EP0850710B1 - Transfert multiaxial flexible - Google Patents

Transfert multiaxial flexible Download PDF

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Publication number
EP0850710B1
EP0850710B1 EP97122034A EP97122034A EP0850710B1 EP 0850710 B1 EP0850710 B1 EP 0850710B1 EP 97122034 A EP97122034 A EP 97122034A EP 97122034 A EP97122034 A EP 97122034A EP 0850710 B1 EP0850710 B1 EP 0850710B1
Authority
EP
European Patent Office
Prior art keywords
crossbeam
transfer device
transfer
drive
workpieces
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
EP97122034A
Other languages
German (de)
English (en)
Other versions
EP0850710A1 (fr
Inventor
Hand Hofele
Peter Dr.-Ing. Klemm
Jürgen Dr.-Ing. Eltze
Kurt Metzger
Stefan Veit
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.)
L Schuler GmbH
Original Assignee
L Schuler GmbH
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 L Schuler GmbH filed Critical L Schuler GmbH
Publication of EP0850710A1 publication Critical patent/EP0850710A1/fr
Application granted granted Critical
Publication of EP0850710B1 publication Critical patent/EP0850710B1/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
    • 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

Definitions

  • the invention relates to a transfer device for Transport of workpieces from a work station in a processing station following in the processing sequence.
  • the invention also relates to a processing device with such transfer facilities.
  • a transfer system picks up the workpiece and guides it to the next workstation in the processing sequence and put it there. Gripping or holding means of the The transfer system must then leave the workstation be brought out so as not to hit the workpiece colliding tool.
  • the one in the transfer transfer movement to be carried out by the holding means depends on the specific conditions in relation to the Workpiece and tool dependent. Will the multi-station press or the other processing device retooling a new workpiece is usually the same Adjust transfer curve.
  • the concrete ones Dimensions and parameters of the to be machined Workpieces at the time of conception and / or erection of the multi-station press not to the last Detail set. Therefore the transfer curves in the can be adjusted afterwards.
  • the transfer movement is usually a two-dimensional one Curve consisting of a stroke and a feed component is composed. It may also be required be to swivel the workpieces around transverse axes, if, for example, a different orientation in a drawing step have than in a subsequent press station. In many cases it is useful to choose between several Work stations define different transfer curves.
  • From US-A-4 887 446 is a three-axis transfer trained transfer system known. Belong to this two are along the direction of flow through several press stations extending transfer rails. These are arranged on both sides of the tools. On the transfer rails The retention means provided are for temporary use Picking up the workpieces.
  • the retention means are from held a longitudinal beam which is longitudinally displaceable on the Transfer rail stored and via electric linear drives is driven controlled in the longitudinal direction. Additional linear units are used to move the transfer rail in the vertical stroke direction as well as that Transfer rails towards and away from each other move (open / close).
  • This transfer device which is for all workstations working in unison, only allows lifting, transporting and lowering the workpieces. No other positioning options are provided.
  • the driving forces of each axis are from to apply the drives assigned to the relevant axis, which are on the other drives or Support the guides of the other axis directions.
  • the clipboards claim a noteworthy Installation space, which affects the effort for the press system overall precipitates.
  • a transfer system is known from WO93 / 00185, whose features are the preamble of claim 1 form.
  • the transfer system contains individual, between Transfer stations arranged at work stations. Each Transfer device leads transversely to the direction of the parts pass extending suction bridge along a programmable transfer curve. Two are used for this transfer drives holding the suction bridge at their ends.
  • Each transfer drive demonstrates one vertically below extending extension on which by means of a Drive unit is telescopic in the stroke direction. To the Extension is also by means of a drive unit Lever mounted about a vertical axis, which over a connecting rod is connected to the end of the suction bridge.
  • the acceleration of the suction bridge in Reaction forces occurring in the flow or longitudinal direction are from the vertically telescopic carrier to record.
  • scissor and handlebar guides are from practice known to serve tools in space to lead.
