EP0114774B1 - Be- und Entladevorrichtung für Werkstücke mit einem einzelnen Antriebsmotor - Google Patents

Be- und Entladevorrichtung für Werkstücke mit einem einzelnen Antriebsmotor Download PDF

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Publication number
EP0114774B1
EP0114774B1 EP19840400114 EP84400114A EP0114774B1 EP 0114774 B1 EP0114774 B1 EP 0114774B1 EP 19840400114 EP19840400114 EP 19840400114 EP 84400114 A EP84400114 A EP 84400114A EP 0114774 B1 EP0114774 B1 EP 0114774B1
Authority
EP
European Patent Office
Prior art keywords
lever
shaft
gripping device
levers
loader
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.)
Expired
Application number
EP19840400114
Other languages
English (en)
French (fr)
Other versions
EP0114774A3 (en
EP0114774A2 (de
Inventor
René Joseph Biannic
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.)
OFFERTA DI LICENZA AL PUBBLICO
Original Assignee
Automobiles Peugeot SA
Automobiles Citroen SA
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 Automobiles Peugeot SA, Automobiles Citroen SA filed Critical Automobiles Peugeot SA
Publication of EP0114774A2 publication Critical patent/EP0114774A2/de
Publication of EP0114774A3 publication Critical patent/EP0114774A3/fr
Application granted granted Critical
Publication of EP0114774B1 publication Critical patent/EP0114774B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

