EP0693334A1 - Transportsystem - Google Patents

Transportsystem Download PDF

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Publication number
EP0693334A1
EP0693334A1 EP95109314A EP95109314A EP0693334A1 EP 0693334 A1 EP0693334 A1 EP 0693334A1 EP 95109314 A EP95109314 A EP 95109314A EP 95109314 A EP95109314 A EP 95109314A EP 0693334 A1 EP0693334 A1 EP 0693334A1
Authority
EP
European Patent Office
Prior art keywords
feeder
drive
transport
transport system
movement
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
EP95109314A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0693334B1 (de
Inventor
Erich Harsch
Rainer Reichenbach
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.)
Mueller Weingarten AG
Original Assignee
Maschinenfabrik Mueller Weingarten AG
Mueller Weingarten AG
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 Maschinenfabrik Mueller Weingarten AG, Mueller Weingarten AG filed Critical Maschinenfabrik Mueller Weingarten AG
Publication of EP0693334A1 publication Critical patent/EP0693334A1/de
Application granted granted Critical
Publication of EP0693334B1 publication Critical patent/EP0693334B1/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
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • 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 invention relates to a transport system for transporting workpieces through a press line, transfer press, large section press, forming machine or the like according to the preamble of claim 1.
  • Such systems are usually provided with transport devices for automatic workpiece transport. These transport devices either have their own drives or are operated by the press drive. In any case, however, a forced synchronization, electrical or mechanical, must exist between the press movements and the transport system. This synchronization serves both to avoid collisions and to optimize the motion sequences.
  • Transport unit 1 (removal feeder) leads into the open press (horizontal movement), lowers down to the part to be transported (vertical movement), removes the part and leads on a suitably programmed path to the clipboard.
  • the part is placed on the clipboard and, if necessary, receives a change in position that is adapted to the insertion situation of the next forming step.
  • This automation device which has been tried and tested in practice, has the major disadvantage that there must be a correspondingly large distance between the processing stages, which leads to correspondingly long systems.
  • larger press stand widths in the direction in which the parts pass through are required, since high press rigidity is required for the forming, however, the smallest possible column width is desirable. Due to the fact that there are 2 different transport devices (loading and unloading feeder), a large number of part-bound transport means such as feeder spiders, storage templates etc. are required.
  • the invention has for its object to avoid the aforementioned disadvantages and in particular to obtain a low-mass, high-speed transport system in which no clipboard is required.
  • the basic idea of the invention is to propose between two forming stations an in-house or driven by the press feeder, which works both as a removal and as a loading device, which additionally has one or more drives for a possibly necessary pivoting of the feeder spider or parts in and contains transverse to the direction of parts transport and also allows the parts to be rotated.
  • the clipboard otherwise required can be omitted.
  • the individual drives of the transfer for each transport step make it possible to compensate for larger distances between the tool stages, in particular through phase shifts, so that individual presses can also be loaded in press lines without there being a deterioration in the freedom of movement. Thanks to the flexibility of the separately swiveling feeder head, an optimal parts position in the tool is also possible.
  • Telescopic feeder Fig. 1 to 13
  • This telescopic feeder 15 consists of a part-bound feeder spider 16, 16 'with suction cups 17, a receptacle carriage 18 for the feeder spider 16 which can be moved and pivoted in and transversely to the transport direction 78, a triple telescopic slide 19 with movement and drive means for horizontal movement and one vertically movable lifting device 9 with ball screw system 21, which can be moved by a programmable drive 22.
  • the lifting column is mounted in a carriage 23, which is arranged in linear guides 24 so as to be movable transversely to the direction of parts transport 78.
  • the telescopic feeder 15 has 5 degrees of freedom.
  • Figures 1 to 3 differ only in the position of the telescopic slide 19 and show different ones Sequences of work.
  • the part 14 formed in processing stage 10 is removed and transported to processing stage 11. During this transport step, the position of the part 14 is changed in order to adapt it to the lower tool 13 of the following processing step.
  • Fig. 2 shows the change in position and the part 14 is located in front of the lower tool 13 in the machining stage 11.
  • the programmable drives ensure an optimal travel path for the parts transport. The freedom of movement, based on the position of the plunger 7 and any interfering edges by the upper tool 12, can also be ensured.
