DE19913615A1 - Automation arm - Google Patents

Abstract

The invention relates to an automation arm and a method for modifying the length thereof. Despite a simplified and cost-effective production method, said method allows an automation arm to be produced which requires a minimum of space, which extends rapidly in a manner that can be accurately controlled, yet which involves low production and maintenance costs. The inventive automation arm comprises at least one telescopically extendable arm section, consisting of at least one base part (3) and a telescopic part (11) which can be extended telescopically in relation thereto. Said automation arm is characterised in that a mechanical transmission which gears upwards with regard to the longitudinal direction of the telescopic part, is located in at least one telescopically extendable arm section between the telescope drive motor and the telescopic part (11).

Description

I. Field of application

The invention relates to an automation arm, such as in Machine tools that are installed in a production line, for example for supplying workpieces and / or for supplying tools available.

II. Technical background

Such machine tools, for example lathes, milling machines etc., usually have one from above and / or from the front accessible work space in which the workpiece can be machined is held open. The automation must be at this processing position can deliver or remove the workpiece with little effort. If the Automation arm for equipping the processing unit with tools serves, so these are also within the workspace, and the Tool positions must be accessible from the automation arm.

Since the working area is protected by protective covers during processing is closed to the environment from emissions or material particles that contribute to to protect the machining, the automation arm must either remain in the work area during processing or with each new one Reach the loading / unloading process into the work area again, so that the  Minimization of dead times also the access speed of the automat arm is of great importance, in addition to the exact reproducibility of movements.

Such an automation arm is therefore - in the second case - usually behind or arranged above the working space of the machine tool, and has one or more, then usually at an angle to each other or arm parts pivotable relative to each other. At least one of the arm parts, usually the vertical arm part, is usually telescopic, so in Longitudinal direction of the arm part extendable, and in addition, the entire is often Automation arm or part of it by a z. B. vertical axis pivotable around the part removed from the processing space on a Place the conveyor element behind or next to the machine tool to be able to.

The problem is that the for the movements of the automati sierungsarms also outside of the working area of the machine tool Available space is limited to the top and also to the side other facilities available there, such as ceiling conveyors, control cabinets, additional funding institutions etc.

For this reason, automation arms can often be called articulated arms are trained, the individual arm parts are not telescopic, not can be used because such articulated arms are far behind when retracted stick out at the back or top.

For automation arms in which one or more of the arm parts in Are telescopic in the longitudinal direction, there is also the problem that with a Extendibility of the moving part by more than the length of the opposite fixed base part the extendable part (telescopic part) in the retracted Condition protrudes far beyond the base part. This is the most common Solution, namely a vertically telescopic arm part that is attached to a fixed  horizontal beam that runs through the working arm, horizontal is also a disadvantage in addition to the contamination of the carrier.

For this reason, none can be used to move the extendable part again the length of this extendable part increasing drive elements such as threaded spindles etc. acting on the extendable part be, but it must be in some cases less precisely controllable drive elements (Pneumatics partly with end stops).

III. Presentation of the invention a) Technical task

It is therefore the task according to the present invention to automate low-effort as well as a process for changing its length, which despite an easy and inexpensive manufacture with an automation arm low space requirement, faster and precisely controllable extendability and low manufacturing and maintenance costs.

b) solving the problem

This object is achieved by the characterizing features of claims 1 and 10 solved. Advantageous embodiments result from the subordinate sayings.

By arranging a mechanical, translating and not under setting, gear between the two telescopic relative to each other Parts, the base part and the telescopic part of an arm part, it is possible to limited overall length of the telescopic part and thus the entire arm part in whose idle state to increase its extension length and in particular  increase its extension speed by driving the intermediate gear instead of the telescopic part.

This mechanical transmission can be an intermediate part, which is in the Telescoping the arm part relative to both the base part and moves relative to the telescopic part, for example a rolling element carrier with one or more rolling elements mounted therein. By drive this mechanical transmission, in particular the intermediate part or the Rolling element carrier, must be from the drive element, for example one motor-driven threaded spindle, significantly smaller path differences be overcome than those to be bridged by the telescopic part Stretching.

The mechanical gearbox is the same as the base part in active connection with the telescopic part, for example by the roller Body support, i.e. the intermediate part, a rolling element cage with several in the rolling element Body-mounted rolling elements is on one side at the same time the base part and on its opposite side on the telescopic part unroll, and in particular slip-free in contact with the base part or Telescopic part are held.

This results in a ratio of 2: 1 such that by longitudinal Movement of this rolling element cage by a unit of length the telescopic part is moved forward by two units of length relative to the base part. Thereby it is in particular also possible to extend the telescopic part relatively in the longitudinal direction to relocate to the base part, that these two parts are no longer directly against each other overlap on the side, but only one overlap to the intermediate part, that is, for example, to the roller cage arranged in between. For this The rolling elements should preferably be operatively connected to each other, otherwise the translation effect is lost. This avoids when withdrawn current state of the telescopic part large protrusions to the rear and thus one  large space requirement of such a telescopic arm part of an automation system low-effort.

