EP1048373B1 - Orientation station with driven rods - Google Patents

Abstract

The station (57) has a receiver unit (61) to temporarily hold a sheet metal part (65). A drive device has several fixed driv units (81-86) each with a slide carriage (93-98). A rod mechanism (67) connects the receiver unit to the drive device and has several fixed-length rods (71-76), which are each arranged between the slide carriages and the receiver unit. The rod mechanism the drive device completely fix the receiver unit position. An Independent claim is included for a pressing plant incorporating the orientation station.

Description

The invention relates to an orientation station, in particular for sheet metal parts, according to the generic term of claim 1. Such a station is from DE-A-19618167 known.

For the production and processing of body parts, Especially for motor vehicles, suction presses are used in practice used. These are press lines that are made several arranged in a row and possibly together connected presses are built. The presses are over a transport system linked to each other, the parts transport accomplished. There is a tool in every press arranged, which opens and closes continuously. The Transfer system has the task when opening the tool to lead a sheet metal part in the tool out of it and insert a new workpiece before that Tool closes again. The sheet metal parts in the correct positioning in the tool become. The workpiece position (parts position) is over all Tools mostly not constant. That means that Orientation of the sheet metal parts during the run the press system between the individual tools if necessary. needs to be changed. This depends on the specific design of the sheet metal part. For example. it may be necessary that Sheet metal part between the individual tools by one cross horizontal tilt axis oriented to the transport direction swing. It can also happen that the sheet metal part laterally shifted or otherwise reoriented got to.

For this purpose, DE 19654474 A1 describes a flexible multiple transfer known, which is modular. Between transfer modules arranged for the individual presses or tools manage the transfer of the Sheet metal parts from tool to tool. The transfer modules each have a suction bridge, which at their ends is spatially guided by a steering gear. The suction bridge runs through a transfer curve. additionally can the swivel position as well as the other orientation the suction bridge changed during the transfer step become. The handlebar gear connects the suction bridge with Drive units.

With large tool distances, it is often desired to shorten the transfer step. To do this Clipboards between the individual presses and tools arranged. These can then be used for reorientation the sheet metal parts are used. This in turn can Transfer facility can be simplified. From DE 19618167 A1 are clipboards designed as orientation stations known. The orientation stations have a support frame with support for the sheet metal parts. The support frame becomes an angle of six with each other in pairs enclosing legs worn. The legs are each telescopic and provided with a servomotor. The position can be adjusted by adjusting the length of the legs of the support frame can be changed or adjusted.

The rods must be both the drives for rod length adjustment as well as telescopic guides included.

It is an object of the invention to provide orientation stations to create a simple and robust structure.

This task is accomplished with the orientation station according to 1 solved.

The orientation station according to the invention has a between a drive device and a receiving device arranged rod gear on. This gives the movements the drive device to the receiving device further and positions them. The bar gear is based on bars of constant length, whose base points move in space become. The bars are rigid, i.e. not adjustable in length and therefore have a high static and dynamic Rigidity. They can also be slim become.

The drive device is spaced from the bars Cut. Heat development of the drive device can thus be kept away from the bars. In the bars are no rotating parts or drives built-in. As a result, they have a simple structure.

For the drive units belonging to the drive device there is sufficient installation space. It can Standard drives, e.g. servomotors with a screw jack and a linear guide can be used. The drive units are easily accessible in this way. Maintenance and replacement is possible without major problems.

Place the rod gear and the drive device the spatial position of the recording device completely firmly. Here are embodiments of the orientation station possible with two to six degrees of freedom. Are individual Degree of freedom of the receiving device by a suitable Leadership, for example by restricting the degrees of freedom in the joints that connect the rods to the drive unit or the recording device are connected, blocked or locked, just have to position in the remaining Degrees of freedom made by drive units become. Are six degrees of freedom, i.e. Linear movement of the Pick-up device in three mutually perpendicular Spatial directions and rotation or pivoting by three to each other perpendicular axes are required, there are six Rods and six drive units are provided. Preferably each rod is direct with a drive unit connected. Should a degree of freedom be eliminated, e.g. the Movement in the vertical direction can also be a drive unit omitted and the rod in question on a fixed Articulation point to be attached.

