EP1313575A2 - Articulated arm transport system - Google Patents

Articulated arm transport system

Info

Publication number
EP1313575A2
EP1313575A2 EP01964901A EP01964901A EP1313575A2 EP 1313575 A2 EP1313575 A2 EP 1313575A2 EP 01964901 A EP01964901 A EP 01964901A EP 01964901 A EP01964901 A EP 01964901A EP 1313575 A2 EP1313575 A2 EP 1313575A2
Authority
EP
European Patent Office
Prior art keywords
swivel arm
arm part
swivel
gear
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP01964901A
Other languages
German (de)
French (fr)
Other versions
EP1313575B1 (en
Inventor
Rainer Reichenbach
Erich Harsch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mueller Weingarten AG
Original Assignee
Mueller Weingarten AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mueller Weingarten AG filed Critical Mueller Weingarten AG
Publication of EP1313575A2 publication Critical patent/EP1313575A2/en
Application granted granted Critical
Publication of EP1313575B1 publication Critical patent/EP1313575B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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 transport system for transporting workpieces from a processing station to the subsequent processing station or clipboard of a press, press line, a simulator or the like according to the preamble of claim 1.
  • step press or press line If the production of a workpiece requires several work operations, such as cutting or forming, the individual operations required for economical production are carried out in a so-called step press or press line.
  • the number of tools then corresponds to the number of work stages that are required for production.
  • transport devices In the presses there are transport devices with which the workpieces are transported from one work station to the next.
  • the transport devices consist of gripper or support rails which extend through the entire length of the forming machine.
  • the carrier rails are equipped with grippers or holding elements for transporting the parts.
  • a distinction is made between a two-axis transfer equipped with suction crossbeams or a three-axis transfer provided with gripping elements.
  • This change in position can also be carried out by an orientation station arranged between the forming stages.
  • the transfer movement is initiated via curves which are positively synchronized with the plunger drive via movement transmission elements.
  • the production of large-area parts in particular led to the development of large-part transfer presses in ever larger dimensions in relation to the forming force and the transport routes. Tool spacings in the order of 5000 mm are quite common today and therefore corresponding transport steps are required.
  • the masses of the transfer systems to be accelerated and braked are in complete contrast to the small masses of the parts to be transported. Since the transport step is to be carried out in the shortest possible time in order to achieve the highest possible number of press strokes and thus parts output, the system must have a high speed and therefore also acceleration and deceleration.
  • each stand area is a transfer device disclosed in DE 196 544 75 AI.
  • elements known as parallel kinematics are used for the drive.
  • no telescopic extension of the drive rods is carried out, but with a constant rod length, the articulation points are changed and the transport movements are thus achieved.
  • the articulation points absorbing the forces or torques are not constant at a distance from one another, and support problems can occur in particular if these points are close to one another due to the desired driving curve.
  • further links parallel to one another are also proposed which are connected to one another with cross members. To achieve a functionally reliable transport of large parts, the proposed system is correspondingly complex and of great height.
  • the applicant proposes a system with transport devices arranged in the press stand area. working in front of a comparable swivel arm principle. Traverses, which are provided with parts receiving and holding means and arranged transversely to the transport direction, are held and moved at their ends by these swivel arm robots. The swivel arm robots are therefore arranged in pairs and opposite each other in the stand area. Due to the height and the vertical movement required by the drive concept, the proposed transport system is especially suitable for presses with a larger overall height.
  • the swivel arm consists of a rigid piece, which results in a correspondingly large swivel radius. Since the workpieces are to be removed at the earliest possible time after the start of the ram upward movement. large swivel radius and the resulting interference edges are unfavorable. A desirable flat entry or exit curve is difficult to achieve with this system.
  • the invention has for its object to provide a highly flexible and precise transport system with a low overall height, which ensures an advantageous use of the freedom of movement between the upper and lower tools for the purpose of inserting and removing workpieces.
  • the invention is based on the idea that, instead of a rigid transport arm, it should be made of two parts which are connected to one another in an articulated manner. To achieve a flat entry and exit curve, the swivel angle of the first arm can be chosen to be correspondingly large.
