DE102007033908B3 - Handling device for repositioning pieces, has handling part that is spaced from gripper to rotate around axis of rotation in direction at right angle to working motion and is supported in fixed manner in working unit - Google Patents

Abstract

The handling device has a handling part (7) that is spaced from a gripper (4) to rotate around an axis of rotation (34) in a direction at right angle to a working motion (27). The handling part is supported in fixed manner in a working unit (25). The two cam followers (12,13) are radially spaced and displaced in peripheral direction of the axis of rotation, and are arranged on the handling part that forms a drive lever arm (43,44). The drive lever arm is engaged with two intersecting pre-set tracks (14,15) that extend adjacent to each other.

Description

The Invention relates to a handling device for repositioning parts, with an at least in the use state of the handling device with a gripper equipped handling part, which through to a linear working movement drivable output unit of a linear drive device to a handling movement controlled by two path presetting curves is drivable in their execution the gripper a lying in a handling level handling track passes.

A handling device of this kind goes out of the EP 1538117 B1 out. It is used to reposition parts that are taken at a first position in a linear motion and then discontinued at a second position with a new linear motion. The umzupositionierende each part is held during the Umpositioniervorganges of a gripper, which sits on a handling part that is adjustable in two mutually perpendicular directions. About a cam follower engages the handling part in a U-shaped first path specification curve, through which a likewise U-shaped handling path of the gripper is specified. The driving force is introduced by a linear drive device in the aforementioned lever, which is also connected via a further cam follower with a second path specification curve in engagement. The transition of the handling path between two mutually perpendicular track sections is achieved in that the further curve follower passes through a cam-controlled point device within the second path specification curve.

The known handling device works reliably, However, it has a relatively complex and therefore expensive structure. Furthermore can only relatively simple trajectories the handling path with mutually perpendicular track sections will be realized.

From the DE 29618418 U1 Handling devices are also already apparent in which a handling path is defined by curve followers running in path specification curves. On the drive side, however, resorted to a rotary drive device, so that the realizable strokes are severely limited.

It is an object of the present invention, a the cited above Characteristics exhibiting handling device to create, with the relatively easy to realize even more complex gradients of the handling trajectory leave without indifferent intermediate positions occur.

to solution This object is provided that the handling part spaced to the gripper at a right angle to the direction of the working movement Pivotable pivotable and otherwise stationary on the output unit is stored, and that on the handling part to form a respective drive lever arm two spaced radially to the pivot axis and in the circumferential direction the pivot axis arranged mutually offset cam followers arranged are, each with one of two extending side by side and to cross at least once Bahnvorgabekurven engaged such that when a the two curve followers a crossing point of the two path specification curves goes through the other curve follower through the assigned path specification curve Defining a momentary pole for the pivoting movement of the handling part supported is.

On in this way, without the use of complex switching mechanisms, extremely diverse courses of Handling tracks realized. Under recourse to the invention Prin zip can very easy too 180 ° outgoing swivel angle for the Handling part can be realized without kinematic singularities occur, so indifferent intermediate positions. With appropriate length of Rail specification curves can in principle even swivel movements realized by a multiple of 360 ° become. The generated handling movement can be superimposed at will Linear movements and pivoting movements have, but also sections with pure linear motion. For the generation of the handling movement satisfies the exercise of the linear work movement through that provided linear drive device, the latter preferably from the means of fluid force actuated Type is, however, also readily as electrical or combined be formed electrically-fluidic linear drive device can.

Though would it be in principle conceivable, one of a linear motion superimposed pivotal movement By realizing that you have a pinion on a rack rolls. With that left However, always only constant relationships between linear motion and realize pivotal movement. In contrast, it can be according to the invention appropriate coordination of the two path specification curves a practical any share ratio realize between linear movement and pivoting movement.

advantageous Further developments of the invention will become apparent from the dependent claims.