The joints that connect the rods to the cradle and the drive device are connected preferably ball joints that allow any direction of rotation.

In the preferred embodiment, neighboring ones are Bars arranged at an acute angle to each other, whereby the angle is preferably from the receiving device open away. This results in a space-saving structure, which also enables high positioning speeds. The arrangement of the bars can be made in this way be that there are no parallel rod pairs. Moreover the drive units can be spaced apart to be ordered. The one occupied by the drive units The area can be larger than that of the articulation points of the bars on the recording device.

The orientation station preferably works with one Transfer together regarding processing stations the parts flow linked together. The processing stations are preferably press stations of a press system, the orientation station then between the individual presses is arranged. A clear arrangement and good exploitation of the small between the individual presses of existing space results when the Drive units are linear drives, which are preferred a vertical or approximate vertical direction of work exhibit. It is particularly useful if the drive units in pairs on a carrier stored and on opposite sides of the same are arranged. This results in twin drive units for two rods each. At an orientation station which are positioned in all spatial directions and around everyone Swivel axes of rotation are three such twin units intended. The drive units can on the Press tables must be mounted. The one between the press tables existing installation space is used well if a Press table two twin units and the neighboring one Press table carries a twin unit.

During the articulation points of the rods on the support device define a triangle, the articulation points are the Deviating rods on the drive units, e.g. appropriate points of view, which is a good one Allow space to be used.

The drive units and their linear guides are included preferably at the corners or on the edges of a trapezoid arranged. Four of the drive units are on the Corners of the trapezoid can be arranged. Two drive units on the longer edge of the same. At the reception facility the rods are then preferably in the hexagon or articulated in a triangle.

Linear direct drives can be used as drive units be used. The drive units can be equipped with brake units be combined, the approached positions firmly curb.

The receiving device can be exchangeable and / or have pivotable supports.

Fig. 1 eine Pressenanlage mit Transfersystem und Orientierstationen in einer schematisierten Seitenansicht,

Fig. 2 die Pressenanlage nach Figur 1, in einer ausschnittsweisen schematisierten Perspektivdarstellung, und

Fig. 3 eine Orientierstation der Pressenanlage nach den Figuren 1 und 2, in einer perspektivischen Darstellung.

Further details of advantageous embodiments of the invention result from the drawing, the description and / or subclaims. An exemplary embodiment of the invention is illustrated in the drawing. Show it:

1 shows a press system with transfer system and orientation stations in a schematic side view,

Fig. 2, the press system according to Figure 1, in a fragmentary schematic perspective view, and

Fig. 3 shows an orientation station of the press system according to Figures 1 and 2, in a perspective view.

A press system 1 is illustrated in FIG. 1, which is used to process sheet metal parts. The press system 1 has several in the direction D in succession arranged press stations 2, 3, 4, 5, 6, 7 on, each a forming step for the sheet metal part to be formed establish. There is one for each press station Press table 8, 9, 10, 11, 12, 13, the appropriate one Spring and damper means on one not illustrated further The foundation is resting. On the press tables 8, 9, 10, 11, 12, 13 are pairs of press stands 14, 15, 16, 17, 18, 19, 20 set up, each of which is shown in FIG in front with the letter index a and one of them hidden, marked with the letter index b Press stands belong. The arrangement of the press stands can be, for example, using the press stands 15a, 15b, in particular Figure 2, remove.

The pairs of press stands 14 to 20 carry head pieces 21, 22, 23, 24, 25, 26. These carry one or more eccentric drives for plungers 27, 28, 29, 30, 31, 32, which and be moved.

In each press station 2 to 7 is on the respective Press table 8, 9, 10, 11, 12, 13 a sliding table 34, 35, 36, 37, 38, 39 arranged between adjacent Press stands 14a, 15a, or 15a, 16a etc. from the side the press system 1 can be moved out. The sliding table 34 carries a tool lower part belonging to a tool 41 42. The associated tool upper part 43 hangs on the plunger 27. Accordingly, in the further press stations 3, 4, 5, 6, 7 tools 44, 45, 46, 47, 48 arranged the one lower part and one upper part exhibit.