  • Fig. 3 shows the telescopic feeder 15 in the waiting position during the forming process. A phase-shifted ram position can also be seen.
  • the feeder spider 16, 16 'can be pinned on the peg 25 attached to the sliding table 8.
  • the stake holder 25 is provided with a lifting and swiveling device. 2 pegs 25 are attached to the end of the tool 12/13 on the sliding table and the feeder spider 16, 16 'can be pinned above the tool 12/13 when the sliding tables 8 are extended.
  • the feeder spider 16, 16 'can be swiveled through 90 ° by the stake holder 25 for easier changing.
  • Stakeout device 30 shows an alternative solution with spider change carriages.
  • FIGS. 1 to 3 is not limited to a transfer or large-part stage press, but can also be used on press lines with a relatively short distance from press to press.
  • a 2-fold mounting of the telescopic slide 19 is provided.
  • This holder consists of 2 lifting devices 26 for the vertical movement of the telescopic spring 15.
  • the vertical movement is effected by the drive 22 via a distribution gear 27 which is coupled to the shafts 28.
  • the shafts 28 carry toothed belt pulleys 29 at their ends, which bring about a linear movement on toothed belts 34 fastened to the lifting columns 26 (FIG. 8).
  • toothed belt drive it is also possible, for example, to use toothed wheels (not shown in more detail) with toothed racks connected to the lifting columns 26.
  • a mobile staking device 30 is proposed for the replacement of the part-bound accessories (feeder spider 16) required for the tool change.
  • the staking device 30 and the sliding table 8 are moved out of the press space with the tool 12/13.
  • FIG. 4 shows the removal of the part 14
  • the position-changed part 14 can be seen in FIG. 5 before being placed on the lower tool 13.
  • the presses can be driven mechanically synchronized with a continuous drive shaft or have an electrical synchronization.
  • a possibly required vertical stroke would be made possible by drive 22 and threaded or ball screw spindle with nut 21 both as a set-up and as a production axis.
  • FIG. 8 shows an embodiment according to a press line according to FIG. 4 and FIG. 5 in a representation transverse to the transport direction.
  • the entire feeder system is fastened to the press stands 4 via a holder 33.
  • the vertical movement of the lifting device 26 and the components connected to it takes place via a toothed belt 34 fastened with clamping pieces 35, which is connected to the toothed belt pulley 29 via deflection rollers 36.
  • the stationary toothed belt pulley 29 is driven by the drive 22 rotated and the toothed belt 34 executes a linear movement and thus also the lifting movement of the lifting device 26.
  • FIG. 9a and 9b show the receiving carriage 18 for the feeder spider 16, 16 'as an enlarged illustration of FIG. 8.
  • the receiving carriage 18 is pivotably mounted on the lifting device 26.
  • the swivel axis 37 lies within the part 14.
  • the entire swivel device is supported in 2 segments 38 in the form of a circular arc with guide stones 39.
  • the pivoting causes a pinion 40 in conjunction with a tooth segment 41, which is also in the form of a circular arc.
  • the pivoting drive is arranged on the first telescopic slide 42 (FIG. 10).
  • the attachment of the arcuate segment guide 38 and the toothed segment 41 to the lifting device 26 can be seen in FIG. 10.
  • the guide stones 39 are connected to the support tube 44 of the first telescopic slide 42 via a holder 43.
  • On the support tube 44 is the gear motor 45, which drives the pinion 40 via coupled and mounted shafts 46.
  • a rotation of the pinion 40 causes the entire telescopic slide 19 to pivot about the pivot axis 37 transversely to the part transport direction.
  • FIG. 10 the belt guide of the 3 telescopic slides 42, 47, 48 is shown in FIG. 10.
  • a driven toothed belt pulley 49 with deflection rollers 50 is mounted in the support tube 44 in the first horizontal, stationary telescopic slide 42.
  • Linear guides 57 fastened to the support tube 44 also serve to guide the second telescopic slide 47.
  • the toothed belt 51 is connected to the support tube 53 via clamping pieces 52 and thereby moves the second telescopic slide 47.
  • analog drive means could also be used, e.g. a pinion.
  • a toothed belt 54 with deflection pulleys 55 is mounted in the support tube 53 of the second telescopic slide 47.
