EP1280622B1 - Transfereinrichtung und verfahren zur steuerung einer transfereinrichtung - Google Patents
Transfereinrichtung und verfahren zur steuerung einer transfereinrichtung Download PDFInfo
- Publication number
- EP1280622B1 EP1280622B1 EP00953074A EP00953074A EP1280622B1 EP 1280622 B1 EP1280622 B1 EP 1280622B1 EP 00953074 A EP00953074 A EP 00953074A EP 00953074 A EP00953074 A EP 00953074A EP 1280622 B1 EP1280622 B1 EP 1280622B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- drive
- gripper
- lifting
- transfer device
- moved
- 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
Links
Images
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
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
-
- 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
Definitions
- the invention relates to a transfer device according to the Preamble of claim 1 and a method for control a transfer device according to the preamble of Claim 6.
- gripper rails which extend in the direction of the workpiece extend, moved to the workpieces and engaging fingers, which are usually on the Gripper rails are provided to grip the workpieces.
- the gripper rails and thus the Workpieces lifted up from the machining tools disengage.
- the feed then takes place all workpieces in the direction of the press.
- Gripper rails As soon as all workpieces are next Have reached the processing station Gripper rails and thus the workpieces lowered.
- the gripper rails open and sweep through one Movement against the feed direction to your Starting position back so that after finishing the Press stroke a further transport of all Workpieces can be made.
- US 5,307,666 discloses a transfer device in which a movement with only two axes takes place.
- the Workpieces are made by moving one another towards one another Gripper rails gripped and by a movement in Feed direction moved to the next station. A raise is not provided.
- JP-A-06031358 discloses a drive of one Gripping elements, which has racks and pinions. in this connection the lifting drive must be in the closing direction with the Closing drive can be moved. Lifting takes place through Moving the lifting drive by additional pinion and rods in a suitable manner with the gripping element connected is.
- DE 39 33 775 A1 discloses a device according to Preamble of claim 1 and a method according to Preamble of claim 6.
- the closing drive is carried out by a fixed cam over a suitable one Crank linkage.
- the lifting drive is also carried out by one Cam over a lever linkage with a cross arranged rail is connected. There is one in the rail vertical guide column, at the top of which is the Gripping elements are located, slidably mounted.
- the invention has for its object a Transfer device and a method for controlling a To create transfer facility in which the construction of the Transfer facility and in particular the necessary Drives can be designed particularly simply.
- a lifting drive for lifting the Gripper rail commonly referred to as a gripper
- the invention Transfer device a closing drive for moving the Grab in the lateral direction.
- one Control provided due to the following explained connection of the two drives according to the invention with the elements to be moved is required.
- both drives are fixed attached so that neither of the two motors is designed so must be that, in addition to the parts to be moved, the each other drive must move.
- the lifting drive does not require, among other things, the Must close the closing drive.
- the drives comparatively small and compact, which is a first simplification of the transfer device according to the invention and means a reduction in manufacturing costs.
- this structure has the advantage that electrical cables and the like leading to the drives not be moved during normal operation need so that they don't run excessively wear resistant must be, which means further cost savings.
- the two drives always only articulated with those to be moved Elements are engaged. So it's not an additional one Ball screw as provided in DE 197 21 613 A1. Rather, according to the invention, the transfer of Rotational movement of the motor in a translatory movement of the elements to be moved in that a comparatively simple lever and tab mechanism is provided, the elements of which are articulated only are interconnected. By appropriate management of the moving components becomes the required translational Movement realized.
- the described exclusively articulated connection of the respective drive to the moving element is comparatively easy to implement and further contributes to the simplification of the construction.
- the gripper rail does not lower, for example, when it opens. Due to the fact that a for example, can be lifted vertically into a carriage guided plunger, the lifting movement of the gripper rail realized when opening the gripper rail in the lowered state, and due to the fact that the plunger is constantly articulated with the lifting motor Is engaged, the plunger with respect to its drive Opening the gripper rail moves such that the Connecting tab describes a section of a circular path, so that its front end sinks.
- the type of attachment of the gripper arbitrary with respect to a fixed base.
- the gripper in the vertical direction can be raised in a laterally movable carriage to store. In this case, the opening above results in the above described compensation movement.
- This resilient Storage can basically be done directly on the gripper rail be provided.
- the resilient mounting can also between a fixed element on which the carriage is carried out, and take place on a fixed basis.
