DE1190876B - Control device for the drive piston of a workpiece feed arm that moves back and forth in mutually perpendicular planes - Google Patents

Description

GERMAN

PATENT OFFICE

EDITORIAL

German class: 8Ie-82/02

Number:
File number:
Registration date:
Display day:

1190 876
S66758XI / 81e
September 29, 1959
April 8, 1965

The invention relates to a control device for the drive piston of a workpiece feeder, its gripping member to form a U-shaped movement path in each other is moved back and forth in vertical planes.

There are devices for loading machine tools with workpieces known with at least one moving back and forth between two end positions or work cycle adjusting gripper arm, whose movements by means of a drive cylinder being controlled.

In a device of this type, the gripper arm moves in a closed working cycle between the workpiece supply or magazine and the work table assigned to the machine or Die, to which the workpieces to be machined or deformed are brought one after the other will.

Such a device is in the French ao Patent 1187 408 described. The one on his way there and back by a vertical Axis pivoting gripper arm of this device moves between two angular positions, the are precisely defined by stops against which the arm alternates. To this Pivoting or rotating movement follows a vertical lifting and lowering movement (or vice versa), for example to place the detected workpiece on the work table of the machine. Unless the loading the machine is to be done in a relatively quick succession, it is advisable to use the gripper arm on To slow down the end of the way there and the way back, so that it runs against the aforementioned Attacks is dampened.

In the first additional application 77 953 of the aforementioned French filed on August 13, 1958 Patent specification is a braking device of the piston of the drive device of the workpiece feeder arm described in the two on the KoI-benseiten attached cylindrical parts with in the Flanging the cylinder provided bores cooperate in such a way that they hold the piston Inhibit for the entire duration of its movement at the end of the stroke. This in the additional registration described device slows down the work sequence of the feed arm insofar as than the vertical movements of the feeder or gripper arm that take place when he is with his horizontal stroke limiting stops is in contact, take place very slowly.

There has now been a device pre-control device for the drive piston of a
Workpiece feed arms moved to and fro in mutually perpendicular planes

Applicant:

Societe Ornanaise de Constructions Mecaniques

S. O. C,

Omans, Doubs (France)

Representative:

Dipl.-Ing. H. Seiler, patent attorney,
Berlin 19, Oldenburgallee 10

Named as inventor:

Ernest Sosolic, Omans, Doubs (France)

Claimed priority:

France of June 29, 1959 (798 823)

hit the braking of the piston of a press when it arrives at the end of its vertical stroke from top to bottom with the aim of avoiding any impact on the tool or die could damage it. In this device, the use of means is provided that a Throttling when the pressure medium expelled by the piston of the press is emptied at the end of the top-down stroke of the press, i.e. when the tool is in the The term is to come into contact with the die. In the known device, a line is provided, through the working space of the cylinder of a press working with a downward stroke Throttle point and a space acting on the punch in the opposite sense without a delaying one Throttling a high pressure liquid is supplied, causing a slowdown the punch movement can be achieved in the working direction and the punch at Ending the movement of the high fluid pressure that then arises in the working space, reduced by the high counterpressure acting on the punch. This throttle

509 538/280

3 4

place is parallel to the flow, which one or the other end position of the bar

determined by the displaceable from the working piston.

Control slide is given. The extent of the throttle- By the arrangement of the movement of the ment can be adjusted by means of a valve so that the control slide is inhibiting and limiting The speed of the punch can be regulated by the length ratio of the control slide. This known device is used to a bers and the bar to each other and by the braking To achieve at the end of the piston stroke, measure the lengths of the to the middle section but only in the case of one of two end sections of the control slide that are not closing in the direction of travel gen, namely when going down, the die compared to the distances of the outlet hole of takes effect. Another feature of the known io the side surfaces of the spool block is the device consists in the delay of the enough that the control spool in each of its - Moving part of the press corresponding energy through the one in one of its end positions to store and this energy given at the beginning of the following bar - end positions the outlet hole lowing run of the piston from bottom to top releases again, so that the throttling per Arbeitsder Feed press usable again. The well-known 15 piston stroke takes place only once and temporarily The device is therefore used to recover what had previously fallen before the working or drive piston was reached Braking energy with a hydraulic end position is safely terminated, so that the KoI high-pressure drive with a decidedly slower ben caused further swivel arm movement around the working method. horizontal axis at the end points of the horizontal

In contrast, with the invention, the path section on the ao right again takes place quickly

Improvement or increase in the sequence of operations of the can.

