EP0194255A1 - Method and unit for the accurate positioning of a load receiving platform at a fixed location for receiving or sending out loads - Google Patents

Method and unit for the accurate positioning of a load receiving platform at a fixed location for receiving or sending out loads

Info

Publication number
EP0194255A1
EP0194255A1 EP19840903476 EP84903476A EP0194255A1 EP 0194255 A1 EP0194255 A1 EP 0194255A1 EP 19840903476 EP19840903476 EP 19840903476 EP 84903476 A EP84903476 A EP 84903476A EP 0194255 A1 EP0194255 A1 EP 0194255A1
Authority
EP
European Patent Office
Prior art keywords
platform
fixed location
unit
receiving
sending out
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.)
Withdrawn
Application number
EP19840903476
Other languages
German (de)
French (fr)
Inventor
Heinz Hagen
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.)
Oehler Wyhlen Lagertechnik AG
Original Assignee
Oehler Wyhlen Lagertechnik AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Oehler Wyhlen Lagertechnik AG filed Critical Oehler Wyhlen Lagertechnik AG
Publication of EP0194255A1 publication Critical patent/EP0194255A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1442—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using carts carrying work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices

Definitions

  • the present invention relates to a method and the device used for this purpose according to the preamble of claims 1 and 2.2.
  • These are particularly advantageous solutions to problems of a type similar to those described, for example, in US Pat. Nos. 3,132,753, 3,139,994 and Fig. 7,8 , 9 of US Pat. No. 4,427,331. It is particularly difficult if the loads are delivered from the conveyor to a stationary location precisely aligned to a millimeter or even less. For economic reasons, there is a limit to the technical expenditure of 'Förderfahrz ugen ⁇ he only a ⁇ -f several millimeter to dispense drive up.
  • Machine room. 2 and 3 show the front view of an industrial truck next to a processing station.
  • / ⁇ Fig. 4 is a schematic side view of the industrial truck
  • the machine room (3) is shown in Fig.l. shown as a floor plan.
  • M are the flexible machining centers
  • B machines for quick changing of the drill head
  • la is the clamping zone in which the workpieces are clamped or removed on pallets
  • (1b) a washing system
  • (2) automated tool dispensing and return Only hinted at are more.
  • Operating points such as measuring stations, rinsing, chip transport, etc.
  • the routes of the driverless industrial trucks are clearly recognizable, of which only seven are sufficient to operate all systems. They are controlled inductively in a known manner via cables laid in the floor.
  • Fig. 2, Fig. 3 and Fig. 4 are schematic representations of an industrial truck.
  • the workpiece on it is not shown.
  • the pallet can be pushed onto the load platform (10).
  • Fig. 3 shows how the platform rests on two tapered pins (14) at the end of the conveyor and is supported on the rear end by floating on a ball support (13).
  • the platform is slightly inclined to yorn, like something exaggerated.
  • the platform (10) is provided at its front end with two bores (16) countersunk parallel to each other and directed downwards with a large cone.
  • the bores (16) sit on two precisely fitting spikes (15) and thus align the floating platform very precisely with its front end.
  • the mandrels (15) are fixed in place on a bracket (12) on the base (5) of the machining center.
  • the oil platform (10) lies horizontally and is lifted off the taper pin (14).
  • the pallet can be pushed from its position (11 ') onto the moving table of the machining center in position (11). The transfer takes place automatically, with known devices not shown here.
  • the movements of the lift table are controlled by microprocessors. It can be particularly advantageous if the movement of the platform (10) is additionally monitored by an electronic water or equivalent _l__s ⁇ j _mg ⁇ i-J scale (19) /.
  • Fig. 4 is one
  • the delivery and resumption of the loads is particularly advantageously quick and precise.

Abstract

La plate-forme (10) présente sur sa face inférieure du côté frontal deux cavités ouvertes en forme de cône (16), qui lors de l'abaissement de la plate-forme sont engagés par deux broches de positionnement (15) et qui centrent automatiquement la plate-forme. Pour faciliter le centrage de la plate-forme, la partie arrière de celle-ci est montée libre sur un appui sphérique (13).The platform (10) has on its underside on the front side two open cone-shaped cavities (16), which when the platform is lowered are engaged by two positioning pins (15) and which center platform automatically. To facilitate the centering of the platform, the rear part of the latter is freely mounted on a spherical support (13).

