CN109070180A - With the transport device for grabbing clamp - Google Patents
With the transport device for grabbing clamp Download PDFInfo
- Publication number
- CN109070180A CN109070180A CN201780025826.5A CN201780025826A CN109070180A CN 109070180 A CN109070180 A CN 109070180A CN 201780025826 A CN201780025826 A CN 201780025826A CN 109070180 A CN109070180 A CN 109070180A
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- China
- Prior art keywords
- folder tool
- grab
- grabbing
- folder
- transport device
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
- B21K27/00—Handling devices, e.g. for feeding, aligning, discharging, Cutting-off means; Arrangement thereof
- B21K27/02—Feeding devices for rods, wire, or strips
- B21K27/04—Feeding devices for rods, wire, or strips allowing successive working steps
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- 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
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Feeding Of Workpieces (AREA)
Abstract
A kind of in the molding equipment of multiple stations in the transport device of conveying work pieces, it is configured to grab at least two of clamp and grabs folder tool (32a, 32b) and be arranged on described grab on folder tool holder (20), grabbing folder tool holder (20) can move back and forth between the station of molding equipment, each grab folder tool for grabbing one workpiece (W) of folder.Described at least two grab folder tool (32a, 32b) be respectively arranged with grab folder tool drive (33), be arranged it is described grab folder tool holder (20) on and for grab folder tool (32a, 32b) grab folder or discharge workpiece (W) it is individually operated.Two tong arms (32a, 32b) opposite or backwards to movement can linearly be carried out by means of grabbing folder tool drive (33) accordingly by each grabbing folder tool and having.It is described grab folder tool drive (33) be respectively configured to be electronically controlled or hydraulic servo control.With can carry out in a linear fashion two tong arms (32a, 32b) opposite or backwards to movement grab clamp with have pivot tong arm grab clamp compared with, have the advantage that it can be grabbed folder diameter and be stuck on workpiece in two sides with same angle to be more uniformly embedded in.The position control of tong arm can be carried out based on the SERVO CONTROL construction for grabbing folder tool drive.
Description
Technical field
The present invention relates to it is a kind of it is according to claim 1 it is as described in the preamble for include at least two stations at
The transport device of conveying work pieces in type equipment.
Background technique
In formed solid and other forming processes, workpiece passes sequentially through multiple stations of molding equipment, wherein workpiece
By station further transported.In molding equipment, station is usually a load station and multiple and different shaping stations.
In order to which by station transmitting workpiece, usually used following transport device, the transport device are usually equipped with tong-like and grab folder tool
And with the work of the machine cycle of molding equipment, wherein grabbing folder tool grabbing workpiece simultaneously, workpiece is taken out and incited somebody to action from a station
Workpiece release place is fed corresponding next station.
It in known molding equipment, carriage movement and grabs the operation of folder tool and is coupled with the driving system of molding equipment, join
Read 595 155 A of CH.
A kind of transport device for the conveying work pieces in molding equipment is described in 1 048 372 B1 of EP.It is such
In the transport device known, movable along longitudinal direction and be provided on longitudinal movable common pincers bracket and multiple to be configured to grab
Clamp grabs folder tool, and each grabbing folder tool, there are the dedicated folder tool drives of grabbing separated with the driving system of molding equipment to fill
It sets, which all grabs folder for jointly transporting back and forth between two adjacent stations of molding equipment respectively
Pincers.Grabbing clamp includes two pivotal arms, is driven by servo motor via kinematic coupling assembly to carry out opposite and back
To pivot.
Conventional transport devices and a problem of the transportation resources implemented with such transport device be, can not be right rapidly
Procedure fault caused by (for example) following reason is reacted: being inserted incorrectly the workpiece for grabbing folder tool or impaired
Component (the grabbing folder tool of such as tearing) or the pressing mold of fracture are such, therefore, often set in transport device or molding
The standby upper serious subsequent damage of generation.
Summary of the invention
In view of this, can subtract it is an object of the invention to improve a kind of transport device of type described in opening paragraph
Less as being incorrectly inserted into procedure fault caused by the workpiece for grabbing folder tool.
It is solved the above problems by the transport device according to the present invention such as defined in independent claims 1.The present invention
Particularly advantageous improvement project and design scheme refering to corresponding dependent claims.
