DE102008050125A1 - Transport device with positioning stop - Google Patents

Abstract

The invention relates to a transport device (1) for transferring a ready-to-use, undeformed blank (11) to a press (12), the transport device (1) having a movable arm (3) or a movable cross-member and an exchangeable tooling (4) arranged thereon ) with suckers (6). Here, the tooling (4) in addition to the suckers (6) at least one in the board plane laterally of the board (11) extendable stop (5, 5a).

Description

The The invention relates to a transport device for transfer a prepared undeformed board to a press after the Preamble of claim 1.

in the Area of sheet metal forming, for example in the automotive sector. and supply industry, houseware industry or other sheet metal forming Industries are mechanical and hydraulic forming systems and their associated Automation devices are indispensable An essential Part of such forming systems form Mehrstösel transfer systems such as B. press lines, which in the context of several steps undeformed metal blanks in corresponding workpieces be transformed. The sheet metal blanks are here by their undeformed Raw state starting one after the other into individual press modules, in which the individual forming or other processing steps respectively. Before entering such a press line as well between the individual processing stations take over transport facilities the handover both the undeformed board to the first processing station as well as the delivery between the individual processing stations. An essential factor is in addition to compliance with the processing clock frequency and the ability to the formed workpieces always safe and orderly, too the necessary precision when inserting the workpieces in the next one Processing station.

The The present invention relates to a transport device, which for the transfer a prepared undeformed board to a first processing station, in particular formed on a first press of a press line is. Such a transport device always comprises a movable Arm, for example a robotic arm, or a movable crossbar, these devices provide the necessary travel from the pickup the prepared undeformed board to the work area may have the press. Of the movable arm or the movable crosshead serves as the basis for one arranged interchangeable tooling, which depending on the field of application with different handling agents in different arrangements can be equipped. A possible Combination in the field of sheet metal forming press lines Here, the combination of a suction bar, and arranged thereon Tooling with individual, adjusted to the workpiece positioned Suction cups, the tooling according to the requirements of the produced workpiece can be replaced, for example, when the workpiece dimensions or the mechanical properties of workpiece type to workpiece type, for example a fender or a door, change.

Of the Concept of tooling thus represents an interchangeable, workpiece-dependent and of workpiece-adapted Arrangement of necessary tools for workpiece handling which is when retooling the processing line simply decoupled from a movable arm or a movable truss can be, and by a, the Umrüstvorgang corresponding new Tooling is replaced. Alternatively, the combination of tooling and arm or traverse, in particular a suction bar, exchanged for example, when the tooling is firmly attached to the suction bar.

Out The prior art are transport facilities for the transfer a prepared undeformed board to a press known which have a tooling with suction cups arranged thereon. The Undeformed board is removed after removal from a stack of boards prepared, the board in advance, for example, a washing station, a straightening machine or other necessary device for Can undergo preparation of sheet metal forming machining. The board is then transferred to a transfer station for transfer The press is prepared, usually at the time of standing by the undeformed board whose exact position relative to the first Press of the press line is not determined. Due to the cleaning done in advance or any other handling of the undeformed board can this at the provision for the transport device in its storage level, for example have an offset of several centimeters. Especially when However, positioning in the first press of a press line is the exact positioning the undeformed board is essential because of inaccuracies in the first forming process, in particular during the first drawing process in the Usually through all processing stations of a press line continued.

In order to provide an exact positioning of the undeformed board prior to entry into the press line, ie before insertion into the first press by the transport device, positioning stations have hitherto been used which have different movable modules in the area of the positioning surface, which depending on the outline shape of the undeformed Move the board on the positioning in a predetermined position, so that the transport device for transferring into a first press always finds the undeformed board in a defined position. Such positioning station thus have means which move the board in its plane and against defined Anschlä ge that they exist in a predetermined transfer position for the transport device.

adversely at the known positioning station, for example at centering stations is that depending on the outline shape of the present board, so for every of workpiece must be set and equipped differently, with often the number of needed Displacement means and the corresponding displacement means positions must be adjusted in the area of the positioning station. such Positioning stations, in particular centering stations are also with a very elaborate Mechanics equipped, which adaptable to all individual circumstances must be because a positioning from the expiration of a press line not easy taken out and replaced by another one. Under consideration all of these requirements, which to such a positioning are also of very high cost for such Station to go out.

task The invention now is to ensure that by means of a Transport device for transfer reached a ready undeformed board to a press will that the undeformed board in the area of a first press precise can be positioned, and precise positioning while avoiding the need for an expensive and expensive positioning station for a variety of workpiece types guaranteed becomes.

The The problem is based on the preamble of claim 1 by the characterizing features of claim 1 solved. In the subclaims are advantageous developments and expedient supplements of the subject invention specified.