Description

Verfahren und Einrichtung zur Fein-Positionierung einerLasttragplattform an e^ner ortsfesten Stelle zur Abgabe oder Aufnahme von Lasten.Method and device for the fine positioning of a load carrying platform at a fixed location for delivering or picking up loads.
Die vorliegende Erfindung betrifft ein Verfahren und die dazu gebrauchte Einrichtung gemäss dem Oberbegriff der Ansprüche 1 und 2.2 • Es handelt sich dabei um besonders vorteilhafte Lösungen von Problemen, wie sie in ähnlicher Art beispielsweise in den US PS 3,132,753 , 3,139,994 und Fig.7,8,9 der US PS 4,427,331 angesprochen werden. Besonders schwierig ist es wenn die Lasten genau auf ein Millimeter oder noch weniger ausgerichtet vom Förderzeug an eine ortsfeste Stelle abgegeben werden. Aus wirtschaftlichen Gründen gibt es eine Grenze für den technischen Aufwand an' Förderfahrz ugen^ie nur aυ-f mehrere Millimeter genau an den Abgabeort heranfahren. Selbst wenn man den Aufwand vergrössertjum mit engstem Spiel das Fahrzeug auszurichten, so ist dies mit einem nachträglich vergrössertem Zeitverlust verbunden. Eine etwas bessere Präzision ergibt sich wenn das Fahrzeug nicht gleislos sondern auf Schienen geführt wird oderarci Bestimmungs¬ ort Zapfen oder Stützen im Boden eingelassen sind, auf welche die Last abgestellt und gerichtet wird. Aber diese Massnahmen sind immer noch in der Präzision ungenügend, bringen einen vermehrten Zeitaufwand und den Nachteil der Geleise und vorstehenden Zapfen. Ausserdem muss jeder Bestimmungsort mit einer Ausrichtvorrichtung versehen werden. Da jedoch im allgemeinen ein Förderfahrzeug ausreicht um eine ganze Reihe von Orten zu bedienen, so .ist es vorteilhafter wenn das Förderfahrzeug in der Lage ist die Last am Bestimmungsort präzis auszurichten undnichtalle Orte mit besonderen Vorrichtungen dafür ausgeruestet werden müssen.The present invention relates to a method and the device used for this purpose according to the preamble of claims 1 and 2.2. These are particularly advantageous solutions to problems of a type similar to those described, for example, in US Pat. Nos. 3,132,753, 3,139,994 and Fig. 7,8 , 9 of US Pat. No. 4,427,331. It is particularly difficult if the loads are delivered from the conveyor to a stationary location precisely aligned to a millimeter or even less. For economic reasons, there is a limit to the technical expenditure of 'Förderfahrz ugen ^ he only aυ -f several millimeter to dispense drive up. Even if you increase the effort j to align the vehicle with the tightest play, this is associated with an increased loss of time afterwards. A somewhat better precision results if the vehicle is not trackless but guided on rails or arci destination pins or supports are embedded in the floor, on which the load is placed and directed. But these measures are still insufficient in precision, involve an increased expenditure of time and the disadvantage of the tracks and protruding pins. In addition, each destination must be provided with an alignment device. However, since a conveyor vehicle is generally sufficient to serve a whole range of locations, so . it is more advantageous if the conveyor vehicle is able to precisely align the load at the destination and not all locations have to be equipped with special devices for this.