  • This toothed belt 54 has a fixed connection to the support tube 44 via the clamp 56.
  • the toothed belt 54 is connected via clamp 56 'to the support tube 62 of the third telescopic slide 48.
  • toothed belt pulley 49 If toothed belt pulley 49 is now driven by drive 58 (FIG. 11), toothed belt 51 executes a horizontal movement at speed V1. As a result of this movement, the deflection roller 55 is rotated at the same time and the toothed belt 54 therefore also performs a horizontal movement at the speed V2. The speeds V1 and V2 overlap and thus add up.
  • the toothed belt 59 of the third telescopic slide 48 is fixed via the clamp 60 connected to the support tube 53. Clamping piece 60 'connects the toothed belt 59 to the housing of the receiving carriage 18.
  • Linear guides 61 fastened to the support tube 53 serve to guide the third telescopic slide 48.
  • the movement sequence already described for the second telescopic slide 47 now continues and is added to the speed V1 and V2 now the speed V3 of the toothed belt 59 to the final speed V. With this final speed V the actual part 14 is now transported through the receiving carriage 18.
  • FIG. 10 shows a further toothed belt 63 with drive toothed belt pulley 64, deflection rollers 65 and toothed belt pulley 66, 67.
  • This belt drive serves to pivot the feeder spider 16 about the pivot point 68.
  • Fig. 11 shows a sectional view corresponding to the section A-A in Fig. 10.
  • the drive for the triple telescopic slides 19 described in Fig. 10 is marked with the number 58.
  • This drive is connected to the toothed belt pulley 49, which starts with the toothed belt 51, as described, triggers the horizontal movement.
  • FIGS. 12 and 13 show an alternative embodiment for pivoting the feeder spider 16, 16 'according to FIGS. 10 and 11. Due to the part geometry and freedom of movement during the transport step, it may be cheaper not around the pivot point 68 but about the pivot point 73 to pivot the feeder spider 16, 16 '. Since the fulcrum 73 lies in the workpiece 14, the change of position and adaptation of the other travel axes can thus be carried out more easily.
  • the Drive elements 69, 64, 63 and 67 already described in detail, require pinion shaft 74 and toothed segment 75 for pivoting.
  • the housing 72 pivots with the feeder spiders 16, 16 ′ about the center point or pivot point 73 of the toothed segment 75.
  • the housing 72 is mounted and guided in the guide system 76.
  • an articulated arm 79 is arranged horizontally.
  • the articulated arm consists of a first articulated part 80 and a second articulated part 81.
  • a support joint 82 fastened to the second articulated part 81 holds the feeder spider 16, 16 'and has two degrees of freedom: 1. swiveling in and against the transport direction and 2. swiveling transversely to the transport plane , more detailed description of FIGS. 17 and 18.
  • FIGS. 14 and 16 also show the possibility of rotating part 14 about the vertical axis.
  • the rotation of the articulated arm 79 causes the drive 83 via the toothed belt pulley 84, toothed belt 85 and toothed belt pulley 86.
  • the toothed belt pulley 86 is firmly connected to the housing 87 of the first joint part 80.
  • This rotary movement is passed on to the second joint part 81 by a further toothed belt drive consisting of toothed belt pulleys 88 and 90 and toothed belt 89.
  • the toothed belt pulley 88 is rotatably attached to a sleeve 91, which in turn is attached to the lower end of the lifting device 26.
  • the toothed belt pulley 90 is fastened in a rotationally fixed manner to the sleeve 92 connecting the two joint parts 80, 81.
  • the sleeve 92 is rotatable in the 1st joint part 80 stored and non-rotatably connected to the second joint part 81. Due to this construction, the rotation of the 1st joint part 80 inevitably causes a rotation of the sleeve 92 and thus a rotation of the 2nd joint part 81.
  • FIG. 18 shows a position after a 90 ° rotation of the 1st joint part 80.
  • the 2 degrees of freedom already mentioned of the commercially available support joint 82 effect the two drives 93 and 94.
