EP0384100B1 - Porte-outils motorisé du type pince pour dispositif de manipulation - Google Patents

Porte-outils motorisé du type pince pour dispositif de manipulation Download PDF

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Publication number
EP0384100B1
EP0384100B1 EP90100068A EP90100068A EP0384100B1 EP 0384100 B1 EP0384100 B1 EP 0384100B1 EP 90100068 A EP90100068 A EP 90100068A EP 90100068 A EP90100068 A EP 90100068A EP 0384100 B1 EP0384100 B1 EP 0384100B1
Authority
EP
European Patent Office
Prior art keywords
cam
tool holder
base
axis
handling devices
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 - Lifetime
Application number
EP90100068A
Other languages
German (de)
English (en)
Other versions
EP0384100A3 (fr
EP0384100A2 (fr
Inventor
Gerd-Jürgen Eckold
Hans Maass
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.)
Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
Original Assignee
Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
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 Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau filed Critical Walter Eckold GmbH and Co KG Vorrichtungs und Geraetebau
Publication of EP0384100A2 publication Critical patent/EP0384100A2/fr
Publication of EP0384100A3 publication Critical patent/EP0384100A3/fr
Application granted granted Critical
Publication of EP0384100B1 publication Critical patent/EP0384100B1/fr
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
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/03—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal otherwise than by folding
    • B21D39/031—Joining superposed plates by locally deforming without slitting or piercing
    • 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
    • Y10T29/5377—Riveter
    • 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
    • Y10T29/53796—Puller or pusher means, contained force multiplying operator
    • Y10T29/5383—Puller or pusher means, contained force multiplying operator having fluid operator

Definitions

  • the invention relates to a power-operated plier-like tool holder for handling devices, according to the preamble of claim 1.
  • a plier-like tool holder is e.g. known from document US-A-4571975.
  • a handling device commonly referred to as a “robot”, is to be understood as a device that can execute program-controlled movements in the direction of several degrees of freedom.
  • a well-known example are automatic welding machines which place spot welds at predetermined positions on motor vehicle bodies.
  • the body or, more generally, the workpiece is supported in a predetermined position, which provides a spatial reference coordinate system according to which the machine is programmed.
  • both electrodes exert the same, oppositely directed forces on the workpiece so that it is not deformed, for example by a bending load.
  • the object of the invention is to provide a tool carrier for handling devices of this type for carrying out work processes in which forces acting on one side can occur.
  • the cam track head determines the course of movement of the individual (at least two) pliers links through the course of the respective cam tracks, but only a single drive needs to be provided.
  • Figures 1 to 3 show a partially sectioned side view of a tool carrier according to the invention in three successive stages of the movement sequence.
  • the sheets to be connected are supported on a die 14, while a punch cuts the sheets from the other side and penetrates them into the die cavity, after which the material which has passed through is spread out laterally; then the punch 16 is withdrawn again and the die is released from the workpiece.
  • the tool carrier comprises a base 20 which can be attached to a working arm (not shown) of a handling device in a predetermined position, e.g. by screwing.
  • the position of the base relative to the working axes of the handling device is thus fixed.
  • the working arm can be displaced in the direction of an axis 22 and can pivot about this axis.
  • the underside of the sheet 10 is the reference plane in which the axis 22 should lie, and that the base 20 is rotated about the axis 22 such that the axis 24 of the joint 26 runs parallel to this reference plane . If, as provided here, the axis 22 intersects the hinge axis 24 vertically, the programming is simplified.
  • joints can also be provided, which preferably have axes that are parallel to one another.
  • Two pliers members 30 and 32 are pivotable about the axis 24, of which the pliers member 30 carries the die 14 and the pliers member 32 carries the punch 16.
  • the pliers links are designed as two-armed levers. The free tool facing away from the die or die Each end is equipped with a cam follower 34, the engagement surface 36 of which is rounded.
  • a working cylinder preferably a hydraulic cylinder 40, is mounted on the base, the piston of which carries a cam track head 42.
  • the cam track head is interchangeable to adapt to different tools that can be mounted on the pliers links.
  • the cam track head has cam tracks 44, 46, one for each tong member, the cam follower of which is held in contact with the associated cam track by means of a biasing spring 48.
  • the tool carrier In the starting position according to FIG. 1, the tool carrier is in its open position, so that it can be moved along the axis 22 via the sheet metal angle 12 in the working position.
  • the working cylinder 40 If the working cylinder 40 is then actuated, the pliers member 30 is first pivoted into its end position by the cam track 44, in which the die just comes to rest on the side of the sheet 10 facing it. At the same time, the stamp is steadily approached the sheet metal angle 12.
  • the pliers member 30 stops (the corresponding section of the cam track 44 runs parallel to the reference plane), while the cam track 46 pivots the punch 16 into the position shown in FIG. 3, in which the joining process is finished.
  • the movements of the tong links run in reverse order.
  • pliers links can be actuated simultaneously.
  • another pliers member could have an ejector element that detaches the workpiece from the die.
  • one could dispense with the bias springs if the cam followers were guided in channel-like cam tracks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Scissors And Nippers (AREA)
  • Mounting, Exchange, And Manufacturing Of Dies (AREA)
  • Automatic Assembly (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Processing Of Terminals (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)