- a so-called adjustment carriage which is in the normal operation is fixed and on which the Carriage is guided, with respect to the fixed base be resilient.
- the resilient mounting takes place preferably by means of a preloaded spring. That kind of Storage has the advantage that in the event of a malfunction less drive load occurs.
- the control of the Closing drive is usually provided in such a way that it is path-controlled.
- the controller detects the fact that the Closing motor not with regard to the programmed path on the speed of what occurs when the Gripper rail collided with some element. If the Closing motor the intended "window" of it Leaves speed path, it is usually immediately braked, which is a high burden on the involved components means. If so, how preferred provided, the gripper rail is resilient, the Closing motor over a certain period of time provided track remain because of the resilient bearing to a certain extent that prevented due to a collision Movement of the gripper rail takes over.
- the so-called carriage is movable on an adjustable carriage is mounted, which in turn is adjustable is provided on a fixed base.
- Adjustment carriage can change the position of the (closed) gripper with regard to the workpieces.
- the distance of the Gripper rail can be set in the closed state. This allows the transfer device to be flexible and Adapted to different workpiece dimensions become.
- the Transfer device according to the invention can be used flexibly.
- the lifting drive be a Force balancing mechanism is assigned.
- the Force balancing mechanism essentially acts in such a way that he absorbs the weight when lifting, so that the Lifting mechanism regarding the static forces in the Is balance and just the dynamic load, essentially overcoming the inertia and Frictional forces. In addition, that will Gearbox of the engine relieved accordingly. Hence carries the force balancing mechanism continues to simplify the Transfer facility at.
- a transfer device by means of a Control operated such that at least one of the two Drives while being driven by the other caused movement is controlled in such a way that the through the one element moved in the direction of movement one drive remains stationary with respect to the environment.
- the plunger over which the lifting movement of the Gripper takes place in which the carriage is stored by means of the opening and closing movement of the gripper is realized, for example, the lifting drive at Opening and closing in such a way that the altitude of the gripper remains unchanged.
- a lifting carriage can be moved on one stationary element is stored, and one laterally slidable element is mounted in this lifting carriage.
- the closing drive would have to be lifted are track-controlled in such a way that the lateral positioning of the grippers does not change, and the Workpieces remain securely engaged.
- the lifting drive is the drive that at Actuation of the closing drive to correct an actually followed lowering or lifting track-controlled track becomes.
- the transfer device in which a resilient bearing of the gripper with respect to the fixed base is provided, it offers within the scope of the invention Procedural advantages if the lifting drive has a Force measuring sensor connected to the controller and the controller detects a malfunction when the measured force exceeds a limit. This can as stated above, with comparatively simple means an incident is reliably recorded and handled in this way be that braking the drives in a way and Way, which leads to acceptable charges of involved components leads.
- Fig. 1 is an essential element of the invention Transfer device shown the so-called lock box 10.
- lock box 10 By means of two such lock boxes 10, which along the Longitudinal extension of the gripper rails 12 is provided both the opening and closing movement as well as the lifting and lowering movement of the gripper rails accomplished.
- inventive A feed device is additionally provided, which is usually at one end of the gripper rails located and this to realize the feed movement in a direction perpendicular to the drawing plane of FIG. 1 moved forward.
- the gripper rails 12 in Feed direction slidably mounted on the plungers 14.
- the gripper rails 12 in Feed direction slidably mounted on the plungers 14.
- the gripper rails 12 By the feed movement of the gripper rails 12, the between the gripper rails in their (with solid Lines drawn) in the closed position Feed direction moves. In particular, they are in one Multi-stage press to the next processing station transported. Before this feed movement can take place, the workpieces must be gripped by the gripper rails
- the carriage 16 is one Lever 24 hinged to the tab 22. 1 is to recognize that the (dashed) Opening position is achieved by the motor is operated counterclockwise so that the Tab turns counterclockwise and both the lever 24 and the carriage 16 according to FIG. 1 to the left shifts.
- a lifting drive 26 provided that like the closing drive 20 firmly on one so-called adjustment carriage 28 is attached, which during the ordinary operational remains stationary.
- the lifting drive 26 Tab 30 provided to which a lever 32 is articulated is, which in turn is articulated to the plunger 14.
- the Lift drive 26 via another, with its output rotary element firmly connected tab 34 with a Force balancing mechanism 36 is connected, such acts that it acts on the lifting drive 26 Weight force in particular of the plunger 14, the gripper rail 12 and counteracts the workpieces gripped thereby, so that the motor 26 as well as the commonly used transmission only the dynamic loads and the frictional forces has to record.
