EP1048372A2 - Dispositif de transfert - Google Patents

Dispositif de transfert Download PDF

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Publication number
EP1048372A2
EP1048372A2 EP00108433A EP00108433A EP1048372A2 EP 1048372 A2 EP1048372 A2 EP 1048372A2 EP 00108433 A EP00108433 A EP 00108433A EP 00108433 A EP00108433 A EP 00108433A EP 1048372 A2 EP1048372 A2 EP 1048372A2
Authority
EP
European Patent Office
Prior art keywords
workpiece
transport device
jaws
gripper
servomotor
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
EP00108433A
Other languages
German (de)
English (en)
Other versions
EP1048372B1 (fr
EP1048372A3 (fr
Inventor
Richard Knödler
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 EP1048372A2 publication Critical patent/EP1048372A2/fr
Publication of EP1048372A3 publication Critical patent/EP1048372A3/fr
Application granted granted Critical
Publication of EP1048372B1 publication Critical patent/EP1048372B1/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
    • B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
    • B21K27/00—Handling devices, e.g. for feeding, aligning, discharging, Cutting-off means; Arrangement thereof
    • B21K27/02—Feeding devices for rods, wire, or strips
    • B21K27/04—Feeding devices for rods, wire, or strips allowing successive working steps
    • 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
    • B21D43/055—Devices comprising a pair of longitudinally and laterally movable parallel transfer bars
    • 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