The handling part expediently has a gripper carrier, which is either fixedly equipped with the gripper or a fastener tion interface for equipping with a gripper. From this gripper carrier can then, for example in one piece, the two each project a cam follower supporting drive lever arms. Particularly useful an embodiment is considered, in which the gripper carrier rotatably connected to a pivot axis defining the bearing shaft, on which in turn the two drive lever arms are rotatably arranged.

Around To achieve high handling speeds, it is expedient to Distance of the curve follower from the pivot axis to choose less than the distance of the gripper to the pivot axis.

The kinematic design leaves Control yourself particularly easily when the two curve followers are arranged at the same radial distance from the pivot axis. It is also advantageous if the angular offset of the two curve followers around the pivot axis is 90 °. This is especially before geous in combination with each other the same Distance of the curve follower to the swivel axis.

Around defining the respective instantaneous pole is the relevant path specification curve in particular designed so that they are the curve follower at the same time in the two possible Directions of the working movement is supported when he is at the point concerned has arrived.

Especially Small dimensions of the handling device are possible when an arrangement is made is, in which the two path specification curves along the of the driven unit in its linear working movement Extend working distance. The working distance and the path specification curves So here are practically alongside side by side.

The two path specification curves are expediently in one of the Pivot axis of the handling part rectangular common handling level arranged.

Around To achieve the desired to define the instantaneous pole support, the assigned lane specification curve two in a curve tip merging into each other arcuate Have curve sections. It then arises in particular a Course of the trajectory comparable to a ridge. The curve top can in particular be superimposed by itself Endab sections of the two successive arcuate curve sections defined be.

Should a crossing point for causing a relatively large swing angle are traversed successively by both curve followers are both Path presetting curves for the momentary support of the other curve follower designed. It can then in particular both path presetting curves each at least one Curve tip of the kind described have in the direction the working movement of the output unit spaced from each other are. It may be a kind of phase-shifted course of the set both path specification curves.

With of the invention from a linear input movement a positively controlled output movement realize, with the latter in virtually any ratio from can compose linear and rotary sections and where at constant input speed also variations in the initial speed, both in the linear and in the rotational portion, are possible.

following The invention will be explained in more detail with reference to the accompanying drawings. In show this:

1 a schematic side view of a preferred embodiment of the handling device according to the invention, wherein the handling part is shown in solid lines when taking a first end position and dash-dotted on taking a second end position and wherein dash-dotted lines the traversed by the gripper at the transition between the first and second end position handling path is indicated and

2 - 7 different phases of the movement sequence when moving the handling part between the in 2 shown first end position and the in 7 shown second end position.

The generally in the drawing with reference numeral 1 designated handling device allows repositioning parts of any kind between a in 1 and 2 shown first end position and one out 7 apparent second end position. The repositioning process can be carried out in both directions. A umzupositioning part, such as a shaft piece is indicated in the drawing at 2.

At the transition between the two end positions, the part moves 2 according to one in 1 dash-dotted lines indicated handling track 3 , which for releasably holding the umzupositionierenden part 2 serving gripper 4 suitable design goes through.

At the gripper 4 By way of example, it is a pincer-like gripper that can be moved by means of pivotable or parallel movable gripping jaws 5 features that are electrically or by fluid press force to the part 2 to hold or release as needed. As another possible embodiment for the gripper 4 For example, suction grippers or magnetic grippers may be mentioned, which are the part to be handled 2 can hold by negative pressure or by magnetic force.

The handling device 1 has a basic body 6 during the operation of the handling device 1 usually stationary. It may be attached to a support wall not shown in detail or on a machine frame. The gripper 4 is at a relative to the main body 6 movable handling part 7 arranged, whose as a handling movement 8th designated and indicated by an arrow relative movement to the body 6 the relocation of the part 2 along the handling track 3 causes.

The handling movement 8th is characterized by a purely in 1 and 2 indicated, firmly on the body 6 arranged linear drive device 11 caused. She stands with the handling part 7 in drive connection.