Die Lösung für die vorstehend geschilderten Probleme ist im kennzeichnenden Teil der Ansprüche beschrieben und wird nachfolgend an Hand eines Beispiels erläutert. Hierfür wurde die als besonders schwierig geltende Bedienung von mehreren flexiblen Werkstückbearbeitungs Stationen gewählt, zu denen die Werkstücke auf A^fspann- Paletten und auch die Werkzeuge durch Fahrer¬ lose Flurförderzeuge gebracht und wieder abgeholt werden.The solution to the problems described above is described in the characterizing part of the claims and is explained below using an example. For this purpose, the operation of several flexible workpiece processing stations, which is considered to be particularly difficult, was selected, to which the workpieces are brought on clamping pallets and also the tools are brought and picked up again by driverless industrial trucks.
Auf den schematischen Zeichnungen zum gewählten Beispiel sind: Fig.l die schematische Darstellung eines grossenOn the schematic drawings of the selected example are: Fig.l the schematic representation of a large one
Maschinensaals. Fig.2 und 3 die Frontansicht eines Flurförderzeugs neben einer Bearbeitungs-Station.Machine room. 2 and 3 show the front view of an industrial truck next to a processing station.
O PIO PI
,/λ Fig.4 ist schematisch die Seitenansicht des Flurförderzeugs, / λ Fig. 4 is a schematic side view of the industrial truck
Der Maschinensaal (3) wird in Fig.l. als Flurplan dargestellt. Dabei sind "M" die flexiblen Bearbeitungs-Zentren,"B" Automaten zum schnellen Bohrkopfwechsel, (la) ist die Aufspannzone in der die Werkstücke auf Paletten aufgespannt oder abgenommen werden, (1b) eine Waschanlage und (2) die automatisierte Werkzeugausgabe und Rücknahme. Nur angedeutet sind weitere zu. bedienende Stellen wie Messplätze, Nachspühlen,Spänetranspo usw. Deutlich zu erkennen sind die Fahrwege der Fahrer-losen Flurförderzeuge von denen nur sieben für die Bedienung aller Anlagen aus¬ reichen. Sie werden in bekannter Weise induktiv über im Boden verlegte Kabel gesteuert.The machine room (3) is shown in Fig.l. shown as a floor plan. "M" are the flexible machining centers, "B" machines for quick changing of the drill head, (la) is the clamping zone in which the workpieces are clamped or removed on pallets, (1b) a washing system and (2) automated tool dispensing and return . Only hinted at are more. Operating points such as measuring stations, rinsing, chip transport, etc. The routes of the driverless industrial trucks are clearly recognizable, of which only seven are sufficient to operate all systems. They are controlled inductively in a known manner via cables laid in the floor.
Fig.2, Fig.3 und Fig.4 sind schematische Darstellungen eines Flurförderzeugs. Dabei sind: (6) das Fahrwerk, (7) die .Antriebsräder, (8) das Stützrad, (9) der Hubtisch, {10) die und (11) die Aufspannpalette. Das darauf befindliche Werkstück ist nicht abgebildet. Die Palette ist abschiebbar auf derLastplattform (10) aufgesetzt. Fig.3 zeigt wie die Plattiörm am Förderende auf zwei Kegelzapfen (14) aufliegt und am hinteren Ende schwimmend auf einer Kugelstütze (13) sich abstützt. Dabei ist die Plattform, wie etwas übertrieben gezeichnet, leicht nach yorn geneigt. Zusätzlich ist die Plattform (10) an ihrem vorderen Ende mit zwei parallel zueinander und nach unten gerichteten mit grossem Kegel eingesenkten Bohr¬ ungen (16) versehen. Die Bohrungen (16) setzen sich beim Absenken der Plattforιn(10) auf zwei genau einpassende Dornen (15) und richten so die schwimmende Plattformmit ihrem vorderen Ende ganz präzis aus. Die Dornen (15) sind ortsfest auf einer Konsole (12) am Unterbau (5) des Bearbeitungszenters angebracht. Nach dem Absenken