The Transfer device according to the invention for transfer a ready undeformed board to a press comprises usually a movable arm, in training as a transfer robot, or a movable traverse, for example in the form of a suction bar. However, multi-arm robot arrangements or other types are also conceivable Movement devices which the distance to be bridged between the Position of the prepared board and the working position of the first Coping with the press can. Furthermore, the transport device according to the invention comprises a fixed or interchangeable tooling, which corresponds to the respective of workpiece and matching the respective processing device of the press line with or can be replaced without the movable arm or crossbar the movable arm or the movable traverse always being the base and optionally as a connection for different toolings serves. The tooling includes customized and according to the workpiece type arranged manipulation aids such as suckers, which are necessary for handling the board. It would also be possible other handling means, such as electromagnets or the like. The tooling further comprises at least one extendable stop, this stop being in the area of the board level, laterally next to the board is extendable. By means of such an extendable Stop it is possible to move the board in its board level, or for a shift to limit the board in their plane's available path.

A advantageous embodiment of the transport device according to the invention or of the associated Toolings lies in the ability that by a movement of the extendable into the board plane in Stop, in particular by a driving movement and / or a pivoting movement of the stop is reached, the board from a random position, in which it was prepared, in a tooling-oriented Move position so that the subsequent recording of the Board, for example by means arranged on the tooling sucker in such a way Defined that takes place through the transport device in the board a defined position in the first press of the press line inserted can be.

According to the invention has in one advantageous embodiment of the tooling attached at least a stop over a drive arranged thereon, in particular via a linear drive such for example, a cylinder, over which the stop is at least linearly movable.

In a further embodiment of the transport device according to the invention with has a tooling the stop over a linear displacement, in particular via a cylinder, over which the stop is extendable, wherein the stop and / or the linear displacement Having means for controlling a movement curve of the stop. such Means can for example in the form of guides or latching positions may be formed, which the stop different movements to different positions of the linear displacement, so for example at different extension positions of the piston from a cylinder to assign. The movement curve of the attack must be present not necessarily linear, but rather by suitable means for controlling the movement curve, in particular by guide means or deflecting means also in the form of a non-linearly directed movement be educated.

In an advantageous embodiment of the means for controlling the movement curve of the stop at least one linear guide means and / or at least one toggle mechanism is included.

In a further advantageous embodiment of the means for control The movement curve will be the sections between each motion movements arranged in the region of the means for controlling the movement curve Additional components, preferably by an existing counterpressure spring affected.

In a further embodiment of the transport device according to the invention the movement curve on which the stop is moved, as a combination of a linear movement and a rotation and / or a pivotal movement of the stopper composable.

Basically assume that, depending on the shape of the outline of the corresponding prepared board, So depending on the type of workpiece to be processed a different Number of extendable stops are provided at different positions on the tooling, depending on How many such extendable stops are needed to make an exact Positioning of the prepared undeformed board relative to Tooling by moving the board in the board level using the movable stops to enable are arranged.

One schematically illustrated embodiment a transport device according to the invention and an exemplary description of the arrangement according to the invention stop and linear displacement are the following embodiments refer to. However, the invention is not in the embodiment limited variants shown, Rather, it encompasses all those embodiments, which from make use of ideas essential to the invention. It show below the

1a to 1h a transport device according to the invention with tooling, which executes the transfer of a ready undeformed board to a press under the inventive use of the tooling arranged stop.

2 the modular division between a movable arm and a tooling to be arranged thereon in different variants.

3 a plan view of the arrangement of linear displacement and stop in the retracted state.

4 a plan view of the arrangement of linear displacement and stop in the process of linear feed.

5 a plan view of the inventive arrangement of linear feed and stop in the extended and lowered state.

6 an inventive arrangement of linear feed and stop in the side view with three traversed in the field of pivoting position snapshots.

7 a section of a tooling according to the invention in two snapshots of the positioning of the board relative to the tooling.

8th a plan view of a transport device according to the invention with existing on the transport tooling and corresponding arrangement of the stops and suckers.

In detail shows 1a an arrangement of a transport device 1 comprising two on a stand 2 hinged movable arms 3 , at the end of a tooling 4 is arranged. The tooling 4 again comprises an arrangement of attacks 5 ; 5a and suckers 6 , where the attacks 5 ; 5a above horizontal cylinder 7 and vertical cylinder 8th along a horizontal extension direction 9 and a vertical extension direction 10 are extendable. A prepared board 11 is in a relative to tooling 4 undefined or random position I for delivery to a press 12 ready set.

The tooling 4 is located in the 1a in a compactly retracted state in which the horizontal cylinders 7 and the vertical cylinders 8th are fed to the tooling 4 to grant a high degree of freedom in the area of the press.

1b shows a state where the tooling 4 horizontally and vertically extended linear cylinders 7 ; 8th has, wherein the stop 5 so down to the board level 20 which at least on the upper surface of the prepared in a random position board 11 begins, protruding, and by means of the horizontal cylinder 7 along a driving movement 21 is moved.