Feeding arm problem to be solved in this, exactly. Further details emerge from next to the point in time when this feeder or gripping description of an embodiment shown in the drawings with its oscillating movements in an approximately provided embodiment
horizontal plane delimiting stops in FIG. 25 F i g. 1 diagrammatically shows a partial view of the contact, for an extremely short time control device, which in particular shows the brake preloads to effect a braking or inhibition direction,

in such a way that the vertical movements of the F i g. 2 shows an elevation of the braking device

Gripping arm can take place unbraked, d. H. measured the F i g. 1,

while the piston of the cylinder is normal 30 F i g. 3 shows a vertical section accordingly

painter speed adjusted. The invention of the line III-III in F i g. 2,

Proper setup allows on the per se F i g. 4 shows a partial section corresponding to FIG

knew ways of controlling the pressure medium from line IV-IV in Fig. 2,

If this occurs from the drive cylinder, the achievement of this F i g. 5 the braking device in plan view,

Result and avoiding the aforementioned 35 F i g. 6 shows the side view of the block from FIG. 5,

th deficiency the considerable increase in labor F i g. 7 shows a vertical section accordingly

follow from the workpiece feeder and press or the line VII-VII in Fig. 3,

Machine tool existing unit. Fig. 8 the diagrams (speed ν in

The control device for the drive piston depends on the stroke e) of the

a workpiece feed arm whose gripping member 40 according to the braking device achieved cycles

to form a U-shaped path of movement in the "to" and "back" of the tool feeder arm.

mutually perpendicular planes moved back and forth. 1 shows schematically a control device

- both end positions of the middle movement, which is of the type described at the beginning

supply section with braking by and with a control device according to the invention

Throttling of the pressure medium outlet cross section is provided.

This device has a control disk 1, which according to the invention is characterized in that it is movable about a fixed central axis 57 and for throttling in constant shunt to one of their mutual rotary movements from a common outlet line of both drive cylinder 2 The throttle point located on the piston side of the piston drives a rod 4 designed as a toothed rack from the reciprocating rod 3 and the forward movement of the drive piston, which meshes with an entrainment of a pinion 58 fixed in its sliding position on the disk 1. This control disk device U-shaped stroke limiter (in the form of a controls the alternating rotational movements of the gripping bar) in part of the piston path mitgenom- organs 59 via a connecting rod 60, which is assigned to the mener control slide at 61, the length _{55 of which is} one point on the disk circumference and at 62 am smaller than the clear width between which the U-shape carrier 63 of the gripping member is hinged. The supporting leg of the bar is, and the ger itself is mounted around a fixed vertical axis pivoting outlet line shut-off central control piston bar and adjusts between two end sections the outlet line in the control slide positions, which is released by two fixed or adjustable end positions, which are limited by their one or 60 stops 65.

other end position given bar The upward and downward movements of the

are. Grasping organs are held by one on the perimeter of the

According to a further feature of the invention, cam 66 provided for cam 66 is controlled, the distance between each of the two end faces of the end carrying one sliding block 68 Control slide takes along an angle lever 67 from the edge 65 facing this. This wink central control piston section larger than the lever is mounted to swing at 69 and cooperates Distance of the outlet hole from the corresponding to its other end 70 over a base plate of the lying side surface of the control slide block, carrier 63 on the gripping member 59, which thus a

can perform limited vertical movement that corresponds to the vertical stroke it ends up each should perform its rotary movements.

At the front of the cylinder block 5 of the power cylinder 2, a support plate 6 is attached, which a longitudinal guide 7 (Fig. 3) in which a sliding block 8 is displaceable. As will be explained below, this sliding block forms the drive element for the braking device, which is shown entirely in FIG is designated generally with 9. This sliding block constantly accompanies the piston rod 3 of the power cylinder in their movements; its drive takes place, for example, by means of the axis 10, which is the piston rod 3 connects to the rack 4 and which in a bore 11 at the end 12 of this sliding block 8 intervenes.

The sliding block 8 carries at its ends two angled tabs 13 a, 13 b, which lie in a vertical plane and in their upper part carry two fingers or driving screws 14 α, 14 δ. These are coaxial and are more or less in alignment with a control slide 15 which is slidably mounted in an inner bore 16 of the block 17 of the braking device 9. The axis of this bore 16 and consequently the axis of the adjustment of the slide 15 and the direction of movement of the sliding block 8 are parallel to the axis of the power cylinder 2.