Of course, several can be at an angle to each other and in particular also articulated arm parts each teles in this way be designed to be copiable, and not just one-step as previously described, but also in several stages, i.e. with several along each other sliding base parts and telescopic parts and arranged in between mechanical gears or intermediate parts, especially in the form of a Rolling element carrier, with the telescopic part of the multi-stage telescoping first stage can simultaneously form the base part of the second stage, etc.

The same gear ratio is achieved by using a diverter head achieved as an intermediate part instead of the rolling element cage as a rolling element carrier, by using this deflection head, which has either a deflection roller at its tip or even carries only one sliding surface as a rolling element, deflects a tension element which is attached on the one hand to the base part and on the other hand to the telescopic part is. The tension element can either be a finite tension element act, the ends of which are attached as described above, or a endless, around two or more deflection points, which are located on the intermediate part, guided tension element.

It is also irrelevant whether the base part and intermediate part or between intermediate part and telescopic part slideways or roller guides tracks are arranged for the purpose of relative displacement, i.e. sliding friction or Roll friction prevails.

In the case of finite tension elements, they can stray from the deflection head but free ends of the tension element are not in the same, diametrically opposite, direction away from the deflection head stretch, but preferably in two such directions, the intermediate angle is as small as possible.  

Again, by pushing the deflection head against the Base part by a unit of length around the telescopic part with respect to the base part shifted two units of length.

It is irrelevant in both specifically described solutions whether the Rolling element carrier, i.e. rolling element cage or deflection head, moving drive source is fixed relative to the base part or against the telescopic part.

With an endless train, wrapped around the deflection points on the intermediate part element, the drive can either be on the intermediate part, and that Drive tension element, in particular directly, such as a toothed belt by means of a Ritzels, or the motor can be arranged on the base part or the telescopic part be, and a displacement of the intermediate part relative to that of the motor load-bearing part, i.e. the base part or the telescopic part. in the In the former case, the drive must be free from slippage Maintaining a constant gear ratio.

With a two-stage telescopability, in which the telescopic part is the first Level is also the base part of the second telescopic level, it is recommended that Drive source, for example an electric motor, on the telescopic part of the Arrange first telescopic stage, and from there, for. B. by means of two threads spindles, in particular diametrically striving threaded spindles, in particular which are equipped with threads running in opposite directions to each other to drive the closest rolling element carrier to this telescopic part.

In the case of a deflection head with a train, in particular a finite one, around it element as rolling element carrier must either for the backward movement second tension element around the deflection head in the opposite direction be, or there must be a spring preload in the retraction direction for the Telescopic part exist.  

Furthermore, the telescopability does not have to be in the direction of a straight line take place, but it is also telescopic in arch form, especially in Circular arc shape, possible by adding a base part as well as a telescopic part have speaking curvature, and also in terms of effectiveness arranged intermediate part or rolling element carrier. Even a telescope availability along a curve with inconsistent curvature is possible, if the telescopic part and / or the rolling element carrier or intermediate part and / or the base part has a variable curvature, for example by each consist of articulated individual elements.

It is also conceivable that the base part specifying the telescopic direction in its To make the curvature variable by a base part made of elastic, in its Curvature influenceable material, for example using the so-called called memory effect in metals and plastics, or by layer like structure and relative displacement of the layers to each other, used becomes.

It is also possible that the full telescoping of a first arm part is short before reaching its end position, the telescoping of the following, on the first arm part at an angle or articulated thereto, the second Arm part causes and / or the pivoting of this second arm part against over the first arm part.

In this way, too, the space required for the automation arm overall be drastically reduced.

c) working examples

An embodiment according to the invention is below with reference to the figures described in more detail by way of example. Show it:  

Fig. 1 is a schematic representation of the mechanical intermediate gear,

Fig. 2a shows a first embodiment in side view,

FIG. 2b shows a first cross-sectional variant of Fig. 2a,

Fig. 2c shows a second embodiment in side view,

Fig. 2d shows a third embodiment in side view,

Fig. 2e is a second cross-sectional variant of Fig. 2a,

Fig. 2f a fourth variant, in cross section,

Fig. 3 shows a second embodiment in side view,

Fig. 4 is a double telescopic third embodiment similar to FIG. 3,

Fig. 5 shows a further embodiment with double gear in a side view;

FIG. 6a is a Automatisierungsarm with two arm portions,

Fig. 6b a further Automatisierungsarm with two arm portions,

Fig. 6c the Automatisierungsarm Fig. 6b with other drive of the vertical arm part,

Fig. 7 is a Automatisierungsarm with angled arm portions,

Fig. 8 is a Automatisierungsarm with curved arm portions,

Fig. 9 is a Automatisierungsarm variable extension direction,

FIG. 10a is a machine tool having Automatisierungsarm at rest,

Fig. 10b, the machine tool having Automatisierungsarm Fig. 10a in telescoped state,

Fig. 11, the machine tool of FIG. 10a in plan view,

FIG. 12a, the machine tool according to Fig. 10a in the side view, and

Fig. 12b another machine tool in side view.

Fig. 1 shows in basic representation a telescoping arm having a base part 3 and a contrast can be displaced in longitudinal direction 10 telescopic part 11. Between the two is a mechanical gear in the form of a roller body 9 , which simultaneously rolls on one side on the base part 3 and on the opposite side on the telescopic part 11 .