In terms of transport device, essence of the invention is as follows: a kind of in the molding equipment including at least two stations
The transport device of middle conveying work pieces, the transport device have what can be moved back and forth between the station of molding equipment to grab folder work
Have bracket, be configured to grab at least two of clamp grab folder tool be arranged on it is described grab on folder tool holder, each grab folder work
Tool is for grabbing one workpiece of folder.Described at least two, which grab folder tool, is respectively arranged with and grabs folder tool drive, is arranged in institute
State grab folder tool holder on and for grab folder tool grab folder or discharge workpiece it is individually operated.It is configured to grab each of clamp
Grabbing folder tool has two pincers that can linearly carry out moving in opposite directions or backwards by means of grabbing folder tool drive accordingly
Arm.The folder tool drive of grabbing is respectively configured to be controlled by electrically SERVO CONTROL or hydraulic servo.
There is the tong arm that can carry out moving in opposite directions or backwards in a linear fashion due to grabbing clamp, folder can grabbed
Mistake is avoided during workpiece.Clamp and tool are grabbed with the tong arm that can carry out moving in opposite directions or backwards in a linear fashion
If thering is pivot tong arm to grab clamp compared to having the advantage that they are bonded on workpiece in two sides with same angle, energy
It is enough to grab folder diameter to be more uniformly embedded in.This can reduce workpiece and is obliquely pushed into the danger for grabbing clamp.By means of to each
Grab that clamp is individually dispensed to grab folder tool drive, each grabbing clamp individually can be adjusted and be operated.Due to grabbing folder work
Have the electronic construction or hydraulic construction of driving device, required rapidity can be reached, and SERVO CONTROL enables control over
The position of tong arm.
Advantageously, described two tong arms are separately positioned on corresponding pincers slide, and the pincers slide is slidably mounted in
In caliper, each pincers slide is moved with corresponding ratch and is connected；And the driving pinion of the ratch and motor driving
Engagement, two pincers slides can be moved with therefore described two tong arms by means of the driving pinion in the opposite direction.
This embodies the linear mobility that tong arm can be simply implemented in structure.
Advantageously, described two tong arms are separately positioned on described two pincers slides, with can be relative to described two pincers
Slide is conditioned.Thus, it is possible to the tong arm is simply adapted to according to workpiece.
Advantageously, each grabbing folder tool drive has (electronic) servo motor, and (electronic) servo motor has
The rotary encoder of folder tool is grabbed described in being used to open and being closed.Servo motor is due to its control program be especially suitable for driving
Motor executes motor and can also detect (feedback) (via torque) and grab the power that folder tool is applied.
Advantageously, the folder tool drive of grabbing is provided with and grabs folder tool controller, described to grab folder tool controller quilt
Construction are as follows: each movement that opens and closes for grabbing folder tool is individually controlled.Advantageously, described to grab folder tool controller also
It is configured to: each clamping force for grabbing folder tool is individually controlled.This allows to optimize suitability according to particular demands.Especially
Be, for example, clamping force can be adjusted to so that: folder when clamping force when workpiece push-in for example being grabbed clamp is smaller than transport
Clamp force.Necessary load is so just only generated to mechanical component.
Highly advantageously, the folder tool controller of grabbing is configured to: identification is by the empty folder tool or incorrect of grabbing
Procedure fault caused by the workpiece of folder tool is grabbed in ground insertion, and notifies the procedure fault.Such construction makes it possible to relatively early
Stage recognizes procedure fault and thus, it is possible to reduce any subsequent damage generated therefrom.
It is particularly favourable that the folder tool of grabbing is equipped with the four-point holding mechanism of the workpiece for being grabbed folder, described four
Point type holding mechanism by pincers boot-shaped at.This allows workpiece especially to be firmly held, and especially when workpiece is inserted into closure
When grabbing clamp, mitigate the inclined danger of workpiece.
Detailed description of the invention
The present invention is described in detail for illustrated embodiment with reference to the accompanying drawing, in which:
Fig. 1-6 is schematic diagram and sectional view of the molding equipment in the different phase of workflow；
Fig. 7 is total perspective view of the transport device of molding equipment shown in Fig. 1-6；
Fig. 8 is the front view of the transport device；
Fig. 9 is the side view of the transport device；
Figure 10 is the sectional view of the lines X-X in Fig. 9 of the transport device；
Figure 11 is the perspective view for grabbing folder tool unit of the transport device；
The perspective back view for grabbing folder tool unit that Figure 12 is Figure 11；
The main view for grabbing folder tool unit that Figure 13 is Figure 11；
Figure 14 is the sectional view for grabbing the lines XIV-XIV in Figure 13 of folder tool unit；
Figure 15 is the side view for grabbing folder tool unit in Figure 11；
Figure 16 is the sectional view for grabbing the lines XVI-XVI in Figure 15 of folder tool unit；
Figure 17 is the sectional view for grabbing the lines XVII-XVII in Figure 15 of folder tool unit；
Figure 18 is the schematic diagram of the control mechanism of the molding equipment and its transport device；
Figure 19 grabs the exemplary motion path of folder tool in normal operation for the transport device；And
Figure 20 is that this grabs exemplary motion path of the folder tool in procedure fault.
