DE3313562A1 - INPUT AND / OR REMOVAL DEVICE FOR INDUSTRIAL PRESSES - Google Patents

Description

The invention relates to an input and / or removal device according to the preamble of claim 1.

The invention is about improvements in workpiece holder and / or handling devices for automatic picking up, moving and dispensing of workpieces at different positions or stations in a repetitive manufacturing process. For example can such a device for input and / or removal a press can be used in the production of metal compacts or stamped parts. In particular, it's about such a device, which a workpiece holding device of the device and accordingly a held work piece gives a reciprocating linear motion.

Such a device is described in British Patent No. 1,395,058. This previously known device has a linearly reciprocating, wheeled carriage incorporating any of a variety of mountings holds for workpiece handling. The slide is. Inevitably by guide rails in a constant Orientation kept when walking along a back and forth in a linear path. The carriage is pivotably connected to a lever arm, which in turn is rotatable is attached to a crank arm with the three rotating axes running parallel and the effective lengths of the crank arm and the lever arm, measured between the axes of rotation, are the same. By means of a toothed connection with a transmission ratio of 2: 1 from a stationary gear on the axis of rotation of the crank arm to a gear on the Lever arm and is fixed on the Drehachse.des lever arm, it is ensured that when the crank arm rotates about its Axis of rotation the slide is imparted a linear movement, the linear path of the slide from the pivot axis of the crank arm is cut.

BATH ORIGINAL

. The invention is based on the Aufgate, a device

for the handling of workpieces, iribesecially for industnel- ' Ie to create presses that have a workpiece holding device '· Has that can be moved back and forth without the need for guide rails Determination of their trajectory are necessary. and preferably the orientation of the piece holding device constant. ■.

According to the invention, the solution in claim 1 · or claim 4 features included. Preferred.Features, which further develop the invention in an advantageous manner are the corresponding dependent claims refer to.

Accordingly, in a preferred embodiment of the invention provided that the device for handling workpieces has a mounting device, a first to a first axis of rotation rotatably attached to the mounting device Arm, a second axis of rotation about a second, essentially parallel to the first axis of rotation rotatable arm and a workpiece holding device, which to move around a third, "parallel" to the first 'And second axis of rotation extending axis on the second arm

is attached, the first and third axis of rotation preferably essentially equidistant from the second axis of rotation are attached and wherein the device has a first coordination device that controls the movements of the arms 'the first and second axes of rotation coordinated so that the Workpiece holding device moved essentially linearly, and preferably has a second coordination device interposed between the first arm and the wedge holder has a toothed connection with a desired gear ratio, whereby a desired Orientation of the workpiece holding device without angular changes is reached despite linear movement.

BATH

Preferably, the first arm is rotatably mounted on a linearly reciprocating slide of the mounting device, the slide being movable to and fro relative to a carrier of the mounting device perpendicular to the direction in which the workpiece holding device is movable. "The workpiece holding device is preferably in essentially horizontally movable (with movement of the two arms), and the carriage is essentially vertically movable on the carrier. The carriage and the carrier can be arranged telescopically, and in a preferred construction the carriage is suspended from the carrier by a device which supports a plurality of pneumatic balancing cylinders . has, and is guided in its movements by rollers that are attached to the carriage or the carrier and run against the other accordingly.

The workpiece holding device can be used to receive any of the various workpiece mounting brackets for receiving, Movement and release of workpieces, such as vacuum cups, claws, gripper fingers, magnets, etc. are designed be. An electrical and / or fluid control system (not shown) can be used to synchronize the device and a workpiece mounting holder, for example when operating a press in which the device is automatic enters and / or removes, are used. The assembly device of the 'workpiece handling device can in any of the various positions, such as directly on the frame of a press, on one driven cross slide above a press, or on a transmission system or conveyor.

The lack of guide rails for the workpiece holding device creates ground clearance around the press and enables thereby efficient operation at high speed.

BATH ORIGINAL

Further details, features and advantages are also in '. · The other claims and the following description' part included in which an embodiment of the invention with reference to the attached drawings is explained. Show it: .