Definitions

  • the invention relates to a transport device, especially for moving workpieces, especially in a forming machine for massive forming.
  • stations can, for example be a pressing tool, the workpiece then from Must be transported step by step.
  • grabs some of which are also heavy Capture parts, take them out of one step and to the next stage where they release it.
  • Such a transport device is known from US Pat. No. 3,456,814 known, which has several gripper devices, which are attached to a holding rail.
  • Each Gripper device is designed like a pair of pliers and has two pivotable towards and away from each other stored jaws. They form two-armed levers, one of which has a lever arm for clamping the workpiece and whose other lever arm is used for actuation. To do this the lever arms are connected to a rack by means of drawers, their back and forth movement into one Swiveling movement of the jaws is implemented. The drawers are arranged so that when the Close the jaws, almost at right angles to the direction of movement the rack. It follows from this a very large reduction and vice versa a very high power amplification against closing of the closing movement Jaws. To operate the jaws are used with the Rack-meshing gears that come from the main press drive are driven here.
  • the Transport device according to claim 1 has at least one, preferably several gripper devices on which one drive device each individually assigned is. This means that each gripper has its own drive Has. In principle, the gripping movement is therefore independent controllable by the gripping movement of the other grippers, adjustable and controllable. This does not allow only if necessary also a non-synchronous working of the individual gripper, but also control and control the gripping forces, possibly independent of component tolerances.
  • the transport device as Drive device provided a servomotor.
  • the servomotor is preferably with a position transmitter connected, which is connected to a control device is to control the gripper device.
  • the servomotor can be equipped with one device to detect the force applied by the servomotor be connected, which then also with the control device connected is.
  • the facility to monitor the Clamping force can be, for example, a force sensor based on a Strain gauge, a current sensor in the servomotor Power supply line or other suitable Sensor.
  • the transport device allows a fine control of the movement of the jaws or a Fine control of the jaws on the workpiece exerted force. This is especially true when the gearbox a defined power transmission characteristic without singularities, as they occur with toggle lever gears, having. This not only makes it possible to adapt the Gripping movement at any within the production tolerance irregularities lying on the workpiece, but also the control of the holding force so that damage to the Workpiece can be avoided and still hold securely of the workpiece is made possible.
  • the Clamping jaws apart from their clamping position and their opening position take on a third position and function, which, for example, lies in guiding the workpiece without clamp it in place.
  • a gripper device holds a workpiece for example above a die, it is possible to To reduce clamping force so that the workpiece from the Jaws slipped between them and in the die enters. This measure makes it possible to simplify the transport curve of the gripping device. E.g. it can occur when inserting workpieces into the die dispense with the gripper device on the die to move there.
  • a servo motor is provided, the rotation of which converted into a linear movement by a spindle gear becomes.
  • a roller screw is preferred used even with large transmitted forces has low friction.
  • the linear motion will preferably via a lever gear, i.e. for example, only Transfer two pull tabs to the jaws.
  • the pull tab with the lever arm of the jaw, with which it cooperates, in the clamped position Jaw encloses approximately a right angle. In this area is the power transmission from the output of the spindle gear on the jaw from the angular position of the jaws relatively independent.
  • the reduction ratio is almost constant in terms of controllability the gripper device accommodates.
  • the gripper device is preferably with others Gripper devices attached together on a holding rail. This is preferably designed such that it defines a closed interior.
  • the drive device and the gear can be completely in the Interior. Here they are harmful Effects largely protected. This is especially true with regard to any originating from the workpiece Heat radiation in semi-hot forming processes. If necessary can the interior enclosed by the holding rail be pressurized with compressed air to prevent penetration of interfering substances and their penetration to the transmission, to prevent the threaded spindle and / or the servomotor.
  • transport device 1 shows a transport device 1, to transport workpieces 2 through several dies 4, 5 provided in a tool 3 are provided is.
  • the holding rail 7 faces the tool 3 Page 11 one or more gripper devices 12, 14, which are set up to close the workpiece 2 seize and transport station by station.
  • the gripper devices 12, 14 are identical built up. The following description of the gripper device 12 accordingly relates to the gripper device 14.
  • the gripper device 12 has one provided on the front 11 of the support rail 7 support 15 on, an upper and a lower support plate 16, 17 includes.
  • the carrier 15 has a passage on, in the interior enclosed by the holding rail leads. There are two between the two carrier plates 16, 17 Clamping jaws 18, 19 arranged in the clamping position extend approximately parallel to one another away from the carrier 15.