  • these drives 93 and 94 are connected to the support joint 82 via toothed belt drives 95 and 96. While drive 93 in conjunction with toothed belt drive 95 allows pivoting of the support joint 82 and thus the feeder spider 16, 16 'in and against the transport direction (arrow 97, FIG. 17), the support joint 82 can pivot transversely to the transport direction via drive 94 and toothed belt drive 96 . Appropriately programmed drives allow even the most difficult transport steps to be carried out by changing the position of the parts.
  • the rotation of the part or workpiece 14 around the vertical axis is not provided. Furthermore, the commercially available ball joint 82 is replaced by a design alternative with one degree of freedom.
  • the rotary movement of the articulated arm 98 about the vertical axis produces a toothed belt 100 which is fixedly attached to the feeder crossbar 99 (FIG. 21).
  • the toothed belt pulley 101 is driven by the toothed belt 100.
  • the rotational movement of the toothed belt pulley 101 is transmitted to a toothed pinion 103 via a spline shaft 102.
  • Pinion 103 drives the gear 104, which is firmly connected to the housing 87 of the first joint part 80.
  • the movement sequence of the pivoting movement of the 1st joint part 80 corresponds to the sequence described under FIG. 17.
  • the second joint part 105 is fixedly connected to the sleeve 107 of the first joint part 80 via its housing 106.
  • the toothed belt pulley 90 fastened on the sleeve 107 transmits a rotary movement to the second joint part 105 when the first joint part 80 is rotated.
  • Figure 24 shows the position after a 90 ° rotary movement of the 1st joint part 80.
  • the toothed belt pulley 108 is fixedly connected to the housing 87 of the first joint part 80 via the sleeve 109.
  • This toothed belt pulley 108 drives the toothed belt pulley 111, which is connected to the holder 112 of the feeder spider 16, 16 ′, via the toothed belt 110.
  • the translation of the toothed belt drives of the 1st joint part and the 2nd joint part must be precisely defined and can be, for example, 1: 2 and 2: 1, this ensures that the holder 112 of the feeder spider 16, 16 'does not perform any rotational movement about the vertical axis during the rotational movement of the articulated arm.
  • part 14 is also not rotated about its vertical axis.
  • a pivoting movement in or against the horizontal transport direction 78 takes place via the drive 113, the angular gear 114, the shaft 115, the toothed belt drive or gear drive 116, the shaft 117 and the toothed belt drive 118.
  • the toothed belt drive 118 drives the pinion shaft 40 and via the toothed segment 41 the pivoting movement takes place about the pivot axis 73.
  • FIGS. 23 and 27 A constructive variant for the execution of the pivoting movement is shown in FIGS. 23 and 27.
  • the drive 113 is installed vertically and drives the known swivel mechanism via a toothed belt drive 118.
  • the rotation of the feeder spider 16, 16 'about the vertical axis is shown in FIGS. 26 and 27.
  • the toothed belt pulley 108 is not firmly connected to the housing 87 of the first joint part 80, but has its own drive.
  • This drive consists of motor 120, toothed belt drive 121 and the rotatably mounted sleeve 122.
  • the rotational movement of the toothed belt pulley 108 is transmitted via the toothed belt 123 and the toothed belt pulley 124 to the holder 112 of the feeder spider 16, 16 ′ and can rotate this and thus the part 14 .
  • the second joint part 81 is rotatably mounted at the end of the first joint part 80.
  • the drive for this rotary or swivel movement consists of: drive 130, toothed belt pulley 131, toothed belt 132 and toothed belt pulley 133.
  • This axis 68 pivots the part 14 in or against the transport direction 78.
  • This swivel drive consists of: drive 134, toothed belt pulley 135, toothed belt 136, toothed belt pulley 137 and 138, toothed belt 139 and toothed belt pulley 140.
  • the arrangement according to these figures is preferably suitable for smaller distances between the press or processing stages 10, 11.
  • the following movement options are provided: vertical stroke, travel transversely to the direction of transport, rotation of the articulated arm 79 about the vertical axis and pivoting of the feeder spider 16, 16 'about the pivot point 73 Share a safe and stable transport option guaranteed.
  • the drive with angular gear 141, splined shaft 142, distribution gear 143, toothed belt pulley 144, toothed belt 145 and toothed belt pulley 146 serves to rotate about the vertical axis of the first joint part 80.