Definitions

  • the present invention relates to coin-extractor loaders comprising a gripping device suitable for gripping a part. These loader-extractors are used to move parts, such as sheets, for example from one press to another for stamping operations.
  • the gripping device must be able to be moved both in a horizontal direction and in a vertical direction, or in a direction inclined both with respect to a horizontal plane and with respect to the vertical.
  • the gripping device is carried by a slide which is vertically movable relative to a trolley itself movable horizontally relative to a fixed frame. It is then most often necessary to provide two independent motors, one to control the movement of the slide relative to the carriage, the other to control the movement of this carriage with respect to the fixed frame.
  • GB-A-2022047 describes a coin loader-extractor according to the preamble of claim 1 which comprises a gripping device suitable for gripping a part, a single motor mounted fixed on a frame for moving the gripping device, a first lever wedged on a shaft integral in rotation with the motor shaft, a second lever of which a first end is articulated on the first lever, and on the second end of which is articulated the gripping device, means connecting the two levers so that the pivoting movement of the first lever generates a pivoting movement of the second lever and means so that the gripping device remains parallel to itself when the two levers pivot.
  • this device practically only allows a rectilinear trajectory to be obtained for the gripping device.
  • the present invention relates to a coin extractor loader in which the gripping device can on the contrary have any trajectory.
  • This loader-extractor is characterized in that the two levers are connected to each other by means comprising a sun gear mounted for rotation around the shaft carrying the first lever, a satellite mounted freely in rotation on the first lever , an end pinion whose axis is integral in rotation with the second lever and which is also mounted free in rotation on the first, and cam means connecting the sun gear to the motor shaft.
  • a sun gear mounted for rotation around the shaft carrying the first lever
  • a satellite mounted freely in rotation on the first lever
  • an end pinion whose axis is integral in rotation with the second lever and which is also mounted free in rotation on the first
  • cam means connecting the sun gear to the motor shaft.
  • the two levers have the same length and the end pinion has a pitch diameter, half that of the sun gear.
  • the second lever pivots with respect to the first lever by an angle twice that of which the first lever pivots and the second end of the second lever as well as the gripping device have a rectilinear translational movement which can, in particular, be horizontal if the loader is properly oriented. It then suffices to keep the planetary ie fixed when it is desired that the gripping device move horizontally and to rotate this planetary when the trajectory of the gripping device must be different, for example vertical.
  • the sun gear can be secured to a sleeve mounted to rotate freely around the pivot axis of the first lever and connected by a cam system to the motor shaft.
  • two cams are wedged on the shaft carrying the first lever and each cooperate with a roller carried by an auxiliary lever, the two levers being fixed on the same pivoting shaft and arranged on either side of the plane passing through their pivot axis and the pivot axis of the first lever, and a third auxiliary lever fixed on the same shaft as the first two carries a roller engaged in a fork integral with the sheath.
  • the means for holding the gripping device parallel to itself can be constituted by a set of articulated parallelograms.
  • the parts loader-extractor is controlled by a single programmable servo motor 1.
  • This motor is coupled to a reduction gear 2 and the assembly is carried by a frame 3.
  • the output shaft 4 of the reduction gear 2 is pivotally mounted by means of bearings 5 in a sleeve 6 which is itself pivotally mounted in the frame 3 by means of a bearing 7.
  • levers 8a and 8b On the shaft 4 are wedged two cams 8a and 8b on which are supported two rollers 9a and 9b carried by levers 10a and 10b. These levers are fixed on a shaft 11, on either side of the plane passing through the axes of the shafts 4 and 11, on this shaft 11, which is pivotally mounted in the frame 3 by means of the bearings 12, is wedged a third lever 13 which carries at its end a roller 14 engaged in a fork 15 secured to the sheath 6.
  • a hollow arm 16 is pivotally mounted on which the shaft 4 is fixed.
  • the end of the sheath 6 carries a pinion 17 which is connected by a pinion intermediate 18 to a pinion 19, the axes 20 21 of the pinions 18 and 19 being carried by the arm 16.
  • the pitch diameter of the pinion 19 is half that of the pinion 17 so that, when the latter pivots, while the arm 16 is fixed, the pinion 19 pivots in the same direction, but by a double angle.
  • the distance between the axis 23 and the axis 21 of the pinion 19 is equal to the distance between this axis 21 and the axis of the shaft 4.
  • a support 26 On the axis 21 is pivotally mounted a support 26 which carries two arms 27 and 28 located on the same side with respect to the arm 16, but on either side of the plane P passing through the axis 21 and the axis from shaft 4 (see Figure 3). These arms are connected by two connecting rods of the same length 29 and 30 to two arms 31 and 32, also located on the same side with respect to the arm 16, but located on either side of the plane P.
  • the arms 27 and 28 have respectively the same length as the arms 31 and 32.
  • the connecting rod 29, the arms 27 and 31 and the plane P constitute a first articulated parallelogram while the connecting rod 30, the arms 28 and 32, and this plane P constitute a second articulated parallelogram, so that the support 26 retains a fixed orientation when the arm 16 pivots with the shaft 4.
  • the support 26 carries a third arm 33 which is connected to the support 24 by a tie rod 34 parallel to the lever 22 and articulated at 35 on the arm and at 36 on this support, the pivot 35 being located in the same horizontal plane as the axis 21.
  • the distance between the axes 35 and 36 is equal to the distance between the axes 21 and 23 so that the lever 22 and the tie rod 34 constitute the elements of an articulated parallelogram.
  • the cams 9a and 9b Have symmetrical profiles with respect to the vertical plane passing through the axis of the shaft 4. Each of these profiles has a part 37a or 37b which is circular and extends over an angle here a little more than 90 °. This circular part is connected by a ramp 38a or 38b to another circular part 39a or 39b of short length. On the side opposite the ramp relative to the part 37a or 37b, the cam has a recess 40a or 40b.
  • the ramp 38b of the cam 8b comes to meet the roller 9b while the hollow 40a of the cam 8a comes pebble look 9a.
  • the ramp 38b pushes the roller 9b so that the levers 10a, 10b and 13 pivot around the axis of the shaft 11 in the opposite direction to that of the needles of a watch.
  • the lever 13 drives the fork 15 and the sheath 6 which rotate clockwise.
  • the sleeve 6 pivots, then remains stationary for a certain time, and then resumes its movement in the same direction until the shaft 4 has reached its other extreme position.
  • the operation of the loader-extractor which has just been described is as follows, assuming that the arms 16 and 22 are both vertical.
  • the shaft 4 pivots while the rollers 9a and 9b are in contact with the circular parts 37a and 37b of the cams 8a and 8b and the sheath 6 is consequently immobile, it drives the arm 16.
  • the pinion 18 constitutes a satellite of the pinion 17 which is fixed, and drives pinion 19. Due to the ratios of the original diameters of pinions 17 and 19, pinion 19 rotates at a double angle to that of which pinions pinion 17.
  • the gripping device 25 move in a direction perpendicular to the initial direction of the arms 16 and 22, that is to say horizontally.
  • the axis 23 moves for example towards D in Figure 5.
  • the sun gear 17 pivots in the same direction as the arm 16, but at a speed lower than that of the arm.
  • the arm 22 continues to pivot relative to the arm 16, but by an angle less than twice that of which this arm pivots 16.
  • the axis 23 moves downwards and the same applies to the gripping device 25.
  • the shaft 4 is pivoted in the opposite direction, the axis 23 moves towards C.
  • the axis 23 and the gripping device 25 will move downwards.
  • the profile, of the ramp of the second cam it is possible to obtain for the axis 23, for example a curved trajectory CB connecting to a path vertical roof B A.
  • the total trajectory of axis 23 has the shape of an inverted U.
  • the slave motor 1 makes it possible to program stops at any point on the trajectory.
  • you can obtain an inverted U-shaped trajectory if the limit switches are programmed between A and B, and between E and F.
  • the horizontal part of the trajectory has a fixed length for a given device, but the vertical parts of the trajectory have changeable and programmable lengths. These two vertical parts can therefore be of equal or unequal lengths.
  • it is possible to obtain a simple horizontal trajectory if the two limit switches are between C and D, the trajectory then being programmable in length and in position.