1 shows a section along a vertical center plane by the device in its extended position;

Pig. 2 is a partial section similar to FIG. 1 showing the

Assembly facility of the device in a larger one Represents scale; and ■ j

3 shows a partial section along the section line IH-HI j in Fig. 2.. ;

The illustrated preferred embodiment of the invention MAESS device has a mounting device.10 which for example on the frame of a large industrial press used for the production of large-format steel workpieces, 'such as automobile roofs, ^ n

first arm 12 (hereinafter referred to as crank or upper arm) net) is rotatably attached to the assembly device about a first vertical axis of rotation 1 *. A second arm 16 (hereinafter referred to as the lever arm or our arm) rotatably attached to the crank arm 12 for movement about a second vertical axis of rotation 18. A parcel holder

20 'is on the lever arm 16 for movement by a third verti cal axis of rotation 22 rotatably mounted. The first and the third Axes of rotation 14 and 22 are at the same time as the second axis of rotation. The device 1 also has a first coordination device with a first toothed connection 2 *, which coordinates the movements of the crank arm 12 and the lever arm 16 about the first and second axes of rotation 14 and 18 in such a way that

BATH ORIGINAL

- 11 -

that the workpiece holding device 20 is linear along eiJ Moved along a horizontal path. The device 1 also contains a second coordination device with a second one: Toothed connection 26 through which the orientation of the workpiece holding device 20 held constant during the entire pivoting movements of the crank arm and the lever arm will. ·

The mounting device 10 (see FIGS. 2 and 3). has a linear reciprocating slide 28 to which the crank arm 12 is rotatably attached, the slide being movable vertically back and forth relative to a carrier 30 of the mounting device. The carriage .und the carrier are arranged telescopically, the carriage 28 within ^Λζ ? of the carrier 30 is attached. The carriage has a straight, vertically aligned tubular frame 32 with a substantially octagonal cross-section, which carries an 'inner cross plate 3' *. At the bottom end of the tubular-. Mounted on frame 32 and in coaxial alignment with the frame is a first pulley 36 and an inner race of a first pivot or turntable bearing 38 of the apparatus :. '·.

The carrier 30 also has a substantially octagonal tubular frame 4-0 which is coaxial around the. Carriage is arranged and supported by an annular horizontal; Cover plate 42 hangs down. A cylindrical skirt 44 depends from the outer periphery of the cover plate to shield the frame 40 of the carrier.
·

The carriage 28 is guided for its vertical movements within the carrier 30 by means of sixteen rollers 46, the are attached to the support frame 40 and rectilinear Rails 48 which are attached to the outer surfaces of the carriage frame 32 run. There are four groups 50, 52, 5 ^?

"56 provided with four lobes 46, each group in 'The longitudinal direction of the slide extends, and the groups in two pairs of opposing groups are arranged, the line of action being one of groups 50 and 54 perpendicular to the line of action of the other group pair 52 and 56 runs. Each group has an upper and a lower pair of rollers, the two colors being separated from each other in Longitudinal direction of the carriage and the rollers in each pair of rollers spaced apart from one another in the transverse direction of the carriage are. As shown in Figure 3, the rollers 46 are each Pair of rollers rotatable on the side walls of a radially inwardly facing channel-like section of the support frame 40 'attached, the two rollers being arranged between the side walls.

The carriage 28 is from the carrier 30 by means of two pneumatic AusRleichsylinders 58 and 6o depending, die.between the carrier and the slide for receiving the slide weight and its burden work. The compressed air supply. to the cylinders is through leveled devices for the • maintaining constant pressure within the cylinders regulated during the movement of the slide. The cylinders extend on opposite sides of the carriage axis perpendicular between upper tabs 62 and 6 *, which at the top plate 42 of the carrier are attached, and lower

Lugs 66 and 68 attached to carriage rails 32 adjacent its lower end. The cylinders 58 and 60 are spacer plates and are arranged on opposite sides of the carriage / Träper-middle axis, which understandably also the first axis of rotation 1 * \ ir-t, whereby each cylinder extends from the cover plate 42 between the upper rollers, and between the lower rollers of the two pairs of rollers of a roller group extends downward.

.

