DE2445559A1 - Transporter device positioning mechanism - comprises alignment member under neath grab fitting in hole in workpiece support - Google Patents

Transporter device positioning mechanism - comprises alignment member under neath grab fitting in hole in workpiece support

Info

Publication number
DE2445559A1
DE2445559A1 DE19742445559 DE2445559A DE2445559A1 DE 2445559 A1 DE2445559 A1 DE 2445559A1 DE 19742445559 DE19742445559 DE 19742445559 DE 2445559 A DE2445559 A DE 2445559A DE 2445559 A1 DE2445559 A1 DE 2445559A1
Authority
DE
Germany
Prior art keywords
workpiece
alignment
hole
workpiece support
alignment member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE19742445559
Other languages
German (de)
Inventor
Hiroshi Asamoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of DE2445559A1 publication Critical patent/DE2445559A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)
  • Manipulator (AREA)

Abstract

The mechanism is particularly for handling workpieces for forging in a hammer press, having a grab movable horizontally and vertically to grip the workpiece. On the underside of the grab is a downwards-projecting alignment member, fitting closely in a mating hole in an alignment plate mounted on the workpiece support. The member can be of truncated cone section, the hole being of the same size and shape. Automatic alignment of workpiece is ensured.

Description

Positioniereinrichtung für Transportvorrichtungen Die Erfindung betrifft eine Positioniereinrichtung für eina Transportvorrichtung, etwa ein Selbststeuergerät oder einen WIanipulator, wie in der in der Industrie dazu verwendet wird, um ein Werkstück zu erfassen und von einem gewissen Platz, an dem es sich vorher befindet, zu einer bestimmten Stelle zu führen und auf einen Support zu legen, etwa auf die Werkstückauflage einer Metall verarbeitenden Hammerpresse, in der das Werkstück bearbeitet wird.Positioning device for transport devices The invention relates to a positioning device for a transport device, such as an automatic control device or a WIanipulator, as used in the industry to control a To grasp the workpiece and from a certain place where it is before, to lead to a certain point and to put on a support, for example on the Workpiece support of a metalworking hammer press in which the workpiece is processed.

Um das Werkstück genau in die vorbestimmte neue Lage zu bringen, ist es erforderlich, daß die Verfahrung des Werkstücks mit Hilfe einer in der Transp ortvorrichtung vorgesehenen Bewegungssteuerung genau gesteuert wird. Zu diesem Zweck ist eine erheblfche Verbesserung des Steuergerätes gegenüber den herkömmlichen Geräten erforderlich. Der Steuermechanismus wird daher kompliziert und die Transportvorrichtung umfangreich.In order to bring the workpiece exactly into the predetermined new position, is it is necessary that the movement of the workpiece with the help of a in the Transp location device provided motion control is precisely controlled. To this end is a considerable improvement of the control unit compared to conventional devices necessary. The control mechanism therefore becomes complicated and the transport device extensive.

Der Erfindung liegt die Aufgabe zugrunde, die oben beschriebenen Nachteileherkdmmlicher Transportvorrichtungen zu beseitigen und eine neuartige Positioniereinrichtung zu schaffen, die es ermöglicht, ein Werkstück zu führen und in einer zur Bgarbeitung des Werkstücks geeigneten bestimmten Stellung auf eine Werkstückauflage zu bringen, ohne daß es erforderlich ist, die Arbeitsgenauigkeit einer Bewegungssteuerung für das Werkstück zu erhöhen.It is an object of the invention to make the above-described disadvantages more apparent Eliminate transport devices and a new type of positioning device create that makes it possible to guide a workpiece and in one for processing of To bring the workpiece in a specific position on a workpiece support, without the need to improve the working accuracy of a motion controller for to raise the workpiece.

Die neuartige Positioniereinrichtung soll dabei einen möglichst einfachen Aufbau haben.The novel positioning device should be as simple as possible Have structure.