The handling movement is controlled 8th through two with the handling part 7 motion-linked curve follower 12 . 13 of which the one, first turn follower 12 with a first path specification curve 14 and the other, second turn follower 13 with a second path specification curve 15 interacts, each acting like a backdrop as control curves.

The orbit default curves 14 . 15 are at the base body 6 fixedly arranged. In particular, they are formed by slots or grooves into which the curve followers 12 . 13 engage to be guided by the slot or groove flanks. At the curve followers 12 . 13 it may be fixed components, but preferably rotatably mounted roller elements.

The linear drive device 11 has a longitudinal extent with a longitudinal axis 16 , With her case 17 is she at the body 6 attached. Inside the case 17 is located by supplying drive energy in the axial direction of the longitudinal axis 16 adjustable drive part 18 , which is exemplified by a piston, the interior of the housing 17 divided into two working chambers, each via a fluid line 22 . 23 controlled by a drive fluid, in particular compressed air, can be acted upon to the drive part 18 to relocate. This is therefore a fluid-operated linear drive device 11 but it is alternatively also an electric or a combined electric-fluidic linear drive device 11 could act. For example, the drive part could 18 one in the housing 17 rotatably fixed spindle nut, which is on a in the housing 17 extending, electromotively rotatable drive spindle runs.

About power transmission means 24 , For example, through a longitudinal slot of the housing 17 outstanding driver, is one outside the case 17 arranged output unit 25 with the drive part 18 motion-coupled. The output unit 25 is at one outside the case 17 arranged and parallel to the longitudinal axis 16 extending linear guide device 26 guided linearly displaceable. Leads the drive part 18 its driving motion through, this has a simultaneous, at 27 indicated by a double arrow working movement of the output unit 25 along the linear guide device 26 and consequently in the axial direction of the longitudinal axis 16 result.

As an example, the output unit includes 25 one on the linear guide device 26 slidably mounted guide carriage 28 and a bearing block attached to it 32 , Other designs are also possible.

The handling part 7 is in the range of one spaced from the gripper 4 arranged storage section 33 at the output unit 25 - exemplified on the bearing block 32 - pivoted. Other degrees of freedom of movement with regard to the output unit 25 owns the handling part 7 Not. In particular, it is transverse to the pivot axis defined by the pivot bearing means 34 stationary with respect to the output unit 25 supported.

The pivot axis 34 runs at right angles to the direction of the working movement 27 , It is in the embodiment also at a distance from the longitudinal axis 16 arranged.

The gripper 4 is one with respect to the handling part 7 independent component, which is attached to a dedicated mounting interface 35 detachable on the handling part 7 is fixed, so that alternatively also other grippers 4 can be attached. However, it would be possible without further ado, handling part 7 and grapple 4 to perform as a permanent unit.

When pivoting about the pivot axis 34 the handling part moves 7 in one to the pivot axis 34 rectangular, parallel to the drawing plane parallel handling level. The direction of the work movement 27 is oriented parallel to this handling level.

The two path specification curves 14 . 15 are suitably in a common plane which is parallel to the handling level.

The handling part 7 is functional in several with respect to the pivot axis 34 rotatably interconnected components divided. All of these components protrude transversely from the pivot axis 34 path.

One of these components is an especially in the manner of an arm trained and if necessary one or more times kinked gripper carrier 36 whose one end section is the bearing section 33 forms and whose other end portion with the gripper 4 is equipped. The gripper carrier 36 is rotatably mounted on a bearing block 32 passing through bearing shaft 42 , at the, also non-rotatable, also two radially projecting first and second drive lever arms 43 . 44 are arranged.

The two drive lever arms 43 . 44 are in the embodiment so with respect to the gripper carrier 36 separate components, but can also readily integrally with the gripper carrier 36 be educated. Also another rigid attachment separate drive lever arms 43 . 44 on the gripper carrier 36 would be possible.