  • the jaws 18, 19 protrude from the carrier 15 and are corresponding between the carrier plates 16, 17 Pins 21, 22 can be pivoted towards and away from one another stored.
  • On its facing away from the carrier 15, The free end is the jaws 18 with receiving means provided for the workpiece 2.
  • E.g. carries the jaws 18 a prism on its side facing the workpiece 2 23, a flat contact surface 24 during the clamping jaws 19 having.
  • FIGS. 2 and 3 12 associated drive device 26, to which an actuator 27 and a gear 28 belongs.
  • the servomotor 27 is with its output shaft 29 with a threaded spindle 31 connected, on which a threaded bushing 32 sits.
  • This is connected to a slide 33 which of the servo motor 27 away and towards this in the direction of Axis of rotation of the threaded spindle 31, but parallel against this is displaceable.
  • the slide 33 is there guided in a guide indicated only schematically.
  • On the gripper device 12 facing it On the side he wears swiveling pull tabs 35, 36, with her away from the slide 33 end pivoted with a lever arm 37a, 37b of the respective clamping jaw 18, 19 are connected.
  • the lever arms 37a, 37b are approximately in the right angle or at an acute angle to the remaining sections extending to the workpiece 2 the jaws 18, 19 oriented. In the closed position, when the prism 23 and the flat surface 24 on the workpiece 2, the lever arms 37a, 37b close with the pull tabs 35, 36 each make a right angle. Lesser However, deviations are permitted.
  • the transport device 1 described so far works as follows:
  • the servo motor is controlled so that it, as illustrated in Figure 3, the threaded sleeve 32 and pulls the slide 33 away from the gripper device 12.
  • the pull tabs 35, 36 pivot the clamping jaws 18, 19 by pulling the lever arms 37a, 37b, in Clamping position.
  • the jaws 18, 19 around the 7 with respect to the holding rail, by the bolts 21, 22nd Defined fixed swivel axes swiveled. Find them Clamping jaws 18, 19 on the workpiece 2 and will the servo motor 27 continues to be controlled, clamp the jaws 18, 19 the workpiece 2 firmly.
  • the torque of the Servo motor 27 is driven by the gear 28 by the threaded spindle 31, the slide 33, the pull tabs 35, 36 and the lever arms 37a, 37b is formed on the workpiece 2 transferred.
  • the clamping force on the workpiece 2 relatively independent of its geometric shape and dimensional accuracy be regulated. This is independent of the Regulation of the gripping device 14 possible.
  • the actuator can be braked in the holding position or hold by a cogging torque without rotation.
  • sensors are provided which the applied, exerted or transferred forces or the position of the servo motor 27 or parts of the transmission Mark 26.
  • sensors are provided which the applied, exerted or transferred forces or the position of the servo motor 27 or parts of the transmission Mark 26.
  • E.g. can an angle encoder on the servo motor 27 be provided.
  • a path encoder can also be added the slider may be provided.
  • the motor current can be evaluated as a measure of the torque generated.
  • torque or force sensors can be provided become.
  • the servo motor 27 and the gear 26 can be complete can be accommodated in the interior of the holding rail 7. Any sensors can also be arranged here. This is used to activate and record the Movement of the gripper device 12 or the other control their work from the inside. This can if necessary, pressurized with compressed air, for example. emerges from the interior at the gripper devices 12, 14 and thus the servo motors 27 and the gear 28 cools. In addition, the air escaping here prevents this Ingress of dirt.
  • FIGS. 5 to 7 show a modified embodiment of the transport device 1 illustrated. So far basic structural and / or functional correspondence with the embodiment described above of the transport device 1, are without renewed Explanation uses the same reference numerals. On the previous description is referenced.
  • the Output shaft 29 is arranged approximately above the slide 33 is the arrangement in the transport device 1 after 5 to 7 in such a way that the servo motor 27 is arranged laterally next to the slide 33.
  • the threaded spindle 31 thus lies approximately next to the servo motor 27 same height.
  • the gearbox 26 includes the threaded spindle 31 (roller screw) and the other in In connection with Figure 3 elements already described a gear train 41, which rotates the servo motor 27 by means of three gear wheels 42, 43, 44 on the threaded spindle 31 transmits.
  • the drive builds, in particular if gears 42, 43, 44 with a relatively small diameter be used by using the idler gear 43 becomes possible, quite flat, as a result of which, as from FIG can be seen an overall flat support rail 7 for Application can come.
  • FIGS. 6 and 7 23a, 23b can be provided on the jaws 18, 19 if necessary, and how Exchangeable prisms are shown in FIGS. 6 and 7 23a, 23b can be provided. These allow an easy one Adaptation to different workpieces 2.
  • One Adjustment of the gripper device 12 can, however, usually be omitted.
  • the control device not further illustrated can control the servo motor 27 so that when it is reached a desired clamping force stops and the clamping force maintains.
  • a Position control or control are provided at the different clamping and release positions through programming be specified.
  • the clamping forces be set by programming what mechanical Make adjustments unnecessary.
  • 14 can use sensors for force and / or Position detection must be provided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Details Of Garments (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
EP00108433A 1999-04-29 2000-04-18 Dispositif de transfert Expired - Lifetime EP1048372B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19919434A DE19919434A1 (de) 1999-04-29 1999-04-29 Einrichtung zum Teiletransfer
DE19919434 1999-04-29