Appropriately, the driver 14 α, 14 ft of the slide, as shown, consist of screws that pass through the hollow threads of the tabs 13 α and 13 b and can be fixed in position by nuts 18 or the like.

The movements of the slide 15 in the bore 16 of the brake block 17 are in their Direction of displacement U-shaped bar 19 braked in a groove 20 on the front of the brake block 17 is slidably mounted parallel to the guide 7. This bar 19 is through a cross piece 21 held that bridges the bar and at the front of the brake block 17 by two Screws 22 or the like. Is attached. The crosspiece has a threaded hole in its center, into which a screw pin 23 is screwed in. This screw pin has a brake insert inside (FIG. 4) 24, the head 25 of which under the action of a coaxially mounted spring 26 in the hollow pin 23 rests elastically on the front of the bar 19.

As a result of this arrangement, the reciprocating movements of the bar 19 in the groove 20 of the Brake block is permanently braked.

The bar 19 carries a leg 27 α and 27 b at each of its two ends. These legs protrude from the back of the bar and are attached to the latter by means of screws 28 or the like. They initially form the drivers of this bar 19, since they lie in the path of the end pistons 29 a, 29 b of the control slide 15. They also form stops for the control slide and for the bar itself by running against one or the other of the side surfaces 30 a, 30 b of the brake block 17 at the end of the stroke (FIG. 5).

The control slide 15 has on both sides of a central part 31, the diameter of which is the clear Width of the bore 16 corresponds to two undercut sections 32, 32 'of smaller diameter with a suitable position of the slide 15, the unimpeded connection between two channels 33, 34, which are drilled out in the brake block 17 and open into the bore 16. The channel 34 opens on the outside (at the top of the block 17) in an outlet port 35, during the Channel 33 at the top of the brake block 17 opens into a nozzle 36, which is controlled via a Valve37 (Fig. 7) is connected to the outlet of the power cylinder 2.

The brake block 17 also has one

ίο another inner channel 38, which has a smaller diameter than the channels 33 and 34 and between the latter forms a diversion, whose The passage cross-section through a screw needle 39 or the like can be regulated, which is on the top of the brake block 17 exits (Fig. 6). A nut 40 allows the needle 39 to be set in the desired position Control position.

The jacket of the power cylinder 2 is traversed in the longitudinal direction by two inner channels 41, 42, which on the one hand open through the end plates 43, 44 each at one end of the piston chamber 45 and on the other hand are in communication with two inner channels 46, 47 of the valve 37, which themselves in turn open into the cylindrical bore 48 of this valve, in which the slide 49 is adjusted. The valve 37 is controlled by a transmission element 50 (indicated schematically in FIG. 1), which in turn is actuated by the control disk 1. The valve 37 is arranged in such a way that it alternately connects the inner channels 41 and 42 of the cylinder 2 either with the outlet port 36 via inner channels 53, 53 a, 53 b or with a compressed air supply line 51. . In addition, a distribution line 52 is shown in FIG. 7, which also leads from this valve 37 to the compressed air source.

Fig. 7 shows at 53'α and 53 '& two threaded holes which open into the outlet channels 53 a, 53 b and serve as a seat for two screw knobs 55, 56 (Fig. 1), with the help of which the passage cross section for the outlet from the cylinder can be regulated from the outside.

By means of these buttons 55, 56 you can adjust the speed of the piston in this way regulate in the power cylinder independently of the braking time, which, as explained, by the screw needle 39 of the brake block is set.

The mode of operation of the device described is as follows:

At the beginning of a working cycle in the "out" direction (the position of the organs can be seen in FIGS. 2, 5 and 7), the valve 37 establishes the connection between the compressed air supply line 51 and the inner channels 47, 42, while the Channels 41 and 46 are in communication with the outlet port 36 via the inner channels 53 α and 53 of the valve 37. The latter is, while the control slide 15 of the braking device assumes the end position shown in FIG. 5, via the inner channels 33 and 34 of the brake block with the outlet line 35 in unthrottled connection. The piston 45 then moves to the left (arrow / in FIG. 7) and takes the sliding block 8 with it. When the drive screw 14 b of the sliding block comes into contact with the end face 29 b of the control slide 15, the latter is now taken along in the direction of the arrow / (FIG. 5), and this movement begins at a rapid rhythm (section A of the in FIG . 8th

shown diagram for the work cycle) in the direction »out« until the middle part 31 of the slide 15 blocks the openings through which the inner channels 33 and 34 of the block 17 open into the inner bore 16.