To transport parts through the entire press system 1 to accomplish, the press system 1 with provided a transfer system 50. Belong to this in the direction of the flow direction D through the press system 1 extending guide rails 51, 52. The guide rails 51, 52 are parallel to each other near the Press stand 14a, 14b to 20a, 20b arranged so that the tools 41 to 48 can be placed between them. The Guide rails 51, 52 are not shown by Lifting units can be raised and lowered.

Carriages 53 are of the guide rails 51, 52 led, in pairs, a suction bridge between each other 55 lead. There is a suction bridge for each Inserting sheet metal parts in a tool 41 to 48 and a suction bridge for removing a sheet metal part provided from the respective tool 41 to 48. If necessary, can be used to insert sheet metal parts that are not yet deformed (Blanks) in the first press stage 2 instead of the suction bridge there is an insertion feeder.

The carriages are driven by suitable drive means 53 move specifically on the guide rails 51, 52, see above that by superimposing the lifting and lowering movement the rails 51, 52 and the movement of the suction bridges 55 results in a transfer curve K in the direction of flow D. In Figure 1, this is only between the press stages 6 and 7 indicated schematically. The transfer step is measured in the direction of flow D, only half as short like the center distance of neighboring tools.

Between the tools 41, 44; 44, 45; 45, 46; 46 47 and 47, 48 are orientation stations serving as clipboards 57, as better shown in Figures 2 and 3 emerge. The orientation stations 57 are there are essentially identical to one another. The between Orientation stations arranged in press stages 2 and 3 57 is therefore representative of all orientation stations described:

The orientation station 57 is used to the workpiece his way from tool to tool a new orientation to give. The task of transfer 50 can then be answered be restricted to moving the workpiece, i.e. a perform purely two-dimensional movement. For example. can the Suction bridge 55 can be made non-rotatable. The below of the transfer system 50 arranged orientation station 57 has a receiving device 61 on its upper side to which two cross rails held parallel to each other 62, 63 belong. These are from one another 64 from one another held away and pivoted towards each other. At hers The top of the cross rails 62, 63 with receptacles 66 be provided for adaptation to the sheet metal part contour. This can be seen in particular from FIG. One on the cradle 57 lying sheet metal part 65, for example Car side wall, is schematic in Figures 2 and 3 indicated.

The cross rails 62, 63 are parallel to the cross rails 62, 63 oriented, mutually parallel pivot axes swiveling towards and away from each other. Moreover the cross rails 62, 63 can be detached if necessary be held on the carrier 64. The receiving elements are preferably 66 releasable from the transverse rails 62, 63.

The positioning of the sheet metal part 65 is carried out by controlled positioning of the carrier 64 a rod gear 67, which connects to a drive device 68 manufactures. All in all belong to the rod gear six rods 71, 72, 73, 74, 75, 76, which are rigid are. They can also be the same among themselves be long. However, if necessary, they can also have individual lengths. Bars 71 through 76 are on their respective upper ends with a no further illustrated gimbal or ball joint on the carrier 64 composed. The rods 71 to 76 are each in pairs in the immediate vicinity of the carrier 64 stored so that the bearing points total about one Triangle, preferably an equilateral triangle. Adjacent bars 71, 72; 72, 73; 73, 74; 74, 75; 75, 76 and 76, 71 close together more or less acute angle. The rods 71, 76 form one Exception and can also be parallel to each other if necessary be arranged, at least when the carrier 64 is horizontal or is not tilted about a longitudinal axis that is too the direction of flow D is parallel.

The drive device 68 includes a total of six Drive units 81, 82, 83, 84, 85, 86, each separately are controllable. The drive units 81 to 86 are linear drive units, each with a servo motor. The servomotors are controlled by a computer control. Via a screw jack and a linear guide 87, 88, 89, 90, 91, 92 becomes the rotational movement of each Servo motor in a linear movement of a carriage 93, 94, 95, 96, 97, 98 implemented. Each sled 93 to 98 is each articulated with a rod 71 to 76 a universal joint or a ball joint connected. So is each rod 71 to 76 a drive unit 81 to 86 assigned.