  • the swivel angle can be selected in any technically sensible area.
  • the transport arm is in the tool area in a very flat position, directed against the horizontal plane.
  • the articulated arm can thus move into the space formed between the upper and lower dies.
  • An embodiment of the two articulated arm parts in the same lengths is particularly advantageous since a horizontal transport movement is then carried out.
  • the suction spider carrying the workpiece thus moves a distortion-free horizontal movement.
  • the vertical movement required for depositing and lifting the workpieces is carried out by a stationary lifting drive.
  • the large-part transfer press or press line can be operated with ram positions that are out of phase, which results in a favorable force distribution with lower drive power. This measure also increases the part output by reducing the transport times.
  • the articulated arm transport system should be in a lowered position in the stand area, so that there is favorable freedom of movement for the subsequent tappet for the moving plunger.
  • This freedom of movement enables an early entry movement, which in turn reduces idle times.
  • This lowered parking position is also made possible by superimposing the horizontal and vertical movements.
  • the articulated arm transport system is carried out with an additional swivel movement if necessary.
  • the mounting position of the articulated arm transport system is arbitrary, i. H. the swiveling movement can take place both above and below the transport level.
  • FIG 1 press line with articulated arm transport system
  • FIG. 2 large-part transfer press with articulated arm transport system
  • FIG. 4 top view of Figure 3a and Figure 3b
  • FIG. 6 top view of FIG. 5
  • presses 2 and 3 of a press line 1 are shown in FIG.
  • Press rams 4 and 5 carry upper tools 6 and 7.
  • Lower tools 8 and 9 are located on sliding tables 10 and 11.
  • the articulated arm transport systems 18-21 according to the invention are located in different functional positions on the press stands 14-17.
  • Vertical guide rails 22 are fastened to the press stands 14-17, carriages 23 with guides 24 carry the articulated arms 43, 44.
  • the drive motor for the arm pivoting is designated by 25.
  • the stationary lifting motor 26 for the vertical movement is connected via a gear 27, in operative connection with a rack 28. Further structural details are described in the following figures.
  • the task of the articulated arm transport system 18-21 is to convey parts in the transport direction 29 in cycles through processing and orientation stations arranged one behind the other. The different movements are not shown chronologically but as examples.
  • the articulated arm transport system 18 To load the first press 2 take the part holding means 31, e.g. B. vacuum spinning, the articulated arm transport system 18, blanks 32 from a stack of blanks 33. A deformed part 34 is removed from the articulated arm transport system 19 from the open press 2 and transported to the orientation station 12. Articulated arm transport system 20 places a * " part 35, which has previously undergone a change in position on orienting station 12, in press 3. Articulated arm transport system 21 in turn places a part 36 formed in press 3 on orienting station 13. The driving curve for the parts transport is marked with 37 and for the parking position with 38. Part pivoting by the articulated arm transport system is not provided in this application and is carried out by the orientation stations 12, 13 if necessary.
  • the articulated arm transport system To load the first press 2 take the part holding means 31, e.g. B. vacuum spinning, the articulated arm transport system 18, blanks 32 from a stack of blanks 33. A deformed part 34 is removed from the articulated arm transport system 19 from the open press 2 and transported to
  • the articulated arm transport systems are arranged on the press stands in pairs and mirror images.
  • Receiving elements for the parts holding means 31st load-bearing crossmember 30 are designed so that an automatic exchange is possible when changing tools.
  • the shape of the articulated arm which is particularly favorable for the use of the free movement between the upper and lower tools, is clearly recognizable.
  • the driving curves 37, 38 also clearly show the favorable conditions for very flat insertion and removal of the parts.
  • a superimposition of the vertical movement by the lifting drive 26 with the horizontal movement of the swivel arm actuated by the drive motor 25 results in very advantageous movement sequences.
  • the proposed lowered parking position also favors early entry into the tool space.
  • FIG. 2 shows the arrangement of an articulated arm transport system in a large-part transfer press 39. Forming stages in different movement sequences are shown by way of example. In order to reduce the overall length of the press, clipboards or orientation stations were dispensed with. If it is necessary to change the position of the part, this is carried out directly by the articulated arm transport system. A drive 40 of the? is connected to the crossbar 30 via drive elements. The functional sequences are comparable to those already described under FIG. 1.
