DE102008020313B4 - Device for automatic tool or workpiece change - Google Patents
Device for automatic tool or workpiece change Download PDFInfo
- Publication number
- DE102008020313B4 DE102008020313B4 DE102008020313.0A DE102008020313A DE102008020313B4 DE 102008020313 B4 DE102008020313 B4 DE 102008020313B4 DE 102008020313 A DE102008020313 A DE 102008020313A DE 102008020313 B4 DE102008020313 B4 DE 102008020313B4
- Authority
- DE
- Germany
- Prior art keywords
- curve
- drive
- shaft
- housing
- rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/341—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission cam-operated
- B23Q5/347—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission cam-operated controlled in conjunction with tool or work indexing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155428—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about a common axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
- B23Q2003/155439—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable along the pivoting axis
Abstract
Vorrichtung zum automatischen Werkzeug- oder Werkstückwechsel mit einem Hub- und Schwenkantrieb (8, 11, 16, 27) zur Axialverschiebung und Drehung einer innerhalb eines Gehäuses (1) um eine Längsachse (2) drehbar angeordneten und in Richtung der Längsachse (2) verschiebbaren Welle (3), die eine Werkzeug- oder Werkstückwechseleinrichtung (5) trägt, wobei der Hub- und Schwenkantrieb (8, 11, 16, 27) ein innerhalb des Gehäuses (1) drehbar gelagertes und durch einen Antriebsmotor (27) drehbares Kurvenelement (16) mit einer ersten Antriebskurve (17) zur Axialverschiebung der Welle (3) über ein erstes Übertragungselement (8) und einer zweiten Antriebskurve (18) zur Drehung der Welle (3) über ein zweites Übertragungselement (11) enthält, dadurch gekennzeichnet, dass der Antriebsmotor (27) einen innerhalb eines Hohlraums (30) des Kurvenelements (16) untergebrachten Rotor (28) und einen zugehörigen Stator (29) enthält.Device for automatic tool or workpiece change with a lifting and pivoting drive (8, 11, 16, 27) for axial displacement and rotation within a housing (1) about a longitudinal axis (2) rotatably mounted and in the direction of the longitudinal axis (2) displaceable Shaft (3), which carries a tool or workpiece changing device (5), wherein the lifting and pivoting drive (8, 11, 16, 27) rotatably mounted within the housing (1) and rotatable by a drive motor (27) curve element ( 16) with a first drive curve (17) for axial displacement of the shaft (3) via a first transmission element (8) and a second drive curve (18) for rotation of the shaft (3) via a second transmission element (11), characterized in that the drive motor (27) includes a rotor (28) housed within a cavity (30) of the cam member (16) and an associated stator (29).
Description
Die Erfindung betrifft eine Vorrichtung zum automatischen Werkzeug- oder Werkstückwechsel nach dem Oberbegriff des Anspruchs 1.The invention relates to a device for automatic tool or workpiece change according to the preamble of
Eine derartige Vorrichtung ist aus der
Das Antriebskonzept vieler bisher bekannter Werkzeugwechseleinrichtungen mit mechanischen Koppelgetrieben ist jedoch oftmals aufwändig und erfordert einen vergleichsweise großen Bauraum.However, the drive concept of many previously known tool changing devices with mechanical coupling gears is often complex and requires a relatively large amount of space.
Aus der
Aufgabe der Erfindung ist es, eine Vorrichtung der eingangs genannten Art zu schaffen, die ohne aufwändige Steuerung einen schnellen und sicheren Werkzeug- oder Werkstückwechsel in einer robusten und kompakten Bauweise ermöglicht.The object of the invention is to provide a device of the type mentioned, which allows a fast and safe tool or workpiece change in a robust and compact design without complex control.