The drive units 81 to 86 are in pairs carried by a carrier 101, 102, 103. These will For example, by vertically arranged box section beams educated. This carrier arrangement largely enables unimpeded arrangement of the rods 71 to 76 of the rod gear 67 and at the same time the formation of relatively long management routes and thus vertical strokes of the slides 93, 94, 95, 96, 97 and 98. This is especially true when the box girder 101, 102, 103 parallel to each other in plan view arranged in a triangle and the drive units 81 to 86 each in pairs pointing away from each other Flanks of the carrier elements 101, 102, 103 are arranged. The carrier elements 102, 103 are, for example, on the press table 8 attached. The carrier element 101 is on the Press table stored. Are the sledges 93 to 98 on Set the same height, put the joints for storage the rod ends of the rods 71 to 76 a trapezoid. Thereby are the drive units 82, 83, 84, 85 to a certain extent on a common line. Your leadership directions are parallel to each other. The two drive units are also located 81, 86 on a common, to the first line parallel second line. The relatively narrow space between the press tables 8, 9 is thus well utilized. The drive units 81 to 86 are stationary. It standard drives can be used. The outside the rods 71 to 76 arranged drives are easily accessible. The same applies to the carrier elements 101, 102, 103 each provided linear guide 87 to 92 at rest and thus robustly executable.

The press system 1 described so far with the Orientation station 57 works as follows:

The rams 27 to 32 of the press system 1 are from a press main drive moves up and down synchronously. The Transfer device 50 moves every time the Open tools 41 to 48, the suction bridges 53 in the Tools for inserting and / or removing sheet metal parts. In this case, each of the transfer device 50 also Clipboard or orientation station 57 operated by first removed a sheet metal part 65 by means of a suction bridge and immediately afterwards a next sheet metal part 65 again is placed on the receiving device 61. They don't further illustrated control device controls the servo motors the drive units 81 to 86 so that the receiving device 61 for receiving the sheet metal part 65 for receiving a sheet metal part first in the spatial position is in which the sheet metal part is delivered by the transfer device 50. The reception facility 61 is during the sheet metal part transfer in Essentially at rest. Alternatively, the drive device 68 can be controlled such that the receiving device 61 during the transfer of sheet metal parts, i.e. while hanging up of the sheet metal part 65 on the receiving elements 66 for a short time performs a movement that corresponds to the movement of the suction bridge 55 matches. Corrective movements can also be made if necessary be carried out. Is the sheet metal part 65 on the receiving device 61, the suction bridge 55th the sheet metal part 65 is free, separates from it and runs in a parking position that is spaced from the orientation station 57 is. The orientation station may make it easier Return movement of the suction bridges through a vertical Downward movement of the sheet metal part 65.

The orientation station 57 now has the sheet metal part 65 taken over and positioned this during the working stroke the press into a pick-up position in which the sheet metal part 65 a changed orientation and / or positioning, i.e. can have a changed spatial position. there are in the embodiment illustrated in Figures 2 and 3 the orientation station 57 all linear movements, i.e. both lengthways (in direction D), across this as well as vertical (lifting and lowering) possible. Moreover can the sheet metal part 65 about the longitudinal axis (part pass direction D) around a horizontal transverse axis and around a Vertical axis are pivoted. This is done through targeted Control of the drive units 81 to 86 by the control device. Should the sheet metal part 65 be transported further it fetches the next following suction bridge 55 from. With her suction cups, she initially relies on the Sheet metal part 65, which from the orientation station 57 in the appropriate orientation and position kept at rest becomes. Alternatively, the orientation station 57 can be activated to move over a limited distance perform with the movement of the suction bridge 55 matches.

In alternative embodiments, if less Positioning options are desired, individual Drive units are not required. For example. it is possible with only two, three, four or five drive units get along; depending on how many degrees of freedom the positioning movement the receiving device 61 requires. The Joints can then be used instead of ball or universal joints if necessary, other joints are used. An orientation station provided in particular for press systems 1 57 has a receiving device 61 which is carried by a rod gear 67. This is supported on drive units 81, 82, 83, 84, 85, 86 of a drive device 68 from. The drive units 81 to 86 are stationary. The rods 71 to 76 of the rod gear 67 are rigid and invariable in length.