  • the holding means for example suction cups, from a crossbar held up in turn at both ends by Handlebar gearbox is worn and guided.
  • the handlebar gear have handlebar elements that are mainly on train or on pressure and not or only slightly on bending be charged. You're essentially stretched with an offset for space reasons is to be provided.
  • Both handlebar gears position the crossbar fixed in two directions with respect to the longitudinal extent the essentially elongated Crossbar are radial directions. This is one controlled parallel guidance possible.
  • a handlebar gearbox the position of the crossbar in one further direction, for example in the longitudinal direction of the crossbar firmly. This position can be fixed or be adjustable.
  • the drive units attached to the ends of the link elements remote from the carrier means can be articulated, the steering gear operated by the handlebar elements individually or together be moved synchronously or unsynchronously.
  • a control unit coordinates these movements so that a desired one Transfer curve is obtained.
  • the maximum six possible degrees of freedom of the Holding means do not only allow a translation of the Workpiece but also tilting, turning and swiveling the same around all three spatial directions. So that's one Transfer facility created in the design the workpieces and tools have a high degree of freedom of movement allows. So the transfer system is also for possible ones suitable for future complicated tasks.
  • the transfer device can do less than six degrees of freedom, with the Handlebar elements, however, at least in two different Extend directions away from the support means and this at two articulation points located apart from each other wear. Even with such a system, they share loads and forces acting on the crossbar the handlebar elements and drive units.
  • the drive units are preferably each stored stationary. Each drive unit thus manages the Drives and managers directly in a base frame from. This results in a rigid mounting and guidance of the Carrier and thus even at high transfer speeds good positioning accuracy.
  • the Handlebar elements can be made light and stiff.
  • the drive units are preferably linear drives, whose outputs each define an axial direction. Although these differ in principle from each other could result with corresponding axial directions, i.e. parallel directions of movement, the individual Outputs clear geometric relationships that the calculation of the individual control signals of the drive units facilitated by the control device.
  • the drive units are preferably electrical Drives where the rotary motion of a servo motor via appropriate gear means in a linear movement is implemented or in which the linear movement by Linear motors is generated directly.
  • a processing device such as For example, a multi-station press that is used for the transfer reduce the required times and thus the work cycle to increase the multi-station press. It is it is also possible to schedule the individual press stations to work offset against each other, so that by the phase shift between successive ones Press or work stations have sufficient transfer time is made possible. Conversely, with a press circulation less time is reserved for the transfer, which means also the work cycle of the multi-station press can accelerate.
  • Multi-station press 1 has several in a row arranged work or press stations 2, 3, 4, 5, 6 on, on sliding tables 8, 9, 10, 11, 12 dies 14, 15, 16, 17, 18 are held. These form sub-tools, which each have an upper tool 21, 22, 23, 24, 25 is assigned. This is in each case on a plunger 26, 27, 28, 29, 30 held, the one beyond shown eccentric drive or an articulated drive is moved up and down.
  • the drive and the Tappets are supported by a not shown Press frame from which in Fig. 1 only schematically and exemplifies part of a stand 31 is.
  • the plungers 26 to 30 lead out of phase with one another an up and down movement.
  • time and phase offset of the ram movement neighboring plunger is compared to in common mode working plungers achieve a better load distribution.
  • Required flywheel masses can be significantly reduced and the multi-station press becomes a total lighter.
  • a transfer device 41, 42, 43, 44 arranged along the workpieces a direction of travel T through the multi-station press 1 transport.
  • the transfer devices 41 to 44 are identical to each other and below using the example of the transfer device 41.
  • This has a crossbar 46 which is transverse to the Passage direction T extends and along a transfer curve K is to be moved.
  • On the crossbar is one Suction spider 47 held so that the crossbar 46th together with the suction spider 47 a vacuum operated Holding agent forms.