- 13 -

The device 1 contains a nut and screw arrangement 78, 80 which fixes the vertical position of the slide 28 with respect to the carrier 30, the nut or the screw being non-rotatably attached to the slide or the carrier and, accordingly, the The screw or nut is rotatable for vertical movement by an actuator having a motor 70 appropriately attached to the carrier or carriage 12. The lifting motor 70 is shown on the carrier 30 in a well 72 of the same and has an output shaft 74 which is rotatable about the 'first axis of rotation 14th means of a couplings ^r lung 76 is a threaded rod fixed to the shaft 74 78 Gewinciestange -said in threaded engagement with a fixed to the cross plate 34 of the carriage circulating ball nut

80. A coding and speed measuring unit 82 and a brake unit 84 are assigned to the motor 70.

The crank arm 12 is attached (for example by bolts not shown) to the outer race of the first turntable bearing 38 below the carriage frame 32 (FIG. 2). The arm 12 has a hollow, tubular, prefabricated sheet metal structure. Adjacent the outer end of the crank arm 12, the lever arm 16 is rotatably mounted ⁴ "for rotation below the crank arm about the second pivot axis 18. The lever 16 is attached to the arm 12 by means of a second pivot or turntable bearing 86 of the device The outer race of the bearing 86 is fastened, for example, by bolts (not shown) to the crank arm 12, and the inner race to the lever arm 16.

An actuator for horizontal movement is connected to the lever arm 16 to rotate it about a second axis of rotation 18 to rotate on the second turntable bearing 86 and includes a second motor 88 of the apparatus. The motor 88 is "* on the crank arm 12 (housed within the arm

Ivvva.

- 14 -

'■■;. ·: Attached together with an intermediate gear 89, which is attached to the j .Arm 12 is attached. It has a vertical output shaft 90 which is rotatable about the second axis of rotation 18. Of the Lever arm 16 also has a hollow, tubular,

• 5 prefabricated sheet steel structures. The transmission and the Output shaft 90 protrude from the crank arm into the interior of the Lever arm. The shaft 90 is on the lever 16 by means of a sleeve .92 attached to the -for example by welding an inner bottom side of the lever 16 is attached. A coding and speed measuring unit 9 ^ and a braking unit 96 are assigned to the motor 88 in order for a precise control of the angular positions of the two arms and, accordingly, of the to ensure linear position of the workpiece holder 20.

The first coordination device with the first toothed connection 24 has in addition to the belt pulley 36 of the carriage. 28 has a second pulley 98. The coaxial to the axis. 18 lying second pulley 98 is' fixed as part of the lever arm 16, and protrudes up into the space within the crank arm 12. The toothed connection 2Pr has a toothed synchronous belt 100 that wraps around the two toothed pulleys 36 and 98 and through the Crank arm 12 extends between these. The pulleys are dimensioned so that they provide a toothed connection with a transmission ratio of 2: 1 from the carriage 23 to the lever arm 16.

Adjacent to the outer end of the lever arm 16 is the workpiece holding device 20 rotatably attached to the lever arm 16 about the third axis of rotation 22. The workpiece holding device includes a third pulley 102 of the device, for example, by bolts (not shown) is attached to an inner race of the third pivot or turntable bearing 104. The outer race of the bearing 104 is on an upper inner surface of the hollow Kebelr

arms 16 set so that the pulley is housed substantially entirely within the lever arm. An adjustable fastener retainer 106 for connection to a suitable special workpiece holder-5. The device (not shown) is fixed with the pulley 102 hanging down below the lever arm 16.

The. second coordination device with the second toothed one Connection 26 - in addition to the pulley 102, ■ of the piece holding device 20 has a fourth belt pulley 108 of the device 1. The fourth pulley 108 is ■ mounted as part of the crank arm 12, being substantially below the motor 88, coaxial with the second axis of rotation ^ 5 18, is fixed and extends downward into the interior of the lever arm 16 extends. The second toothed connection 26 weirt a toothed synchronous belt 110 that wraps around the two toothed pulleys 108 and 102 and through the lever arm 16 extends between these. The pulleys 108 and 102 and the timing belt create a toothed connection j with a transmission ratio of 1: 2 from the crank arm j 12 to the workpiece holding device 20.