By moving the center point of the rolling element 9 , that is, a hypothetical rolling element carrier by a distance x, the telescopic part 11 is moved in the same direction by twice the path length 2 x with respect to the base part.

Instead of the rolling of the rolling element 9 directly on the base part and the telescopic part, there can also be an operative connection in the form of a tension element, as will be described in more detail with reference to FIGS. 2c ff.

FIGS. 2a and 2b show a first embodiment based on the direct rolling. In this case, a plurality of rolling elements 9 are combined in a longitudinal direction 10 in a rolling element cage 4 as an intermediate part, in which they are mounted. As the cross-sectional view of FIG. 2b shows, the rolling elements can be rollers which can be supported and held with their front ends in end plates 4 a, 4 b, which together form the rolling element cage 4 . The front ends of the rolling elements 9 can be pointed, and can be accommodated in corresponding recesses in the end plates 4 a, 4 b, in order to reduce the sliding friction therebetween.

The rolling elements 9 are received in two planes with mutually parallel axes of rotation in the cage 4 . In the space between the two levels of rolling elements, there is the base part 3 , which, for example, can be connected to the machine tool in a fixed, ie immovable manner. Through a - in the present case trapezoidal cross-section - trough corresponding to the shape of the outer contour of the rolling elements 9 , lateral guidance between the base part 3 and the rolling elements 9 and thus also the rolling element cage is achieved.

On their outer sides, both levels of the rolling elements 9 run in correspondingly shaped grooves of the telescopic part 11 , which according to FIG. 2b is a closed box-shaped hollow profile and has the grooves on the two mutually opposite inner sides. The box profile of the telescopic part 11 thus encloses the base part 3 and the rolling element cage 4 , finally the rolling element 9 . In the design of the rolling element cage 4 with two separate end plates 4 a, both must be driven simultaneously and synchronously with one another, for example as shown in FIG. 2 b by a threaded spindle 14 , 14 ′ in each case. In order to both form the rolling element cage 4 in one piece and to improve the accessibility and assembly, a design according to FIG. 2c is advantageous in which both the rolling element cage 4 and the outer part composed of the base part 3 and the telescopic part 11 , for example the telescopic part 11 , consist of one U profile exist. The central part, for example the base part 3 , consists of a z. B. rectangular profile, in particular a solid rectangular profile.

As the side view of Fig. 2a shows, the translation is achieved by driving that the rolling element cage 4 is driven in the longitudinal direction 10 relative to the base part 3 , which results in a twice as large displacement of the telescopic part 11 relative to the base part 3 .

The drive can be done by means of a threaded spindle 14 , which also extends in the longitudinal direction 10 and acts on the rolling element cage 4 , via a motor M1, which is fixed relative to the base part 3 . Another possibility - as shown in the lower half of FIG. 2a - is a scissor linkage which is arranged on the one hand on the rolling element cage 4 and on the other hand on the driving motor M3, the motor M3 then pivoting the swivel arm attached to it. In this case, lateral clearance is required for the retracted, then laterally projecting, scissor linkage.

Regardless of whether one of the two prescribed drive types or a further drive type is selected for the rolling element cage 4 , the drive sources, that is to say the motors M1 or M3, can also be fastened to the telescopic part 11 instead of to the base part 3 .

Another possibility is to set some or all of the rolling elements 9 directly in rotation with respect to the rolling element cage 4 by means of a motor M2, and thereby to cause the relative movement of the base part 3 , rolling element cage 4 and telescopic part 11 relative to one another, owing to the freedom from slip of the rolling elements 9 opposite base part and telescopic part.

As shown in FIG. 2a, when the arm part is extended, the telescopic part 11 can be extended to the extent that it no longer overlaps with the base part 3 , but only a relative overlap of the rolling element cage 4 on the one hand with the base part 3 and on the other hand with the telescopic part 4 viewed in the longitudinal direction 10 .

In this case, however, there must be an operative connection, that is to say a rotationally fixed connection, between at least the rolling elements 9 , which are still in the region of the base part 3 even when the arm part is in a fully extended position, and those which are still in the region of the telescopic part 11 , before, however, preferably over all rolling elements 9 , at least one of the two levels of rolling elements 9 .

This can e.g. B. toothed belt connection via a toothed belt 17 or it can be a connection via idler gears 18 between the individual rolling bodies 9 , for example in the form of idler gears, can be selected.

The rolling elements 9 , which in this case can also be balls, are captively supported in the free-ending legs of the U-shaped rolling element cage 4 by being received there with a precise fit over part of the outer circumference, and in turn roll on the outer contour of the central part, e.g. B. the base part 3 , and the inner contour of the free legs of the outer U-shaped part, for. B. the telescopic part 11 , from.

Fig. 2c and 2d show the other hand, a driving ability in which, instead of a Wälzkörperkäfiges 4 now an intermediate part 4 'two deflecting 9' bears no longer roll on the base part 3 and the telescopic part 11 opposed to the rolling elements 9. Instead, the deflecting body 9 'a pulling element guided around 7 e taut that the deflecting body 9' can be, typically rolls, pulled around. The tension element 7 e is fixed on the one hand with respect to the base part 3 and on the other hand with respect to the telescopic part 11 . As shown in the alternative detailed drawings in the middle between Fig. 2c and 2d, it can be an endless traction element 7 e, or a finite traction element 7 e, the two ends of which are attached to the base part 3 , or an finite traction element 7 e , whose two ends are fastened to the telescopic part 11 , or by two finite tension elements, one end of each of the two finite tension elements being fastened both to the base part 3 and to the telescopic part 11 .

