EP0300984A2 - Handhabungsgerät für Blechtafeln - Google Patents

Handhabungsgerät für Blechtafeln Download PDF

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Publication number
EP0300984A2
EP0300984A2 EP88830320A EP88830320A EP0300984A2 EP 0300984 A2 EP0300984 A2 EP 0300984A2 EP 88830320 A EP88830320 A EP 88830320A EP 88830320 A EP88830320 A EP 88830320A EP 0300984 A2 EP0300984 A2 EP 0300984A2
Authority
EP
European Patent Office
Prior art keywords
sheet
shaft
carriage
jaws
manipulator
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.)
Granted
Application number
EP88830320A
Other languages
English (en)
French (fr)
Other versions
EP0300984A3 (en
EP0300984B1 (de
Inventor
Antonio Codatto
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to AT88830320T priority Critical patent/ATE87244T1/de
Publication of EP0300984A2 publication Critical patent/EP0300984A2/de
Publication of EP0300984A3 publication Critical patent/EP0300984A3/fr
Application granted granted Critical
Publication of EP0300984B1 publication Critical patent/EP0300984B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53709—Overedge assembling means

Definitions

  • the present invention relates to a manipulator for sheet metal sheets.
  • Manipulators for metal sheets are known in the form of flat sheets, which are capable of picking them up from a loading area and then bringing them to a press brake which ensures the folding of one or more of their edges.
  • these sheets are used both in the automotive sector for the production of vehicle hulls and in the field of household appliances (refrigerators, washing machines, air conditioners) or for the production of shelving for furniture and the like.
  • manipulators comprising in particular a jaw provided with two opposite jaws oriented vertically and suitable for gripping each sheet in the loading area to bring it to the press; this jaw has the possibility of turning around its axis in one direction or the other, thereby causing the rotation of the sheet metal sheet which can be subjected to the folding operation at all its sides.
  • the two jaws of the jaw are mounted at the end of a C-profile structure which is capable of performing only a linear movement, the jaw thus always always facing towards the sheet insertion area in the press.
  • the loading of the sheets on the manipulator must necessarily be carried out in a direction transverse to that of advance of the manipulator.
  • the main drawback of such a device lies in the fact that it is absolutely impossible to load a sheet on the manipulator before the latter has unloaded the previous sheet and has completed the reverse return stroke so as to have rear relative to the loading device.
  • the manipulator which constitutes an important mass structure, performs a movement of advance exactly equal to that accomplished by the sheet, it is understood that is essential to have recourse to a high power motor, which determines an increase in the cost of the device as well as an increase in the energy consumption necessary for the movements thereof.
  • the jaw is supported by a gantry-shaped structure, which also has only one possibility of linear movement from the loading area to the press.
  • jaws which are capable of turning only at an angle of 90 ° and 180 °, which excludes for example the possibility of working a sheet of sheet metal which is not rectangular in profile.
  • the present invention proposes to produce a manipulator device for sheets which has advantageous structural and functional characteristics compared to those of similar devices of known type.
  • Another object of the invention is to provide a manipulator which includes a device for secure locking of the jaw at any position desired by the user, while being capable of allowing the rotation of the jaws which grip the sheets at angles of any desired value and in particular different from 90 ° and 180 °, as is the case similar devices of known type.
  • the manipulator for sheet metal sheets according to the invention is defined in claim 1.
  • the invention in fact provides that the support structure of the upper jaw, having a double T-shaped profile, is articulated, at its side opposite to that on which said upper jaw is mounted, on a carriage which can move on a guide oriented in a direction perpendicular to that of the path taken by the sheet to reach the press.
  • the lower jaw is mounted on a vertical shaft.
  • the latter constitutes the connecting pivot between the lower lateral end of the support structure and a longitudinal carriage which is provided with the possibility of moving in the direction of advance of the sheet.
  • the transverse carriage When the longitudinal carriage is moved forward in order to determine the advance of the sheet, the transverse carriage is able to move along its guide, the whole structure thus achieving a "feathered” movement with " the pole "nevertheless mobile so that the two jaws and consequently the sheet move in a perfectly rectilinear movement.
  • an effective locking means is provided for the lower jaw, which makes it possible to stop the angular travel of this jaw at any desired value and not only at three or four pre-established positions.
  • a cylindrical annular chamber around a part of the shaft of which the jaw is integral, is arranged a cylindrical annular chamber whose partition wall with the aforementioned shaft is intended to bend once said chamber is filled with 'a fluid under pressure, in order to exert a force on the shaft to prevent rotation.
  • an automatic device for controlling the angular position of the jaws in order to satisfy the particular requirements for bending the edges of the sheet metal sheet.
  • the unloading of the folded sheet can be carried out from the moment when the two jaws open until the moment when the manipulator is ready to start again to bring a new sheet to the press.
  • the device according to the invention it is also possible to carry out the loading and unloading of the sheets of sheet metal both on the right and on the left (the loading can also be carried out from the front), reverse of similar devices of known type where the loading must necessarily take place in a single direction.