1c shows the transport device according to the invention with tooling in a sliding movement 30 which through the contact 31 between the stop 5 and the board 11 he follows.

1d shows the completion of the sliding movement 30 through the attacks 5 , where the board 11 now in a relative to tooling 4 aligned position II under the tooling 4 lies. The stop 5 , which has moved in the present example from the left the board along the sliding movement to the right, can by a second stop 5a be supported so that both attacks up to a defined position by the Horizontal cylinder 7 be moved along the horizontal extension direction, leaving the board 11 in an aligned position II in any case is fixed on all free sides by a stop. In the aligned position II the board can handle the stops 5 and 5a if necessary, be recovered and the tooling 4 in a tooling gripping motion along the direction 41 with the suckers 6 lowered onto the prepared board, so that the board can be moved by the tooling.

1e shows the desired transport direction 50 of the tooling supported on the movable arms into the working area of the press 12 ,

1f shows the transport device 1 during transport of the prepared board 11 in the press.

1g shows the removal of the board 11 in the area of the press by the transport device 1 ,

1h shows the press 12 in the deformation process of the board 11 , wherein the transport device 1 with the tooling 4 on the movable arms already out of the work area of the press 12 has been moved out and is ready for positioning and then receiving a new prepared undeformed board in the state with retracted attacks.

2 schematically shows the modular structure of a transport device according to the invention, wherein on a stand 2 movable arms 3 are provided at the end of a tooling approach 60 is arranged. The deployment area 61 for the still undeformed board 11 is arranged in the range of the radius of action of the transport device. 2a . 2 B and 2c show various embodiments of Toolings, which to the tooling approach 60 can be attached, and thus according to the equipment of the press line can be adapted in each case to the workpiece type to be machined. The tooling named a) corresponds to the one in 1a to 1h Tooling shown with horizontally and vertically designed displacement cylinders for positioning and receiving an undeformed board. Under b) a tooling with a varied and the type of workpiece adapted sucker assembly is shown. In c) is shown a tooling with a varied suction arrangement and with a variation in the area of the vertical cylinders, which have been replaced by other Vertikalverstellmechanismen in Tooling shown under c). The term tooling is thus understood to mean any exchangeable arrangement of manipulation aids in the area of transport devices according to the invention, which need not be limited to the genus of suckers or stops.

3 shows an arrangement of a linear displacement 70 and a stop 71 , which is in the present case in the form of a finger, in plan view. The linear displacement comprises a cylinder 72 with a piston 73 , Which in the present case is housed in the retracted state in the interior of the cylinder. Furthermore, the linear displacement includes 70 guide rods 74 , which at its front end in the region of a first pivot joint 75 with the stop 71 are connected. In a rear area indicates the linear displacement 70 a sled 76 on which is on the guide rods 74 is movably mounted. Between the front area of the guide rods 74 and the area of the sled 76 is a counterpressure spring 77 , preferably on both guide rods 74 arranged. The counter pressure spring removes the slide 76 from the hinge 75 and provides an extension of a toggle mechanism 78 which is between the swivel joint 75 and the top of the piston 73 , which on the sledge 76 is attached, is arranged. The linear displacement 70 continues to include guided tours 79 as well as end stops 80 on the guide rods 74 , The piston 73 is on the sled 76 fastened, with the carriage 76 a second pivot 81 and between this hinge 81 and the swivel 75 at the front end of the guide rods 74 one with the stop 71 Connected toggle mechanism 78 located.

4 shows a linear displacement according to the invention 70 , where the piston 73 out of the cylinder 72 now by the distance of the linear feed 85 is extended, so the end stops 80 in the field of guides 79 to limit the extension movement of the guide rods 74 to lead. The sled 76 still shows the through the toggle mechanism 78 in the extended state predetermined distance to the front end of the guide rods, wherein the counter-pressure spring 77 is dimensioned such that during the extension movement of the piston 73 first the guide rods 74 until the end stop 80 be extended by the guide before getting the sled 76 against the pressure of the spring 77 towards the front ends of the guide rods 74 emotional.

5 shows the linear displacement of the invention in the state of the downwardly pivoted stop or finger 71 , where now the carriage 76 against the back pressure of the spring 77 through the piston 73 over the range of linear feed 85 out into a range of the pivoting feed 90 was pressed.

6 shows to clarify the distinction between the linear feed 85 and the swivel feed 90 a side view of the linear displacement according to the invention 70 , in which in this case, the guide rods 74 are not shown. The toggle mechanism 78 indicates in the state of its first position 91 an extended state, wherein the piston at this time only by the range of the linear feed 85 is extended. Will the piston 73 further extended, so ensure the already locked guide rods 74 for a front fixation of the swivel joint 75 , where the sled 76 a second pivot 81 further in the feed direction of the piston 73 emotional. The toggle mechanism 78 thus generates a rotational movement of the stopper 71 through a second position 92 to a third position 93 which the retracted and in the plane of the board (not shown here) retracted state of the attack 71 or the finger corresponds.