  • the second joint part 81 is driven by the toothed belt pulley 147, the toothed belt 148 and the toothed belt pulley 149, which are fastened in a rotationally fixed manner to the lifting device 26.
  • the pivoting movement of the part 14 in or against the transport direction 78 about the pivot point 73 causes the drive with angular gear 150, which Toothed belt pulley 151, the toothed belt 152 and the toothed belt pulley 153.
  • This toothed belt pulley 153 drives the swivel system shown and described in greater detail in FIG. 23 via the pinion 40.
  • 33 shows the parts transport which is linear despite the rotation or pivoting of the articulated arms 79. Depending on the tool distance, the articulated arms 79 move more or less far in the direction of the extended position. A possibly required crossing "S" can be done by turning to the extended position.
  • Figs. 36 and 37 show an articulated arm feeder which is driven by a parallelogram system.
  • the embodiment shown is particularly suitable for larger distances from presses 10, 11.
  • the known drives 154 for the horizontal movement and drive 31 and for a method transverse to the transport plane there is a vertical movement of the feeder carriage 23 by the drive 158, toothed belt pulley 159, toothed belt 160 to which the feeder carriage 23 is fastened and toothed belt pulley 161.
  • the pivoting movement of the parallelogram causes the drive 162 with the bevel gear 163 to which two cranks 164 are attached.
  • cranks 164 act on a cross lever 165 which is connected to a rotatably mounted parallelogram linkage 166.
  • the parallelogram linkage 166 is rotatable on a vertically displaceable carriage 167 attached.
  • two bearing plates 168 are fastened to the lower end of the parallelogram linkage 166, in which planet pinion 169, sun gear 170 and a ring gear 171 with a drive lever 172 are mounted.
  • This drive lever 172 is connected to the parallelogram linkage 166 via the rotatably mounted cross lever 173.
  • Fig. 38 This parallelogram feeder is suitable for shorter press distances.
  • the basic construction corresponds to the parallelogram feeder described in Fig. 34 to Fig. 37.
  • the drive for the horizontal and vertical movement was changed to a version with drive 192, 22 and ball screw spindle 193, 21, which are operatively connected to a cross-locking system 190, 191.
  • the swivel drive 162 rotates the crank 164 via a pinion 186, which acts on a toothed segment 187.
  • 39 to 41 shows a parallelogram feeder which is particularly suitable for medium distances between the presses or processing stages.
  • a lifting device 26 vertically displaceable by drive 22 and ball screw system 21
  • an angular gear 189 driven by drive 188 is fastened.
  • a crank 164 is attached to each of the two shaft ends of the angular gear, and is connected to the parallelogram linkage 166 in the manner already described.
  • the carriage 167 is supported in vertical guides 190, which in turn are supported in horizontal guides 191.
  • the drive 192 causes a horizontal displacement via ball screw system 193 and at the same time also a change in the vertical position of the feeder spider 16, 16 'and thus a height adjustment of the workpiece 14 for insertion in the following machining step.
  • angular gears 194 are fastened to bearing plates 168, which are driven by the drive lever 172 in connection with the cross lever 173 by the pivoting movement of the parallelogram linkage 166.
  • Two horizontally arranged articulated arms 79 are rotatably attached to the vertical output shafts of the angular gear 194. The rotary movement of the first joint part 80 thus takes place through the rotation of the angular gear 194, while the version with toothed belt drive is again proposed for the rotation of the second joint part 81.
  • the drive 195 attached to the second articulated arm 81 pivots the feeder spider 16, 16 ′ about the pivot point 37.
  • a toothed segment 213 is firmly connected to the feed lever 206 and is mounted in the common pivot point. This toothed segment 213 drives a toothed wheel 214 during the swiveling movement, caused by the movement of the feed curve 204.
  • the gear 214 is located on a common shaft with the first bevel gear of a bevel gear 215 and drives it.
  • the second bevel gear of the bevel gear 215 is in operative connection with a spline shaft 216.
  • This spline shaft 216 is connected to the superposition gear 208 so that a rotary movement of the spline shaft 216 acts as a drive for the superposition gear 208.
  • the toothed belt of the telescopic spring 15 is then driven via the angular gear 211 and thus the horizontal transport step.
  • the above-described height adjustment of the feeder can also be used as a production axis.