In any case, the circumstances of the described arrangement are such that the gripper carrier 36 and the two drive lever arms 43 . 44 always only together around the pivot axis 34 are pivotable.

The first drive lever arm 43 carries with radial distance to the pivot axis 34 the first curve follower 12 , In a corresponding manner is on the second drive lever arm 44 with radial distance to the pivot axis 34 the second curve follower 13 arranged.

The two drive lever arms 43 . 44 protrude in a plane parallel to the handling plane at an offset angle 45 from the pivot axis 34 path. As a result, the two curve followers 12 . 13 in the circumferential direction of the pivot axis 34 , So around this pivot axis 34 around, offset from one another. A particularly advantageous angular offset in the range of 90 ° has proven, although this also deviations are possible.

For the design of the entire kinematics, an offset angle 45 of 90 ° is particularly advantageous. The same applies to the maintenance of an equal radial distance between the pivot axis 34 and each of the two curve followers 12 . 13 , These conditions are satisfied in the embodiment in an advantageous manner.

The distance of each curve follower 12 . 13 to the pivot axis 34 is expediently less than the distance between the pivot axis 34 and the gripper 4 , As a result, very dynamic motion sequences can be realized.

The two path specification curves 14 . 15 Expediently extend along the working distance, which the working unit 25 in carrying out their working movement 27 goes through to the handling part 7 to spend between the two end positions.

The two path specification curves 14 . 15 are designed very similar. They each have a first end section 12a . 13a in which is the associated curve follower 12 . 13 during the first end position of the handling part 7 and an opposite second end portion 12b . 13b in which is the associated curve follower 12 . 13 during the second end position of the handling part 7 located.

Every track specification curve 14 . 15 has one from the first end section 12a . 13a outgoing first arcuate curve section 14a . 15a , which describes in particular a circular arc. This first arcuate curve section 14a . 15a ends in each case in a curve tip 14b . 15b , to each of which a second arcuate curve section 14c . 15c followed. The curve inside of all curve sections 14a . 15a . 14c . 15c have the same side, in the embodiment to the longitudinal axis 16 out. The course of the curve therefore resembles in each case the silhouette of a mountain with the top of a curve lying in the ridge 14b . 15b ,

The curve top 14b . 15b can in particular by overlapping end portions of the two consecutive arcuate curve sections 14a . 15a . 14c . 15c be defined.

To the second arcuate curve section 14c . 15c joins at the top of the curve 14b . 15b opposite side each still a linear curve section 14d . 15d on, with the direction of movement of the working movement 27 coincides.

The two path specification curves 14 . 15 are in the direction of the labor movement 27 comparable to a phase shift arranged offset to one another such that between the two curve peaks 14b . 15b there is a gap. In addition, the first end portion lies 12a the first path specification curve 14 closer to that of the output unit 25 passed working distance as the first end portion 13a the second path specification curve 15 , From this constellation, it turns out that the two path specification curves 14 . 15 in a crossing point 46 cross. Exemplary becomes the crossing point 46 by a crossing arrangement of the first arcuate Kurvenabschnit tes 15a the second path specification curve 15 and the second arcuate curve portion 14c the first path specification curve 14 receive.

In the exemplary embodiment, the two path specification curves intersect 14 . 15 in just a single crossroads 46 , Especially when the lane specification curves 14 . 15 can also have several in the direction of the working movement over a greater length 27 spaced intersections may be present.

The handling movement 8th of the handling part 7 becomes exclusively through the labor movement 27 caused. The at the work movement 27 linearly displaced output unit 25 pulls the pivot bearing portion of the handling part 7 with, with the curve follower 12 . 13 along the respective assigned path specification curve 14 . 15 be relocated. Corresponding to the curve of the two path specification curves 14 . 15 in this case, the linear movement of the handling part 7 superimposed to a greater or lesser extent a pivoting movement. The curve deviates from the parallelism to the working movement 27 from, learn the curve followers 12 . 13 a lateral force, from the one handling part 7 around the pivot axis 34 pivoting torque results.