Preferably, each belt 110 and 100 tension pulleys 112 used to balance the opposite sides of the corresponding belts with one Apply pressure and take up each game.

When operating the device 1, the force for the horii> Q zontal movement provided by motor 88. The motor 88 is on the crank arm 12 through a '89 reduction gear attached to move with this. The output rotating shaft of the motor is attached to the lever arm 16 to rotate to move with this. In this way, when the motor 88 is turned on, the arm 12 and lever 16 move in the

• «

The rotation axis 18 makes angles relative to one another. The amount of this relative movement corresponds to the degree of rotation of the output shaft 90 match. For example, if the shaft rotates 90, that between the two arms will change included angles by 90 °.

When the motor 88 is turned on, there is also a rotary movement of the crank 12 about the axis 14 instead. This is because the pulley 98 is about the axis of rotation 18 with the arm 16 is rotated. The amount of movement is determined by the 1: 2 diameter ratio of pulley 98 to pulley 36 determined. The pulley 98 is stationary so that movement of the belt 100 is via the pulley 36 she can't move. Instead, the entire arm 12 rotates about the axis of rotation 14, and the amount of angular movement is half the rotation of shaft 90. For example, if shaft 90 rotates 90, the rotates Arm 12 by 45 about the axis of rotation 14.

Looking at the device 1 in the state of FIG. 1, so all three axes of rotation 14, 1'8 and 22 lie in the same vertical plane. When the shaft 90 is rotated, it rotates the axis of rotation 18 from this vertical plane. The · axis of rotation 14 is fixed in the vertical plane and does not move. The axis of rotation 22 remains in the vertical plane however, is moving to the left, i.e. it is being withdrawn from its fully extended stroke position in FIG. 1. she remains in the same vertical plane because (a) the axis of rotation 18 is always in the middle between the axes of rotation 14 and 22 is because the distance 14.18 corresponds to the distance 18-22. and (b) the 1: 2 ratio of pulley 98 and .36 ensures that the angle of offset of the axis of rotation 18 from the vertical plane (i.e., the angle of the arm 12 between its position in Fig. 1 and its offset position) half of the position between the arm 12 and the lever 16-

BATH ORIGINAL

JVs; does ■ λ

- 17 -

closed angle is. If the distance is 14-18 unequal to the distance 18-22 (especially if the inequality is small), the distance difference can be changed by corresponding Changes in the diameter ratio of the pulleys 98 and. 36 to maintain the movement of the axis . 22 in the same vertical plane, i.e. to the straight horizontal plane Movement are encountered. If, on the other hand, a deviation from the rectilinear movement is desired, it can be changed within limits by changing the ab-. stands 14-18 and 18-22, together with suitable dimensions

nation of pulleys 98 and 36 can be achieved. Of the - Isosceles relationship, where 14-18 is essentially the same as 18-22, is usually preferred because • it provides the greatest possible straight stroke (i.e. four times the distance 14-18 or 18-22) and simpler relationships of lengths and pulley diameter.

The orientation of the workpiece fixture 106 about the axis 22 is controlled by the coordination device 26. With the described 1: 2 ratio between the pulleys 108 and 102 is the rotation of the workpiece mount 106 equal to the angular movement by the arm 12 about the axis of rotation 14, so that despite its horizontal movement · Remains straight. On the other hand, different orientations can be set automatically by varying the pulley gear ratios to be achieved; or, moreover, even the coordination device can be omitted and workpiece mount 106 simply be freely and manually rotatable on bearing 104 or not rotatable at all, by omitting the bearing.

Together with the horizontal movement or separately therefrom, a vertical movement of the workpiece mounting bracket 106 by turning on the lifting motor 70 accordingly

-ge

be enough. Although this motor has been shown in alignment with the axis 14, it and the vertical movement actuation and the holding device is also located elsewhere be; e.g. on the axis of rotation 18. The horizontal drive rotary motor shown on the axis 18 can also be used is, also be arranged elsewhere, for example different. Axis of rotation 14, as the two coordination systems 2 * and 26 maintain the desired relationship between the various parts.

