DE10128186A1 - Positioning mechanism for gripper arm for metal workpieces comprises a connecting arm attached at one end to arm mounting, at opposite end to control slide and at intermediate point to bearing slide - Google Patents

Abstract

The positioning mechanism for a gripper arm (4, 5,) comprises a connecting arm (2) attached at one end to the arm mounting (3). It is attached at the opposite end to a control slide (13) which moves along a guide rail (14) and at an intermediate point to a bearing slide (8) which moves along a second rail (9). The connection to at least the bearing slide is a pivot.

Description

The present invention relates to a device for positioning an object tevorrichtung.

Such devices for positioning an object holding device find before applies to the insertion and removal of workpieces on machining processing systems, for example on presses or press lines.

In such processing systems, large sheet metal parts and blanks are used before, between and after the completion of the individual forming processes by inserting and removal devices transported.

Such an insertion and removal device is known from EP 0 394 724, wherein a cam drive for moving a transport member in a horizontal Repositioning and return movement and a subsequent vertical removal and lay motion with a handlebar parallelogram and a first and a second cam follower lever is proposed.

The cam follower levers are moved over cams. The first curve follower lever grips a link lever on one of the parallel rods of the handlebar parallelo grams. As a result of a circular arc movement of the link lever during the Removal and laydown movement and a swiveling movement of the parallel rods on circular arcs during the transfer and return movement the sheet metal form parts or boards moved on arcs. To generate linear vertical and hori Correction areas on the cams are provided for zontal movements.

However, there is the disadvantage that complex cam and lever gear for Generation of a vertical movement and / or a horizontal movement necessary are. Adjustments to various insertion and removal movements of this pre direction are time-consuming and costly. There is also a dynamic of the described Insertion and removal device due to a variety of moving components limited the described device.

The invention is therefore based on the object of a device for positioning to create an object holding device that be a small number of be in the power flow sensitive mechanical components, and in a simple way to changed Movements are customizable.

This object is achieved by a device for positioning an object direction solved with the features of claim 1.

The device according to the invention for positioning an object holding device has consequently a control slide and a storage slide, the tax carriage and the bearing carriage along at least one guide device are relocatable from each other. The control slide and the storage slide are via a coupling device with a receiving device in which the object Tevvorrichtung is connected, wherein the coupling device at least on the sleigh is articulated.

It is advantageous if the control slide is along a first guide direction and the bearing slide along a second guide device are arranged and both the first and the second guide device as Guide rails are executed. It is also advantageous if the coupling device has at least one handlebar and a support rod.

In a preferred embodiment, the control carriage is connected to the Control carriage connected first drive device and the bearing carriage via a connected to the bearing carriage second drive device.

Due to a linear displacement of the control carriage and / or a linear Relocation of the bearing carriage along the first or the second guide direction is the receiving device and thus the object holding device in one vertical movement and / or a horizontal movement.

By programmable control of the first or the second drive The vertical movement is in the direction of the control slide or the bearing slide  and / or the horizontal movement of the object holding device in a simple manner realized.

This programmable control makes the front highly adaptable direction for positioning an object holding device to be executed Movements are made possible without mechanical intervention in the system becomes necessary.

In this case, a position of the control carriage and a position of the Bearing carriage detected via at least one directly or indirectly working measuring system and a corresponding position signal to a common control device forwarded.

A drive power is only for a preferred horizontal publisher the control slide and the bearing slide. By the few Mechanical components arranged in the power flow are a moving mass in the system low, the drive power is therefore minimized. In addition, a movement ge Speed increased compared to known devices, without thereby the position to reduce kidney accuracy.

Further preferred configurations of the device according to the invention are shown in FIGS other subclaims specified.

The invention is described below using exemplary embodiments in conjunction with the associated drawings explained in more detail. In these show:

Fig. 1 is a side view of an apparatus for positioning an object holding device for a first embodiment in a schematic representation;

Fig. 2 is a front view of the device for positioning an object holding device according to Fig. 1, and

Fig. 3 is a perspective view of the device for positioning ei ner object holding device of FIG. 1 and FIG. 2.

Fig. 1 shows a first embodiment of the apparatus for positioning is a specimen holding device 1 with a vertical in one and / or a horizontal loading motion movable object holding device 21.

The object holding device 21 of the device for positioning an object holding device 1 comprises a workpiece holder 4 and a holding means 5 . The object holding device 21 is held via a docking system 3 a in a receiving device 3 of the device for positioning the object holding device 1 .