Specific embodiment
Following provisions are suitable for hereafter being described: if according in the accompanying drawings to ensure that the definition illustrated provides several components
Number, and do not referred in direct corresponding description section, then it please refers to above or hereinafter to the explanation of component symbol.It is another
Aspect, to realize understandable a small amount of component symbol, is not all shown in all the appended drawings to avoid excessively illustrating.
Remaining attached drawing is referred to thus.
The schematic overview of Fig. 1-6 illustrates the component relevant to the present invention is understood of molding equipment of the invention.Fig. 1 is
The main view of lines I-I according to fig. 2, and Fig. 2 is the sectional view of the lines II-II in Fig. 1.Correspondingly, Fig. 3 and 5 is
Main view, Fig. 4 and 6 are corresponding sectional view.
In the shown embodiment, entirety includes five stations arranged side by side with the molding equipment that appended drawing reference M is indicated
110,120,130,140,150, wherein the first station 110 is load station, remaining station 120,130,140 and 150 is molding
Station.Shaping station 120,130,140 and 150 include four molding dies 121 of the building on same die holder 101,
131,141 and 151, four forms be pressing mold 122,132,142 and 152 shaping jig and four material jacking mechanisms 123,
133,143 and 153, using material ejecting structure can will in molding die by means of pressing mold molding workpiece W from molding die
Middle ejection.Loading station 110 includes: shear 112, is used to (be not shown, by means of same unshowned from rod-shaped material
Rod-shaped material feed arrangement come supply should rod-shaped material) cut a workpiece W；And material jacking mechanism 113, be used to by workpiece W from
It is ejected in shear 112.The whole transport device indicated with T is for workpiece to be sent to from a station of molding equipment M
Next station.What every secondary figure in Fig. 1-6 illustrate only transport device T grabs folder tool, and each grabbing folder tool has a pair of of pincers
Arm 32a and 32b.
In the operational process of the molding equipment, transport device T's grabs folder work to 32a and the 32b tong-like constituted by tong arm
Tool is in initial position, and rapidly clamping is provided in load in station 110 or from shaping station 120,130,140 and 150 respectively
The workpiece W (Fig. 1 and 2) that ejects of molding die 121,131,141 and 151, while workpiece W being transported to molding equipment M's again
Next station, wherein the workpiece W release finished will be formed from last shaping station 150 is received, thus by it from the molding
Equipment discharge.Fig. 3 and 4 shows this point.In shaping station 120,130,140 and 150, by means of 122,132,142 and of pressing mold
Workpiece W is sent into molding die 121,131,141 and 151 and formed by 152.Then, transport device T makes (empty) to grab folder
Tool returns to initial position shown in Fig. 1 and 2.In the initial position, grabs folder tool and clamp one respectively and new be provided in load
The workpiece W that molding die 121,131,141 and 151 in station 110 or from shaping station 120,130,140 and 150 ejects, and
Workpiece is transported again to next station of molding equipment, refering to Fig. 3 and 4.Whole flow process is in the machine cycle of molding equipment M
A transportation cycle in complete.
It can be seen that from the above-mentioned Short Description to transmit process, in each transmission circulation, each grab folder tool and transport respectively
A defeated different workpiece, each pair of adjacent station of the molding equipment all different grab folder tool operation by one.In this hair
In bright range, it should understand in above-mentioned meaning and to grab folder tool by means of multiple and by station transmit work in molding equipment
Part.
Generally speaking, molding equipment M is corresponding with the molding equipment of traditional this type in terms of structure and function, because
And it does not need that those skilled in the art are described in detail in this regard.
It is described in detail below with reference to the transport device of Fig. 7-17 couples of molding equipment M.The whole transport indicated with T fills
Setting includes: fixed frame 10；Plate grabs folder tool holder 20, be set as in the frame 10 or on be movable and originally showing
Folder tool unit 30 is grabbed in carrying five in example；And grab folder tool holder driving device.Grab folder tool unit 30 with same base
Directrix plane E (Fig. 7) is placed equidistant with.The direction that plate grabs folder tool holder 20 grabs the frontoparallel of folder tool unit in datum plane
E.This is grabbed folder tool holder driving device and grabs folder tool holder drive motor 55 and 56 including two, is configured with rotation and compiles
Code device and transmission device servo motor and be rigidly mounted on frame 10.In addition, this grabs folder tool holder driving device also
Including two crank mechanisms, it is respectively provided with crankshaft 51 or 52 and drive rod (connecting rod) 53 or 54.Crankshaft 51 and 52 is distinguished
It is rigidly mounted in the rotatable portion for grabbing the transmission device of folder tool holder drive motor 55 or 56, and drive can be rotated by
It is dynamic.Frame 10 in actual use with detachable or be pivotally mounted on (unshowned) fuselage of molding equipment M,
To be easily accessible to molding die and shaping jig.