While the toothed pulleys and synchronizer rails In other exemplary embodiments, other suitable ones may be preferred here for the toothed connections 24 and 26 Forms of toothed connections (e.g. universal use chains, V-belts, wire ropes or gears). At the same time ropes can be used for electrical Motors 70 and 88 hydraulic or fluid motors, depending used by the respective application, etc.

For use as a production facility, the subject can of the two motors 70 and 88 by any suitable control e system can be controlled and coordinated, and can be medium a computer numerical control system programmed to a desired sequence or combination of horizontal and vertical movements and ex-

ne desired automatically repeatable trajectory of the 'Ensure workpiece holder attachment 106. Workpiece holder fastenings, such as jaws shown, for example, in U.S. Patent No. 3,975,992 or controllable magnets or vacuum cups, etc. can accordingly be attached to the fastening holder 106 and in coordination with the device 1 for picking up. Moving, entering and / or removing and releasing (not shown) workpieces with regard to industrial cables, Transport facilities, etc. are operated.

- 19 -

Thus the invention provides a high performance device; for the handling of workpieces which are due to the large turning: | table bearings (especially bearing 38) and others described above Features that. Requirement for a guide rail (such as | used for example in British Patent Specification No. 1 395 085) and uses an articulated and controlled cantilever function to impart a desired movement to a workpiece.

Modifications to the specific structure shown can be ^f ! nen .be undertaken without departing from the essence and scope of the invention. ■. ■

Blank page

Claims (18)