By means of the object holding device 21 , a board is held, for example, in order to insert this board into a press or to remove a formed workpiece from a press by means of the device for positioning an object holding device 1 . With a corresponding choice of the holding means 5 , the object holding device 21 can be adapted to different objects. In this case, the workpiece carrier 4 with a specific retaining means 5 is via the docking device 3 a from 3 except dissolved or another workpiece carrier 4 is connected with a modified retaining means 5 with the receiving device. 3

The device for positioning an object holding device 1 also has a bearing carriage 8 and a control carriage 13 , the bearing carriage 8 , the control carriage 13 and the receiving device 3 being connected to one another via a coupling device 2 . Via this coupling device 2 , a movement of the control slide 13 and / or a movement of the bearing slide 8 is transmitted to the receiving device 3 and thus to the object holding device 21 .

In the embodiment shown in Fig. 1, the coupling device 2 has at least a first and a second rod-shaped connecting element 11 a and 11 b.

The first rod-shaped connecting element 11 a of the coupling device 2 is articulated at a first connection point 6 to the receiving device 3 and articulated at a first bearing point 7 to the bearing slide 8 .

The second rod-shaped connecting element 11 b of the coupling device 2 is articulated to the control slide 13 at a second connecting point 12 . Furthermore, the first connecting element 11 a and the second Verbindungsele element 11 b are connected to each other at a likewise articulated third connection point 10 .

Both the bearing point 7 and the first, second and third connec tion point 6 , 12 and 10 are preferably designed as a hinge joint.

By the supported on the bearing carriage 8 first rod-shaped connecting element 11 a of the coupling device 2 , the receiving device 3 is carried or leads. Because of this function, the first connecting element is referred to below as the carrier rod 11 a.

B via the connected to the control slide 13 second connecting element 11 is a force in the support bar 11 a can be introduced. Because of this function, the second connecting element is referred to below as the handlebar 11 b.

In the exemplary embodiment shown in FIG. 1, the control slide 13 is guided along a first longitudinal guide of the first guide rail 14 and the bearing slide 8 along the second longitudinal guide of the second guide rail 9 . The first and second guide rails 14 and 9 are preferably designed as rectilinear guide rails. The first and the second guide rails 14 and 9 are also preferably arranged parallel to one another.

Along the first and second guide rails 14 and 9 , the control slide 13 and the bearing slide 8 are linearly movable. Here, the control carriage 13 by means of a directly connected to the control carriage 13 first Antriebsvorrich device and the bearing carriage 8 by means of a directly connected to the bearing carriage 8 NEN second drive device is preferably independently displaceable.

As a result, a distance between the control slide 13 and the bearing slide 8 can be changed. A change in the distance between the control slide 13 and the bearing carriage 8 is in this case by the described arrangement of the support rod 11 and a handlebar 11 b balanced.

The distance between the control carriage 13 and the bearing carriage 8 is thus generally different from a distance between the first and the second guide rails 14 and 9 , on which the control carriage 13 and the bearing carriage are GE.

However, the device for positioning an object holding device 1 is not limited to the described exemplary embodiment of the coupling device 2 . In ei nem further, non-shown embodiment, the steering rod 11 a and / or the support rod 11 b are designed as telescopic rods. In principle, it is also conceivable to use another, not shown, length-adjustable device for the coupling device 2 in the area between the control slide 13 and the bearing slide 8 , which device can transmit longitudinal and lateral forces with respect to its longitudinal axis, such as hydraulic or pneumatic cylinders.

The first and the second drive device of the control slide 13 and of the bearing slide 8 have linear motors in the exemplary embodiment shown in FIG. 1. However, in other exemplary embodiments, not shown, other drive devices, such as, for example, linear drives with servomotors or hydraulic or servohydraulic drives, which are not arranged directly between the guides and the guide strips, can also be used. In addition, a displacement of the control slide 13 and / or a displacement of the bearing slide 8 by hydraulic or pneumatic cylinder arrangements is also conceivable.

With a change of the relative distance between the control slide 13 and the bearing carriage 8 is over the array of support bar 11 a and handlebar rod 11 b a moment around the supporting point 7 as a fulcrum into the apparatus for positioning a specimen holding device 1 initiated. A lever arm is given by a distance between the second connection point 12 on the control slide 13 and the bearing point 7 on the bearing slide 8 . There is a rotational movement of the support rod 11 a about the bearing point 7 . This rotary movement is conveyed via the carrier rod 11 a to the receiving device 3 .