Bei einer Transportvorrichtung, etwa einem in der Industrie verwendeten Selbststeuergerät oder dergleichen, der einen mit einem Paar von Klemmklauen versehenen sowie vertikal und horizontal verschwenkbaren Greiferteil aufweist, mit dem das Werkstück erfaßt und auf eine Werkstückauflage, beispielsweise einer Metall bearbeitenden Hammerpresse, in der das Werkstück bearbeitet wird, gebracht wird , wird die obengenannte Aufgabe dadurch gelöst, daß die Positioniereinrichtung gemäß einem Ausfffhrungsbaispiel der vorliegenden Erfindung ein an der Unterseite des Greiferteils befestigtes und nach unten vorspringendes Ausrichtelement sowie eine an der Werkstückauflage befestige Ausrichtplatte mit einem Ausrichtloch zur engen Aufnahme des Ausrichtelements aufweist.In the case of a transport device such as one used in industry Autopilot or the like, one provided with a pair of clamping claws as well as vertically and horizontally pivotable gripper part with which the Workpiece detected and on a workpiece support, for example a metal processing Hammer press, in which the workpiece is machined, is brought, is the one mentioned above The object is achieved in that the positioning device according to one embodiment of the present invention attached to the underside of the gripper part and attach downwardly protruding alignment element and one to the workpiece support Has alignment plate with an alignment hole for tightly receiving the alignment element.

Dadurch wird es möglich, daß die Transportvorrichtung das Werkstück mit hoher Genauigkeit an einer vorbestimmten Stelle der Werkstückauflage anordnet, wenn das vorspringende Ausrichtelement eng in das Loch der Ausrichtplatte eingreift.This makes it possible for the transport device to carry the workpiece arranges with high accuracy at a predetermined point on the workpiece support, when the protruding alignment element tightly engages the hole in the alignment plate.

Die Erfindung wird in der nachstehenden Beschreibung eines bevorzugten Ausführungsbeispiels anhand der Zeichnung näher erläutert, in der Fig. 2 eine Einzelheit der Anordnung nach Fig. 1 in vergrößertem Maßstab zeigt.The invention becomes a preferred one in the following description Exemplary embodiment explained in more detail with reference to the drawing, in FIG. 2 a detail the arrangement of Fig. 1 shows on an enlarged scale.

Gemäß der Zeichnung umfaßt eine Transporteinrichtung, bei der es sich etwa um ein in der Industrie verwendetes Selbststeuergerät, oder einen Manipulator handelt, um das Werkstück zu erfassen und an eine vorbestimmte Stelle zu bringen, generell ein Hauptgestell 1 mit einem vertikal bewegbar und horizontal schwenkbar an dem Gestell 1 angebrachten Tragholm 2 und einen daran befestigten ausfahrbari Arm 3. Am äußeren Ende des Arms 3 ist ein Greiferteil 5 mit einem Paar von Klemmklauen 4 befestigt, wobei an der tWaterseite des eiferteils 5 ein nach unten vorspringends Ausrichtelement 6 befestigt ist. Das Element 6 ist vorzugsweise, wie in Fig. 2 gezeigt, kegelstumpfförmig. Andererseits ist an einer Werkstückauflage 7, beispielsweise einer Metall verarbeitenden Hammerpresse, in der das Werkstück weiter bearbeitet wird, eine Ausrichtplatte 8 befestigt, die ein Ausrichtloch 9 zur engen Aufnahme des vorspringenden Ausrichtelements 6 aufweist. Das Ausrichtloch 9 hat gemäß Fig. 2 vorzugsweise die gleiche Form und Größe wie das Ausrichtelement 6. Außerdem ist die Stelle, an der sich das Ausrichtloch 9 in der Ausrichtplatte 8 befindet, vorgegeben, da sie von dem Werkstück abhängt, das transportiert und auf die Werkstückauflage 7 gebracht werden soll.According to the drawing comprises a transport device in which it is for example a self-regulating device used in industry or a manipulator acts to grasp the workpiece and bring it to a predetermined location, generally a main frame 1 with a vertically movable and horizontally pivotable attached to the frame 1 support beam 2 and an extendable attached to it Arm 3. At the outer end of the arm 3 is a gripper part 5 with a pair of clamping claws 4 attached, with a downward protruding on the water side of the egg part 5 Alignment element 6 is attached. The element 6 is preferably, as shown in Fig. 2, frustoconical. On the other hand is on a workpiece support 7, for example a metalworking hammer press, in which the workpiece is processed further, an alignment plate 8 is attached, which has an alignment hole 9 for tightly receiving the protruding alignment element 6. The alignment hole According to FIG. 2, 9 preferably has the same shape and size as the alignment element 6. There is also the point where the alignment hole 9 is in the alignment plate 8 is given, as it depends on the workpiece that is transported and is to be brought onto the workpiece support 7.