- An alternative and currently preferred Execution of such a force balancing mechanism is in Dashed lines drawn in the area of the plunger 14.
- a cylinder 50 is supported on the carriage 16.
- the Piston rod 52 protruding from the cylinder is with the tappet 14 connected.
- the cylinder 50 is designed such that it acts on the plunger 14 such that one of the Weight force of the plunger, the gripper rail 12 and the Workpieces counteracting force is applied.
- a force balancing mechanism will not only, as in the force balancing mechanism 36, one Relief of the engine and gearbox reached, but also the tab 30 and the lever 32 and those involved Connections since the weight forces, as mentioned, already can be derived via the cylinder 50 on the carriage 16.
- the gripper rail is first transferred from the transfer device (dashed outside) shown open position in the Closed position drawn with solid lines emotional. In this position there are usually several Workpieces on separate (not shown) on the Gripper rail 12 attached engaging fingers gripped. The subsequent actuation of the lifting drive 26 the workpieces are lifted and by the (not shown) The gripper rails are fed in one direction moved perpendicular to the drawing plane so that each workpiece reaches the next processing station. There will be the workpieces lowered.
- the principle according to the invention is to be adapted appropriately if what is fundamentally it is conceivable that the carriage is designed as a lifting carriage, in which a locking plunger is guided laterally. In this case, a lifting movement due to the fixed attachment of the closing drive and the articulated Engagement with a plunger a displacement of the Sealing plunger in the lateral direction. This too Relocation can be done by suitable, path-controlled actuation of the closing drive are tracked or corrected, so that in this case the lateral displacement of the Gripper rails 12 is prevented.
- a preferably prestressed spring 46 is the respective one Adjustment carriage 28 resilient with respect to a fixed base stored.
- the one in this case on the part of the motor 20 required effort can be from detected by a suitable sensor and by a controller processed in such a way that a malfunction is recognized and the engine can be braked gently. Without the closing drive would have a resilient bearing as soon as he realizes that he is outside of a certain Tolerance window on the controlled speed trajectory be stopped immediately, otherwise Damage can occur. Such an abrupt However, stopping is extreme for the components involved harmful.
- resilient mounting of the trolley 28 with respect to a fixed base which also on a other element, for example on the gripper rail 12 with respect to the plunger 14, this eliminates Problem.
- FIG. 2 the lock case 10 according to FIG. 1 is additionally shown in FIG a top view. From the top view, that both the two trolleys 28 and the Traversing carriages 16 can be moved on two parallel rails be guided, and on this by means of several roles that can have, for example, V-shaped notches, be moved.
- the plunger 14 is in the embodiment shown, how recognizable in Fig. 2, on both sides with a guide provided, which is approximately V-shaped on both sides, so that they complement each other with the required accuracy designed rollers 48 is guided, which is rotatable on the respective carriage 16 are attached.
- Fig. 2 are further detect the two closing drives 20 while the underlying lifting drives 26 are covered.
- FIG. 2 also shows the adjustment drive 42, which is based on the spindle 40 acts through the two nuts 38 in such a way passes through that due to rotation of the spindle different thread pitches in different Areas, the two trolleys 28 with which the spindle 38 is firmly connected to each other or be moved away from each other.
- the middle area of FIG. 2 is supplemented by the resilient mounting of the adjusting carriages 28 with respect to a fixed base by means of the springs 46 detect.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Electrotherapy Devices (AREA)
- Input Circuits Of Receivers And Coupling Of Receivers And Audio Equipment (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
- Fig. 1
- eine Vorderansicht eines wesentlichen Abschnitts der erfindungsgemäßen Transfereinrichtung; und
- Fig. 2
- eine Draufsicht auf die in Fig. 1 gezeigte Anordnung.
Claims (8)
- Transfereinrichtung mit:zumindest einem Greifer, vorzugsweise einer Greiferschiene (12), zum Greifen und Anheben zumindest eines Werkstücks,einem Schließantrieb (20) zum Verfahren des Greifers (12) in seitlicher Richtung, der ständig und ausschließlich gelenkig mit einem zu bewegenden Element (16) in Eingriff ist,einem von dem Schließantrieb (20) unabhängigen Hebeantrieb (26) zum Anheben des Greifers,wobei beide Antriebe (20, 26) feststehend angebracht sind, undeiner Steuerung,auch der Hebeantrieb (26) ständig und ausschließlich gelenkig mit einem zu bewegenden im Element (16) geführten zweiten Element (14) in Eingriff ist, undzumindest einer der beiden Antriebe (20, 26) während der durch den jeweils anderen Antrieb (26, 20) bewirkten Bewegung derart steuerbar ist, dass das durch den einen Antrieb (20, 26) bewegte Element (16, 14) in der Bewegungsrichtung des einen Antriebs (20, 26) bezüglich der Umgebung ortsfest bleibt.