Diese Aufgabe wird durch eine Vorrichtung mit den Merkmalen des Anspruchs 1 gelöst. Zweckmäßige Weiterbildungen und vorteilhafte Ausführungsformen der Erfindung sind Gegenstand der Unteransprüche.This object is achieved by a device having the features of
Bei der erfindungsgemäßen Vorrichtung ist der Dreh- und Schwenkantrieb zur Axialverschiebung und Drehung der einer auf einer Welle angeordneten Werkzeug- oder Werkstückwechseleinrichtung als Kurvenantrieb mit einem innerhalb eines Gehäuses drehbar gelagerten und durch einen Antriebsmotor drehbaren Kurvenelement ausgeführt. Das Kurvenelement enthält eine erste Antriebskurve zur Axialverschiebung der Welle über ein erstes Übertragungselement und eine zweite Antriebskurve zur Drehung der Welle über ein zweites Übertragungselement. Der Antriebsmotor ist als Direktantrieb mit einem innerhalb des Kurvenelements angeordneten Rotor und einem zugehörigen Stator ausgeführt. Durch die Integration des Antriebsmotors in das Kurvenelement wird eine besonders kompakte und robuste Bauweise erreicht. Das Kurvenelement bildet einen Teil des Antriebsmotors, so dass auf eine Reihe konventioneller Antriebselemente, wie z. B. eine separate Antriebswelle für das Kurvenelement oder ein Vorschaltgetriebe, verzichtet werden kann. Dadurch kann auch der Anteil an Verschleißteilen verringert und der Wartungsaufwand reduziert werden. Über das von innen angetriebene Kurvenelement wird eine einfach aufgebaute und robuste Zwangskopplung erreicht, die mit optimaler Platzausnutzung auch ohne aufwändige Steuerung und Synchronisation eine schnelle Hub- und Schwenkbewegung zur Erzielung einer hohen Wechselgeschwindigkeit ermöglicht.In the apparatus according to the invention the rotary and rotary actuator for axial displacement and rotation of a arranged on a shaft tool or workpiece changing device is designed as a cam drive with a rotatably mounted within a housing and rotatable by a drive motor cam member. The cam element includes a first drive cam for axial displacement of the shaft via a first transmission element and a second drive curve for rotating the shaft via a second transmission element. The drive motor is designed as a direct drive with a rotor disposed within the cam element and an associated stator. The integration of the drive motor in the cam element a particularly compact and robust construction is achieved. The cam element forms part of the drive motor, so that a number of conventional drive elements, such. B. a separate drive shaft for the cam element or a gear, can be dispensed with. As a result, the proportion of wearing parts can be reduced and the maintenance costs can be reduced. About the internally driven cam element a simple design and robust positive coupling is achieved, which allows optimal space utilization without complex control and synchronization a quick lifting and pivoting movement to achieve a high speed change.
In einer zweckmäßigen Ausführung ist der Stator innerhalb des Kurvenelements auf einer zum Kurvenelement konzentrischen Stange einer im Gehäuse befestigten Statoraufnahme angeordnet. Der Stator kann aber auch an einer Seitenwand des Gehäuses oder an einer anderen geeigneten Stelle befestigt sein.In an expedient embodiment, the stator is arranged within the cam element on a rod concentric with the cam element of a stator mount fastened in the housing. The stator may also be attached to a side wall of the housing or at another suitable location.
Der Rotor des Antriebsmotors ist in platzsparender Bauweise innerhalb eines Hohlraums des Kurvenelements untergebracht. In einer einfachen und besonders kompakten Bauform kann der Rotor innerhalb des Hohlraums direkt an dem Kurvenelement angebracht und mit diesem fest verbunden sein.The rotor of the drive motor is housed in a space-saving design within a cavity of the cam member. In a simple and particularly compact design, the rotor can be mounted within the cavity directly to the cam element and firmly connected thereto.
In einer alternativen Ausführung kann der Rotor aber auch über ein Planentengetriebe mit dem Kurvenelement verbunden sein. Das Planentengetriebe weist vorzugsweise ein mit dem Rotor fest verbundenes Sonnenrad und mehrere mit dem Sonnenrad in Eingriff stehende Planetenräder auf, die mit einer Verzahnung an der Innenseite des Kurvenelements kämmen.In an alternative embodiment, however, the rotor can also be connected to the cam element via a planetary gear transmission. The tarpaulin gear preferably has a sun gear fixedly connected to the rotor and a plurality of sun gear engaging planet gears which mesh with teeth on the inside of the cam member.
Der Rotor und der Stator können mit Wicklungen oder Permanentmagneten aufgebaut sein, so dass der Antrieb über Asynchron- oder Synchronmotoren erfolgen kann.The rotor and the stator can be constructed with windings or permanent magnets, so that the drive can be done via asynchronous or synchronous motors.