Die oben beschriebene, erfindungsgemäße Positioniereinrichtung arbeitet folgendermaßen. Der Greiferteil 5 der Transporteinrichtung wird in einer Stellung angehalten, in der sich das an seiner Unterseite angebrachte vorspringende Ausrichtelement 6 gerade oberhalb des Ausrichtlochs 9 in der Platte 8 befindet, wobei die Klauen 4 ein Werkstück halten; sodann wird der Greiferteil 5 in das Ausrichtloch 9 abgesenkt, so daß das Ausrichtelement 6 eng in das Ausrichtloch 9 eingreift.The positioning device according to the invention described above works as follows. The gripper part 5 of the transport device is in one position stopped, in which the protruding alignment element attached to its underside is located 6 is located just above the alignment hole 9 in the plate 8, with the claws 4 hold a workpiece; then the gripper part 5 is lowered into the alignment hole 9, so that the alignment element 6 closely engages in the alignment hole 9.

Auf diese Art und Weise wird das Werkstück auf die WerkstUckauflage 7 gebracht und mühelos an der 3eweils vorgegebenen Stelle auf der Auflage 7 mit einer derart hohen Genauigkeit ausgerichtet, daß sich das Werkstück sodann in leistungsfähiger und vorteilhafterweise bearbeiten läßt, ohne daß versucht worden ist, die Arbeitsgenauigkeit einer Bewegungssteuerung für das Werkstück zu erhöhen.In this way, the workpiece is placed on the workpiece support 7 brought and effortlessly at the 3 respectively given place on the support 7 with aligned with such a high accuracy that the workpiece is then in more efficient and can advantageously be processed without attempting to improve the accuracy of the work a motion control for the workpiece to increase.

Claims (3)

PatentansprücheClaims 1. Positionisreinrichtung für eine Transportvorrichtung, etwa ein industriel'.es Selbststeuergerät oder einen industriellen Manipulator, mit einem horizontal und vertikal bewegbaren Greiferteil zum Erfassen eines Werkstücks und zum Transport des Werkstücks auf eine Werkstückauflage, an der das Werkstück bearbeitet werden soll, gekennzeichnet durch ein an der Unterseite des Greifertells befestigtes und nach unten vorspringendes Ausrichtelement (6) sowie eine an der Werkstückauflage befestigte Ausricniplatte (8) mit einem Ausrichtloch (9) zur engen Aufnahme des Ausrichtelements.1. Positioning device for a transport device, such as a industriel'.es self-control device or an industrial manipulator, with a horizontally and vertically movable gripper part for gripping a workpiece and for transporting the workpiece onto a workpiece support on which the workpiece is being processed is to be, characterized by an attached to the underside of the gripper plate and downwardly projecting alignment element (6) and one on the workpiece support attached alignment plate (8) with an alignment hole (9) for tightly accommodating the Alignment element. 2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß das vorspringende Ausrichtelement. (6) kegelstumpfförmig ist.2. Device according to claim 1, characterized in that the projecting Alignment element. (6) is frustoconical. 3. Einrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß das Ausrichtloch (9) in der Ausrichtplatte (8) gleiche Größe und Gestalt wie das vorspringende Ausrichtelement (6) hat.3. Device according to claim 1 or 2, characterized in that the alignment hole (9) in the alignment plate (8) same size and shape as that has protruding alignment element (6).
DE19742445559 1973-09-25 1974-09-24 Transporter device positioning mechanism - comprises alignment member under neath grab fitting in hole in workpiece support Pending DE2445559A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1973110849U JPS5350224Y2 (en) 1973-09-25 1973-09-25

Publications (1)

Publication Number Publication Date
DE2445559A1 true DE2445559A1 (en) 1975-04-03

Family

ID=14546207

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19742445559 Pending DE2445559A1 (en) 1973-09-25 1974-09-24 Transporter device positioning mechanism - comprises alignment member under neath grab fitting in hole in workpiece support

Country Status (2)