Claims (4)

  1. Porte-outils motorisé du type pince pour dispositifs de manipulation comprenant :
       une embase (20) destinée à être connectée dans une position prédéterminée au dispositif de manipulation,
       des mâchoires (30,32) de pince articulées sur l'embase et présentant la forme de leviers coudés, aux extrémités actives desquels peuvent être fixés des outils et aux extrémités d'entraînement desquels sont disposés des taquets suiveurs (34);
       un vérin de travail (40) monté sur l'embase et destiné à déplacer une tête (42) porte-cames pour lesdits taquets, le déplacement étant dirigé essentiellement perpendiculairement à l'axe d'articulation (24), ladite tête porte-cames présentant des cames (44,46) contre lesquelles s'appuyent les taquets,
    caractérisé en ce qu'une pluralité de paires de mâchoires coopérant respectivement entre elles sont montées ensemble sur ladite embase, ces paires de mâchoires étant destinées à des outils qui, tout en étant actionnés simultanément, travaillent de façon distincte tant dans le temps que dans l'espace, et en ce que la tête porte-cames présente pour chaque mâchoire une came (44,46) qui lui est propre et qui lui est associée individuellement, de façon que toutes les cames définissent ensemble, tant dans le temps que dans l'espace, les cycles de mouvement requis pour l'utilisation des outils.
  2. Porte-outils suivant la revendication 1, comprenant des paliers coaxiaux (26) pour toutes les mâchoires (30,32).
  3. Porte-outils suivant la revendication 2, qui peut être connecté au dispositif de manipulation de telle manière qu'un de ses axes de référence coupe perpendiculairement l'axe d'articulation (24).
  4. Porte-outils suivant l'une quelconque des revendications précédentes, caractérisé en ce que les taquets suiveurs sont maintenus élastiquement contre les cames.
EP90100068A 1989-02-22 1990-01-03 Porte-outils motorisé du type pince pour dispositif de manipulation Expired - Lifetime EP0384100B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3905466A DE3905466A1 (de) 1989-02-22 1989-02-22 Kraftbetriebener zangenartiger werkzeugtraeger fuer handhabungsgeraete
DE3905466 1989-02-22

Publications (3)

Publication Number Publication Date
EP0384100A2 EP0384100A2 (fr) 1990-08-29
EP0384100A3 EP0384100A3 (fr) 1991-05-29
EP0384100B1 true EP0384100B1 (fr) 1993-08-11

Family

ID=6374678

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90100068A Expired - Lifetime EP0384100B1 (fr) 1989-02-22 1990-01-03 Porte-outils motorisé du type pince pour dispositif de manipulation

Country Status (9)