- Transfereinrichtung nach Anspruch 1,
dadurch gekennzeichnet, dass
der Greifer (12) vertikal anhebbar in einem seitlich verschiebbaren Verfahrwagen (16) geführt ist. - Transfereinrichtung nach Anspruch 1 oder 2,
dadurch gekennzeichnet, dass
der Greifer (12) bezüglich einer ortsfesten Basis federnd, vorzugsweise mittels einer vorgespannten Feder (46), gelagert ist. - Transfereinrichtung nach zumindest einem der vorangehenden Ansprüche,
dadurch gekennzeichnet, dass
der Greifer (12) seitlich verfahrbar auf einem im Betrieb feststehenden Verstellwagen (28) gelagert ist, der zum Einstellen des Greifers (12) in seitlicher Richtung verstellbar ist. - Transfereinrichtung nach zumindest einem der vorangehenden Ansprüche,
dadurch gekennzeichnet, dass
dem Hebeantrieb (26) ein Kraftausgleichsmechanismus (36) zugeordnet ist. - Verfahren zum Steuern einer Transfereinrichtung mit einem Greifer (12) zum Greifen und Anheben zumindest eines Werkstücks, einem Schließantrieb (20) zum Verfahren des Greifers (12) in seitlicher Richtung, der ständig und ausschließlich gelenkig mit dem zu bewegenden Element (16) in Eingriff ist, einem von dem Schließantrieb (20) unabhängigen Hebeantrieb (26) zum Anheben des Greifers (12), wobei beide Antriebe (20, 26) feststehend angebracht sind, sowie einer Steuerung,
dadurch gekennzeichnet, dassauch der Hebeantrieb (26) ständig und ausschließlich gelenkig mit einem zu bewegenden im Element (16) geführten zweiten Element (14) in Eingriff ist, undzumindest einer der beiden Antriebe (20, 26) während der durch den jeweils anderen Antrieb (26, 20) bewirkten Bewegung derart gesteuert wird, dass das durch den einen Antrieb (20, 26) bewegte Element (16, 14) in der Bewegungsrichtung des einen Antriebs (20, 26) bezüglich der Umgebung ortsfest bleibt. - Verfahren nach Anspruch 6,
dadurch gekennzeichnet, dass
der Hebeantrieb (26) beim öffnen und Schließen derart gesteuert wird, dass die Höhenlage des Greifers (12) unverändert bleibt. - Verfahren nach Anspruch 6 oder 7,
dadurch gekennzeichnet, dass
der Hebeantrieb (26) einen Kraftmesssensor aufweist, der mit der Steuerung verbunden ist, und die Steuerung einen Störfall erfasst, wenn die gemessene Kraft einen Grenzwert übersteigt.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10023241 | 2000-05-12 | ||
DE10023241A DE10023241C2 (de) | 2000-05-12 | 2000-05-12 | Transfereinrichtung und Verfahren zur Steuer einer Transfereinrichtung |
PCT/EP2000/006910 WO2001087512A1 (de) | 2000-05-12 | 2000-07-19 | Transfereinrichtung und verfahren zur steuerung einer transfereinrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1280622A1 EP1280622A1 (de) | 2003-02-05 |
EP1280622B1 true EP1280622B1 (de) | 2004-10-06 |
Family
ID=7641759
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00953074A Expired - Lifetime EP1280622B1 (de) | 2000-05-12 | 2000-07-19 | Transfereinrichtung und verfahren zur steuerung einer transfereinrichtung |
Country Status (6)
Country | Link |
---|---|
US (1) | US6826944B1 (de) |
EP (1) | EP1280622B1 (de) |
AT (1) | ATE278488T1 (de) |
CA (1) | CA2414728C (de) |
DE (2) | DE10023241C2 (de) |
WO (1) | WO2001087512A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004028939A2 (de) * | 2002-09-26 | 2004-04-08 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Greifeinrichtung mit mitteln zum detektieren von doppelzufuhr und ihr betriebsverfahren |