  • the lifting movement can be overlaid with the feeder height adjustment.
  • 43 also shows a drive 210 for pivoting the feeder spider 16 about a vertical axis and a drive 219 for pivoting the feeder spider 16 in or against the direction of transport.
  • the present invention relates generally to a feeder mechanism which is suitable for bridging the processing stages, in particular a transfer or large-part stage press, but also for automatic part transfer in press lines.
  • a feeder mechanism which is suitable for bridging the processing stages, in particular a transfer or large-part stage press, but also for automatic part transfer in press lines.
  • FIGS. 1 to 5 of the transport route accomplished via a multiple telescopic slide 19.
  • the suspension of the telescopic slide remains essentially stationary between the processing stages.
  • This principle can also be retained in the exemplary embodiment according to FIGS. 14 and the following, in which a multiple articulated arm which can be pivoted about a vertical axis of rotation is used instead of a linearly movable telescopic slide.
  • both the telescopic slide and the articulated arm can be fastened to an additional horizontal transport device 196 as shown in FIG. 14 (see FIGS. 14, 20, 29).
  • push rods end in their upper region at a second angle lever 243, which is arranged in the upper region of the bearing housing 227 so as to be rotatable about an upper bearing point 239 'and whose pivoting movement is brought about by a drive motor 244.
  • the arrangement of two angle levers 240, 243 serves to bridge a dead center position, ie if one of the two angle levers 240, 243 with associated push rods 241, 242 is arranged in an upper dead center position, the adjacent push rod can nevertheless exert a torque.
  • the longitudinal boom 228 consequently consists of a guide housing or support tube 62 with linear guides 77 arranged laterally therefrom for executing a longitudinal movement of the housing 72, which is a component of the receiving carriage 18 for fastening the feeder spiders.
  • FIG. 46 expressly serves to represent the system.
  • the exemplary embodiment according to FIGS. 47 to 49 differs in principle from the already described exemplary embodiment according to FIGS. 44 to 46 in that the feeder spider 16 in addition to the rotary movement about the horizontal axis of rotation 68 by means of the drive motor for the pivoting movement 69, a further rotary movement about a vertical axis of rotation 254 can perform, according to arrow 254 '.
  • the feeder spider can therefore according to the 47 during transport from the processing station 10 to the processing station 11 can be pivoted about the vertical axis of rotation 254. This is shown in dashed lines in FIG. 47, right side.
  • This rotary movement about the vertical axis of rotation 254 ' is accomplished by means of a further rotary drive motor 255.
EP95109314A 1994-06-16 1995-06-16 Transportsystem Expired - Lifetime EP0693334B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4420933 1994-06-16
DE4420933 1994-06-16

Publications (2)

Publication Number Publication Date
EP0693334A1 true EP0693334A1 (de) 1996-01-24
EP0693334B1 EP0693334B1 (de) 1999-11-10

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Application Number Title Priority Date Filing Date
EP95109314A Expired - Lifetime EP0693334B1 (de) 1994-06-16 1995-06-16 Transportsystem

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EP (1) EP0693334B1 (pt-PT)
DE (2) DE19521976A1 (pt-PT)
ES (1) ES2139777T3 (pt-PT)

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EP0930110A2 (de) * 1998-01-19 1999-07-21 Müller Weingarten AG Transporteinrichtung
EP0947625A1 (de) 1998-03-31 1999-10-06 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Prozessführung und zur Prozessoptimierung der Chemikalienrückgewinnung bei der Herstellung von Zellstoff