Country Link
US (1) US5040278A (fr)
EP (1) EP0384100B1 (fr)
JP (1) JPH02243287A (fr)
AT (1) ATE92802T1 (fr)
CA (1) CA2008433C (fr)
DE (2) DE3905466A1 (fr)
DK (1) DK0384100T3 (fr)
ES (1) ES2044233T3 (fr)
SU (1) SU1766242A3 (fr)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5077870A (en) 1990-09-21 1992-01-07 Minnesota Mining And Manufacturing Company Mushroom-type hook strip for a mechanical fastener
US5337470A (en) * 1993-03-03 1994-08-16 Bethlehem Steel Corporation Method and apparatus for removing a nozzle insert from a steelmaking ladle
US5404641A (en) * 1993-08-16 1995-04-11 Avco Corporation Method of drilling through contiguous plate members using a robotic drill clamp
US5621958A (en) * 1995-01-31 1997-04-22 Woodcox; Gordon G. Brake element processing device and method
US6115898A (en) * 1995-06-06 2000-09-12 Btm Corporation Force multiplying apparatus for clamping a workpiece and forming a joint therein
GB2315236B (en) * 1996-07-12 1999-04-07 Standard Prod Ltd Clinching apparatus
US5853211A (en) * 1997-01-10 1998-12-29 Btm Corporation Universal gripper
US5868987A (en) * 1997-06-19 1999-02-09 Minnesotamining And Manufacturing Superimposed embossing of capped stem mechanical fastener structures
US6132660A (en) * 1997-06-19 2000-10-17 3M Innovative Properties Company Method for forming headed stem mechanical fasteners
US6324886B1 (en) 1997-12-18 2001-12-04 Phd, Inc. Parts stamper
US6125684A (en) * 1997-12-18 2000-10-03 Phd, Inc. Parts stamper
US6233803B1 (en) * 2000-02-25 2001-05-22 Vought Aircraft Industries, Inc. Angled C-squeezer attachment
US6405421B1 (en) * 2001-01-03 2002-06-18 Hon Hai Precisionind. Co., Ltd. Die assembly for riveting
FR2865952B1 (fr) * 2004-02-10 2006-06-23 Airbus France Procede et dispositif d'usinage mecanique de panneaux flexibles en particulier de forme complexe
US7216523B2 (en) * 2004-07-02 2007-05-15 Gustav Klauke Gmbh Pair of pressing jaws for hydraulic or electric pressing tools, and insulating covering for a pressing jaw
DE202006013693U1 (de) * 2006-09-07 2008-01-17 Gustav Klauke Gmbh Pressbackenpaar für hydraulische oder elektrische Verpressgeräte
US20080016939A1 (en) * 2004-07-02 2008-01-24 Egbert Frenken Pair of pressing jaws for hydraulic or electric pressing tools
US7464578B2 (en) * 2005-06-03 2008-12-16 Fci Americas Technology, Inc. Hand-held, portable, battery-powered hydraulic tool
US7290431B1 (en) 2007-01-12 2007-11-06 U.S. Industrial Tool & Supply Company Rivet squeezer
DE102009049616B4 (de) * 2009-10-16 2019-05-09 Böllhoff Verbindungstechnik GmbH Setzgerät, Zuführmodul des Setzgeräts und Fügeverfahren zum Verbinden von mindestens zwei Bauteilen
ES2523512T3 (es) * 2011-04-04 2014-11-26 Novopress Gmbh Pressen Und Presswerkzeuge & Co. Kg Útil de prensado así como uso de un útil de prensado semejante
CN109625929B (zh) * 2018-12-10 2024-05-03 苏州市天烨医疗设备有限公司 一种水模自动送料机

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1346022A (en) * 1919-11-23 1920-07-06 William G Hassel Fuse remover and placer
US2405779A (en) * 1944-05-17 1946-08-13 Davis Jack Tool for installing nut plates or the like
US3630391A (en) * 1969-01-28 1971-12-28 Gulf & Western Ind Prod Co Work gripper
US3579795A (en) * 1969-08-08 1971-05-25 Burroughs Corp Component removing tool
JPS5422458B2 (fr) * 1974-02-19 1979-08-07
EP0077932B1 (fr) * 1981-10-28 1984-12-27 WALTER ECKOLD GmbH & Co. KG Vorrichtungs- und Gerätebau Dispositif pour assembler des tôles par une jonction similaire à une rivure
JPS60155390A (ja) * 1984-01-24 1985-08-15 三菱電機株式会社 産業用ロボツトのハンド装置
US4571975A (en) * 1984-03-29 1986-02-25 Pawloski James A Fluid actuated tool
US4599037A (en) * 1984-07-02 1986-07-08 United Technologies Corporation Method and apparatus for manipulating miniature parts
AT391827B (de) * 1984-12-07 1990-12-10 Sticht Walter Handhabungseinrichtung fuer montageteile

Also Published As

Publication number Publication date
DK0384100T3 (da) 1993-10-25
CA2008433A1 (fr) 1990-08-22
CA2008433C (fr) 1995-01-17
EP0384100A3 (fr) 1991-05-29
ATE92802T1 (de) 1993-08-15
DE3905466A1 (de) 1990-08-23
EP0384100A2 (fr) 1990-08-29
JPH02243287A (ja) 1990-09-27
US5040278A (en) 1991-08-20
ES2044233T3 (es) 1994-01-01
SU1766242A3 (ru) 1992-09-30
DE59002234D1 (de) 1993-09-23

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