Expired - Lifetime
  • 2000-09-29 WO PCT/EP2000/009595 patent/WO2002026415A1/fr not_active Ceased

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