Claims (17)

1. Orientation station (57), in particular for sheet-metal parts (65) which are to be transported through a sequence of machining stations (2, 3, 4, 5, 6, 7), with a reception device (61) which serves for the temporary reception of the sheet-metal parts (65), characterized by a drive device (68) to which a plurality of fixedly mounted drive units (81, 82, 83, 84, 85, 86), each having a power take-off, belong, and by a bar mechanism (67) which connects the reception device (61) to the drive device (68) and has a plurality of bars (71, 72, 73, 74, 75, 76) of invariable length which have been arranged in each case between the power take-off (93, 94, 95, 96, 97, 98) of a drive unit (81, 82, 83, 84, 85, 86) and the reception device (61).
2. Orientation station according to Claim 1, characterized in that the bar mechanism (67) and the drive device (68) fix the position of the reception device (61) completely.
3. Orientation station according to Claim 1, characterized in that the number of bars (71, 72, 73, 74, 75, 76) is fixed according to the number of degrees of freedom of movement of the reception device (61), and in that the number of drive units (81, 82, 83, 84, 85, 86) is identical to the number of bars (71, 72, 73, 74, 75, 76), preferably each bar (71, 72, 73, 74, 75, 76) being assigned exactly one drive unit (81, 82, 83, 84, 85, 86).
4. Orientation station according to Claim 1, characterized in that adjacent bars (71, 72, 73, 74, 75, 76) form an acute angle with one another in pairs, the angles preferably opening away from the reception device (61).
5. Orientation station according to Claim 1, characterized in that the bars (71, 72, 73, 74, 75, 76) are connected to the reception device (61) via joints which are arranged approximately at the corners of a triangle, preferably two bars (71, 72; 72, 73; 73, 74; 74, 75; 75, 76) engaging at one corner of the triangle.
6. Orientation station according to Claim 1, characterized in that the bars (71, 72, 73, 74, 75, 76) are connected to the drive units (81, 82, 83, 84, 85, 86) via joints which are arranged at the corners of a hexagon or at the corners and on the longer edge of a trapezium.
7. Orientation station according to Claim 1, characterized in that the drive units (81, 82, 83, 84, 85, 86) are linear drives which are designed in such a way that, controlled by a control device, they can move their power take-off (93, 94, 95, 96, 97, 98) into predetermined positions.
8. Orientation station according to Claim 7, characterized in that the linear drives have mutually parallel guide devices (87, 88, 89, 90, 91, 92) which are preferably orientated vertically.
9. Orientation station according to Claim 7, characterized in that the linear drives are direct drives.
10. Orientation station according to Claim 1, characterized in that drive units (81, 82, 83, 84, 85, 86) are mounted in each case in pairs on a carrier (101, 102, 103), preferably on sides of the latter which point away from one another.
11. Orientation station according to Claim 10, characterized in that the drive device (68) has belonging to it six drive units (81, 82, 83, 84, 85, 86) which are fastened to three carriers (101, 102, 103) arranged in a triangle.
12. Orientation station according to Claim 10, characterized in that the machining stations (2, 3, 4, 5, 6, 7) are press stations of a press installation (1), and in that the carriers (101, 102, 103) are fastened to press platens (8, 9).
13. Orientation station according to Claim 1, characterized in that the drive device (68) and the bar mechanism (67) are arranged above the reception device (61).
14. Orientation station according to Claim 1, characterized in that the drive device (68) and the bar mechanism (67) are arranged below the reception device (61).
15. Orientation station according to Claim 1, characterized in that the reception device (61) has adjustable bearing means (62, 63).
16. Press installation with a plurality of press stations (2) to (7), to which belong in each case a press platen (8, 9, 10, 11, 12, 13), press columns (14a to 20b), a headstock (21, 22, 23, 24, 25, 26), a ram (27, 28, 29, 30, 31, 32) and a sliding table (34, 35, 36, 37, 38, 39), with a transfer device (50) which causes the transport of parts through the press installation (1), and at least one orientation station (57) according to one of Claims 1 to 15 which is arranged between two press stations (2, 3, 4, 5, 6, 7) and between the press columns (15a, 15b to 20a, 20b).
17. Press installation according to Claim 16, characterized in that the transfer device (50) causes the transfer of parts on a two-dimensional transfer curve (K), and the orientation of the sheet-metal parts (65) takes places solely in the orientation station (57).

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