Country Link
JP (1) JPS5350224Y2 (en)
DE (1) DE2445559A1 (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2337095A1 (en) * 1976-01-05 1977-07-29 Pernot Alain Mechanical hoist for relatively small objects - has vertical column powered by motor with movable horizontal arm connected by slide
EP0042960A1 (en) * 1980-06-30 1982-01-06 International Business Machines Corporation Method and apparatus for calibrating a robot
FR2527493A1 (en) * 1982-05-28 1983-12-02 Nissan Motor MULTI-AXIAL INDUSTRIAL ROBOT AND AUTOMATIC ASSEMBLY SYSTEM COMPRISING SAME
DE3234216A1 (en) * 1982-09-15 1984-03-15 Trumpf GmbH & Co, 7257 Ditzingen DEVICES FOR THE MACHINING AND IN PARTICULAR UNLOADING OF MACHINING MACHINES
EP0110045A2 (en) * 1982-09-22 1984-06-13 Nissan Motor Co., Ltd. Method and system for automatically attaching sub-assembly to main assembly using industrial robots
FR2537907A1 (en) * 1982-12-17 1984-06-22 Du Pin Cellulose AUTOMATIC DEVICE FOR PROCESSING A PRODUCT
EP0128763A2 (en) * 1983-06-08 1984-12-19 Inoue-Japax Research Incorporated Robotic positioning systems
DE4235674A1 (en) * 1992-10-22 1994-04-28 Balzers Hochvakuum Chamber for transporting components under vacuum - with a second transport mechanism with elements movable axially and radially relative to the rotary first transport mechanism.
DE4235677A1 (en) * 1992-10-22 1994-04-28 Balzers Hochvakuum Chamber for transport of components in a vacuum processing installation - with at least one radially movable transport unit mounted separately from rotatable component carriers.
DE4235676A1 (en) * 1992-10-22 1994-06-09 Balzers Hochvakuum Chamber and chamber combination for transfer of at least one component - with a component holding element swivelled through a chamber opening
US5549435A (en) * 1992-10-06 1996-08-27 Balzers Aktiengesellschaft Chamber and a chamber combination for a vacuum facility and a method for transporting through at least one workpiece
US5590994A (en) * 1992-10-06 1997-01-07 Balzers Aktiengesellschaft Chamber, at least for the transport of workpieces, a chamber combination, a vacuum treatment facility as well as a transport method
EP0753379A1 (en) * 1995-07-14 1997-01-15 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Process for machining a workpiece
EP0849032A2 (en) * 1996-12-17 1998-06-24 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Process for machining a workpiece in a processing station with a robot
EP0849033A1 (en) * 1996-12-17 1998-06-24 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Method for machining and handling a workpiece
DE19750784A1 (en) * 1997-11-06 1999-05-20 Mannesmann Ag Gripper especially for packing machines
US6818108B2 (en) 1992-10-06 2004-11-16 Unaxis Balzers Aktiengesellschaft Chamber for the transport of workpieces in a vacuum atmosphere, a chamber combination and a method for transporting a workpiece
DE10328670A1 (en) * 2003-06-26 2005-01-27 Daimlerchrysler Ag Positioning system for e.g. weld nuts, comprises gripper arm, on which at least two electromagnetic grippers are mounted, control unit allowing them to be adjusted so that nuts are held in correct position for fitting
DE10130015B4 (en) * 2000-07-01 2014-03-13 Marquardt Gmbh handling device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5211499Y2 (en) * 1971-07-05 1977-03-12

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2337095A1 (en) * 1976-01-05 1977-07-29 Pernot Alain Mechanical hoist for relatively small objects - has vertical column powered by motor with movable horizontal arm connected by slide
EP0042960A1 (en) * 1980-06-30 1982-01-06 International Business Machines Corporation Method and apparatus for calibrating a robot
FR2527493A1 (en) * 1982-05-28 1983-12-02 Nissan Motor MULTI-AXIAL INDUSTRIAL ROBOT AND AUTOMATIC ASSEMBLY SYSTEM COMPRISING SAME
DE3234216A1 (en) * 1982-09-15 1984-03-15 Trumpf GmbH & Co, 7257 Ditzingen DEVICES FOR THE MACHINING AND IN PARTICULAR UNLOADING OF MACHINING MACHINES
EP0110045A2 (en) * 1982-09-22 1984-06-13 Nissan Motor Co., Ltd. Method and system for automatically attaching sub-assembly to main assembly using industrial robots
EP0110045A3 (en) * 1982-09-22 1985-09-11 Nissan Motor Co., Ltd. Method and system for automatically attaching sub-assembly to main assembly using industrial robots
US4575934A (en) * 1982-09-22 1986-03-18 Nissan Motor Company, Limited Method and system for automatically attaching sub-assembly to main assembly using industrial robots
FR2537907A1 (en) * 1982-12-17 1984-06-22 Du Pin Cellulose AUTOMATIC DEVICE FOR PROCESSING A PRODUCT
EP0119363A1 (en) * 1982-12-17 1984-09-26 La Cellulose Du Pin Robot provided with means for marking products
US4665600A (en) * 1982-12-17 1987-05-19 La Cellulose Du Pin Automatic device for processing a product
EP0128763A2 (en) * 1983-06-08 1984-12-19 Inoue-Japax Research Incorporated Robotic positioning systems
EP0128763A3 (en) * 1983-06-08 1986-09-10 Inoue-Japax Research Incorporated Robotic positioning systems
US5865588A (en) * 1992-10-06 1999-02-02 Balzers Aktiengesellschaft Chamber, at least for the transport of workpieces, a chamber combination, a vacuum treatment facility as well as a transport method
US6096231A (en) * 1992-10-06 2000-08-01 Balzers Aktiengesellschaft Chamber, at least for the transport of workpieces, a chamber combination, a vacuum treatment facility as well as a transport method
US6818108B2 (en) 1992-10-06 2004-11-16 Unaxis Balzers Aktiengesellschaft Chamber for the transport of workpieces in a vacuum atmosphere, a chamber combination and a method for transporting a workpiece
US5549435A (en) * 1992-10-06 1996-08-27 Balzers Aktiengesellschaft Chamber and a chamber combination for a vacuum facility and a method for transporting through at least one workpiece
US5590994A (en) * 1992-10-06 1997-01-07 Balzers Aktiengesellschaft Chamber, at least for the transport of workpieces, a chamber combination, a vacuum treatment facility as well as a transport method
US6364955B2 (en) 1992-10-06 2002-04-02 Unaxis Balzers Aktiengesellschaft Chamber, at least for the transport of workpieces, a chamber combination, a vacuum treatment facility as well as a transport method
DE4235674A1 (en) * 1992-10-22 1994-04-28 Balzers Hochvakuum Chamber for transporting components under vacuum - with a second transport mechanism with elements movable axially and radially relative to the rotary first transport mechanism.
DE4235677A1 (en) * 1992-10-22 1994-04-28 Balzers Hochvakuum Chamber for transport of components in a vacuum processing installation - with at least one radially movable transport unit mounted separately from rotatable component carriers.
DE4235674C2 (en) * 1992-10-22 2000-12-28 Balzers Ag Liechtenstein Chamber for the transport of workpieces in a vacuum atmosphere, chamber combination and method for transporting a workpiece
DE4235676A1 (en) * 1992-10-22 1994-06-09 Balzers Hochvakuum Chamber and chamber combination for transfer of at least one component - with a component holding element swivelled through a chamber opening
EP0753379A1 (en) * 1995-07-14 1997-01-15 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Process for machining a workpiece
EP0849033A1 (en) * 1996-12-17 1998-06-24 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Method for machining and handling a workpiece
EP0849032A3 (en) * 1996-12-17 1998-07-01 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Process for machining a workpiece in a processing station with a robot
EP0849032A2 (en) * 1996-12-17 1998-06-24 Bayerische Motoren Werke Aktiengesellschaft, Patentabteilung AJ-3 Process for machining a workpiece in a processing station with a robot
DE19750784A1 (en) * 1997-11-06 1999-05-20 Mannesmann Ag Gripper especially for packing machines
DE19750784C2 (en) * 1997-11-06 2002-07-11 Mannesmann Ag Load handling devices
DE10130015B4 (en) * 2000-07-01 2014-03-13 Marquardt Gmbh handling device
DE10328670A1 (en) * 2003-06-26 2005-01-27 Daimlerchrysler Ag Positioning system for e.g. weld nuts, comprises gripper arm, on which at least two electromagnetic grippers are mounted, control unit allowing them to be adjusted so that nuts are held in correct position for fitting

Also Published As

Publication number Publication date
JPS5057164U (en) 1975-05-29
JPS5350224Y2 (en) 1978-12-01

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