EP1040881A1 (de) * 1999-03-17 2000-10-04 Müller Weingarten AG Antriebssystem zur Automatisierung von Umformmaschinen
EP1123761A2 (de) 2000-02-10 2001-08-16 Müller Weingarten AG Horizentales Transportsystem
EP1129800A2 (de) * 2000-02-29 2001-09-05 Müller Weingarten AG Flexible Transporteinrichtung für Pressen
WO2005046907A1 (de) * 2003-11-13 2005-05-26 Müller Weingarten AG Gelenkarmtransportvorrichtung
DE10195260B4 (de) * 2000-12-08 2005-06-16 Blechformwerke Bernsbach Ag Transfervorrichtung für Großpressensystem
DE102006003522A1 (de) * 2006-01-24 2007-08-02 Müller Weingarten AG Transfersystem mit Wendevorrichtung
CN112828657A (zh) * 2021-02-09 2021-05-25 永康市勤亿工贸有限公司 一种用于直通、三通接头自动供料加工的送料机构

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DE10328447B4 (de) 2003-06-25 2006-06-08 Schuler Pressen Gmbh & Co. Kg Transferpresse mit verbesserter Raumausnutzung
DE102004013825B4 (de) * 2003-11-13 2011-01-20 Müller Weingarten AG Gelenkarmtransportvorrichtung
DE102004006085B4 (de) * 2004-02-07 2007-01-04 Müller Weingarten AG Transportvorrichtung für Werkstücke durch Pressenanlagen
DE102004018059B4 (de) 2004-04-08 2008-01-24 Schuler Pressen Gmbh & Co. Kg Transfereinrichtung und Transferverfahren
DE202007005525U1 (de) * 2007-04-17 2007-06-21 Wilfried Strothmann Gmbh Maschinenbau- Und Handhabungstechnik Roboter
DE102008050125A1 (de) * 2008-04-29 2009-11-05 Müller Weingarten AG Transporteinrichtung mit Positionieranschlag
CN103567316B (zh) * 2013-11-21 2015-04-22 济南昊中自动化有限公司 一种冲压专用穿梭板料输送机
CN104325461A (zh) * 2014-10-17 2015-02-04 济南奥图自动化工程有限公司 一种单臂机械手
EP3718659B1 (de) * 2019-04-05 2022-11-23 Horstkemper Maschinenbau GmbH Automationsgerät
DE102019119228A1 (de) * 2019-07-16 2021-01-21 Strothmann Machines & Handling GmbH Linearförderer zum Umsetzen von Werkstücken zwischen zwei in einer Durchlaufrichtung aufeinanderfolgenden Positionen

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EP0930110A3 (de) * 1998-01-19 2000-07-12 Müller Weingarten AG Transporteinrichtung
EP0930110A2 (de) * 1998-01-19 1999-07-21 Müller Weingarten AG Transporteinrichtung
EP0947625A1 (de) 1998-03-31 1999-10-06 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Prozessführung und zur Prozessoptimierung der Chemikalienrückgewinnung bei der Herstellung von Zellstoff
EP1040881A1 (de) * 1999-03-17 2000-10-04 Müller Weingarten AG Antriebssystem zur Automatisierung von Umformmaschinen
US7040853B2 (en) 2000-02-10 2006-05-09 Mueller Weingarten Ag Horizontal transporting system
EP1123761A2 (de) 2000-02-10 2001-08-16 Müller Weingarten AG Horizentales Transportsystem
EP1123761A3 (de) * 2000-02-10 2003-09-17 Müller Weingarten AG Horizentales Transportsystem
EP1129800A2 (de) * 2000-02-29 2001-09-05 Müller Weingarten AG Flexible Transporteinrichtung für Pressen
EP1129800A3 (de) * 2000-02-29 2003-10-08 Müller Weingarten AG Flexible Transporteinrichtung für Pressen
US6968725B2 (en) 2000-02-29 2005-11-29 Mueller Weingarten Ag Flexible transporting apparatus for presses
DE10195260B4 (de) * 2000-12-08 2005-06-16 Blechformwerke Bernsbach Ag Transfervorrichtung für Großpressensystem
WO2005046907A1 (de) * 2003-11-13 2005-05-26 Müller Weingarten AG Gelenkarmtransportvorrichtung
CN100455373C (zh) * 2003-11-13 2009-01-28 米勒魏因加滕股份公司 铰链臂传送装置
US7484922B2 (en) 2003-11-13 2009-02-03 Mueller Weingarten Ag Articulated arm transport device
DE102006003522A1 (de) * 2006-01-24 2007-08-02 Müller Weingarten AG Transfersystem mit Wendevorrichtung
CN112828657A (zh) * 2021-02-09 2021-05-25 永康市勤亿工贸有限公司 一种用于直通、三通接头自动供料加工的送料机构

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EP0693334B1 (de) 1999-11-10
ES2139777T3 (es) 2000-02-16
DE19521976A1 (de) 1995-12-21

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