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

Claims (5)

1. Beschickungs-Abzugsvorrichtung für Werkstücke mit einer zum Ergreifen eines Werkstückes geeigneten Greifvorrichtung, einem einzigen fest an einem Gehäuse montierten Motor zur Versetzung der Greifvorrichtung, einem auf einer drehfest mit der Motorwelle verbundenen Welle (4) befestigten ersten Hebel (16), einem zweiten Hebel (22), dessen erstes Ende gelenkig mit dem ersten Hebel und dessen zweites Ende gelenkig mit der Greifvorrichtung (25) verbunden ist, Mitteln, welche die beiden Hebel (16) und (22) derart verbinden, daß die Drehbewegung des ersten Hebels (16) eine Drehbewegung des zweiten Hebels (22) verursacht und Mitteln, um zu erreichen, daß die Greifvorrichtung (25) zu sich selbst parallel bleibt, wenn sich die beiden Hebel drehen, dadurch gekennzeichnet, daß die beiden Hebel (16) und (22) miteinander durch Mittel verbunden sind, die ein Plan-etenrad (17) aufweisen, welches um die den ersten Hebel (16) tragende Welle (4) drehbar angeordnet ist, sowie ein am ersten Hebel (16) frei drehbar angeordnetes Satellitenrad (18), ein Endritzel (19), dessen Achse drehfest mit dem zweiten Hebel (22) verbunden ist und das ebenfalls frei drehbar am ersten Hebel (16) angeordnet ist und Kurvenführungen aufweisende Mittel, welche das Planetenrad (17) mit der Motorwelle verbinden.
2. Beschickungs-Abzugsvorrichtung nach Anspruch 1, bei welcher die beiden Hebel (16) und (22) gleiche Länge aufweisen, dadurch gekennzeichnet, daß das Endritzel einen Wälzkreisdurchmesser besitzt, der der Hälfte des Wälzkreisdurchmessers des Planetenrades entspricht.
3. Beschickungs-Abzugsvorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß das Planetenrad (17) fest mit einer Hülse (6) verbunden ist, die frei drehbar um die Drehachse des ersten Hebels (16) angeordnet und über die Kurvenführungen aufweisenden Mittel mit der Motorwelle verbunden ist.
4. Beschickungs-Abzugsvorrichtung nach Anspruch 3, dadurch gekennzeichnet, daß zwei Kurvenscheiben (8a) und (8b) auf der den ersten Hebel (16) tragenden Welle (4) befestigt sind, von denen jede mit einer an einem Hilfshebel (10a) oder (10b) angeordneten Rolle zusammenwirkt, wobei die beiden Hilfshebel auf einer gemeinsamen Welle (11) befestigt zu beiden Seiten der Ebene angeordnet sind, die durch ihre Drehachse und die Drehachse des ersten Hebels (16) geht, und daß ein dritter Hilfshebel (13), der auf der gleichen Welle (11) wie die beiden ersten Hilfshebel befestigt ist, eine Rolle (14) trägt, die in eine mit der Hülse (6) fest verbundene Gabel (15) eingreift.
5. Beschickungs-Abzugsvorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Mittel, um die Greifvorrichtung parallel zu sich selbst zu halten, durch eine aus Gelenkparallelogrammen bestehende Baueinheit gebildet werden.
EP19840400114 1983-01-20 1984-01-20 Be- und Entladevorrichtung für Werkstücke mit einem einzelnen Antriebsmotor Expired EP0114774B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8301118 1983-01-20
FR8301118A FR2539661B1 (fr) 1983-01-20 1983-01-20 Chargeur extracteur de pieces a un seul moteur de commande