It should be noted (FIG. 5) that the distance between the two legs 27 a, 27 b of the bar 19 is significantly longer than the slide 15. The distance between the legs 27 α and 27 b of the bar 19 must namely be sufficient to allow the free adjustment of the control slide 15 in the bore 16 of the block 17, but still prevent the end piston of the control slide 15 in its outer positions Openings through which the lines 33 and 34 open into the bore 16 are closed.

It follows that the control slide 15 is freely adjusted in one direction or the other in the bore 16 at the beginning of its stroke when one of the two driving screws 14 α or 14 b has come into abutment against its end piston 29 α or 29 b.

This (not braked) free adjustment of the control slide 15 takes place until the end piston 29 b or 29 a, which is opposite the end piston against which the drive screw 14 α or 14 b has come into abutment, against the leg 27 b or 27 α of the bar 19 abuts. As soon as the control slide 15 hits the corresponding leg of the bar 19, it is stopped by this until the driving screw that has pushed it catches up with it and forces it to continue its adjustment with the bar 19 braking it.

If you want to achieve perfect synchronization of the braking of the power piston 45 when the gripping member 59 arrives at one of the stops 65, 65 ', the braking of this piston may only take place by closing the overlapping lines 33, 34 when the control slide 15 is through the driving screw 14 α or 14 b is advanced while it is being braked by the bar 19. This braking of the power piston takes place when the central part 31 of the control slide closes the lines 33 and 34 of the bore 16. If these lines are closed, the emptying takes place only via the diversion 38, which means that the piston is braked during one of the sections B of the diagram in FIG. 8 results in the corresponding time. This braking effect continues as long as the middle part 31 of the control slide 15 blocks the openings of the bores 33, 34. This position of the control slide 15 is provided in such a way that the braking effect begins immediately before the point in time at which the carrier 63 of the gripper element 59 runs up against its corresponding end stop 65. In the present case, however, this braking effect is only temporary and starts following a rapidly running end of the stroke during the lowering movement of the gripper member on the work table, which rapid lowering movement is permitted by the fact that the section 32 'of the reduced diameter of the control slide 15 at the end of the working cycle (Section C of the diagram in FIG. 8) in turn lies opposite the openings of the channels 33 and 34, as a result of which the unthrottled connection between the outlet of the cylinder and the outlet connection 35 is restored.

In the "Back" work cycle, there is a similar, but reversed, sequence to that described above To find movements.

During this work cycle "back" the driving screw 14 a of the sliding block leads the Control slide 15 back to its original position.

The outlet of the power cylinder then takes place with the slide 49 of the valve in the opposite position 37 through the other end line 42 of the cylinder 2.

Claims (2)

Patent claims: 1. Control device for the drive piston of a workpiece feed arm, its gripping member to form a U-shaped trajectory back and forth in mutually perpendicular planes is moved here, with both end positions of the middle movement section under braking can be achieved by throttling the pressure medium outlet cross-section, characterized in that that the throttling in constant shunt to a common outlet line (36, 33, 34, 35) of both drive piston sides lying throttle point (needle valve 39) from the reciprocating movement of the drive piston (45) with inhibiting entrainment of a stroke limiter (bar 19) which is U-shaped in its direction of displacement in part of the piston travel entrained control slide (15) is assigned, the length of which is smaller than the clear The width between the legs of the bar (19) forming the U-shape and its central control piston section which shuts off the outlet line (Middle part 31) the outlet line (33, 34) leaves free in the control slide end positions, which through the bar (19) located in one or the other end position are given. 2. Control device according to claim 1, characterized in that the distance (a or O ₁ ) of each of the two end faces (29 a, 29 b) of the control slide (15) from the edge of the central control piston section (31) facing this is greater than the distance (b or O ₁ ) of the outlet bore (33, 34) from the correspondingly lying side surface (30 a, 30 ft) of the control slide block (17), which determines one or the other end position of the bar (19). Considered publications:
German Patent No. 807,249;
German utility model No. 1 681465. For this purpose 2 sheets of drawings 509 538/280 3.65 © Bundesdruckerei Berlin