M) HKUAKKHS <: HMnT-MLS ^{(h-l3lHajr:: ..:} .. ^·: HVTEVrWW UJE-I H WHTAN I ¹ YTK YI VITi XtNHS Ine. \ K-20 229 '- _: Sahlin International,
PO Box 289, Birmingham, Michigan 48012
United States of America ί ; " Input and / or removal device Sir industrial presses Claims © ' Input and / or removal device for a press  ■ or the like with a substantially vertical one Central axis having mounting device, which has a first axis of rotation, a first rotatable about the first axis of rotation. the mounting device attached cantilever arm, a second cantilever arm rotatable about a second axis of rotation extending essentially parallel to the first axis of rotation and a workpiece holding device which adjoins the end of the second cantilever arm and with a third, im is aligned substantially parallel to the first and second axis of rotation extending axis of rotation, the first and the • the third axis of rotation is placed at predetermined distances fes-f from the second axis of rotation, Si ■ ·. ::. · .. *. · OO ι οόόδ characterized by a coordination device (2A-) which has one of at least one of the extension arms (12, 16) held and movable with this structure "and through which the movements of the extension arms (12, 16) about the first and second axis of rotation (1A- or 18) can be coordinated in such a way that the package holding device (20) can be moved on a predetermined horizontal path perpendicular to the axes of rotation,
an actuating device with motor drive (88), which with the coordination device (2 ^) for relative rotation of the extension arms (12, 16) to each other about the second axis of rotation (18) and for rotating the first extension arm (12) on the assembly device (10) for the movement: the workpiece holding device (20) is connected along the predetermined path, and by means (70, 78, 80) for simultaneous Moving the cantilever arms (12, 16) in a direction perpendicular to the predetermined path. · 2. Apparatus according to claim 1, characterized in that a rotary table bearing device (38) is provided which defines the first axis of rotation (1A) and rotatably attaches the first boom arm (12) to the mounting device (1Q), whereby they substantially the entire load of the two cantilever arms (12 ^,! 16) and forwards them into the Mon ⁺ ap: eeinrichtunp · (10). 5 · Device according to claim 1, characterized in that a straight back and forth on the mounting device (10) movable carriage (28) and a carrier (30) are provided, the carriage (28) relative to the carrier (30) is reciprocable in a direction perpendicular to the predetermined path, and wherein the first cantilever arm (12) is rotatably attached to the carriage (28). 4. Device for inputting and removing workpieces j or the like with an assembly device, a first rotatable about a first axis of rotation on the'Montageeinrichtung attached arm, a second about a second, parallel to the first axis of rotation extending axis of rotation arm rotatable and a workpiece holding device, which around a third, parallel to the first and second axis of rotation ' Axis of rotation is attached to the second arm, the first and third axes of rotation being substantially equidistant to .10 second axis of rotation are arranged, and wherein the device has a first coordination device through which the j . Movements of the arms about the first and second axes of rotation in such a way; are coordinated that the workpiece holding device on; a substantially rectilinear path is movable, there-. characterized by that 'a second coordination means are provided, one arranged between the first arm (12) and the workpiece holding device (20) \ toothed connection (26) for predeterminable orientation of the workpiece holding device over the entire web having. ' 5. Device according to claim 4, characterized in that an actuating device (88) is provided which is attached to the first arm (12) and connected to the second arm (16) in order to rotate the second arm about the second axis of rotation that the first arm can be set in rotation _{: i} and the work holding device (20) can consequently be linearly moved. ', 6. Apparatus according to claim 4, characterized in that that the device has a carriage (28) which can be moved back and forth in a straight line on the mounting device (10) and a the first arm. device has a carrier (30), and the carriage re- relative to the carrier reciprocable in one direction • which is perpendicular to the direction in which the workpiece holding device (20) ″ is movable. 7 ·. Device according to claim 6, characterized in that that the carriage (28) and the carrier (30) telescopic. are arranged. 8. Apparatus according to claim 7, characterized in that that rollers (46) for guiding the telescopic movement of the carriage (28) are provided on the carriage or your carrier (30) are attached and run against the other. 9. Device according to claim 8, characterized in that that the carriage (28) is guided in its movements by four groups (50, 52, 54, 56) of the rollers' (46), whereby each group extends in the longitudinal direction of the carriage and two opposing groups are provided in pairs are, the lines of action of the two pairs of groups running perpendicular to each other. 10. The device according to claim 8, characterized in that each group in at least one pair of the group two Pair of rollers (46), the two pairs of rollers in Longitudinal direction of the carriage (28), and the rollers in each Pair of rollers are spaced apart in the transverse direction of the carriage. 11. .Device according to claim 8, characterized in that that the carriage (28) is mounted inside the carrier (30), and the rollers (46) are attached to the dome carrier. 12. Device according to claim 6, characterized in that a Hutter screw arrangement only (78, 80) is provided, Λ · Τ3Τ3 ~ 5 ~ 6Τ ■ the position of the carriage (28) relative to the carrier (30) specifies, the nut or the screw being non-rotatably attached to your slide or the carrier and accordingly the screw or nut is rotatable by a motor (70) which is correspondingly attached to the carrier or the carriage is appropriate. 13. The device according to claim 12, characterized in that that the carriage (28) and the carrier (30) are arranged telescopically with the carriage in the carrier, and the Motor (70) is attached to the carrier. 14. 'The device according to claim 6, characterized in that αϊ «work retaining device (20) with rotating Eewe-S ¹¹¹¹ E Ges first and second arms (12 or 16) substantially horizontally, and the carriage (28) on the carrier ( 50) is essentially vertically movable. 15 · Device according to claim 14, characterized that the carriage (28) is suspended from the carrier (30) by means of a device which has several pneumatic compensating cylinders (58, 60). 16.. Device according to claim 4, characterized in that the first coordination device has a toothed connection (2 * 0 mi ⁺ a transmission ratio of essentially 2: 1 from the assembly device (10) to the second arm (16), and the second coordination device a toothed connection (26) with a gear ratio 30 of essentially 1: 2 from the first arm (12) to the Has workpiece holding device (20). 17. The device according to claim 16, characterized in that that the first (12) and the second arm (16) are hollow, and ⁷ > 5 that the first specified connection (24) is through the first arm to the second arm and the second toothed connection! Extension (26) extends through the second arm to the workpiece holder (20). "I. 18. The device according to claim 17, characterized in that j that the toothed connections (24, 26) through the arms ■ (12,16) extending cynchronous belts (100, 110) and around each: the three axles (14, 18, 22) arranged pulleys (36, 'j 98, 108, 102), the timing belt around the j Pulleys are running. ! 19-. Apparatus according to claim 18, characterized in that j that one with the timing belt (100, 110) "is in engagement" Belt idler device (112) for tightening = is provided.