There are two parallel guide bar 11 and 12 (Fig. 7-10), it is flat that their axis defines benchmark for setting in frame 10
Face E (Fig. 7).Along guide bar 11 and 12 or the guide link 13 and 14 on guide bar 11 and 12, so that the edge of joining beam 13 and 14
The vertical linear of guide bar is movable.In addition, two joining beams 13 and 14 are corresponding in two guide bars 11 and 12 to surround respectively
One pivotable mode is hinged.In joining beam 13 and 14 on the end of guide bar, joining beam 13 and 14 is by means of pivot pair
15 and 16 (Fig. 9 and 10), which are pivotably connected to, grabs folder tool holder 20.Two pivots are equal to two to the distance between 15 and 16
The distance between a guide bar 11 and 12.Pivot to 15 be equal at a distance from guide bar 11 pivot to 16 with guide bar 12 away from
From.Therefore, two parallel guide bars 11 and 12 are used for two joining beams 13 and 14 together with grabbing folder tool holder 20 composition one
This grab folder tool holder parallelogram guide mechanism, wherein this grab folder tool holder 20 can in both directions (in the accompanying drawings
It is upward and facing downward) it is displaced transverse to the longitudinal direction of guide bar 11 and 12.Such situation is indicated with double-head arrow 25 in Fig. 7.
Meanwhile grab folder tool holder 20 via the joining beam 13 and 14 slidably installed on the longitudinal direction of guide bar 11 and 12 to be guided
Mode is movable back and forth along guide bar, indicates this point with double-head arrow 26 in Fig. 7.Therefore, on the one hand, grab folder tool holder 20 and be parallel to
Datum plane E is linear to be movably guided, on the other hand, with being in substantially parallel relationship to datum plane with can be linear movable transverse to it
The mode that property is displaced is guided.
One end of each drive rod (connecting rod) 53 and 54 is rotatably hinged on crankshaft 51 or 52, and the other end is rotatably
It is hinged on and grabs on folder tool holder 20.55 He of tool holder drive motor is pressed from both sides by two being grabbed by means of two for crankshaft 51 and 52
The 56 corresponding rotations carried out, grabbing folder tool holder 20 just can be (in predetermined extreme value) arbitrarily in double-head arrow 26 and/or double-head arrow
It is moved on 25 direction.
The advantages of parallelogram guides is, grabs folder tool holder 20 in its transverse shift (around the pivot of guide bar
Transhipment is dynamic) when, only on the direction perpendicular to its shift movement, i.e., on the direction perpendicular to datum plane E, implement lesser
Movement.
The common movement for grabbing folder tool unit 30 grabbing folder tool holder 20 and being attached to is schematically shown in Figure 19
Path.The motion path 21 of closed type circulation includes four motion path section 21a-21d.Two linear path sections
When 21a and 21c between the station of the molding equipment corresponding to forward travel and setback is carried out, folder 20 edge of tool holder is grabbed
The linear sliding motion of guide bar, and two motion path sections 21b and 21d result from that grab folder tool holder 20 flat by means of this
The displacement that row quadrangle guide mechanism occurs.Point 22 and 23 indicates to grab initial position and Fig. 3 institute shown in Fig. 1 of folder tool holder 20
Show with the position of the amplitude shift of a station.As shown in figure 19, folder tool holder 20 is grabbed along (the movement of the first linear path
Path-segments 21a) forward travel is carried out, and folder tool holder 20 is grabbed along the linear movement road for being parallel to the first linear path
Diameter (motion path section 21c) carries out setback.Two linear paths are produced because grabbing the displacement of folder tool holder 20
Raw distance is selected as: so that be arranged in grab folder tool holder 20 on grabbing folder tool unit 30 or its grab folder tool second
The shaping jig 122,132,142,152 in shaping station 120,130,140,150 is in the level of linear path
It grasps other than range, as can be seen from Figure 5.Appended drawing reference 27 indicates the holding fix that will hereafter give detailed description.
What is be arranged side by side on grabbing folder tool holder 20 grabs folder tool unit 30 all using identical constructing plan.Its structure exists
It is obvious in Figure 11-17.