The solutions of FIGS. 2c and 2d differ in their drive:
While in Fig. 2c, the pulling element 7 e means of a motor M is driven, the 'is disposed directly one of the deflecting member 9' on the intermediate part 4 as a drive roller slip-free driving, 2d the tension element, in the solution according to Fig. Not 7 e, but the intermediate part 4 'driven by a motor M, which is arranged in Fig. 2d on the base part 3 , but could just as well sit on the telescopic part 3 . The drive is preferably carried out by means of a toothed rack 27 , in which a pinion 28 engages on the motor shaft of the motor M.

A two-stage telescoping is made possible in a simple manner according to FIGS. 2e and 2f in that, in the above-described solutions, the outer telescopic part 11 is doubled back to back to an H-profile, in the two free spaces of which an analog rolling element cage 4 or Intermediate part 4 'runs with a central inner part. One inner part then still functions as a base part 3 , while the other inner part then represents the second telescopic part 12 . Both roller body cages 4 are in turn drivable in the longitudinal direction 10 , indicated for. B. by the drawn-in threaded spindle 14 a or 14 b. The threaded spindles can either be driven independently of one another or only simultaneously and in the same direction and at the same speed, but can be driven by the same motor M, which should then preferably be fixed to the first telescopic part 11 which extends over both telescopic stages.

Due to the separate, independent driveability of the two rolling element cages 4 , 4 ', switching on and off one of the drives can switch from fast to slow operating speed of the telescopic arm, which enables quick bridging of large distances on the one hand and slow, very targeted approach to a target point on the other hand.

FIGS. 3-6 show solutions in which the rolling element 9 is also not operatively connected to the base part 3 and telescopic part 11 , but indirectly via a tension element.

The basic form here is the simple telescopability according to FIG. 3. The aim is again to move a telescopic part 11 in the longitudinal direction 10 relative to a base part 3 . For this purpose, a deflection body 9 'in the form of a roller is also displaced in the longitudinal direction 10 , with a tension element 7 , for example a belt or rope, being wrapped around the deflection body 9 ' around its right side in FIG. 3, while the two free ends Strive for the train element 7 to the left.

One free end 15 of the tension element 7 is fastened to the base part 3 , the other free end 16 , on the other hand, to the telescopic part 11 . By shifting the rolling body 9 ', that is, the center of this deflection roller or this sliding body, by a distance x, for example to the right, the telescopic part 11 is in turn shifted by the distance 2 x to the right relative to the base part 3 .

For the backward movement in the opposite direction, either the telescopic part 11 must be spring-loaded in this direction or a second tension element 7 ', as shown in FIG. 3, must be placed the other way around the deflecting body 9 ', in turn with the fastening of one end 15 'on the base part 3 and the other free end 16 ' on the telescopic part 11 .

The displacement of the center of the deflecting body 9 'is preferably directly in the longitudinal direction 10 , but in no way exactly perpendicular to it, for example by means of a threaded spindle 14 which is driven by a motor M, which is either towards the base part 3 as shown or against that Telescopic part 11 is fixed.

Fig. 4 shows a working on this basic principle two-stage telescoping, in which the first telescopic part 11 of the first telescopic stage serves simultaneously as the base part 3 for the second telescopic stage. Thus, the one free ends 115 , 115 'of the two tension elements 107 , 107 ' of this second telescopic stage are attached to the first telescopic part 11 , and likewise the motor Mb of this second telescopic stage.

Fig. 5 shows only a single stage telescopic arm 2 according to this basic principle, but with double gear, so displacement of the deflecting body 9 'by the distance x, and thereby caused displacement of the telescopic part 11 by the distance 4 x with respect to the base part 3.

For this purpose, the tension element 7 , in which in turn one end 15 is fastened to the base part 3 and the other end 16 to the telescopic part 11 , is placed in between in an S-shape around two deflection points in the form of deflection bodies 9 a ', 9 b'. These two deflecting bodies 9 a ', 9 b' can be moved in opposite directions, preferably driven by means of one and the same motor M with the aid of threaded spindles 14 a, 14 b. If each of the deflection points 9 a ', 9 b' is displaced outwards by a unit of length x from the center, this results in the displacement by the distance 4 x in the longitudinal direction 10 , that is to say the end 16 fastened to the telescopic part 11 to that on the base part 3 attached end 15 to. The return movement is realized here by a tension spring 8 between the telescopic part 11 and the base part 3 .

By not only double, but multiple deflection of the tension element 7 , the transmission factor can be increased as desired.

The tension elements can be designed as smooth belts or ropes, the deflecting rollers 9 and 9 a, 9 b only serving for deflection. When designing the tension elements 3 as positive tension elements such as toothed belts, the drive can also consist in that the deflection rollers or 9 a, 9 b in FIG. 5 are set in rotation by a motor itself and thereby the arm part is telescoped or drawn in, the constant contact of the deflection roller on the tension element must be ensured only by spring preload or other aids. The tension element 7 - regardless of whether it is smooth or form-fitting - may of course not be stretchable or as little as possible.