The curves are such to the placement of the curve follower 12 . 13 adapted so that no mutual disability occurs. As long as both curve followers 12 . 13 in the assigned path specification curve 14 . 15 are guided learns the handling part 7 in the circumferential direction of the pivot axis 34 a reliable support.

A critical phase is the passage of a curve follower 12 or 13 through the crossing point 46 , The relevant curve follower is missing here 12 . 13 short-term safe support. However, this is compensated by a pertinent kinematic design, that if the respective one curve follower 12 or 13 the crossing point 46 goes through, the other curve follower 13 . 12 at the same time in one of the curve tips 14b . 15b has arrived. He is there by the sidewalls of the relevant path specification curve 14 or 15 in both possible directions of the working movement 27 supported, so that forms a kind of Momentanpol to the handling part 7 is pivoted until the former Kurvenfolger 12 . 13 the crossing point 46 happened.

In the out 2 to 7 the apparent phases of the procedure show the 3 a state where the slightly leading first turn follower 12 just before dipping into the top of the curve 14b the first lane departure curve passed by him 14 stands.

In the 4 has the first turn follower 12 his momentary pole function just fulfilled, but is still in the curve top 14b , The second turn follower 13 has the crossing point 46 already happened.

In the 5 has the first turn follower 12 the curve top 14b the cooperating with him first first-course curve 14 just left, and the second turn follower 13 is just before entering the top of the curve 15b cooperating with him second lane specification curve 15 ,

The 6 shows a state in which the second curve follower 13 for executing its instantaneous pole function in the top of the curve 15b his second orbit default curve 15 has arrived, while the first turn followers 12 just before reaching and passing the crossing point 46 stands.

After during the further work movement 27 both curve followers 12 . 13 in the linear curve section 14d . 15d their orbit specification curve 14 . 15 have occurred, the angular position of the handling part changes 7 no more. The handling movement 8th is then only exclusively a linear movement parallel to the working movement 27 ,

The 7 shows the second end position after both curve followers 12 . 13 the here at the end of the linear curve sections 14d . 15d lying second end portions 12b . 13b the two lane curves 14 . 15 achieved.

Through the at least one crossing point 46 is it possible the handling part 7 in his handling movement 8th to pivot more than 180 °. The curve tips 14b . 15b make sure that the handling part 7 also when passing a crossing point 46 is not exposed to a kinematic singularity. The direction of movement and pivoting direction of the handling part 7 is always forced to the direction of movement of the output unit 25 coupled, so that even in the event of a possible reversal of motion during a fading fens of a crossing point 46 no instabilities can occur.

The handling device converts a purely linear input movement (working movement 27 ) in a positively controlled rotary or pivoting movement with any angle of rotation, which may be more than 360 °. The achievable Drehbeziehungsweise pivot angle depends on the available linear stroke of the output unit 25 from. The Drehbeziehungsweise pivotal movement of the handling part 7 is superimposed on a linear movement, but there is the possibility by linear curve sections also purely linear sections of the handling movement 8th to generate. By correspondingly modified courses of the path specification curves 14 . 15 you can easily the ratio between the linear motion component and the Schwenkbewegungsanteil within the handling movement 8th vary.

Claims (14)