liegt die öLattform (10) horizontal und ist von den Kegelzapfen (14) abgehoben. Die Palette kann wie in Fig.2 gezeigt aus ihrer Position (11')auf den Wandertisch des Bearbeitungszenters in Pos. (11) abeschoben werden. Der Transfer erfolgt, mit hier nicht abgebildeten bekannten Einrichtungen automatisch. Der Hubtisch wird mit seinen Bewegungen durch Mikroprozessoren gesteuert. Besonders vorteilhaft kann es sein wenn die Bewegung derPlattform (10) zusätzlich durch eine elektronische Wasser- oder ein gleichwertiges _l__s±j _mgΩi-J waage (19)/überwacht wird. Fig.4 ist_ eineFig. 2, Fig. 3 and Fig. 4 are schematic representations of an industrial truck. Here are: (6) the undercarriage, (7) the drive wheels, (8) the support wheel, (9) the lifting table, {10) the and (11) the clamping pallet. The workpiece on it is not shown. The pallet can be pushed onto the load platform (10). Fig. 3 shows how the platform rests on two tapered pins (14) at the end of the conveyor and is supported on the rear end by floating on a ball support (13). The platform is slightly inclined to yorn, like something exaggerated. In addition, the platform (10) is provided at its front end with two bores (16) countersunk parallel to each other and directed downwards with a large cone. When lowering the platform (10), the bores (16) sit on two precisely fitting spikes (15) and thus align the floating platform very precisely with its front end. The mandrels (15) are fixed in place on a bracket (12) on the base (5) of the machining center. After lowering, the oil platform (10) lies horizontally and is lifted off the taper pin (14). As shown in Fig. 2, the pallet can be pushed from its position (11 ') onto the moving table of the machining center in position (11). The transfer takes place automatically, with known devices not shown here. The movements of the lift table are controlled by microprocessors. It can be particularly advantageous if the movement of the platform (10) is additionally monitored by an electronic water or equivalent _l__s ± j _mgΩi-J scale (19) /. Fig. 4 is one
Seitenansicht und zeigt deutlich die Anordnung der zwei Kegelzapfen (14) und der Kugelstütze(13) j letztere kann bei sehr langen Plattformen beispielsweise durch ein gefedertes Kugelbett oder technisch Gleichwertiges ersetzt werden.Side view and clearly shows the arrangement of the two tapered pins (14) and the ball support (13) j the latter can be replaced with very long platforms, for example, by a sprung ball bed or technically equivalent.
Die Abgabe und Wiederaufnahme der Lasten erfolgt besonders vorteilhaft rasch und präzis.The delivery and resumption of the loads is particularly advantageously quick and precise.
Legende Legend
la Aufspannzone für die Werkstücke lb Waschanlage . - " -la clamping zone for the workpieces lb washing system. - "-
2 Werkzeugausgabe2 tool dispenser
3 Maschinensaal3 machine room
4 Fussboden4 floors
5 Unterbau des Bearbeitungszenters5 Substructure of the machining center
6 Fahrwerk6 undercarriage
7 Antriebsräder7 drive wheels
8 Stützrad8 jockey wheel
9 Hubtisch 0 Lastplattform 1 Aufspann-Palette 2 Konsole an 5 3 Kugelstütze 4 Kegelzapfen 5 Dornen 6 eingesenkte Bohrungen 7 do. 8 9 elektronische Wasserwaage9 Lift table 0 Load platform 1 Clamping pallet 2 Console on 5 3 Ball support 4 Taper pins 5 Thorns 6 Countersunk holes 7 do. 8 9 electronic spirit level
B Automaten für Bohrkopf echselB Automatic machine for changing the drill head
M Bearbeitungs-ZentrenM machining centers