Each grabbing folder tool unit 30 all includes: caliper 31；A pair constitute grab clamp can movable pliers 32a and 32；And it grabs
Tool drive is pressed from both sides, form is (electronic) servo motor 33 with rotary encoder and transmission device, wherein the servo
Motor is only shown in Fig. 9 and 14.Caliper 31 and servo motor 33 comprising transmission device, which are all mounted on, grabs folder tool holder 20
On.Two tong arms 32a and 32b are movably disposed on caliper 31.
In caliper 31, on three guide bars 34a, 34b and 34c displaceably bearing there are two pincers slide 35a and
35b.It clamps slide 35a and 35b respectively to connect via drive rod 36a or 36b and ratch 37a or 37b movement, so that the movement of ratch is led
The movement together of pincers slide is caused, vice versa.Two ratch 37a or 37b on its diagonal line opposite side with can be by servo motor
The driving pinion 38 of 33 (via its transmission device) rotation drivings engages, so that when driving pinion 38 rotates, two teeth
Bar 37a and 37b reverse movement, thus two tong arm 32a and 32b are carried out opposite or are moved backwards.Therefore, via servo motor 33
Or the driving pinion 38 being driven by it, the clamp implementation of grabbing that tong arm 32a and 32b are constituted open and close movement.
As an alternative, this grab folder tool drive be also configured as it is servo-controlled hydraulic (with servo valve)
Driving device.The situation it is important that, this grab clamp movement on the one hand can it is very fast and especially position control
System ground is implemented, and on the other hand, the clamping force of two tong arms accurately can be adjusted or control and feed back, as above-mentioned
The situation for grabbing folder tool drive with servo-electric motor.
It is provided with pincers boots (tong shoe) 39a and 39b on the free end of two tong arms 32a and 32b, is used to grab folder
It workpiece and is fastened in replaceable mode, is easy to match (Figure 11) with the shape of the workpiece of folder to be grabbed so that grabbing clamp.Clamp boots
Not necessarily to grab on clamp all using identical constructing plan and/or the plan of establishment.Preferably, as shown, every
There are two boots are clamped, the workpiece for being directed to folder to be grabbed on the whole constitutes especially advantageous four-point holding mechanism for setting on a tong arm.
Such four-point holding mechanism can reliably keep workpiece and reduce work when grabbing clamp that especially workpiece is pushed into closure
The risk of part overturning.
Tong arm 32a and 32b respectively via the toothed plate 40a or 40b in a pair of of end side removably with pincers slide 35a or 35b
It connects (Figure 15 and 17).So just simply tong arm 32a and 32b can be carried out with this relative to corresponding pincers slide 35a or 35b
Lateral adjustment or height adjust, and match (for example) to grab clamp with corresponding workpiece.
As shown schematically in Figure 18, transport device T further includes the bracket for grabbing folder tool holder drive motor 55 and 56
Controller 60 and for respectively grab folder tool unit 30 grab folder tool drive motor 33 activated grab folder tool control
Device 70.It grabs folder tool controller 70 to be configured to: to each opening for grabbing folder tool (being to grab clamp 32a and 32b herein) and close
Resultant motion and clamping force are individually controlled.Grab folder tool branch in the edge that is used for that bracket controller 60 calculates two crankshafts 51 and 52
The motion path 21 of frame 20 runs required rotation position, and correspondingly controls servo motor 55 and 56.Bracket controller 60 this
Also cooperate outside with sensor device 65, which is configured to: identification load station 110 in for example because that can not process
Or lose workpiece W ' and the procedure fault of generation, and by the failure notification to bracket controller 60.
The sensor device 65 only symbolically shown in Fig. 2,4 and 6 be allocated to refer to before this it is unshowned rod-shaped
Material feeder and it may be, for example, light barrier wall mechanism.Such sensor device on rod piece feed arrangement be known per se and
Such as it is described in 1 848 556 B1 of EP.Sensor device 65 can identify head and bar tail.Sensor device 65 is known
When being clipped to head or bar tail, such situation is notified to bracket controller 60, so that the bracket controller is recognized: next bar
Section is mistake and must be excluded or not allow to be admitted to forming process.In the case, bracket controller 60 with
Hereafter the mode for giving detailed description reacts to this procedure fault.
Bracket controller 60 and grab folder tool controller 70 cooperate with a higher controller 80, which especially establishes
Connection with the molding equipment simultaneously provides that this grabs folder tool holder or it grabs which position that folder tool should be located at the motion path
On.By means of the higher controller 80, operator just can input or change (for example) about grab folder tool holder movement or
Grab the setting for opening and closing movement of clamp.Certainly, bracket controller 60 can also be realized in another configuration, grab folder tool control
The function of device 70 and higher controller 80 processed, such as above-mentioned function is incorporated into an independent controller.
As mentioned in the opening paragraph, in molding equipment, especially thermal forming device, rod-shaped raw material is usually fed, then
The workpiece of corresponding length is cut from the raw material again.In the process, bar tail and head do not allow access into forming process, it is necessary to be subject to
It excludes.The section of exclusion is not present in forming process, and empty shaping station is generated in molding equipment, for opening paragraph
The reason should prevent such situation.
Because of the driving device and the molding equipment for grabbing folder tool 32a, 32b grabbing folder tool holder 20 or being arranged on
Driving system be separation and independent, therefore transport device of the invention above-mentioned can prevent in molding equipment it is empty at
Type station.
Such as it recognizes in sensor as aforementioned device 65 because workpiece is lost or is unsuitable for being further processed and needs to be excluded
Workpiece W ' and in the case where the procedure fault that generates (Fig. 5 and 6), corresponding control instruction is sent to use by sensor device 65
In the bracket controller 60 for grabbing folder tool holder driving device.Bracket controller 60 then to grab folder tool holder 20 and grabs folder
Tool unit 30 not according to common motion path 21 (Figure 19), but, grab folder tool holder 20 together be located at grab folder tooling order
Workpiece W in member 30 moves to holding fix 27 (Figure 20) together.Holding fix is for example on the upper movement road for grabbing folder tool holder 20
On diameter section 21c, wherein the tong arm 32a and 32b that grab folder tool unit 30 are in top and are located at tool 112,122,132,142
Between 152, so that tong arm is in other than the sphere of action of tool.Fig. 5 and 6 shows such situation.Accordingly, shaping jig is implemented
One idle stroke, but this measure does not have negative consequences, because all shaping stations are all empty.Preferably, the tool in the stage is cold
But it interrupts, so that the workpiece to tool and in holding fix does not cool down.(in a way known per se) by mistake
Workpiece W ' exclusion.
Once sensor device 65 is reported in load station 110 and has the workpiece W for being suitable for forming process to reach,
Then bracket controller 60 to grab its initial motion path of the folder return of tool holder 20, wherein workpiece is moved to corresponding molding
Station then grabs folder tool holder 20 along its proper motion path 21 and goes to the initial position 22 shown in Fig. 1 and 2, so as to
Workpiece W is clamped in the initial position, and is transported to next shaping station again.
The above-mentioned motion path for grabbing folder tool holder 20 when Figure 20 shows generating process failure.Grab folder 20 court of tool holder
The movement of holding fix 27 is carried out along motion path section 24a, grabs folder tool holder 20 from holding fix 27 up to position 23
Movement be along motion path section 24b carry out.Grab folder tool holder 20 from position 22 via holding fix 27 up to position 23
Entire motion path appended drawing reference 24 indicate.Motion path section 24a and 24b not necessarily will have shown in Figure 20
To.Grab folder tool holder 20 movement for example can also along substitution motion path section 24a ' and 24b ' progress, motion path area
Section 24a ' and 24b ' is consistent with the motion path section 21d and 21c and its 21c and 21b in proper motion path 21.
It, just can be in the mode unrelated with the stroke of shaping jig after the transport device is separated with the driving system of the molding equipment
Setting and duration and the approach for changing transport, lifting and grab folder." lifting " herein, which refers to, grabs the perpendicular of folder tool holder 20
To displacement, wherein lifting the vertical spacing that stroke is equivalent to two motion path sections 21a and 21c.With the stroke of shaping jig
Isolated mode, which is adjusted, lifts and grabs folder movement, makes it possible to implement to individually adjust according to corresponding workpiece, to mitigate machine mill
Damage.Furthermore it can also occur in unexpected situation in tool space, such as be released by endless site preparation from molding die in molded part
In the case that the pressing mold being either broken is inserted in molding die or grabs the loss of the molded part in folder tool, react depending on situation
And folder tool holder 20 will be grabbed grab folder tool unit 30 together with it and move to home (such as aforementioned holding fix 27), and it is eliminating
Molding equipment is shut down before failure.Thus it may prevent from causing to grab folder tool tear or other subsequent damages are caused to transport device
Evil.
As previously mentioned, grabbing folder tool unit 30 can be separately controlled by means of grabbing folder tool controller 70.So just
The time point opened and closed can be individually adjusted for folder tool unit is each grabbed.Tong arm can also be adjusted according to corresponding workpiece
The opening stroke and exercise duration of 32a and 32b.It is also such for lifting movement.It can also be directed to each workpiece, in stroke and held
In terms of the continuous time, movement is lifted in optimization, to be kept low by acceleration and to the load of the structure of the device.With
This is different, and the controlling curve of transport device known per se is naturally always directed to range and designs, therefore, in every kind of workpiece
Or in the case where molded part, component is all subjected to peak load and greatest wear.
To compensate the shape errors of blank section or (for example) to realize eccentric material predistribution when producing cam,
It needs to grab clamp for first or another clamp of grabbing is eccentrically located.For this purpose, being to utilize eccentric adjustment in known transport device
Component, or pincers boots are adjusted by making repeated attempts, so that midpoint is deviateed with desired size in the center of workpiece.According to the present invention
Transport device, by simply entering desired value on higher controller 80, by means of grab folder tool holder drive motor 55
To grab folder tool holder 20 with 56 with desired scale deviation midpoint (zero-bit).It then will accordingly grab clamp and be directed at a center tune
Whole group part, then folder tool holder will be grabbed and move to its zero-bit again.So just one or more clamp can be grabbed to be eccentrically located.It is grabbing
In the case where pressing from both sides tool holder 20 (being in zero-bit) again placed in the middle, clamp is grabbed to remaining and is adjusted.
It controls via the torque of corresponding servo motor 33 by means of grabbing folder tool controller 70 and each grabs folder tool
The clamping of unit 30 and retentivity, the workpiece that so just can simply keep as needed adjust the clamping and retentivity, and
Optionally it can also change the clamping and retentivity in the motion cycle for grabbing folder tool holder.Clamping force can be adjusted to make
: clamping force when workpiece push-in for example being grabbed clamp is smaller than clamping force when transport.So just mechanical component is only generated
Necessary load.
Servo motor usually has the rotary encoder for current rotary position to be fed back to its controller.Using the rotation
After turning encoder, grabbing folder tool controller 70 just can simply find to grab folder tool by comparing physical location and nominal position
Whether filling (such as in the case where grabbing the workpiece loss in folder tool), so that optionally molding equipment is shut down.By grabbing
Such constructing plan of tool controller 70 is pressed from both sides, therefore can recognize that for example because grabbing the skew of the workpiece in folder tool or grabbing folder
Procedure fault caused by tool tear.In this case, grab folder tool controller 70 with suitable way by the situation notify to
Bracket controller 60, bracket controller 60 then to grab folder tool holder 20 and move to home together with folder tool unit 30 is grabbed
(such as aforementioned holding fix 27), and stopped here before eliminating failure.Grabbing folder tool, for example presence is torn in a case where
Split danger: such as molded part is broken from molding die release or pressing mold and is inserted in molding die by endless site preparation.Attempt fortune
It may cause when defeated workpiece and grab folder tool tear.And it grabs folder tool controller 70 and finds this point ahead of time and via bracket controller 60
To return so that grabbing folder tool holder, to prevent from accordingly grabbing folder tool tear.To then grab folder tool holder 20 together with grab folder
Tool unit 30 moves to home (such as aforementioned holding fix 27), and is stopped here before eliminating failure.The molding is set
It is standby to shut down certainly during this period.It just can so react rapidly before generating larger damage to procedure fault.Grab folder tool control
Device 70 processed is indicated in Figure 18 with arrow 71 with cooperating for bracket controller 60.
Grabbing folder tool or grabbing clamp for the transport device has parallel tong arm 32a and 32b, and tong arm linearly carries out in opposite directions
Or backwards to movement.With with pivotable tong arm grab clamp compared with, such the advantages of grabbing clamp, is, pincers boots be evenly embedded into
Grab folder diameter.In the case where pincers boots are stuck on workpiece in two sides with same angle, when being pushed into workpiece, workpiece is with same degree
It is compacted.The danger for grabbing clamp is obliquely pushed into mitigate workpiece.
Claims (8)
1. one kind is for the conveying work pieces in the molding equipment (M) for including at least two stations (110,120,130,140,150)
Transport device, the transport device have can move back and forth between the station of molding equipment grab folder tool holder
(20), be configured to grab at least two of clamp grab folder tool (32a, 32b) be arranged on it is described grab on folder tool holder (20),
Described at least two grab each of folder tool grab folder tool for grab folder one workpiece (W),
Wherein, described at least two grab folder tool (32a, 32b) be respectively arranged with grab folder tool drive (33), it is described to grab folder
Tool drive setting it is described grab folder tool holder (20) on and for grab folder tool (32a, 32b) grab folder or release work
Part (W) it is individually operated,
It is characterized in that, it is described each grab folder tool have by means of grab accordingly folder tool drive (33) can be linearly
It carries out opposite or two tong arms (32a, 32b) backwards to movement and folder tool drive (33) of grabbing is configured respectively
For by electrically SERVO CONTROL or hydraulically SERVO CONTROL.