Fig. 6 shows an automation arm 1 with a first telescopic arm part 2 a, which is telescopic in two stages in the horizontal, and a second telescopic arm part 2 b attached to the free end on the first arm part 2 a, which in turn is telescopic in two stages and in the vertical is extendable downwards.

The second arm part 2 b is preferably pivotable by spring preload in a parallel position to the first arm part 2 a, and the entire first arm part 2 a is - together with the second arm part 2 b attached to it - in particular in a vertically upward rest position the base part 3 , which is part of the machine tool, can be swiveled up.

The arm portions 2 a, 2 b are placed in an at least partially extended position is in which the Automatisierungsarm 1 in the working chamber 20 of the machine tool engages, and is able to deposit a workpiece at the machining position 21 or to be taken with the aid of a gripper 24 arranged at the front end of the second arm part 2 b.

The telescopability of the first arm part 2 a is not shown in detail and can be solved according to one of the two basic principles described.

The telescopability of the second arm part 2 b, which consists of a base part 3 b, first telescopic part 11 b slidable thereon and in turn movable second telescopic part 12 b, is realized by means of the pulling element solution. For this purpose, a deflection roller 9 'is arranged at the front end of the base part 3 b, around which a tension element 7 is placed. The pulling element 7 is connected to the one end at the rear end of the first telescope part 11 b and with the other end on the base part 3, that is a fixed point, secured, wherein the free ends extend at an intermediate angle to each other. In an analogous manner a further tension element T 'is wrapped b by a further deflection roller 9 at the front end of the first telescopic member 11 and with b fixed a free end at the rear end of the second telescopic part 12, with the other end in turn the base part 3 of the machine tool . In addition, the opening of the gripper 24 consisting of two gripping claws 24 a, 24 b can be solved by means of further pulling elements 7 ″, which are fastened on the one hand to the gripping claws 24 , which are articulated at the front end of the second and last telescopic part 12 b, and on the other hand on the first telescopic part 11 b. By relative extension of the second telescopic part 12 b relative to the first telescopic part 11 b, the gripping claws 24 a, 24 b are automatically pivoted relative to one another into an open position against the force of a spring 25 .

In a similar manner a further spring 25 ', the folding down of the whole of the second arm member 2 can also take place against the force of b opposite to the first arm portion 2a. For this purpose, in turn, a pulling element 7 '''is attached to one end at the rear end of the base part 3 b of the second arm part 2 b, with the other end at the front end of the first telescopic part 11 of the first arm part 2 a.

By relative extension of the second telescopic part 12 with respect to the first telescopic part 11 of the first arm part 2 a, the second arm part 2 b, the first and second arm parts 2 a, 2 b in one, is pulled by the tension element 7 ″ ″ against the force of the spring 25 ′ holds aligned position to each other, folded down into an angular position by the deflection point 9 ''', which may be identical to the hinge point, on the side of the connecting line facing away from the spring 25 ' between the end points of the tension element 7 '''.

As FIG. 6 further shows, after the automation arm has been retracted into the rest position, the work space 20 can be closed completely and without hindrance by the automation arm 1 by closing a door 22 ′ in particular in the protective cover 22 .

Figs. 6b and 6c also show a Automatisierungsarm 1 with a first telescopic arm 2 a, z. B. is in the horizontal single-stage telescopic, and a b at the free end of this first arm part 2 a fixed second telescopic arm 2 which z. B. is telescopic in one stage in the vertical.

Each of the arm parts 2 a, 2 b can of course also be telescoped in several stages.

In the form shown, each of the arm parts 2 a, 2 b consists of base part 3 or 3 b, intermediate part 4 'or 4 ' b and telescopic part 11 or 11 b. The base part 3 b of the second arm part 2 b is at the same time the telescopic part 11 of the first arm part 2 a.

The arm parts 2 a and 2 b are each equipped with an endless tension element 7 or 7 b on the intermediate parts 4 'or 4 ' b, analogous to the solutions in FIGS. 2c and 2d.

The drive of the vertical arm part 2 b takes place in Fig. 6b by means of a separate motor, which is arranged either as a motor Mb ₁ on the base part 3 b, which is also the telescopic part 11 of the first arm part 1 a, and via pinion 28 'and rack 2 T drives the intermediate part 4 'b. Alternatively, the arrangement of a motor Mb ₂ directly on the intermediate part 4 'b and drive of the tension element 7 b there, z. B. by driving one of the pulleys.

Of course, here too, the fixed connection of the tension element 7 b, which is arranged on the intermediate part 4 'b, is present relative to the base part 3 b on the one hand and the telescopic part 11 b on the other hand of the arm part 2 b.