Thus, a linear movement of the control carriage 13 and / or a linear movement of the bearing carriage 8 via the coupling device 2 is conveyed to the receiving device 3 and above to the object holding device 21 . Because of these linear movements, the object holding device 21 is stored in a vertical and / or a horizontal movement in accordance with the described rotary movement.

It is advantageous to control a movement of the control carriage 13 and / or a movement of the bearing carriage 8 via at least one preferably programmable control device (not shown).

It is also advantageous if an actual position of the control slide 13 and / or of the bearing slide 8 is detected via at least one measuring system and a corresponding position signal is sent to the control device.

Furthermore, it is advantageous if the control device has a storage device (not shown) in which predefined movement sequences of the receiving device 3 and thus the object holding device 21 are stored as a function of the linear movement of the control slide 13 and the bearing slide 8 .

As described, the receiving device 3 of the device for positioning an object holding device 1 in the exemplary embodiment shown in FIG. 1 is rotatably mounted with the support rod 11 a of the coupling device 2 at the first connection point 6 .

A possible, in FIG. 1, indicated by the arrow S rotational movement S to the first connection point 6 is in the shown embodiment by a Ab support device supported 17, wherein the landing gear assembly to the bearing carriage 8 is arranged between the receiving device 3 and 17.

The support device 17 is preferably designed as a rod-shaped support rod, which is aligned essentially parallel to the support rod 11 a of the coupling device 2 . The support rod 17 is articulated at a fourth connection point 18 with the receiving device 3 and in a fifth connection point 19 with the La slide 8 . The fourth and fifth connection points 18 and 19 are designed as a hinge joint.

However, the device for positioning an object holding device 1 is not limited to the exemplary embodiment of the supporting device 17 shown in FIG. 1 as a supporting rod. In a further embodiment, not shown, the support device 17 is designed to be variable in length. The Abstützungsvor direction 17 has pneumatic or hydraulic cylinders, mechanical springs or telescopic rods.

By changing the length of the length-adjustable support device 17 , the receiving device 3 and thus the object holding device 21 can be pivoted about the connection point 6 .

Such a length-adjustable support device 17 , depending on egg ner weight distribution of the object holding device 21 with and / or without an object to be held, creates a compensation device for a changing weight distribution. In addition, the object holding device 21 is pivotable in any angle between a horizontal position (0 °) and a vertical position (90 °).

In a further embodiment not shown, the support rod approximately example described in the preferred exporting is, Gert gela on a guide carriage which is displaceable along the first or the second guide rail 14 and 9 17th About a differential movement to the bearing carriage 8 , a rotary movement S of the receiving device 3 about the connection point 6 can also be carried out.

Fig. 2 shows a front view of the device for positioning an object holding device 1 with the first and second guide rails 9 and 14 , on which the bearing carriage 8 and the control carriage 13 are arranged displaceably.

In the embodiment shown, the support rod 11 a and the handlebar rod 11 b of the coupling device 2 and the support device 17 each have two rod-shaped connecting elements. The respective connecting elements of the support rod 11 a, the handlebar 11 b and the support device 17 are each arranged adjacent to side surfaces of the control slide 13 , the bearing slide 8 and the receiving device 3 and with these side surfaces via the connection points 6 , 12 , 18 and 19 and the hinge point 7 articulated. In addition, the respective connecting elements of the support rod 11 a, the handlebar rod 11 b and the support device 17 are each aligned parallel to each other. According to the embodiment shown, continues to be the connection point 10 between the support rod 11 and a handlebar 11 b as a hinge joint leads out.

The present device for positioning an object holding device 1 is however not limited to the exemplary embodiment shown with two separate guide rails 9 and 14 . In a further, not shown embodiment of the control slide 13 and the support carriage are guided along a common rail approximately Füh. 9

In Fig. 3 the device for positioning an object holding device 1 is shown in a perspective view.

In this illustration the docking system 3 a for receiving the workpiece carrier 4 with the retaining means 5 of the receiving apparatus 3 of the device is to Positionin of the specimen holding device 1 shown in greater detail ren. This docking system 3 a has an arrangement of index bolts and tensioners.

When changing the workpiece carrier 4 with the holding means 5 , the workpiece carrier 4 can be separated from the receiving device 3 in a simple and time-saving manner. Horizontal placement of the workpiece carrier 4 with a part-specific holding means 5 is made possible. This creates a simple way of changing workpiece-specific holding devices.

The mode of operation of the device for positioning an object-holding device 1 will now be explained in more detail with reference to exemplary movements of the control slide 13 and the bearing slide 8 .