2. transport device according to claim 1, which is characterized in that described two tong arms (32a, 32b) are separately positioned on
On corresponding pincers slide (35a, 35b), the pincers slide (35a, 35b) is slidably mounted in caliper (31),
Each pincers slide (35a, 35b) moves with corresponding ratch (37a, 37b) and connects；And
The ratch (37a, 37b) engages with the driving pinion (38) that motor drives, two pincers slides (35a, 35b) and therefore
Described two tong arms (32a, 32b) can be moved in the opposite direction by means of the driving pinion (38).
3. transport device according to claim 2, which is characterized in that described two tong arms (32a, 32b) are separately positioned on
On described two pincers slides (35a, 35b), can be conditioned relative to described two pincers slides (35a, 35b).
4. transport device according to claim 1 or 2, which is characterized in that each grabbing folder tool drive has servo
Motor (33), the servo motor have be used to open and be closed described in grab the rotary encoder of folder tool (32a, 32b).
5. transport device according to any one of claims 1 to 4, which is characterized in that described to grab folder tool drives dress
Set (33) be provided with grab folder tool controller (70), it is described grab folder tool controller be configured as: to it is each grab folder tool (32a,
Open movement and closing motion 32b) is individually controlled.
6. transport device according to claim 5, which is characterized in that folder tool controller (70) of grabbing is configured as:
Each clamping force for grabbing folder tool (32a, 32b) is individually controlled.
7. transport device according to claim 5 or 6, which is characterized in that folder tool controller (70) of grabbing is configured
Are as follows: it identifies and is grabbed folder tool as empty or be inserted incorrectly procedure fault caused by grabbing the workpiece (W) of folder tool, and lead to
Know the procedure fault.
8. transport device according to any one of claims 1 to 7, which is characterized in that it is described grab folder tool (32a,
32b) equipped with the four-point holding mechanism of the workpiece for being grabbed folder, the four-point holding mechanism is by pincers boots (39a, 39b)
It is formed.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CH00561/16A CH712402A1 (en) | 2016-04-28 | 2016-04-28 | Transport device with grippers for moving workpieces in a forming device comprising at least two stages. |
| CH561/16 | 2016-04-28 | ||
| PCT/EP2017/059721 WO2017186673A1 (en) | 2016-04-28 | 2017-04-25 | Transport device having gripping tongs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109070180A true CN109070180A (en) | 2018-12-21 |
Family
ID=56137040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780025826.5A Pending CN109070180A (en) | 2016-04-28 | 2017-04-25 | With the transport device for grabbing clamp |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US20190134695A1 (en) |
| EP (1) | EP3448596A1 (en) |
| JP (1) | JP2019514692A (en) |
| KR (1) | KR20190003519A (en) |
| CN (1) | CN109070180A (en) |
| CH (1) | CH712402A1 (en) |
| EA (1) | EA201892456A1 (en) |
| TW (1) | TW201742807A (en) |
| WO (1) | WO2017186673A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109835525A (en) * | 2019-03-22 | 2019-06-04 | 浙江快利电子有限公司 | A kind of shifting material device of connector package machine |
| CN112356037A (en) * | 2020-11-23 | 2021-02-12 | 江西联创光电超导应用有限公司 | Method and controller for induction heating of conductor bar based on manipulator |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020246396A1 (en) | 2019-06-04 | 2020-12-10 | 日本製鉄株式会社 | Workpiece transportation tool, hot press device, workpiece transportation method, and hot press method |
| CN111958628A (en) * | 2020-08-12 | 2020-11-20 | 武汉城市职业学院 | Component for workpiece station conversion |
| CN113199420A (en) * | 2021-05-10 | 2021-08-03 | 苏州必思实精密机械有限公司 | Part machining accurate positioning clamp holder capable of being used in batches |
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- 2017-04-25 EA EA201892456A patent/EA201892456A1/en unknown
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- 2017-04-25 KR KR1020187030832A patent/KR20190003519A/en unknown
- 2017-04-25 US US16/096,722 patent/US20190134695A1/en not_active Abandoned
- 2017-04-25 EP EP17719251.5A patent/EP3448596A1/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| KR20190003519A (en) | 2019-01-09 |
| CH712402A1 (en) | 2017-10-31 |
| JP2019514692A (en) | 2019-06-06 |
| EA201892456A1 (en) | 2019-03-29 |
| EP3448596A1 (en) | 2019-03-06 |
| WO2017186673A1 (en) | 2017-11-02 |
| US20190134695A1 (en) | 2019-05-09 |
| TW201742807A (en) | 2017-12-16 |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181221 |
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