Fig. 6c shows instead a drive of the vertical arm part 2b in the downward direction by gravity, and in the upward direction by means of a tension element 31, which on the one hand on the intermediate part 4 'b of the vertical arm part 2 b and on the other hand on the intermediate part 4' of the horizontal first arm part 2 a is attached. If a deflection takes place on the one hand via a point on the telescopic part 11 and on the other hand via a further deflection point on the intermediate part 4 'itself, which, however, is closer to the base part 3 than the attachment point of the tension element 31 , then when the first arm part 2 a is extended, that on the tension element 31 hanging intermediate part 4 'b of the second arm part 2 b against the base portion 3 b is lowered, and thereby the second arm 2, including the telescope part 11 b downwardly extended a. As a result, a separate drive motor is not necessary and there is in particular no energy supply for such a motor to the telescopic part 11 or the second, changeable in position, arm part 2 b, which should be avoided because of the space-intensive and damage-prone cable trailing devices.

At the free lower ends of the second arm parts 2 b, ie their telescopic parts 11 b, gripping devices or the like can be arranged for gripping a part to be handled.

Fig. 7 shows a schematic representation of a one-part automation arm 1 , which, however, can be telescoped in several stages by moving a first telescopic part 11 on a base part 3 , a second telescopic part 12 on this and in turn a third telescopic part 13 , etc., on this , again according to one of the two basic principles described at the outset, that is to say with a mechanical transmission gear between the individual parts.

However, the guide directions of the individual telescopic parts are for the neighboring parts running on it do not run parallel but at an angle to each other  arranged with approach to the free end. For the Automation arm overall a curvature when extending.

As shown in FIG. 8, instead of straight but angular guide directions of the individual telescope parts, parallel, but inherently curved, in particular evenly curved, guide surfaces can also be seen, thus arcuate telescope parts 11 , 12 . This arcuate extension of the working arm can help avoid a second arm part or a pivoting position between the first and second arm parts.

In the solution according to FIG. 8, the base part 3 of the automation arm is additionally pivotable about a vertical pivot axis 23 relative to the machine tool in order to remove objects away from the working space, for. B. behind the machine tool to store or record.

Fig. 9 shows a solution similar to the side view in Fig. 1, but with the difference that a curved path of movement when extending the arm part 2 is possible by the rolling body cage 4 is not a one-piece, rigid part, but from several members 4th a- 4 d, which can be pivoted via joints 26 on their axis of symmetry about their pivot axis, which runs transversely to the longitudinal direction 10 and transversely to the rows of rolling elements 9 .

The two middle elements 4 b, 4 c in each of the row of rolling bodies each have only one rolling element 9 , the first and last segments 4 a and 4 d, however, each have several rolling elements per row.

As soon as more than one rolling element per row of the first and last segment 4 a or 4 d is in contact with the base part 3 or the telescopic part 11 , this part is aligned and thus held parallel to the respective segment.

As long as base part 3 and telescopic part 11 overlap one another, an aligned, parallel position of base part 3 to telescopic part 11 is also maintained here.

As soon as such an overlap is no longer present, the mutually movable segments of the rolling element cage 4 fold according to the force of gravity or an existing spring tension into a maximum possible stop position - in FIG. 9 due to gravity - against one another, so that thereby the direction of the cage part and thus the arm part 2 as a whole is changed.

FIG. 10a, 11 and 12a show a machine tool, for example a rotary machine, with an associated Automatisierungsarm. 1 In the front view ( FIG. 10a), that is to say from the operator's point of view, in the top view ( FIG. 11) and in the side view ( FIG. 12a), the automation arm 1 being shown in the deactivated rest position.

The representations of the corresponding FIGS. 10b and 12b differ in that the automation arm is shown here in an activated, that is, telescoped, working position, in which it accesses the machining position 21 .

In Figs. 10-12 is seen that the Automatisierungsarm 1 of a first horizontal arm portion 2a and a free at the end of which is vertically telescopic below the second arm portion 2b is arranged at the free end an angled gripping unit 32, which has grippers 24 on each of its free legs. The horizontal first arm part 2 a is attached to a vertical column 29 , which serves as the base part of the arm part 2 a, and rises so high that the horizontal arm part 2 a runs above the processing position 21 , which the automation arm 1 should be able to access.

As shown in FIG. 10, the column 29 is arranged on the front side next to or at the front end on the bed 33 of the machine, which is usually on a base plate 34 .

In the deactivated state of the horizontal arm part 2 a, the entire Automatisierungsarm 1 is located laterally outside the working space 20, which is sealed during operation of the machine by a protective cover 22nd The horizontal arm part 2 a does not protrude beyond the base of the base plate 34 even on its rear side facing away from the arm part 2 b, and the front end of the horizontal first arm part 2 a still ends outside the front wall of the protective cover 22 . After opening a door 22 'in the lateral end wall of the protective cover 22 of the horizontal first arm part 2 can a in the working space into be moved, as shown in FIG. 10b shows, to above the processing position 21, and then the vertical second arm part 2 b down as far as be telescoped until the gripper 24 arranged there reaches the machining position 21 and the part, workpiece or tool to be handled can grip.

The plan view of FIG. 11 shows that the intermediate part 4 'of the horizontal arm part 2 is a preferably along one longitudinal edge of the base part 3, which may be the column 29 or a separate component simultaneously performed, and on the other longitudinal side of the telescopic part 11 is performed on it. Are the second vertical arm part 2 b of the left side to the right side of the column 29 moved without colliding with this - in this way, can - in the front view of Figure 10a, as viewed 10b..