Weitere Besonderheiten und Vorzüge der Erfindung ergeben sich aus der folgenden Beschreibung eines bevorzugten Ausführungsbeispiels anhand der Zeichnung. Es zeigen:Other features and advantages of the invention will become apparent from the following description of a preferred embodiment with reference to the drawings. Show it:
In den
Aus den
In dem Gehäuse
Das in Form eines Hebels ausgeführte erste Übertragungselement
Durch das Kurvenelement
Wie besonders aus
In den
Durch Ansteuerung des Antriebsmotors
Die vorstehend beschriebene Vorrichtung ist nicht auf den Einsatz als Werkzeugwechselvorrichtung beschränkt. Bei geeigneter Ausgestaltung der Greiferanordnung kann die Vorrichtung in entsprechender Weise auch für einen Werkstückwechsel eingesetzt werden.The device described above is not limited to use as a tool changing device. In a suitable embodiment of the gripper assembly, the device can be used in a corresponding manner for a workpiece change.
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008020313.0A DE102008020313B4 (en) | 2008-04-23 | 2008-04-23 | Device for automatic tool or workpiece change |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008020313.0A DE102008020313B4 (en) | 2008-04-23 | 2008-04-23 | Device for automatic tool or workpiece change |
Publications (2)
Publication Number | Publication Date |
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DE102008020313A1 DE102008020313A1 (en) | 2009-11-05 |
DE102008020313B4 true DE102008020313B4 (en) | 2014-02-27 |
Family
ID=41130765
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102008020313.0A Expired - Fee Related DE102008020313B4 (en) | 2008-04-23 | 2008-04-23 | Device for automatic tool or workpiece change |
Country Status (1)
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DE (1) | DE102008020313B4 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012011787B3 (en) * | 2012-06-15 | 2013-11-28 | Tünkers Maschinenbau Gmbh | Pivoting or clamping apparatus for use in motor car body making industry to move bodywork parts, has pivoting or instep arm assembly whose drive shaft is arranged coaxially with respect to driving wheel |
CN107199478B (en) * | 2017-05-31 | 2023-07-04 | 杭州鸿利机械制造有限公司 | Drum-type cutter changing device |
CN108161534A (en) * | 2018-03-23 | 2018-06-15 | 昆山北钜机械有限公司 | The tool changing shaft drive of automatic tool changer |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19650746A1 (en) * | 1996-12-06 | 1998-06-18 | Mico Ind Automation | Handling device for tools, workpieces, etc. |
DE29821812U1 (en) * | 1998-08-28 | 1999-02-18 | Taiwan Tu Len Co | Device interacting with a tool changer |
DE10354441A1 (en) * | 2003-11-21 | 2005-06-23 | Miksch Gmbh | Tool exchange device for machine center, comprising separate electric drives for rotary and linear motion |
DE10118959B4 (en) * | 2001-04-10 | 2006-08-31 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for controlling a 3R regenerator |
-
2008
- 2008-04-23 DE DE102008020313.0A patent/DE102008020313B4/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19650746A1 (en) * | 1996-12-06 | 1998-06-18 | Mico Ind Automation | Handling device for tools, workpieces, etc. |
DE29821812U1 (en) * | 1998-08-28 | 1999-02-18 | Taiwan Tu Len Co | Device interacting with a tool changer |
DE10118959B4 (en) * | 2001-04-10 | 2006-08-31 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for controlling a 3R regenerator |
DE10354441A1 (en) * | 2003-11-21 | 2005-06-23 | Miksch Gmbh | Tool exchange device for machine center, comprising separate electric drives for rotary and linear motion |
Also Published As
Publication number | Publication date |
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DE102008020313A1 (en) | 2009-11-05 |
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Legal Events
Date | Code | Title | Description |
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OP8 | Request for examination as to paragraph 44 patent law | ||
R018 | Grant decision by examination section/examining division | ||
R081 | Change of applicant/patentee |
Owner name: MULTITEC-JAKOB GMBH & CO. KG, DE Free format text: FORMER OWNER: T + S-JAKOB GMBH & CO. KG, 87459 PFRONTEN, DE Effective date: 20131205 |
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R082 | Change of representative |
Representative=s name: PATENTANWAELTE CHARRIER RAPP & LIEBAU, DE Effective date: 20131205 Representative=s name: CHARRIER RAPP & LIEBAU PATENTANWAELTE PARTG MB, DE Effective date: 20131205 |
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R020 | Patent grant now final | ||
R020 | Patent grant now final |
Effective date: 20141128 |
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R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |