DE3220089A1 - Removal appliance - Google Patents

Abstract

The invention relates to an appliance for removing a part from a machine, with a removal arm which has a gripper and moves in several planes on a carrier of an actuating device incorporated into the machine, and with a positive drive, which can be activated by a machine element which moves to and fro in the work cycle of the machine, for the actuating device. Such appliances usually constitute a technically costly, independent machine which has to be attached to the machine and requires numerous actuating and control elements. Such an appliance is therefore sought which is functionally reliable in spite of a simple construction consisting of few parts. This is achieved in that the positive drive is a rotary/sliding motor actuated by pressure medium and coupled to a supply motor which is positively actuatable by the motion of the machine element, and also in that the carrier is guided on an element of, and fast to, the machine and is connected to the positive drive via a cardan shaft arrangement.

Description

The invention relates to a device in the preamble of

Claim 1 specified type.

Such a device is from the publication V 001 / B 4317 of Colortronic, 5090 Leverkusen, known. It is considered complete, columnar Unit mounted on the moving machine element. In the actuator the carrier of the extraction arm is mounted on a vertical guide, with the Removal arm a carrier pivoting in two mutually perpendicular Levels is given. The carrier is via a push rod with a stationary Machine element coupled so that it results from the relative movement between the movable Machine element and the fixed machine element an up and down movement for the carrier and thus the extraction arm. Arranged in the actuator Actuating cylinders are responsible for the swiveling movements of the extraction arm, with which it pulls a sprue piece out of the mold and then to the side pans where he drops it. The structure of this known device consists of many parts and complicated. It requires a relatively large amount of installation space. A clean leadership the withdrawal arm movement is difficult.

The invention is based on the object of providing a device of the initially described to create the type mentioned, which is much simpler in its structure than the well-known and which also requires little built-in installation. The device to be created should also be easy to integrate into a work machine, and through a Mark out the cleanly guided movement of the extraction arm. The removed parts should be filed and not thrown.

The object set is according to the invention by the characterizing Part of claim 1 specified features solved.

There is no mechanical connection between the moving one Machine element and the actuating device for the carrier, but the relative movement of the machine element is used to generate a drive pulse, zenit which the forced drive executes a desired movement, which is then carried out via the cardan shaft arrangement is transferred to the carrier. The actuating device is therefore designed structurally much simpler. Overall, there are also fewer individual parts and actuators or links required for the extraction arm. The wearer is immediately attached to one machine-fixed element guided and supported, thus dern an additional task falls. The space necessary to accommodate each component of the Device is small. The supply motor can be removed from the positive drive because there is only one pressure medium-transmitting connection between these two components is required.

The propeller shaft arrangement between the positive drive and the carrier also has the advantage here that the individual components are attached there where they are most convenient. Nevertheless, the cardan shaft allows movements to be transferred in two planes to the carrier, who then directly to the removal arm passes on, with the additional advantage of a clean and stable guidance of the Removal arm is reached.

An expedient and particularly outstanding embodiment in practice is apparent from claim 2. This hydraulic working cylinder as a supply motor generated from the machine cycle-dependent relative movements that occur anyway of the machine learner the drive impulses, which the forced drive then moves to of the extraction arm.

It is not a separate power supply or a complicated control system of movement processes required. The one required to operate the extraction arm Energy is always available Available when needed.

It is also useful when proceeding according to claim 3, that of the relative movement of the rotary / sliding motor another when working the Removal arm usable movement occurs. Just a short way to move into the one or the other direction is sufficient for complete power transmission in the corresponding Direction, so that an indirect priority control is given here.

In order to derive an additional movement for the extraction arm or the carrier to be able to, with which he, for example, initially rectilinear the sprue part to be removed pulls out of the mold, an embodiment is also advantageous as it from Claim 4 emerges.

This part of the rotary / sliding motor can then be synchronized with the other and the part operated by the supply motor. This would also be independently of this conceivable.

It is also conceivable that the drive pulses of the supply motor can be used for both parts of the rotary / sliding motor.

For this it is only necessary to adjust the power of the supply motor accordingly to be large. When the device is used in an injection molding machine, is the force or work required to operate the supply motor the large actuating forces of the machine elements are negligibly small.

Another important idea emerges from claim 5.

Such a rotary / sliding motor comes with small housing dimensions and works as a servomotor extremely reliably and precisely. here is any time delay between turning and sliding is possible. The movements the shaft from the servomotor are via the cardan shaft assembly exactly passed on to the carrier.

It is useful if the features of claim 6 are also implemented as these features make for a fully automated workflow in the device contribute. The limit switches can optionally be used as initiators of a sequence control be used or the pressure medium supply from the supply motor to the positive drive influence.

Another important thought: it emerges from claim 7.

This training ensures that even the finest rotary movements Shaft of the rotary / sliding motor can be passed on unchanged to the carrier, such as also sliding movements, and that with a fixed rotary / sliding motor the relative Position of the carrier by simply changing the effective length and the angular position the PTO shaft can be adjusted as required.

Another embodiment of the device according to the invention, at the movable machine element of the work machine on stationary bars is stored, is apparent from claim 8. Compared to the columnar structure, which is required in the prior art, this bearing sleeve is a simple, Inexpensive and space-saving component that still ensures perfect guidance the shaft of the drive pinion may be responsible. It is also beneficial that the stationary spar of the machine can be used to support the bearing sleeve.

Another, particularly important embodiment of the invention is possible from claim 9. The wearer of the withdrawal arm will also feed on this the stationary tlolm cleanly guided without additional parts required would be. Since it has the shape of an open circular ring segment, it can be removed without dismantling place the machine on the handlebar from the outside, from which the there is favorable access to the mold cavity.

It is particularly important that the carrier does not have any additional position securing or holding means, since he has the drive pinion, which in turn is in the bearing sleeve is supported, held and, at the same time, is driven in a timely manner.

For this purpose it is expedient if the features of claim 10 are given are that in this way a perfect transmission of rotary motion between the drive pinion and the carrier and a clean transfer of sliding motion between the two parts results.

Another advantageous idea of the invention is derived from the claim 11 removable. With the integration of the mounting flange in the carrier, there is no need additional parts and an extraordinary direct transfer of motion is created between the propeller shaft assembly, the carrier and the extraction arm. It is on hand that the carrier only needs to extend over one radian measure, since it is the same as the swivel angle of the extraction arm. The desired position of the Removal arm in relation to the carrier can be easily moved by moving the removal arm Carry out along the fastening flanges of the carrier.

It is favorable if the carrier fulfills the requirement of claim 12, because it can then be placed on the stile unhindered from the outside and still has one large guide surface and stable guide on the spar. On the other hand, the porter lends it is formed in several parts, it can also reach over a larger ßogenmess, whereby the swivel angle could practically be extended to 3600.

The feature of claim 13 is also advantageous, since the device universally to the respective conditions, e.g. different Shape sizes or the like. Can be adjusted by only the bearing sleeve on the spar is adjusted in their position with a few simple steps.

Another advantageous embodiment in which the gripper of the Extraction arm can be extended relative to the storage of the extraction arm, between a gripping position and is movable to a delivery position and, if necessary, rotatable about the longitudinal axis of the arm from claim 14. This is a commonly used sequence control, which is favorable for fully automatic operation of the device.

A particularly universal embodiment of the device is explained Claim 15, since here the gripper is independent of the mobility of the actuating device receives an individual mobility, so that the device as a whole as fully automatic Industrial robots can work, even with complicated, multi-part shapes is suitable because the gripper is easily attached to the sprue move towards it, take hold of it from any position and place it gently outside the machine can.

Another, expedient embodiment of the invention is also possible from claim 16. In this training, the drive pulses of the supply motor reinforced for the forced drive.

Another advantageous feature of the invention is based on claim 17 emerged. As a result, higher actuating forces can also be obtained from the positive drive derive, which vary due to the respective setting of the pressure relief valve permit. It is also favorable that there is no flow resistance in the return flow direction is present, so that the positive drive does not have any opposing forces to the supply motor overcome Has.

A practically maintenance-free operation of the device can continue also achieve according to claim 18, since the closed hydraulic circuits are automatic each ensure that the positive drive with freely selectable in the effective force Operating pulses is applied.

An additional safety factor can finally be found in the claim Reach 19, since a blockage of the mechanical components of the device the hydraulic system automatically avoids damage because it closes on special Counterpressure shortens the connecting lines, which also affects the hydraulic elements the device are protected against overloading and possibly damage. Embodiments of the invention are explained below with reference to the drawing.

1 shows a schematic side view of part of a equipped with a device according to the invention work machine, for. B. one Injection molding machine; Fig. 2 is a block diagram showing the hydraulic circuit schematically reproduces; 3 shows a section on the plane 111-111 of FIG. 1; 4 shows a section in the plane IV-IV of FIG. 1 and FIG. 5 a section from a schematic View similar to that of FIG. 1 of another embodiment.

In Fig. 1, a removal device 1 for the sprue parts 9 is a Injection molding machine generally designated 2 can be seen, the stationary guide bars 3, on which a movable machine element 4 and a stationary machine element 5 are arranged. The machine elements 4 and 5 carry mold halves 6 and 7, the be fed via a spray head 8 in order to form sprue parts 9. Everyone on this Sprue part 9 produced in this manner must be removed from the machine by means of device 1 and be filed.

The extraction device 1 consists of a supply motor 10, the is in pressure medium-transmitting connection with a positive drive 11. The forced drive 11 is coupled to an actuating device 13 via a cardan shaft arrangement 12, which pivots and displaces a removal arm 14.

The supply motor 10 is a hydraulic working cylinder 15, which is supported on the movable machine element 4 with a bearing 16 and one contains double-acting piston 17, which via a piston rod 18 on a stationary Abutment 19 is supported. The working spaces are on both sides of the piston 17 Via connecting lines 20 and 21 with the positive drive 11 in connection.

The positive drive 11 is with its housing 22 on the movable machine element 4 stored and contains - not shown - a first hydraulic part for Generating a rotary movement and a second pneumatic part for generating a Sliding movement for an actuating shaft 24 which is displaceable in the housing 22 and is rotatably mounted. The pneumatic part of the housing 22 is self-contained Pneumatic lines 23 supplied.

A control cam 25, for example, is attached to the shaft 24, the cooperates with a stationary limit switch 26, while the free end of the Shaft 24 influences another stationary limit switch 27. The limit switches 26, 27 can either be used to influence the application of pressure medium from the supply motor Serve 10 ago, or also be elements of a sequential control, the application the lines 23 or an additional drive for the extraction arm 14 control.

The shaft 24 is preferably designed homokinetically Joint 28 connected to a first part 29 of a cardan shaft, the second part of which 30 is coupled to a shaft 33 via a corresponding joint 32. One between the parts 29 and 30 provided attachment 31 allows a length adjustment the cardan shaft arrangement. The shaft 33 is displaceable in a bearing sleeve 34 and rotatably supported, which in turn is fixed on one of the spars 3. on the shaft 33 sits a drive pinion 35, which is connected to a carrier 36 of circular segment-like Form (see Figure 4) is engaged in such a way that it is on the carrier 36 a rotary and transfer movement and also secured it in position on the spar 3.

On the carrier 36, the removal arm 14 is fixed, which is at the free end carries an additional rotary / sliding motor 38, which can be acted upon from lines 39 is to extend and retract and rotate a feed part 40 with a gripper 41.

Via the pinion 35, the carrier 36 is subjected to a sliding movement in the direction of the double arrow 43 as well as a twisting movement in both directions of rotation forced in the direction of a double arrow 42. In addition to these two movements the gripper 41 becomes movable in the direction of the rotary / sliding motor 38 a double arrow 44 and a double arrow 45 awarded. These The movements described above are used to remove the sprue part 9 from the mold half 7 for transferring the sprue to a discharge device arranged outside the machine or storage device (not shown).

The movable machine element 4 is in the direction of a double arrow 46 sliding back and forth.

FIG. 2 shows, as a block diagram, that which is only indicated schematically in FIG. 1 Connection between the supply motor 10 and the positive drive 11 or its for the rotary movement of the shaft 24 responsible hydraulic part. In every connection line 20, 21 is a valve arrangement 47 switched on, which consists of a pressure relief valve 49 with adjustable throttle and a check valve 48 connected in parallel consists, which blocks in the flow direction to the housing 22 of the positive drive 11 and in the opposite direction an unthrottled bypass of the:) backlash relief valve 49 forms. Between each working space of the working cylinder 15 and the valve device 47 a pressure accumulator 50 is also connected in each connecting line 20, 21, which, for example, can be pneumatically provided to a working pressure. With a Manorneter 51 chimney the set pressure can be read off, whereby at 52 refilling of the pressure accumulator 50 is possible. Between each accumulator and the connecting line 20 or

21 a valve device 53 is provided, which are made parallel to one another switched pressure relief valves 55 with adjustable throttle, a check valve 54, which in the direction of flow from the pressure accumulator 50 to the connecting line 20 or

21 is open, and a safety overflow valve 56 is made.

With the valve devices 49 and 53, a certain system pressure set in each connecting line 20, 21 and also a predetermined pressure bias maintained so that the hydraulic positive drive in the housing 22 always with a certain system pressure is applied depending on in which direction the piston 17 is displaced in the cylinder 15. The forced drive 11 receives a movement impulse in one direction of flow, while the Pressure medium is essentially throttled in the opposite direction of flow flows back into the other working space of the working cylinder 15.

A short-circuit device can also be used between the connecting lines 20 and 21 37 can be provided which, for example, if the mechanical components and thus a seizure of the hydraulic motor in the housing 22 a pressure medium connection between the two connecting lines 20, 21 so that the piston 17 is still movable, but at the same time the hydraulic motor 22 stops.

Fig. 3 shows that the bearing sleeve 34 on the spar 3 consists of two parts 57 and 58, which are pulled against each other with fasteners 61 to the bearing sleeve 34 is firmly seated on the spar 3. The bearing sleeve 34 has an extension 60 which receives a bearing 59 in which the vlelle 33 (Fig. 1) is guided so that it can be rotated and displaced. By shifting and / or twisting the Lasermanscllette 34 on the Holrn 3 together with a change in length of the The articulated shaft arrangement 12 can be used to determine the optimum position of the carrier 36 in each case adjust the handle 3.

Fig. 4 shows in detail and in a section the structure of the carrier 36. This has the shape of a segment of a circular ring with an ßogenrnaß of 1800 and has a groove 63 running in the peripheral direction, the groove base of which is toothed 65 is formed, which meshes with a toothing 62 of the drive pinion 35 duf the shaft 33 stands. As Figure 1 indicates, the groove 63 is as wide as it is the drive pinion 35, so that there is not just one rotary joint between the carrier 36 and the drive pinion 35 results, but also his from the propeller shaft assembly 12 transmitted sliding movements practically free of play transfers to the carrier 36.

On the side facing away from the bearing sleeve 34, the groove 63 is of a mounting flange 64 limited, which extends in the circumferential direction, optionally In the embodiment of FIG Fig. 5 is the positive drive with its housing 22 on a mounting bracket 67, which in turn is fixed on the movable machine element 4. the Shaft 24 'is longer than shaft 24 in FIG. 1 and passes through one Guide 68 on the movable machine element 4 before it over the joint 28 with the Propeller shaft assembly 12 is coupled. At the free end of the shaft 24 'are also here again control cam 25 indicated. With this execution one results better guidance for the shaft 24 'and the possibility of a sliding movement with this to be transmitted on a larger scale.

It would also be conceivable to have the positive drive 22 stationary next to the movable one Almachine element 4 to be stored and via the joint shaft arrangement with the actuating device 13 to pair.

The device according to FIGS. 1 to 4 and also according to FIG. 5 works as follows: The movable machine element is in the position shown in FIG. 1 4 has just moved away from the fixed machine element 5 to the left. The mold halves 6, 7 are separated so that the sprue part 9 is exposed. As a result of this movement -des Machine element 4 was (he piston 17 pushed back into the cylinder 15, so that the positive drive 11 was acted upon via the connecting line 21. the then generated rotational movement of the shaft 24 was via the propeller shaft assembly 12 and the pinion 35 transferred to the carrier 36, which the extraction arm 14 in the has swiveled in the drawn position.

Simultaneously or afterwards, a of the lines 23, the shaft 24 shifted to the right, so that the carrier 36, the removal arm 14 has pushed as far as the mold half 7, the gripper 41, actuated by the motor 38 engages the sprue part 9.

If now the movable machine element 4 in Fig. 1 moves to the right is to close the mold half 6, 7 again, the piston 17 is out of the Cylinder 15 pulled out further, so that the positive drive via the connecting line 20 11 is acted upon in the opposite direction and the shaft 24 rotates back again. Leading or at the same time the shaft 24 is displaced via the other of the lines 23, so that the pinion 35 the carrier 36 with the removal arm 14 in Fig.

1 pulls to the left and thus the sprue part 9 out of the mold half 7 is removed until it remains held free by the gripper 41. The rotation of the Shaft 24 pivots the carrier 36 with the removal arm 14 out of the extension area of the mold halves 6, 7, whereupon they move together again. With this movement The swiveled-out removal arm 14 brings the sprue part into a position in which it can be taken up in a storage device or brought to such a device can, where then the gripper 41 opens and the sprue part 9 releases. After then over the injection head 8 the mold aids 6, 7 or the mold cavity formed in between has been filled again, the movable machine element 4 moves back into the Position of Fig. 1 back, with the vorerwäliii th movement sequences in one another grip until the gripper 41 finally grips the new sprue part 9 again.

Claims (19)

Removal device claims 1. Removal device a part from a machine, in particular a sprue part from an injection molding machine, with a removal arm which has a gripper and which is movable in several planes on a carrier of an actuating device that is structurally integrated into the work machine is attached, and with one of a back in the work cycle of the machine and movable machine element activatable forced drive for the actuating device, characterized in that the positive drive (11) is a rotary / sliding motor operated by pressure medium (22), which can be actuated forcibly by the machine element movement Supply motor (10) is coupled to transmit pressure medium, and that the carrier (36) movably guided on a machine-fixed element (3) and with the positive drive (11) via a cardan shaft arrangement which transmits motion in at least two planes (42, 43) (12) is connected. 2. Apparatus according to claim 1, characterized in that the supply motor (10) a hydraulic working cylinder (15) with double-acting pistons (17) and Piston rod (18) is that the supply motor (10) with one end (piston rod or cylinder) mounted stationary and with the other end to the machine element (t) is coupled, and that from each piston side a connecting line (20, 21) to a connection of the rotating or sliding part of the rotating / sliding motor (11) is. 3. Device according to claims 1 and 2, characterized in that that the rotary / sliding motor (11) is mounted on the movable machine element (4). 4. Apparatus according to claim 2, characterized in that each other part of the rotary / sliding motor (11) to an external pressure medium supply (23), preferably compressed air source, is connected, and that this part by a Sequential control can be confirmed synchronously or lagging to control the other part is. 5. Device according to claims 1 to 4, characterized in that that the rotary / sliding motor (11) in its, preferably one-piece, housing (22) has a displaceable and rotatable shaft (24) which is connected to a hydraulic in Rotary piston that can be actuated in both directions of rotation and one that can be moved back and forth Pneumatic piston is coupled. 6. Device according to claims 1 to 5, characterized in that that the shaft (24) in its directions of movement by stationary limit switches (26, 27) is monitored. 7. Apparatus according to claim 1, characterized in that the Cetenkwelle arrangement (12) a cardan shaft (29, 30) with constant velocity joints (28, 32) at both ends having. and that the articulated shaft (29, 30) in its effective length between the joints (28, 32) is adjustable (finding 31). 8. Device according to claims 1 to 7, 'wherein the movable Machine element of the working machine mounted displaceably on stationary bars is, characterized in that on a spar (3) one of the actuating device (13) associated bearing sleeve (34) is fixed, which has a rotary and sliding bearing (59) for a shaft (33) of a drive pinion (35), and that the shaft (33) is rotatably and slidably coupled to the cardan shaft (29, 30). 9. The device according to claim 1, characterized by in the form of a Open circular ring segment formed carrier (36), which can be rotated on the spar (3) and displaceably guided and positively on the spar by the drive pinion (35) (3) is held. 10. Apparatus according to claim 9, characterized in that the carrier (36) has a circumferential groove (63), the groove bottom Eflit of a counter-toothing (65) for the drive pinion (35) is equipped, and its width is approximately the width of the drive pinion. 11. Device according to claims 9 and 10, characterized in that that on the side of the carrier (36) facing away from the bearing sleeve (34) there is a fastening flange (64) is provided for the removal arm (14) in which about the radian dimension of the circular ring segment Optional attachment points (66) for the removal arm (14) distributed over the carrier are arranged. 12. Device according to claims 9 to 11, characterized in that that the radian dimension of the beam is a maximum of 1800. 13. Apparatus according to claim 8, characterized in that the bearing sleeve (34) in two parts and on the spar (3) in the longitudinal direction and with respect to the rotational position the storage (59) can be moved. 14. Device according to claims 1 to 13, wherein de: gripper of the Extraction arm can be extended relative to the storage of the extraction arm, between a gripping position and a dispensing position movable and optionally rotatable about the longitudinal axis of the arm is, characterized in that the movements of the gripper (41) by the limit switch (26, 27) and possibly others in the movement path of the removal arm (14) arranged limit switches can be controlled. 15. The device according to claim 14, characterized in that the Removal arm (14) a pressure medium-operated rotary / sliding motor (38) for the gripper (41) contains. 16. Device according to claims 1 to 15, characterized in that that the pressure medium connections between the supply motor (10) and the positive drive (11) are under an adjustable fluid preload and are self-contained Form hydraulic circuits. 17. The device according to claim 16, characterized in that in each Connecting line (20, 21) a pressure relief valve free in the return flow direction (47) is provided. 18. The device according to claim 16, characterized in that each Connection line (20, 21) via pressure relief and overpressure safety devices connected in parallel and non-return valves (54, 55, 56) on a pressure accumulator contained with pressure medium (50) is connected. 19. Device according to claims 1 to 18, characterized in that that the two connecting lines (20, 21) to limit the stroke of the positive drive (11) can be connected to one another via a short-circuit device (46).