  • FIG. 3a and Figure 3b show an articulated arm enlarged in the front view.
  • the illustration was chosen so that the drive chain for the swivel arm can be explained in FIG. 3a and the drive for pivoting the cross-beam 30 in FIG. 3b.
  • FIG. 4 to understand the function.
  • the vertical guide rails 22 and the slide 23 movable in guides 24, which carries the swivel arm, can be seen.
  • the vertical movement is effected by the stationary lifting motor 26 which drives the gear 27, which is in operative connection with the rack 28.
  • the drive motor 25 which drives the gearwheel 41, serves to pivot the articulated arm.
  • the gear 41 drives gear 42, which is fixedly connected to the first swivel arm part 43. This connection causes the swivel movement of the first swivel arm part 43 about the axis of rotation 69.
  • Another drive train serves to forward the swivel movement from the first swivel arm part 43 to the second swivel arm part 44.
  • a first gear 45 is located in the first swivel arm part 43. This gear 45 is firmly connected to the carriage 23.
  • the gear 46 engages in the gear 45 and the gear 47 engages in this.
  • the gear 47 is fixedly connected to the second swivel arm part 44.
  • the size of the swivel movement or the swivel angle 48 is infinitely variable via the drive 25, the z. B. is designed as a controlled servo motor. It can be clearly seen that the larger the swivel angle 48 is chosen, the closer the articulated arm system 43, 44 approaches the horizontal extended position and the less the required space for inserting or removing the parts. A distortion-free horizontal movement is achieved if related to the rotary or Bearing axes 69, 70, 62, the two swivel arm parts 43, 44 are of the same length. If, as a further movement, a change of position of the parts is required during the transport step, this can take place according to FIG. 3b.
  • the swivel drive 40 mounted on the carriage 23 drives the gear 49.
  • the rotary motion is transmitted to gear 51 via intermediate gear 50.
  • Gear 51 is connected to gear 53 via a common shaft 52.
  • Gear 53 drives the gear chain 54 - 57 mounted in the first swivel arm part 43.
  • Gear 57 is fixedly connected to toothed belt pulley 59 via a hollow shaft 58 and drives it.
  • Toothed belt pulley 59 drives toothed belt pulley 61 via toothed belt 60.
  • Toothed belt pulley 61 forms a unit with the receiving and bearing unit of the crossbar 30 and causes a pivoting movement about the pivot axis 62. Since the pivot drive 40 can also be a controlled servo motor, a defined change in position of the parts is guaranteed.
  • the receiving and storage unit for the crossmember 30 is designed, for example, as a universal joint 63, which also enables a horizontal and vertical inclination of the crossmember 30.
  • Elements for automatically changing the crossbar 30 during a tool change are provided and designated 64.
  • FIGS. 3a and 3b The drive chains described in FIGS. 3a and 3b can be seen together from the sectional illustration in FIG. In addition to other design details, the fixed connection of gear 45 with slide 23 required for pivoting from first pivot arm part 43 and also the fixed connection of gear 47 with second pivot arm part 44 can be seen. Since the opening angle between the swivel arm parts 43, 44 is twice as large as the swivel angle 48, the gear ratio from gear 45 to gear 47 is also 2: 1.
  • the drive chain shaded in FIG. 4 serves to pivot the crossbar 30 about the pivot axis 62. An embodiment without pivoting the crossmember 30 is shown in FIGS. 5 and 6.
  • the functional description of the vertical lifting movement and the gear arrangement in the slide 23 and the first swivel arm 43 can be found in the previous figures.
  • connection of the first swivel arm part 43 to the second swivel arm part 44 via gear 47 and the movable mounting of the arms are identical in construction to the embodiment already described. What is new is the fixed connection of toothed belt pulley 66 with the first swivel arm part 43.