As the side views of FIGS. 12a, 12b show, the column 29 is provided at the upper end with a gallows-shaped projection 29 ', which in turn may even be cranked downward at its free front end. This is necessary so that on the one hand the column 29 can be attached directly to the bed 33 of the machine, but on the other hand it can bridge the distance to the processing position 21 in front of the bed.

The automation arm 1 can be guided horizontally on the front ( FIG. 12a) or on the rear vertical surface of a downward extension of the projection 29 '.

Fig. 12a also shows that the vertical, second arm part 2 b with an upper carriage system, which is guided on the bed 33 and z. B. carries a tool turret 35 , can collide. This would be avoidable if the column 29 or its projection 29 'were arranged far enough above the uppermost slide system or tool system, and the lower end of the vertical arm part 2 b including the gripper still ended above this uppermost slide system in the rest position. However, this would result in very long travels of the vertical second arm part 2 b and / or the need to open the protective cover 22 not only at the end face (door 22 ') but also at the top thereof, which is to be avoided. For this purpose, the second, vertical arm part 2 b can be pivoted about a horizontal axis 36 in order to be guided past such a turret 35 or an upper slide system as a whole without collision in the Z direction.

The pivoting of the vertical arm part 2 b can take place with respect to the horizontal arm part 2 a, or together with this relative to the column 29 or its projection 29 '.

At the lower, free end of the vertical second arm part 2 b, an angular gripping unit 32 is preferably arranged, the two legs of which each have grippers 24 at their free ends, one gripper 24 being used for gripping the machined old workpiece and the second gripper, on the other hand simultaneous delivery of the new workpiece. In a known manner, this L-shaped grip unit 32 is also about a horizontal axis relative to the telescope part 11 b of the second vertical arm part 2 b pivotable.

The grippers 24 are functionally controlled in particular by means of pneumatics or hydraulics, since the required gripping accuracy can thereby be achieved. This gives the possibility of not having to carry any electrical energy supply to the front end of the second arm part 2 b, since only the telescopic arm parts 2 a, 2 b generally have to be moved by means of electric motors. Here, too, an attempt is seen from the column 29 to the gripper 24 at the front end of the automation arm 1, to position the necessary motors M possible far back, so far as possible only on the first arm portion 2a to the masses to be moved at the moving Keep components as small as possible.

Reference list

1

Automation arm

2nd

a,

2nd

b,

2nd

c arm parts

3rd

Base part

4th

Rolling body cage

4th

'Intermediate part

5

Pulley

6

Deflection head

7

,

7

'' Tension element

7

e endless traction element

8th

Tension spring

9

Rolling elements

9

'' Deflector

10th

Longitudinal direction

11

first telescopic part

12th

second telescopic part

13

third telescopic part

14

Threaded spindle

15

The End

16

The End

17th

Timing belt

18th

Idler gears

20th

working space

21

Machining position

22

Protective cover

23

,

23

'' Swivel axis

24th

Gripper

25th

feather

26

Joints

27

Rack

28

pinion

29

pillar

29

Cantilever

30th

Gripping position

31

Tension element

32

Gripping unit

33

bed

34

Base plate

35

revolver

36

horizontal axis

Claims (27)

1. Automation arm with at least one telescopic arm part, which comprises at least a base part and a telescopic telescopic part, characterized in that in at least one telescopic arm part ( 2 a, 2 b,...) Between the motor (M) of the telescopic drive and the Telescopic part ( 11 ) a mechanical, with respect to the longitudinal direction ( 10 ) of the telescopic part ( 11 ) translating gear is arranged. 2. Automation arm according to claim 1, characterized in that the mechanical transmission comprises an intermediate part, in particular a rolling element carrier, the

• - Both with the base part ( 3 ) and with the telescopic part ( 11 ) of the telescopic arm part ( 2 a, 2 b) is operatively connected, and
• - In particular in the longitudinal direction ( 10 ) of the telescopic arm part ( 2 a, 2 b,...) is driven.

3. Automation arm according to claim 2, characterized in that the rolling element carrier is a rolling element cage ( 4 ) in which a plurality of rolling elements ( 9 ) are spaced apart in the longitudinal direction ( 10 ), both on the base part ( 3 ) and on the telescopic part ( 11 ) unroll at the same time, especially as free of slip as possible. 4. Automation arm according to claim 2 or 3, characterized in that

• - The rolling element carrier is a deflection head ( 6 ) around which a finite, non-stretchable tension element ( 7 ) is placed, one end of which is attached to the base part ( 3 ) and the other end of which is attached to the telescopic part ( 11 ), and
• - The free ends of the tension element ( 7 ) have an intermediate angle of not equal to 180 °,
• - The deflection head ( 6 ) in its position relative to the base part ( 3 ) and / or the telescopic part ( 11 ) is displaceable, in particular in the longitudinal direction ( 10 ).