Claims

Patent - Ansprüche Patent claims
1. Verfahren zur Fein-Postionierung einer Lasttragplattform eines Fahrzeugs an einer ortsfesten Stelle zur Abgabe oder Aufnahme von Lasten, dadurch gekennzeichnet, dass die heb- und senkbare Plattform an ihrem frei hervorstehenden Ende auf hervorstehende1. Method for the fine positioning of a load-carrying platform of a vehicle at a fixed location for delivering or taking up loads, characterized in that the platform which can be raised and lowered protrudes at its freely projecting end
-Zentrier ornen fest und unverrückbar aufgesetzt ist,während das andere Ende der Plattform schwimmend gelagert ist.- Centering is firmly and immovably attached, while the other end of the platform is floating.
2. Verfahren nach dem Anspruch 1, dadurch gekennzeichnet, dass die Plattform im angehobenen Zustand eine leichte Neigung zum vorstenden Ende hin aufweist.2. The method according to claim 1, characterized in that the platform has a slight inclination towards the protruding end in the raised state.
3. Einrichtung zur Durchführung der Verfahren nach Ansprüchen 1 oder 2, dadurch gekennzeichnet, dass die Platform an ihrem Vorderteil und auch dessen vorstehenden Ende mit jeweils zweikegelförmigen eingesenkten Bohrungen versehen ist,die auf den Kegelzapfen (14) automatisch zentrieren, beim Absenken des Hubtischs (9) des Fahrzeugs jedoch freigeben und auf zwei ortsfest angeordnete Zentrierdornen (15) absetzen, während das andere Ende der Plattform (10) schwimmend auf mindestens einer Kugelstütze gelagert ist.3. Device for carrying out the method according to claims 1 or 2, characterized in that the platform is provided on its front part and also its projecting end with two conical recessed bores which automatically center on the taper pin (14) when the lifting table is lowered ( 9) release the vehicle, however, and place it on two stationary centering pins (15), while the other end of the platform (10) is floating on at least one ball support.
4. Einrichtung nach Anspruch 3, dadurch gekennzeichnet, dass die Absenkbewegung der Plattform (10) durch ein Instrument, vorzugsweise eine elektronische4. Device according to claim 3, characterized in that the lowering movement of the platform (10) by an instrument, preferably an electronic
Wasserwaage (19) überwacht wird. -. .^'-ξTlJRE.Ä*?Spirit level (19) is monitored. -. . ^ '- ξTlJRE.Ä * ?
OMPI OMPI
EP19840903476 1984-09-27 1984-09-27 Method and unit for the accurate positioning of a load receiving platform at a fixed location for receiving or sending out loads Withdrawn EP0194255A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CH1984/000155 WO1986002057A1 (en) 1984-09-27 1984-09-27 Method and unit for the accurate positioning of a load receiving platform at a fixed location for receiving or sending out loads

Publications (1)

Publication Number Publication Date
EP0194255A1 true EP0194255A1 (en) 1986-09-17

Family

ID=4541143

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19840903476 Withdrawn EP0194255A1 (en) 1984-09-27 1984-09-27 Method and unit for the accurate positioning of a load receiving platform at a fixed location for receiving or sending out loads

Country Status (2)

Country Link
EP (1) EP0194255A1 (en)
WO (1) WO1986002057A1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4915569A (en) * 1987-02-05 1990-04-10 Oerlikon Motch Corporation Combination machine tool apparatus and pallet changing system
SE461518B (en) * 1987-09-16 1990-02-26 Dinol Ab MOVING FRAME
US4818171A (en) * 1987-10-22 1989-04-04 Caterpillar Industrial Inc. Pallet transferring arrangement and method
GB8812634D0 (en) * 1988-05-27 1988-06-29 Caterpillar Ind Inc Load positioning assembly & method
DE8902668U1 (en) * 1988-09-29 1989-07-27 Jd-Technologie Ag, Zug, Ch
DE4224836C1 (en) * 1992-07-28 1993-11-04 Ruediger Staege BLOCK STORAGE CONVEYOR FOR PALLETS TO BE TRANSPORTED IN A PALLET STOCK

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2593254A (en) * 1946-08-02 1952-04-15 Ingersoll Milling Machine Co Machine tool
US3998316A (en) * 1974-05-10 1976-12-21 Kamm Lawrence J Manufacturing machine
JPS575116A (en) * 1980-06-11 1982-01-11 Hitachi Ltd Positioning mechanism and truck with positioning mechanism
JPS5851009A (en) * 1981-09-24 1983-03-25 Toyoda Mach Works Ltd Machine tool equipped with pallet exchanger
DE3316050A1 (en) * 1983-05-03 1984-11-08 Friedrich Deckel AG, 8000 München Device for transporting workpiece pallets

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO8602057A1 *

Also Published As

Publication number Publication date
WO1986002057A1 (en) 1986-04-10

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