  • the crossbar 46 is at both ends Joint units 48, 49 connected, each to one Handlebar gear 50 (50a, 50b) belong.
  • the joint unit 48 is with the crossbar 46 via a hinge joint 51 connected, the hinge axis 52 with the direction of passage T matches.
  • At the other end is the Crossbar 46 with the hinge unit 49 rigid or articulated.
  • the steering gear 50a puts the Position of the crossbar 46 in the direction of T and in the vertical direction V.
  • the steering gear 50b sets also the position of the crossbar 46 in the direction of passage T and in the vertical direction V and additionally in Transverse direction fixed.
  • the joint unit 48 is made up of a total of three handlebars or rods 53, 54, 55 carried. These are included one end each with a joint on the joint unit 48 stored, the at least one pivoting movement by one Axis 56 oriented transversely to the direction of travel T allowed.
  • the joints of the rods 53, 54 have the Joint axis 56 together.
  • The is spaced from it Rod 55 articulated to the joint unit 48.
  • the hinge axis 57 of the corresponding joint is to the joint axis 56 parallel and spaced from this.
  • Each rod 53, 54, 55 is with its from the joint unit 48 remote ends each with a vertical oriented linear drive unit 61, 62, 63 connected.
  • the linear drive units 61, 62, 63 each have one guided on guide rails 65 in the vertical direction Slide 67, 68, 69 on the one with the one in question Rod 53, 54, 55 with at least one transverse axis defining joint is connected.
  • a servo motor drives the slide 67 71, the rotational movement of which is not further illustrated Gear means, such as a toothed belt, a screw jack, a rack or the like, converted into a linear movement and on the Carriage 61 is transmitted. Accordingly, the Carriage 69 driven by a servo motor 72, the Rotary movement via a reduction gear 73 and one Toothed belt drive 74 or comparable gear means in a linear movement is implemented using a connecting rod 75 is transferred to the carriage 69.
  • Another servo motor 77 is via a reduction gear 78 and a toothed belt 79 and a connecting rod 80 connected to the carriage 68.
  • All drive units 61, 62, 63 are stationary stored machine parts or elements, such as stands, Frame or the like, stored.
  • rods 83, 84, 85 pivotable about several axes articulated, which belong to the steering gear section 50b.
  • pivoting movement about a transverse axis 58 also at least limited swiveling movements by one Vertical axis and / or a longitudinal axis possible.
  • the multi-station press 1 described so far works as follows:
  • the movement of the press rams 26 to 30 is like this coordinated that the in the direction of flow tappets downstream of part flow the preceding (upstream) Tappets lag by a time offset, which in the essentially corresponds to the time that each transfer device 41 to 44 required to the crossbar 46 of one workstation to the next workstation to pan.
  • the top tool begins 21 move upward, the servomotors 71, 72, 77; 96, 98, 101 controlled so that the crossbar 46 swings into the opened tool and the workpiece records.
  • the control device not shown controls the servomotors 71, 72, 77; 96, 98, 101 so that the desired transfer curve K is obtained. Swiveling movements of the workpiece around a transverse axis or other more complicated positioning tasks can be done without more to be done during the transfer. As Fig. 5 shows, the transfer device has six degrees of freedom on. If necessary, the number of degrees of freedom can be reduced, the transfer device in question then simplified accordingly. In the simplest embodiment are only two linear axes available, each via pairs of rods on the Attack crossbar 46. This allows two-dimensional Achieve transfer curves K.
  • handlebar elements are adjustable in length trained and with their respective, from the Transverse crossbar end fixed over a joint stored.
  • the drive units are in the handlebar elements integrated.
  • Simplified embodiments can be reduced Have number of drives. E.g. can they Bars 53 and 55 both on carriage 67 or 69 be stored when there is no pivoting of the cross-beam is required. It is also possible to attach the rod 83 the carriage of rod 84 or 85 if none Adjustment in the transverse direction Q is required.
  • Transfer device 41 has one of several Bars 53, 54, 55; 83, 84, 85 worn restraint (46, 47) on that of the rods 53, 54, 55; 83, 84, 85 is pivotable and positionable in the room.
  • the poles 53, 54, 55; 83, 84, 85 are preferably with linear drive devices 61, 62, 63; 86, 87, 88 connected, the thus act together on the holding means 46, 47.
  • Embodiment grab three of the rods 53, 54, 55; 83, 84, 85 at a first hinge point 49 of the retaining means 46, 47. Define with their other ends these rods 83, 84, 85 a triangle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Press Drives And Press Lines (AREA)