Publications (3)

Publication Number Publication Date
EP1048372A2 true EP1048372A2 (fr) 2000-11-02
EP1048372A3 EP1048372A3 (fr) 2001-08-22
EP1048372B1 EP1048372B1 (fr) 2004-06-16

Family

ID=7906228

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00108433A Expired - Lifetime EP1048372B1 (fr) 1999-04-29 2000-04-18 Dispositif de transfert

Country Status (4)

Country Link
US (1) US6435336B1 (fr)
EP (1) EP1048372B1 (fr)
AT (1) ATE269178T1 (fr)
DE (2) DE19919434A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005011894A1 (fr) * 2003-08-01 2005-02-10 Amafa Service Srl Dispositif pour transferer des produits semi-finis sur des presses multistations
WO2008119686A1 (fr) * 2007-04-02 2008-10-09 Bifrangi S.P.A. Presse à forger horizontale améliorée
CN102806562A (zh) * 2012-09-10 2012-12-05 江南现代工业研究院 用于工件夹取的机械手
CN103639344A (zh) * 2013-11-28 2014-03-19 苏州市宏晟锻造有限公司 一种用于制造饼状产品的锻造机抱钳结构
CN103722441A (zh) * 2013-12-21 2014-04-16 孙红琴 一种机械手臂
CN106064211A (zh) * 2016-08-18 2016-11-02 沈阳翰和科技工程有限公司 一种热成型上、下料齿轮双动式夹钳
KR20180136948A (ko) * 2016-04-28 2018-12-26 하테부르 움포름마쉬넨 아크티엔게젤샤프트 가공 디바이스에서 공작물을 이송하기 위한 운반 장치
CN112762866A (zh) * 2020-12-29 2021-05-07 江柴发动机徐州有限公司 一种发电机主轴的同轴度检测装置及其工作方法

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JP2003142547A (ja) * 2001-08-24 2003-05-16 Hirata Corp ワーク搬送装置
US7380654B2 (en) * 2002-07-26 2008-06-03 Abbott Laboratories Conveyor track drive
JP4079368B2 (ja) * 2003-08-19 2008-04-23 東洋自動機株式会社 スパウト又はスパウト付き袋の供給装置
US7438192B1 (en) 2004-05-28 2008-10-21 Owens-Brockway Glass Container Inc. Electronic control system for container indexing and inspection apparatus
DE102005033767A1 (de) * 2005-07-15 2007-01-18 Müller Weingarten AG Vorrichtung zum Halten und Manipulieren von Werkstücken beim Massivumformen
EA013444B1 (ru) * 2006-01-24 2010-04-30 Хатебур Умформмашинен Аг Приспособление для захвата заготовок транспортирующего устройства формующей машины
CN102416425B (zh) * 2011-09-22 2013-09-18 浙江大学 适用于紧固件生产的带有机械手的全自动冲床
US9132985B2 (en) * 2011-11-11 2015-09-15 Schleuniger Holding Ag Conveying device for leads
US9624045B2 (en) 2011-11-11 2017-04-18 Schleuniger Holding Ag Cable gathering device (wire stacker)
ES2565068T3 (es) 2011-11-11 2016-03-31 Schleuniger Holding Ag Dispositivo de trenzado
CH706757A1 (de) * 2012-07-23 2014-01-31 Ferag Ag Greifer, Förderanlage und Verfahren zum Betrieb einer solchen Förderanlage.
PT2801984T (pt) 2013-05-08 2019-01-23 Schleuniger Holding Ag Prendedor, cabeça de torção e dispositivo de torção
MX2016014840A (es) * 2014-05-20 2017-05-30 Gea Food Solutions Weert Bv Rueda de transferencia entre una unidad de formado de paletas y una unidad de envoltura de paletas.
CH712403A1 (de) 2016-04-28 2017-10-31 Hatebur Umformmaschinen Ag Transportverfahren zum Umsetzen von Werkstücken zwischen mehreren aufeinanderfolgenden Stufen einer Bearbeitungseinrichtung.
CH712402A1 (de) 2016-04-28 2017-10-31 Hatebur Umformmaschinen Ag Transportvorrichtung mit Greifzangen zum Umsetzen von Werkstücken in einer mindestens zwei Stufen umfassenden Umformeinrichtung.
ES2870545T3 (es) 2018-02-12 2021-10-27 Fagor Arrasate S Coop Sistema y método para transportar piezas en máquinas de formado
CN109648384B (zh) * 2018-12-29 2023-11-21 宁波开浦智能科技有限公司 一种可旋转机械手爪装置
DE102019206441A1 (de) * 2019-05-06 2020-11-12 Bausch + Ströbel Maschinenfabrik Ilshofen GmbH + Co. KG Spritzenentnahme Zangenrad
ES2894297T3 (es) * 2019-05-27 2022-02-14 Mespack S L Dispositivo transportador para transportar recipientes flexibles a lo largo de una línea de empaquetamiento
CN114906586A (zh) * 2022-05-27 2022-08-16 深圳泰德半导体装备有限公司 夹爪组件、输送机构以及aoi检测设备
CN117300712B (zh) * 2023-11-29 2024-03-19 杭州铁泰自动化科技有限公司 一种方便上下料的夹具