In a first example of a sequence of movements, the control slide 13 and the bearing slide 8 are each displaced by a distance with the amount X in one direction along the first and the second guide rails 14 and 9 . The rela tive distance between the control carriage 13 and the bearing carriage 8 thus remains constant.

As a result, the ver with the bearing slide 9 and the control slide 13 connected recording device 3 and thus the object holding device 21 contained therein and thus also a held object parallel to the guide rails 9 and 14 in a rectilinear movement.

If the guide rails 9 and 14 are arranged horizontally, the object holding device 21 and thereby a held object moves in a horizontal plane by the amount X in a direction corresponding to the directions of movement of the control slide 13 and the bearing slide 8 .

Such a forward or backward movement is only limited by the dimensions of the guide rails 9 , 14 . A change in the amount of a forward or backward movement can be implemented quickly and easily by adapting parameters of the control device.

In a second example of a sequence of movements of the control carriage is moved by a distance X with the amount in a first direction along the first guide rail 14. 13 Furthermore, the bearing carriage 8 is held in position on the second guide rail 9 . Here will be described a change of the relative distance of the control slide 13 to support carriage 8 by the Anord voltage of support rod 11 and a handlebar 11 b of the coupling device 2 of balanced.

As a result of the change in the relative distance between the control slide 13 and the bearing slide 8 , the coupling device 2 rotates about the bearing point 7 , at which the support rod 11 a of the coupling device 2 is connected to the bearing slide 8 . Thus, the receiving device 3 moves on a circular path around the bearing point 7th The circular movement of the receiving device 3 is supported via the bearing slide 8 .

According to the described circular movement of the receiving device 3 , the object holding device 21 and thus a held object is moved on a circular path, the circular path having a horizontal and a vertical portion. Thus, the object holding device 21 performs a combined horizontal and vertical movement.

Due to the preferred embodiment shown in FIG. 1, NEN arrangement of support rod 17 and support rod 11 a, a relative direction from the receiving device 3 and the bearing carriage 8 is maintained. For the exemplary embodiment shown in FIG. 1, a parallel alignment of the bearing carriage 8 and the receiving device 3 is thus maintained. Furthermore, the guide rail 9 of the bearing carriage 8 is aligned horizontally, an object held by the object holding device 21 maintains a horizontal position even during the described combined horizontal and vertical movement.

Moves in this second example of the control slide 13 in the direction Guide # approximately carriage 8, the receiving device and the object holding means 21 is moved on a circular path around the hinge point 9 of the guide rail 9 Wegbe.

However, the control carriage 13 moves in this second example, away from La Gerschmann suffered 8, the relative distance between the control slide 13 and Lagerschlit ie th 8 increases, the receiving device and thus the Objekthaltevor will direction 21 on a circular path around the pivot point 9 to the guide rail 9 moving towards.

In a third example of a movement sequence, the control slide 13 is shifted by the distance with the amount X and the bearing slide 8 by a distance with the amount Y. If a difference between the amounts X and Y on the horizontal part of the circular movement is matched such that the difference between the amounts X and Y is opposite and equal to the horizontal part of the circular movement, this horizontal part is compensated. As a result, the receiving device and thus the object holding device 21 perform an exclusively vertical movement.

Thus, a held object can only be moved vertically by the control slide 13 and the bearing slide 8 are moved relative to one another in accordance with predefined movement sequences.

A superimposition of the described motion sequences of the control slide 13 and the bearing slide 8 by means of a corresponding programmable control of the first and the second drive device enables an arbitrary movement curve to be mapped in vertical and horizontal movement directions with a freely selectable sequence of horizontal and vertical sections, one extent the respective horizontal and vertical sections can also be freely selected.

If the support device 17 can also be changed in length, the movement curve of the receiving device 3 can also be combined with a swiveling movement of the receiving device 3 around the connection point 6 . As a result, the object holding device 21 can pick up or deposit an object at any angle to the horizontal.

Furthermore, it is possible to expand the described two-dimensional vertical and horizontal movement into a third dimension, in that the receiving device 3 can be rotated about an axis normal to the first and second guide rails 14 , 9 .

For this purpose, it is also conceivable to use an additional, articulated connection between the holding device 3 and the workpiece carrier 4 for such a horizontal rotary movement.