Claims (10)

  1. Dispositif de transfert (41) pour des pièces qu'il s'agit de transporter sur un trajet prédéterminé, en particulier pour le transport de pièces le long de plusieurs stations de travail successives (2, 3, 4, 5, 6), comportant
    un moyen de maintien (47) qui sert à recevoir et à libérer des pièces de façon commandée,
    une traverse (46) qui porte le moyen de maintien (47), et
    un moyen support (50) qui porte la traverse (46) et la conduit sur une courbe de transfert prédéterminée (K),
    un moyen d'entraínement au moyen duquel la traverse (46) peut être entraínée dans au moins deux directions (V, T) indépendantes l'une de l'autre et qui comprend au moins des première et deuxième unités d'entraínement (61, 62) qui peuvent être commandées indépendamment l'une de l'autre, dans lequel
    le moyen support (50) est formé d'une première et d'une deuxième tringlerie (50a, 50b) qui sont disposées chacune entre le moyen d'entraínement et la traverse (46),
       caractérisé en ce que
    la traverse (46) est tenue à une de ses extrémités par un premier groupe de guides ou tiges (53, 54, 55) qui déterminent la position d'une extrémité de la traverse (46) dans deux directions données (T, V), et
    la traverse (46) est tenue à son autre extrémité par un deuxième groupe de guides ou tiges (83, 84, 85) qui déterminent la position de l'autre extrémité de la traverse (46), également dans les deux directions données, ainsi que dans une autre direction (Q).
  2. Dispositif de transfert selon la revendication 1, caractérisé en ce que chaque tringlerie (50a, 50b) comprend au moins deux éléments de guidage (53, 54 ; 183, 84, 85) chargés principalement de la traction et de la compression, qui s'étendent dans au moins deux directions différentes l'une de l'autre en partant de la traverse (46) et qui, à une première extrémité, sont reliés à la traverse (47) par l'intermédiaire d'un dispositif d'articulation (48), tandis qu'à chaque élément de guidage (53, 54) est associée une unité d'entraínement (61, 62) au moyen de laquelle la position de la deuxième extrémité de l'élément de guidage (53, 54), qui est éloignée de la première extrémité, peut être réglée.
  3. Dispositif de transfert selon la revendication 1, caractérisé en ce qu'à sa deuxième extrémité, chaque élément de guidage (53, 54) est relié à l'unité d'entraínement (61, 63) qui lui est associée par l'intermédiaire d'une articulation.
  4. Dispositif de transfert selon la revendication 1, caractérisé en ce qu'à une extrémité de la traverse (46), les éléments de guidage (83, 84, 85) de la tringlerie (50b), sont reliés à la traverse (46) dans une zone d'articulation (A), et qu'à l'autre extrémité de la traverse (46), ils sont reliés à la traverse (46) dans deux zones d'articulation (B, C) distantes l'une de l'autre, de sorte que les zones d'articulation (A, B, C) forment un triangle, trois éléments de guidage (83, 84, 85) étant reliés à la traverse (46) dans une des zones d'articulation (A), tandis que deux éléments de guidage (53, 54) sont reliés à la traverse (46) dans une autre des zones d'articulation (B) et qu'un élément de guidage (55) est relié à la traverse (46) dans la zone d'articulation restante (C).
  5. Dispositif de transfert selon la revendication 1, caractérisé en ce que les unités d'entraínement (61, 62) sont montées chacune en position fixe.
  6. Dispositif de transfert selon la revendication 5, caractérisé
    en ce que les unités d'entraínement (61, 62) sont respectivement des unités linéaires dont les sorties (67, 68) décrivent un mouvement linéaire défini, qui dépend d'un signal d'entrée, et
    en ce que les unités linéaires comportent des directions de travail (V) parallèles entre elles et sont disposées à distance l'une de l'autre transversalement à leur direction de travail.
  7. Dispositif de transfert selon la revendication 6, caractérisé en ce que les unités d'entraínement (61, 62) sont des entraínements directs électriques.
  8. Dispositif d'usinage (1) destiné à usiner successivement des pièces en plusieurs étapes, en particulier presse à ventouses pour l'usinage de pièces de tôle, comportant :
    plusieurs stations de travail (2, 3, 4, 5, 6) disposées l'une à la suite de l'autre, qui doivent être parcourues l'une après l'autre par les pièces, et
    au moins un dispositif de transfert (41) selon une ou plusieurs des revendications 1 à 7.
  9. Dispositif d'usinage selon la revendication 8, caractérisé en ce qu'entre deux stations de travail successives (2, 3) est disposé un dispositif de transfert (41) qui peut être commandé indépendamment des autres dispositifs de transfert (42, 43) du dispositif d'usinage (1).
  10. Dispositif d'usinage selon la revendication 8, caractérisé en ce que les stations de travail (2, 3, 4, 5, 6) du dispositif d'usinage (1) travaillent les unes par rapport aux autres avec un décalage dans le temps.
EP97122034A 1996-12-19 1997-12-15 Transfert multiaxial flexible Expired - Lifetime EP0850710B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US08/770,709 US5899108A (en) 1996-12-19 1996-12-19 Flexible multi-axis transfer device
DE19654474 1996-12-27
DE19654474A DE19654474A1 (de) 1996-12-19 1996-12-27 Flexibler Mehrachstransfer