  • the toothed belt drives 66, 67, 68 are now used for stabilizing and holding the cross-beam 30 in the correct position. It is important that the pulley and thus the translation in the selected arrangement and geometry Ratio 2: 1 can be selected, ie the pulley 68 has twice the diameter of the pulley 66. With the same length of the swivel arm parts 43, 44, a correct horizontal movement of the transverse cross member 30 and the parts holding means 31 is thus again guaranteed.
  • the invention is not restricted to the exemplary embodiments described and illustrated. It also includes all professional configurations within the scope of the current claim 1. It is possible, for example, to change the horizontal transport movement into an oblique or diagonal movement.
  • the gear 45 which is fixedly connected to the carriage 23, is driven via a further gear with a drive such that a vertical movement overlaps the horizontal movement.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)
  • Specific Conveyance Elements (AREA)
  • Automatic Assembly (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

The invention relates to an articulated arm transport system (43, 44), in particular for the automation of press lines (1) and large component transfer presses, characterised by a construction permitting an introduction and extraction of components or workpieces, even with a small clearance between an upper and lower tool (6, 7).

Description

"Gelenkarm-TransportSystem""Articulated-arm transport system"
Beschreibungdescription
Die Erfindung betrifft ein Transportsystem zum Transportieren von Werkstücken aus einer Bearbeitungsstation in die nachfolgende Bearbeitungsstation oder Zwischenablage einer Presse, Pressenstraße, eines Simulators oder dergleichen nach dem Oberbegriff des Anspruches 1.The invention relates to a transport system for transporting workpieces from a processing station to the subsequent processing station or clipboard of a press, press line, a simulator or the like according to the preamble of claim 1.
Stand der TechnikState of the art
Erfordert die Herstellung eines Werkstückes mehrere Arbeitsoperationen, wie Schneiden oder Umformen, so werden zur wirtschaftlichen Fertigung die erforderlichen Einzeloperationen in einer sogenannten Stufenpresse oder Pressenstraße durchgeführt. Die Anzahl der Werkzeuge entspricht dann der Anzahl der Arbeit-sstufen, die zur Herstellung erforderlich sind. In den Pressen befinden sich Transporteinrichtungen mit welcher die Werkstücke von einer Arbeitsstation zur nächsten transportiert werden.If the production of a workpiece requires several work operations, such as cutting or forming, the individual operations required for economical production are carried out in a so-called step press or press line. The number of tools then corresponds to the number of work stages that are required for production. In the presses there are transport devices with which the workpieces are transported from one work station to the next.
Bei Stufen- oder Großteil-Transferpressen bestehen die Transporteinrichtungen aus Greifer- bzw. Tragschienen die sich durch die gesamte Länge der Umformmaschine erstrecken. Zum Transport der Teile sind die Tragschienen mit Greiferoder Halteelementen bestückt. Unterschieden wird dabei, je nach Bewegungsablauf, zwischen einem mit Saugertraversen bestückten Zwei-Achstransfer oder einem mit Greife elementen versehenen Drei-Achstransfer. Als Zusatzbewegung kann auch eine Verschwenkung zur Lageveränderung des Teiles während dem Transportschritt erforderlich sein. Diese Lageveränderung kann auch durch eine zwischen den Umformstufen angeordnete Orientierstation erfolgen.In the case of step or large-part transfer presses, the transport devices consist of gripper or support rails which extend through the entire length of the forming machine. The carrier rails are equipped with grippers or holding elements for transporting the parts. Depending on the movement sequence, a distinction is made between a two-axis transfer equipped with suction crossbeams or a three-axis transfer provided with gripping elements. As an additional movement, too pivoting to change the position of the part during the transport step may be required. This change in position can also be carried out by an orientation station arranged between the forming stages.
Die Transferbewegung wird über Kurven eingeleitet, die über Bewegungsübertragungselemente mit dem Stößelantrieb zwangssynchronisiert sind. Die Herstellung von insbesonders großflächigen Teilen führte zur Entwicklung der Großteil- Transferpressen in immer größeren Dimensionen bezogen auf die Umformkraft und die Transportwege. Werkzeugabstände in einer Größenordnung von 5000 mm sind heute durchaus üblich und damit sind auch entsprechende Transportschritte erforderlich.The transfer movement is initiated via curves which are positively synchronized with the plunger drive via movement transmission elements. The production of large-area parts in particular led to the development of large-part transfer presses in ever larger dimensions in relation to the forming force and the transport routes. Tool spacings in the order of 5000 mm are quite common today and therefore corresponding transport steps are required.