Handling device for repositioning parts, with at least in the use state of the handling device ( 1 ) with a gripper ( 4 ) handling part ( 7 ), which leads to a linear working movement ( 27 ) drivable output unit ( 25 ) a linear drive device ( 11 ) to one through two path presetting curves ( 14 . 15 ) controlled handling movement ( 8th ) is drivable in their execution of the gripper ( 4 ) passes through a handling path lying in a handling plane, characterized in that the handling part ( 7 ) spaced from the gripper ( 4 ) around the direction of the working movement ( 27 ) right-angled pivot axis ( 34 ) pivotable and otherwise stationary on the output unit ( 25 ) and that on the handling part ( 7 ) forming each of a drive lever arm ( 43 . 44 ) two to the pivot axis ( 34 ) each radially spaced and in the circumferential direction of the pivot axis ( 34 ) staggered followers ( 12 . 13 ) are arranged, each with one of two adjacent to each other and at least once cross-over Bahnvorgabekurven ( 14 . 15 ) in such a way that when one of the two cam followers ( 12 . 13 ) a crossing point ( 46 ) of the two path specification curves ( 14 . 15 ), the other curve follower ( 13 . 12 ) by the path presetting curve assigned to it ( 15 . 14 ) defining a momentary pole for the pivoting movement of the handling part ( 7 ) is supported. Handling device according to claim 1, characterized in that the handling part ( 7 ) one with the gripper ( 4 ) equipped or equipable, from the pivot axis ( 34 ) protruding gripper carrier ( 36 ) and two with respect to the pivot axis ( 34 ) rotatably with the gripper carrier ( 36 ) and also transversely of the pivot axis ( 34 ) projecting drive lever arms ( 43 . 44 ) each having one of the curve followers ( 12 . 13 ) wear. Handling device according to claim 2, characterized in that the gripper carrier ( 36 ) is designed in the manner of an arm. Handling device according to one of claims 1 to 3, characterized in that the distance of the gripper ( 4 ) to the pivot axis ( 34 ) is greater than the distance of each cam follower ( 12 . 13 ) from the pivot axis ( 34 ). Handling device according to one of claims 1 to 4, characterized in that the two curve followers ( 12 . 13 ) with the same radial distance to the pivot axis ( 34 ) are arranged. Handling device according to one of claims 1 to 5, characterized in that the offset of the two curve followers ( 12 . 13 ) about the pivot axis ( 34 ) around a circumferential angle of about 90 °. Handling device according to one of Claims 1 to 6, characterized in that the curve follower defining the instantaneous pole ( 12 . 13 ) from its assigned path specification curve ( 14 . 15 ) simultaneously in the two possible directions of the working movement ( 27 ) is supported. Handling device according to one of claims 1 to 7, characterized in that the two path specification curves ( 14 . 15 ) along that of the output unit during its linear working movement ( 27 ) extend working distance. Handling device according to one of claims 1 to 8, characterized in that the two path presetting curves ( 14 . 15 ) in one to the pivot axis ( 34 ) at a right-angle common level. Handling device according to one of claims 1 to 9, characterized in that at least one of the path specification curves ( 14 . 15 ) two in a curve top ( 14b . 15b ) arcuate curved sections ( 14a . 14c ; 15a . 15c ), wherein the this path specification curve ( 14 . 15 ) associated curve followers ( 12 . 13 ) in the area of the top of the curve ( 14b . 15b ) and thereby in both directions of the working movement ( 27 ) is supported when the other cam follower ( 13 . 12 ) a crossing point ( 46 ) of the two path specification curves ( 14 . 15 ) happens. Handling device according to claim 10, characterized in that both path presetting curves ( 14 . 15 ) at least one curve tip ( 14b . 15b ) in which the associated curve follower ( 12 . 13 ) is supported when the other cam follower ( 13 . 13 ) a crossing point ( 46 ). Handling device according to claim 11, characterized in that the curve tips ( 14b . 15b ) of the two path specification curves ( 14 . 15 ) in the direction of the working movement ( 27 ) of the output unit ( 25 ) are arranged spaced from each other. Handling device according to one of claims 1 to 12, characterized in that the two path presetting curves ( 14 . 15 ) in parallel other running linear curve sections ( 14d . 15d ), as they pass through the curve follower ( 12 . 13 ) the angular position of the handling part ( 7 ) with respect to the pivot axis ( 34 ) remains constant. Handling device according to one of claims 1 to 13, characterized in that the linear drive device ( 11 ) is of the fluid-operated type.