  • the device according to the invention comprises an upper support element 1 articulated in 2 to a lower support element 3; this structure affects the general shape of a double T.
  • the two support elements are connected by a hydraulic jack 4 whose body is fixed to one of said elements, while the rod is made integral with the opposite element; this cylinder is able to intervene to cause the rotation of the upper element 1 around the pivot 2, with a view to bringing the two wings closer to the support elements assembled by said cylinder while simultaneously moving the opposite wings from one another.
  • a hydraulic jack 4 whose body is fixed to one of said elements, while the rod is made integral with the opposite element; this cylinder is able to intervene to cause the rotation of the upper element 1 around the pivot 2, with a view to bringing the two wings closer to the support elements assembled by said cylinder while simultaneously moving the opposite wings from one another.
  • an upper jaw 5 oriented vertically and capable of rotating about its own axis is provided.
  • the lateral end of the lower support element 3 is profiled so as to present a series (two in this case) of teeth 6 engaged in the spaces provided between the corresponding teeth 7 provided on a longitudinal carriage 8; the lower support element 3 and the carriage 8 are connected to each other in a rotary manner by means of a shaft 9, oriented vertically and integral with a lower jaw 10, said shaft being arranged inside seats in teeth 6 and 7.
  • the lower support element 3 is extended by a pin 11 mounted on a transverse carriage 12 movable along a guide 13.
  • the entire structure is supported by a fixed base 14 which has a horizontal part facing the above-mentioned guide, while at its vertical part faces the longitudinal carriage, which is connected to it in the same way by pads 15, arranged horizontally and suitable for moving along linear guides 14 ′ advantageously of the ball circulation type.
  • a motor 16 electric or hydraulic, for driving in rotation a toothed wheel 17 cooperating with a rack 18 which is carried by the vertical part of the fixed base and which s' extends longitudinally.
  • On the longitudinal carriage is mounted another electric motor 19 with a vertical axis which cooperates by means of a pinion 20 with a toothed wheel 21 whose axis is oriented vertically and which is integral with the lower end of the shaft 9.
  • the sheet metal sheet 22 which has just been loaded onto the manipulator using suitable devices, not illustrated in the drawing because of known type, is intended to be gripped by the clamp formed by the two jaws, preferably at its central part.
  • the loading takes place from right to left in the transverse direction with respect to the direction of advance of the sheet from the loading zone to the press 23.
  • the transverse carriage and therefore the pivot 11 are located at the level of the anterior end of travel of the guide 13, as illustrated in the figure. On the latter, we can see that there is no problem opposing the fact that the manipulator can be loaded on the left or on the back.
  • the sheet 22 At the end of the travel of the longitudinal carriage, the sheet 22 is in position so that one of its edges can be folded by the press 23. If it is necessary to fold the other edges of this sheet, it is understood that the support elements 1 and 3 are moved back, also in this case following the rotation of the electric motor which determines the displacements of the longitudinal carriage, in order to allow the rotation of the sheet metal, determined by the movement of the electric motor 19 to through the toothed wheel 21, the shaft 9 and therefore the lower jaw 10.
  • the upper jaw can be connected to the lower jaw 10 by means of mechanical deflection devices, housed inside the body of the carriage 8 and of the support elements 1 and 3; this solution, although more complex from a structural point of view compared to the previous one, has the important advantage of allowing the two jaws to always perform the same angular movements.
  • a special mechanism is provided for blocking the angular position of the lower jaw 10 (FIG. 2).
  • annular cylindrical chamber 26 which through a pipe 27 can be filled with a hydraulic fluid , for example from a hydraulic pump or the like.
  • the inner wall which forms the chamber 26 and which constitutes the element separating it from the outer wall of the shaft 9 is very thin and can therefore be elastically deformed appreciably when the fluid pressure exceeds a certain value. predetermined, thereby interfering with the wall of the shaft and prohibiting any subsequent rotation thereof, so that the blocking is thus ensured.
  • This type of blocking has the important advantage of being extremely precise at all the angular positions of the shaft and consequently it lends itself particularly well to allow the bending of the sheet to any angular position. More specifically, this arrangement makes it possible to work sheet metal sheets having a profile different from the rectangular profile. It should also be considered that the sheets are sometimes cut irregularly with different shapes from the exact rectangular profile. In the case where two sheets must be superimposed, it is necessary that the edges correspond perfectly and by operating with the above-mentioned device, the sheet may be folded so that the fold obtained is strictly parallel at the end edges of said sheet, thereby allowing the imperfection of the cut to be recovered and in particular to use a sheet which would otherwise have to be discarded.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Laminated Bodies (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)
  • Secondary Cells (AREA)
  • Registering Or Overturning Sheets (AREA)
EP88830320A 1987-07-23 1988-07-22 Handhabungsgerät für Blechtafeln Expired - Lifetime EP0300984B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT88830320T ATE87244T1 (de) 1987-07-23 1988-07-22 Handhabungsgeraet fuer blechtafeln.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT8558087 1987-07-23
IT85580/87A IT1220216B (it) 1987-07-23 1987-07-23 Manipolatore per folgi di lamiera