Publications (2)

Publication Number Publication Date
EP0850710A1 EP0850710A1 (fr) 1998-07-01
EP0850710B1 true EP0850710B1 (fr) 2001-10-04

Family

ID=26032830

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97122034A Expired - Lifetime EP0850710B1 (fr) 1996-12-19 1997-12-15 Transfert multiaxial flexible

Country Status (4)

Country Link
US (1) US5899108A (fr)
EP (1) EP0850710B1 (fr)
DE (2) DE19654474A1 (fr)
ES (1) ES2164981T3 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19851744A1 (de) * 1998-11-10 2000-05-11 Schuler Pressen Gmbh & Co Transport- und Positioniereinrichtung
DE19851745A1 (de) * 1998-11-10 2000-05-11 Schuler Pressen Gmbh & Co Transfereinrichtung mit kombiniertem Antrieb
DE19851743A1 (de) 1998-11-10 2000-05-11 Schuler Pressen Gmbh & Co Positioniereinrichtung mit Gewichtsausgleich
US6672448B2 (en) * 2000-03-10 2004-01-06 Aida Engineering Co., Ltd. Transfer device
DE10064154B4 (de) * 2000-12-22 2004-06-03 Schuler Pressen Gmbh & Co. Kg Mehrstufenpresse"
DE10064155A1 (de) * 2000-12-22 2002-07-11 Schuler Pressen Gmbh & Co Bearbeitungsvorrichtung
DE10112393B4 (de) * 2001-03-13 2004-07-15 Müller Weingarten AG Vorrichtung zum Transport von Formteilen
DE10128189B4 (de) * 2001-06-11 2004-08-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Transport- und/oder Lagerungsvorrichtung für Werkstücke
DE10128184B4 (de) * 2001-06-11 2004-05-27 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zum mehrachsigen Transport von Werkstücken
DE10157328A1 (de) * 2001-11-23 2003-06-12 Schuler Pressen Gmbh & Co Vorrichtung zum Transport von Werkstücken innerhalb einer Mehrstufenpresse
TW200505606A (en) * 2003-05-20 2005-02-16 Ishikawajima Harima Heavy Ind Panel transporting device
DE10348643B3 (de) * 2003-10-15 2005-05-19 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Einrichtung zum Transport von Werkstücken
CN1938207A (zh) * 2004-05-10 2007-03-28 石川岛播磨重工业株式会社 面板输送装置
KR100868173B1 (ko) 2006-09-29 2008-11-12 가부시키가이샤 아이에이치아이 패널 반송 장치
JP5793109B2 (ja) * 2012-05-15 2015-10-14 アイダエンジニアリング株式会社 ワーク搬送装置
CN103934714A (zh) * 2014-05-12 2014-07-23 昆山勇翔精密机械有限公司 一种用于加工长轴类工件的工装夹具

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Publication number Priority date Publication date Assignee Title
JPS5874227A (ja) * 1981-10-27 1983-05-04 Orii Jidoki Seisakusho:Kk 被加工物の自動送り装置
SU1433594A1 (ru) * 1987-04-06 1988-10-30 Производственное объединение "Новокраматорский машиностроительный завод" Грейферное подающее устройство к прессу
DE3905068C2 (de) * 1989-02-18 1999-07-22 Schuler Pressen Gmbh & Co Umsetzeinrichtung in einer Transferpresse o. dg. Umformmaschine
JP2781896B2 (ja) * 1990-01-23 1998-07-30 石川島播磨重工業株式会社 トランスファープレス
US5006028A (en) * 1990-05-18 1991-04-09 Jackson Donald T Cam lift and carry parts transfer apparatus
US5140839A (en) * 1991-06-27 1992-08-25 Hitachi Zosen Clearing, Inc. Cross bar transfer press
DE4237315A1 (de) * 1992-11-05 1994-05-11 Schuler Gmbh L Presse mit einer Umsetzeinrichtung für Blechteile

Also Published As

Publication number Publication date
ES2164981T3 (es) 2002-03-01
DE19654474A1 (de) 1998-07-02
US5899108A (en) 1999-05-04
EP0850710A1 (fr) 1998-07-01
DE59704780D1 (de) 2001-11-08

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