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DE2741581A1 (de) * 1977-09-13 1979-03-22 Nedschroef Octrooi Maats Vorrichtung zur uebertragung von zu bearbeitenden produkten auf werkzeugmaschinen
EP0402229A1 (fr) * 1989-06-08 1990-12-12 Commissariat A L'energie Atomique Systeme de préhension à piece commandée par un moteur asservi
DE19725765A1 (de) * 1997-06-18 1998-12-24 Liebergeld Gmbh & Co Transfervorrichtung einer Mehrstufen-Umformpresse mit Greifern zum Führen und Halten langer Werkstücke

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CH666644A5 (fr) * 1985-07-04 1988-08-15 Charmilles Technologies Procede de positionnement d'une piece sur une machine-outil, dispositif pour sa mise en oeuvre et application de ce procede.
FR2607479B1 (fr) * 1986-12-01 1991-02-15 Remy & Cie E P Dispositif de prehension et de retenue d'objets, tels que par exemple des recipients, sur un convoyeur, et convoyeur equipe de ce dispositif
DE4007801A1 (de) * 1990-03-12 1991-09-19 Handtmann A Punkt Automation Einrichtung zum befuellen eines transportbehaelters
US5033785A (en) * 1990-04-20 1991-07-23 Woolley Jr William J Clamp mechanism
IT1289906B1 (it) * 1997-01-16 1998-10-19 S B R S R L Pinza di afferraggio di contenitori quali in particolare bottiglie
US5873488A (en) * 1997-07-21 1999-02-23 Scriptpro, Llc Vial gripper mechanism

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Publication number Priority date Publication date Assignee Title
DE2741581A1 (de) * 1977-09-13 1979-03-22 Nedschroef Octrooi Maats Vorrichtung zur uebertragung von zu bearbeitenden produkten auf werkzeugmaschinen
EP0402229A1 (fr) * 1989-06-08 1990-12-12 Commissariat A L'energie Atomique Systeme de préhension à piece commandée par un moteur asservi
DE19725765A1 (de) * 1997-06-18 1998-12-24 Liebergeld Gmbh & Co Transfervorrichtung einer Mehrstufen-Umformpresse mit Greifern zum Führen und Halten langer Werkstücke

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005011894A1 (fr) * 2003-08-01 2005-02-10 Amafa Service Srl Dispositif pour transferer des produits semi-finis sur des presses multistations
WO2008119686A1 (fr) * 2007-04-02 2008-10-09 Bifrangi S.P.A. Presse à forger horizontale améliorée
CN102806562A (zh) * 2012-09-10 2012-12-05 江南现代工业研究院 用于工件夹取的机械手
CN103639344A (zh) * 2013-11-28 2014-03-19 苏州市宏晟锻造有限公司 一种用于制造饼状产品的锻造机抱钳结构
CN103722441A (zh) * 2013-12-21 2014-04-16 孙红琴 一种机械手臂
KR20180136948A (ko) * 2016-04-28 2018-12-26 하테부르 움포름마쉬넨 아크티엔게젤샤프트 가공 디바이스에서 공작물을 이송하기 위한 운반 장치
CN106064211A (zh) * 2016-08-18 2016-11-02 沈阳翰和科技工程有限公司 一种热成型上、下料齿轮双动式夹钳
CN112762866A (zh) * 2020-12-29 2021-05-07 江柴发动机徐州有限公司 一种发电机主轴的同轴度检测装置及其工作方法
CN112762866B (zh) * 2020-12-29 2022-07-01 江柴发动机徐州有限公司 一种发电机主轴的同轴度检测装置及其工作方法

Also Published As

Publication number Publication date
US6435336B1 (en) 2002-08-20
EP1048372B1 (fr) 2004-06-16
EP1048372A3 (fr) 2001-08-22
ATE269178T1 (de) 2004-07-15
DE50006788D1 (de) 2004-07-22
DE19919434A1 (de) 2000-11-02

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