5. Automation arm according to claim 2 or 3, characterized in that the intermediate part has at least two deflection points around which a one-part or multi-part tension element ( 7 e) is laid, which on the one hand relative to the base part ( 3 ) and on the other hand relative to the telescopic part ( 11 ) is attached. 6. Automation arm according to claim 5, characterized in that the tension element ( 7 e) by means of an intermediate part ( 30 ) arranged motor (M) is pulled around the deflection point. 7. Automation arm according to claim 5, characterized in that the intermediate part ( 30 ) is driven relative to the base part ( 3 ) or to the telescopic part ( 11 ) by means of a motor (M) which is arranged on the base part ( 3 ) or on the telescopic part ( 11 ) is. 8. Automation arm according to one of the preceding claims, characterized in that the telescopic arm part ( 2 a, 2 b,...) Can be telescoped several times, with a base part ( 3 ) and telescopic parts which can be displaced relative to one another ( 11 , 12 , 13 ). 9. Automation arm according to one of the preceding claims, characterized in that the telescopic arm part ( 2 a, 2 b,...) Is telescopic in a straight direction. 10. Automation arm according to claim 9, characterized in that the longitudinal directions ( 10 a, 10 b,...) Of the individual telescopic parts ( 11 , 12 , 13 ,...) Of the telescopic arm part ( 2 a, 2 b,... .) at an angle, especially at an acute angle, to each other. 11. Automation arm according to one of the preceding claims, characterized in that the telescopic arm part ( 2 a, 2 b,...) Is telescopic along a curved, in particular uniformly curved, path. 12. Automation arm according to one of claims 2 to 11, characterized in that the rolling element carrier is moved in the longitudinal direction ( 10 ) by means of a motor-driven threaded spindle ( 14 ). 13. A method for changing the length of a base part ( 3 ) and at least one longitudinally displaceable telescopic part ( 11 ) having auto matisierungsarmes ( 1 ), characterized in that an intermediate part, in particular a rolling element carrier, the part of the automation arm ( 1 ) and is operatively connected to the base part ( 3 ) and the telescopic part ( 11 ), is driven along the longitudinal direction ( 10 ) relative to the base part ( 3 ). 14. A method for changing the length of one of the base part ( 3 ) and one opposite to the longitudinally displaceable telescopic part ( 11 ) having automation automation, characterized in that an intermediate part, in particular a rolling element carrier, which is part of the automation arm ( 1 ) and with the base part ( 3 ) and the telescopic part ( 11 ) is operatively connected, is driven along the longitudinal direction ( 10 ) relative to the subsequent telescopic part ( 11 ). 15. The method according to claim 13, characterized in that the drive source relative to the base part ( 3 ) is fixed in position. 16. The method according to claim 14, characterized in that the drive source with respect to the subsequent telescopic part ( 11 ) is fixed in position. 17. The method according to any one of the preceding method claims, characterized in that the rolling element carrier is in particular a rolling element cage and at least one of the rolling elements ( 9 ) of the rolling element carrier is driven and the drive source for the rolling element ( 9 ) is arranged on the rolling element carrier. 18. The method according to any one of the preceding method claims, characterized in that the rolling element carrier is a rolling element cage ( 4 ) with many rolling elements ( 9 ) spaced in the longitudinal direction ( 10 ), and the rolling elements ( 9 ) in slip-free contact both with the base part ( 3 ) as well as with the telescopic part ( 11 ). 19. The method according to any one of claims 13 to 17, characterized in that the rolling element carrier is a deflection head ( 6 ) and its deflection point is held in constant contact with a tension element ( 7 ), one end ( 15 ) of which is connected to the base part ( 3 ) and the other end ( 16 ) of which is attached to the telescopic part ( 11 ). 20. Machining unit, with a machine tool and an associated automation arm ( 1 ) according to one of the preceding claims, characterized in that the automation arm is arranged in the deactivated state completely outside the protective cover ( 22 ) of the working space ( 20 ) of the machine tool. 21. Processing unit according to claim 20, characterized in that the automation arm has a first, in particular horizontal, telescopic arm part ( 2 a) which can be telescoped through an opening in the protective cover ( 22 ) into the working space ( 20 ) so that a at the free end of the automation arm ( 1 ) arranged gripper ( 24 ) can handle the part to be handled, in particular at the machining position ( 21 ) of the machine tool. 22. Processing unit according to claim 20 or 21, characterized in that the automation arm ( 1 ) at the free end of the first telescopic arm part ( 2 a) has a second telescopic arm part ( 2 b), which is in particular vertically telescopic downwards and wherein the electrical Energy supply at the horizontal first arm part ( 2 a) ends. 23. Processing unit according to one of the preceding claims, characterized in that the automation arm ( 1 ) through an opening ( 22 ') in the lateral end face of the protective cover ( 22 ) can be extended into the working space. 24. Processing unit according to one of the preceding claims, characterized in that the automation arm ( 1 ) can be extended through an opening in the top of the protective cover ( 22 ) into the working space ( 20 ). 25. Processing unit according to one of the preceding claims, characterized in that the second, in particular vertically telescopic, arm part ( 2 b) relative to the first, in particular horizontally telescopic, arm part ( 2 a) about an axis ( 36 ), in particular a horizontal axis, is pivotable. 26. Processing unit according to one of the preceding claims, characterized in that the first arm part ( 2 a) together with the second arm part ( 2 b) about an axis, in particular a horizontal axis, is pivotable relative to a fixed part of the machine tool. 27. Processing unit according to one of the preceding claims, characterized in that the first arm part ( 2 a) of the automation arm ( 1 ) is arranged at the upper end of a column ( 29 ) and in particular at a height which is above the processing position ( 21 ) of the machine tool lies.