Publications (3)

Publication Number Publication Date
EP0114774A2 EP0114774A2 (de) 1984-08-01
EP0114774A3 EP0114774A3 (en) 1984-08-15
EP0114774B1 true EP0114774B1 (de) 1986-03-26

Family

ID=9285265

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19840400114 Expired EP0114774B1 (de) 1983-01-20 1984-01-20 Be- und Entladevorrichtung für Werkstücke mit einem einzelnen Antriebsmotor

Country Status (3)

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EP (1) EP0114774B1 (de)
DE (1) DE3460057D1 (de)
FR (1) FR2539661B1 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03170280A (ja) * 1989-11-30 1991-07-23 Orii:Kk 物品搬送装置
DE10352982B4 (de) 2003-11-13 2007-06-21 Müller Weingarten AG Gelenkarmtransportvorrichtung
KR200465033Y1 (ko) * 2012-06-20 2013-01-30 주식회사 덴티스 치과의 임플란트 시술용 키트 케이스

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1196414A (en) * 1966-07-25 1970-06-24 Wickman Mach Tool Sales Ltd Component Loading Devices on Automatic Machine Tools
US3731820A (en) * 1969-07-08 1973-05-08 Nagoya Kiko Co Ltd Rectilinear motion device for a mechanical handling machine
DE2112590A1 (de) * 1971-03-16 1972-10-12 Weingarten Ag Maschf Pressenstrasse
GB1395058A (en) * 1972-11-07 1975-05-21 Sahlin Automation Ltd Work feeding apparatus
US4056198A (en) * 1976-03-29 1977-11-01 Danly Machine Corporation Transfer and turnover mechanism for use with power press or the like
FR2422482A1 (fr) * 1978-04-13 1979-11-09 Renault Dispositif de transfert de pieces
JPS54159963A (en) * 1978-06-06 1979-12-18 Shiroyama Kogyo Kk Articulated arm type manipulator
DE3040400C1 (de) * 1980-10-25 1982-02-18 Maschinenfabrik Weingarten Ag, 7987 Weingarten Be- und/oder Entladegeraet fuer Pressen,Stanzen o.dgl. Werkzeugmaschinen

Also Published As

Publication number Publication date
DE3460057D1 (en) 1986-04-30
EP0114774A3 (en) 1984-08-15
FR2539661B1 (fr) 1986-07-04
FR2539661A1 (fr) 1984-07-27
EP0114774A2 (de) 1984-08-01

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