Claims (19)

1. Device for positioning an object holding device ( 1 ) with at least one control slide ( 13 ) and a bearing slide ( 8 ), the control slide ( 13 ) and the bearing slide ( 8 ) being displaceable independently of one another along at least one guide device ( 9 , 14 ) are, a receiving device ( 3 ) for an object holding device ( 21 ) and at least one coupling device ( 2 ) between the control slide ( 13 ), the bearing slide ( 8 ) and the receiving device ( 3 ), the coupling device ( 2 ) at least on the bearing slide ( 8 ) is articulated. 2. Device for positioning an object holding device according to claim 1 since characterized in that the coupling device rod at least one handlebar ( 11 a) and a support rod ( 11 b). 3. Device for positioning an object holding device according to claim 1 or 2, characterized in that the control carriage ( 13 ) on a first guide device ( 14 ) and the bearing carriage ( 8 ) on a second guide device ( 9 ) is displaceable. 4. Device for positioning an object holding device according to at least one of the preceding claims 1 to 3, characterized in that the first and the second guide means ( 9 , 14 ) are linear. 5. A device for positioning an object holding device according to claim 4, characterized in that the first and the second guide means ( 9 , 14 ) are arranged parallel to each other. 6. Device for positioning an object holding device according to at least one of the preceding claims 1 to 5, characterized in that the first and the second guide means ( 9 , 14 ) are designed as guide rails. 7. Device for positioning an object holding device according to at least one of the preceding claims 2 to 6, characterized in that the Len kerstange ( 11 a) and the support rod ( 11 b) of the coupling device ( 2 ) are rod-shaped. 8. Device for positioning an object holding device according to at least one of the preceding claims 2 to 7, characterized in that a first connection point ( 6 ) between the receiving device ( 3 ) and the Trägerstan ge ( 11 b) of the coupling device ( 2 ) and / or a Bearing point ( 7 ) between the support rod ( 11 b) of the coupling device ( 2 ) and the bearing slide ( 8 ) and / or a second connection point ( 12 ) between the handlebar ( 11 a) of the coupling device ( 2 ) and the control slide ( 13 ) as Hinge joints are out. 9. Device for positioning an object holding device according to at least one of the preceding claims 2 to 8, characterized in that the carrier rod ( 11 a) and / or the handlebar ( 11 b) of the coupling device ( 2 ) each have two on opposite side surfaces of the control slide ( 13 ) or the bearing carriage ( 8 ) arranged rod-shaped connecting elements and these connecting elements are connected to one another via a common hinge joint ( 10 ). 10. An apparatus for positioning a specimen holding apparatus according to at least one of the preceding claims 1 to 9, characterized by a different bearing-cutting device (17), said support device (17) is formed between the support carriage (8) and the receiving device (3) and handy in Wesent runs parallel to the support rod ( 11 b) of the coupling device ( 2 ). 11. A device for positioning an object holding device according to claim 10, characterized in that the support device ( 17 ) is variable in length bar. 12. Device for positioning an object holding device according to claim 11, characterized in that the length-adjustable support device a  has pneumatic or hydraulic cylinders or mechanical springs. 13. Device for positioning an object according to at least one of the preceding claims 1 to 12, characterized in that the control slide tens ( 13 ) by means of a with the control slide ( 13 ) connected to the first drive devices and the bearing slide ( 8 ) by means of one with the Bearing carriage ( 8 ) connected second drive device is displaceable. 14. Device for positioning an object holding device according to claim 13, characterized in that the first and / or the second drive device Linear drives with servomotors, or hydraulic drives, or servohydrauli have drives. 15. Device for positioning an object holding device according to at least one of the preceding claims 1 to 14, characterized in that a displacement of the control carriage ( 13 ) and / or a displacement of the bearing carriage ( 8 ) can be controlled via at least one control device. 16. Device for positioning an object holding device according to claim 15, characterized in that the control device is programmable. 17. A device for positioning an object holding device according to claim 15 or 16, characterized in that in a storage device of the control device movement profiles for the object holding device ( 21 ) depending on the displacement of the control slide ( 13 ) and / or the displacement of the bearing slide ( 8 ) are stored. 18. Device for positioning an object holding device according to at least one of the preceding claims 1 to 17, characterized in that a position of the receiving device and / or the object holding device ( 21 ) and / or the control slide ( 13 ) and / or the bearing slide ( 8 ) is detected via at least one measuring system. 19. Device for positioning an object holding device according to at least one of the preceding claims 1 to 17, characterized in that the object holding device ( 21 ) has a workpiece holder ( 4 ) and holding means ( 5 ), the workpiece holder ( 4 ) in a holding device ( 3 ) is held.