7 shows a sectional view of a transport device according to the invention 1 with one on a tooling 99 arranged linear displacement 70 with corresponding stop 71 , where the stop 71 in positions 101 and 102 is shown, wherein these positions in the 6 With 92 and 93 corresponds to designated positions. The under the tooling 99 located board 100 will be in a contact area 103 from that in position 102 located fingers 71 captured and in their plane to position 102 shifted, causing a repositioning of the board by the offset 104 equivalent. The linear displacement and the stop is designed so that the repositioning of the board 100 the desired positioning in terms of tooling 99 equivalent. In another step, not shown, then the suckers 105 on the board 100 be lowered, the stop 71 either before lowering the nipple 105 can be retracted again, or until the final contact between vacuum cleaner 103 and board 100 as movement fixation of the board 100 can remain extended.

8th shows a transport device according to the invention 110 comprising a tooling 111 , where on tooling several suckers 112 and several linear shifts 113 with stops arranged on it 114 according to the 3 to 6 are arranged. The board 115 has irregular outline contours, the arrangement of the suckers 112 and the attacks 114 is formed such that the inventive use of such stops positioning the board to a desired position in the tooling 111 can be achieved. Trained for suspension of the tooling cross-beam (not shown here) is used to hold the tooling 111 and transfer the prepared board 115 in the area of a first press, where it is then processed.

1

transport means

2

stand

3

poor

4

Tooling

5

attack

5a

attack

6

sucker

7

horizontal cylinder

8th

vertical cylinder

9

horizontal of extension

10

vertical of extension

11

circuit board

12

Press

20

platinum level

21

travel movement

30

sliding movement

41

Tooling barrel moving

50

transport direction

60

Tooling approach

70

linear displacement

71

Stop / Finger

72

cylinder

73

piston

74

guide rod

75

swivel

76

carriage

77

Contrast spring

78

Toggle mechanism

79

guide

80

end stop

81

swivel

85

linear feed

90

swing feed

91

first position

92

second position

93

third position

99

Tooling

100

circuit board

101

second position

102

third position

103

contact area

104

offset

105

sucker

110

transport direction

111

Tooling

112

sucker

113

Linear displacement

114

attack

115

circuit board

I

random position of the board 11

II

aligned position of the board 11

Claims (7)

Transport device ( 1 . 110 ) for transferring a ready, undeformed board ( 11 . 115 ) to a press ( 12 ), the transport device ( 1 . 110 ) a movable arm ( 3 ) or a moving bare traverse and a fixed, interchangeable tooling ( 4 . 99 . 111 ) with suckers ( 6 . 105 . 112 ), characterized in that the tooling ( 4 . 99 . 111 ) in addition to the suckers ( 6 . 105 . 112 ) at least one into the board level ( 20 ) on the side of the board ( 11 . 115 ) extendable stop ( 5 . 5a . 71 . 114 ). Transport device ( 1 . 110 ) according to claim 1, characterized in that the board ( 11 . 115 ) by a movement ( 30 . 104 ) of the stop ( 5 . 5a . 71 . 114 ), in particular a driving movement ( 30 ) and / or a pivoting movement ( 104 ) of the stop ( 5 . 5a . 71 . 114 ), from a random position ( I ), in which the board ( 11 ) in one of the tooling ( 4 . 99 . 111 ) aligned position ( II ) is displaceable. Transport device according to claim 1 or 2, characterized in that the stop ( 5 . 5a . 71 . 114 ) by a tooling ( 4 . 99 . 111 ) arranged drive, in particular a linear drive such as a cylinder ( 7 . 8th . 72 ), in particular linearly movable. Transport device according to one of the preceding claims, characterized in that the stop ( 5 . 5a . 71 . 114 ) via a linear displacement, in particular via a cylinder ( 7 . 8th . 72 ) is extendible, the stop ( 5 . 5a . 71 . 114 ) and / or the linear displacement means for controlling a movement curve of the stop ( 5 . 5a . 71 . 114 ) having. Transport device according to claim 4, characterized in that the means for controlling the movement curve of the stop ( 5 . 5a . 71 . 114 ) at least one linear guide means ( 74 . 79 ) and / or at least one knee lever ( 78 ). Transport device according to claim 4 or 5, characterized in that the means for controlling the movement curve of the stop ( 5 . 5a . 71 . 114 ) at least one counter-pressure spring ( 77 ). Transport device according to one of the preceding claims characterized in that the movement curve on which the Stop is movable, from a combination of linear movement and rotational movement and / or pivotal movement is composable.