Publications (3)

Publication Number Publication Date
EP0300984A2 true EP0300984A2 (de) 1989-01-25
EP0300984A3 EP0300984A3 (en) 1990-10-24
EP0300984B1 EP0300984B1 (de) 1993-03-24

Family

ID=11328430

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88830320A Expired - Lifetime EP0300984B1 (de) 1987-07-23 1988-07-22 Handhabungsgerät für Blechtafeln

Country Status (7)

Country Link
US (1) US4905976A (de)
EP (1) EP0300984B1 (de)
JP (1) JP2566294B2 (de)
AT (1) ATE87244T1 (de)
DE (1) DE3879566T2 (de)
ES (1) ES2040380T3 (de)
IT (1) IT1220216B (de)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2740042A1 (de) * 1977-09-06 1979-03-08 Peltzer & Ehlers Mehrstufenpresse
JPS551937A (en) * 1978-06-19 1980-01-09 Shin Meiwa Ind Co Ltd Automatic bender of plate form material
JPS58168445A (ja) * 1982-03-30 1983-10-04 Murata Warner Suueeg Kk 板曲機におけるキャリッジの移動装置
EP0097637A2 (de) * 1982-06-23 1984-01-04 VOEST-ALPINE Aktiengesellschaft Vorrichtung zum Zuführen von Bleichtafeln zu einer Biegemaschine
EP0115602A1 (de) * 1983-01-06 1984-08-15 Hämmerle AG Vorrichtung zum Manipulieren von Werkstücken
EP0136598A2 (de) * 1983-10-04 1985-04-10 Hämmerle AG Einrichtung zur Handhabung von Blechtafeln
FR2584633A1 (fr) * 1985-07-15 1987-01-16 Prima Ind Spa Procede et installation de pliage de precision de toles metalliques
GB2177676A (en) * 1985-07-15 1987-01-28 Prima Ind Spa A manipulator device particularly for handling metal sheets during folding operations

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3103354A (en) * 1961-10-25 1963-09-10 Patterson Carbon interleaver and glue tipping device
BE904504A (nl) * 1986-03-27 1986-09-29 Lvd Co Positioneer- en volgrobot voor het bedienen van een pers.
US4808059A (en) * 1986-07-15 1989-02-28 Peak Systems, Inc. Apparatus and method for transferring workpieces
US4775281A (en) * 1986-12-02 1988-10-04 Teradyne, Inc. Apparatus and method for loading and unloading wafers

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2740042A1 (de) * 1977-09-06 1979-03-08 Peltzer & Ehlers Mehrstufenpresse
JPS551937A (en) * 1978-06-19 1980-01-09 Shin Meiwa Ind Co Ltd Automatic bender of plate form material
JPS58168445A (ja) * 1982-03-30 1983-10-04 Murata Warner Suueeg Kk 板曲機におけるキャリッジの移動装置
EP0097637A2 (de) * 1982-06-23 1984-01-04 VOEST-ALPINE Aktiengesellschaft Vorrichtung zum Zuführen von Bleichtafeln zu einer Biegemaschine
EP0115602A1 (de) * 1983-01-06 1984-08-15 Hämmerle AG Vorrichtung zum Manipulieren von Werkstücken
EP0136598A2 (de) * 1983-10-04 1985-04-10 Hämmerle AG Einrichtung zur Handhabung von Blechtafeln
FR2584633A1 (fr) * 1985-07-15 1987-01-16 Prima Ind Spa Procede et installation de pliage de precision de toles metalliques
GB2177676A (en) * 1985-07-15 1987-01-28 Prima Ind Spa A manipulator device particularly for handling metal sheets during folding operations

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
MACHINE MODERNE. mars 1978, PARIS FR page 79 felss france: "industrial handling 78" *
PATENT ABSTRACTS OF JAPAN vol. 4, no. 25 (M-1)(4025) 03 mai 1980, & JP-A-55 001937 (SHIN MEIWA IND CO LDT) 09 janvier 1980, *
PATENT ABSTRACTS OF JAPAN vol. 8, no. 5 (M-267)(1442) 11 janvier 1984, & JP-A-58 168445 (MURATA WAANAA SUUEEJII K.K.) 04 octobre 1983, *

Also Published As

Publication number Publication date
ATE87244T1 (de) 1993-04-15
US4905976A (en) 1990-03-06
DE3879566D1 (de) 1993-04-29
DE3879566T2 (de) 1993-09-30
IT8785580A0 (it) 1987-07-23
JPS6440289A (en) 1989-02-10
EP0300984A3 (en) 1990-10-24
EP0300984B1 (de) 1993-03-24
ES2040380T3 (es) 1993-10-16
JP2566294B2 (ja) 1996-12-25
IT1220216B (it) 1990-06-06

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