US8076048B2 (en) * | 2009-03-17 | 2011-12-13 | Xerox Corporation | Toner having polyester resin |
US8124307B2 (en) | 2009-03-30 | 2012-02-28 | Xerox Corporation | Toner having polyester resin |
US8431306B2 (en) | 2010-03-09 | 2013-04-30 | Xerox Corporation | Polyester resin containing toner |
US10315409B2 (en) | 2016-07-20 | 2019-06-11 | Xerox Corporation | Method of selective laser sintering |
US10649355B2 (en) | 2016-07-20 | 2020-05-12 | Xerox Corporation | Method of making a polymer composite |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2206407C3 (de) | 1972-02-11 | 1979-11-15 | Gesellschaft Fuer Pressen-Automation Mbh, 7500 Karlsruhe | Vorschubeinrichtung in Pressen |
US4702363A (en) | 1986-07-31 | 1987-10-27 | Hms Products Co. | Combination electric and mechanical servo drive clutch |
DD277853A1 (de) | 1988-12-09 | 1990-04-18 | Warnke Umformtech Veb K | Verstellvorrichtung zur weiteneinstellung der greiferschienen einer transferpresse |
JPH0631358A (ja) | 1992-07-20 | 1994-02-08 | Aida Eng Ltd | プレス機械のトランスファ装置 |
JP3090789B2 (ja) * | 1992-08-24 | 2000-09-25 | アイダエンジニアリング株式会社 | トランスファプレス |
US5307666A (en) * | 1992-12-21 | 1994-05-03 | Livernois Automation Company | Transfer system |
US5509777A (en) * | 1993-03-25 | 1996-04-23 | Leland D. Blatt | Mechanical side shift and tip apparatus |
DE4331479A1 (de) | 1993-09-16 | 1995-03-23 | Guenter Zierpka | Vorschubeinrichtung zum schrittweisen Material- und/oder Werkstücktransport an bzw. in intermittierend arbeitenden Produktionsmaschinen |
DE4336854A1 (de) | 1993-10-28 | 1995-05-04 | Mueller Weingarten Maschf | Antriebseinrichtung für einen mehrachsigen Transport von Werkstücken in einer Transferpresse |
DE4428772A1 (de) | 1994-08-13 | 1996-02-15 | Schuler Pressen Gmbh & Co | Einrichtung zum dreidimensionalen Antrieb von Greiferschienen |
US5586464A (en) * | 1995-10-20 | 1996-12-24 | Livernois Die And Automation | Modular die transfer system |
BR9606122A (pt) | 1996-12-20 | 1998-09-08 | Sousa Monteiro Luciano T De | Dispositivo mecânico aplicado em sistema de transferência |
DE19716039C2 (de) * | 1997-04-17 | 2001-03-08 | Schuler Automation Gmbh & Co | Vorrichtung zum Überführen von plattenartigen Teilen aus einer ersten Position in eine zweite Position |
DE19721613A1 (de) | 1997-05-23 | 1998-11-26 | Schuler Pressen Gmbh & Co | Presse mit einer Umsetzeinrichtung für Werkstücke |
US6216523B1 (en) * | 1999-10-20 | 2001-04-17 | Hms Products Co. | Servo-drive for press transfer |
-
2000
- 2000-05-12 DE DE10023241A patent/DE10023241C2/de not_active Expired - Fee Related
- 2000-07-19 US US10/276,029 patent/US6826944B1/en not_active Expired - Fee Related
- 2000-07-19 WO PCT/EP2000/006910 patent/WO2001087512A1/de active IP Right Grant
- 2000-07-19 EP EP00953074A patent/EP1280622B1/de not_active Expired - Lifetime
- 2000-07-19 DE DE50008163T patent/DE50008163D1/de not_active Expired - Fee Related
- 2000-07-19 AT AT00953074T patent/ATE278488T1/de not_active IP Right Cessation
- 2000-07-19 CA CA002414728A patent/CA2414728C/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CA2414728C (en) | 2009-01-20 |
US6826944B1 (en) | 2004-12-07 |
DE10023241C2 (de) | 2003-08-07 |
WO2001087512A1 (de) | 2001-11-22 |
DE10023241A1 (de) | 2001-11-29 |
ATE278488T1 (de) | 2004-10-15 |
DE50008163D1 (de) | 2004-11-11 |
CA2414728A1 (en) | 2002-12-30 |
EP1280622A1 (de) | 2003-02-05 |
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