Als Ergebnis dieser Entwicklung stehen die zu beschleunigenden und abzubremsenden Massen der Transfersysteme in einem völligen Gegensatz zu den geringen Massen der zu transportierenden Teile. Da der Transportschritt in kürzester Zeit ausgeführt werden soll, um eine möglichst hohe Pressenhubzahl und damit Teileausbringung zu erreichen, muss das System über eine hohe Geschwindigkeit und damit auch Beschleunigung und Verzögerung verfügen.As a result of this development, the masses of the transfer systems to be accelerated and braked are in complete contrast to the small masses of the parts to be transported. Since the transport step is to be carried out in the shortest possible time in order to achieve the highest possible number of press strokes and thus parts output, the system must have a high speed and therefore also acceleration and deceleration.
Ein weiterer Nachteil ist der starre.^Bewegungsablauf der durch die Kurvenantriebe vorgegeben wird. Die optimale Nutzung der Freiräume zwischen Unter- und Oberwerkzeug während dem Stößelhub ist für den Teiletransport nicht möglich.Another disadvantage is the rigid. ^ Sequence of movements that is specified by the cam drives. The optimal use of the free spaces between the upper and lower tools during the ram stroke is not possible for the parts transport.
Um diese aufgezeigten Nachteile zu vermeiden befassen sich jetzt Schutzrechtsanmeldungen mit der Ablösung des bisherigen Transfersystems durch eine entsprechende Anzahl von zwischen den Bearbeitungsstufen angeordneten, mit Eigenantrieb ausgerüsteten Transfersysteme. Eine solche Anordnung ist in der EP 0 672 480 Bl offenbart. An den Ständern angeordnete Transfersysteme sind mit einer Anzahl von Antrieben ausgerüstet, die in Wirkverbindung mit den Bewegungsübertragungs itteln den Teiletransport ausführen. Als Besonderheit ist das System sowohl als Zwei-Achstransfer mit Saugerbalken, als auch als Drei-Achstransfer mit Greifern umrüstbar. Allerdings erfordert dieser universelle Einsatz einen entsprechenden baulichen Aufwand.To avoid these disadvantages, patent applications are now dealing with the replacement of the previous transfer system by a corresponding number of transfer systems arranged between the processing stages and equipped with their own drive. Such an arrangement is disclosed in EP 0 672 480 B1. Transfer systems arranged on the stands have a number of drives equipped that carry out the parts transport in operative connection with the motion transmission means. As a special feature, the system can be converted both as a two-axis transfer with suction bar and as a three-axis transfer with grippers. However, this universal use requires a corresponding structural effort.
Ebenfalls in jedem Ständerbereich angeordnet ist eine in der DE 196 544 75 AI offenbarte Transfereinrichtung. In dieser Anmeldung werden für den Antrieb Elemente die als -Parallelkinematik- bekannt sind verwendet. In Abwandlung dieser bekannten Bewegungselemente wird jedoch keine teleskopartige Verlängerung der Antriebsstäbe vorgenommen, sondern bei konstanter Stablänge werden die Anlenkpunkte verändert und damit die Transportbewegungen erreicht. Die die Kräfte bzw. Drehmomente aufnehmenden Anlenkpunkte sind im Abstand zueinander nicht konstant und insbesondere wenn diese Punkte aufgrund der gewünschten Fahrkurve dicht beieinander liegen können Abstützungsprobleme auftreten. Zur Erhöhung der Systemsteifigkeit werden auch weitere zueinander parallele Lenker vorgeschlagen die untereinander mit Quertraversen verbunden werden. Zur Erreichung eines funktionssicheren Transportes von großflächigen Teilen wird das vorgeschlagene System entsprechend aufwendig und von großer Bauhöhe.Also arranged in each stand area is a transfer device disclosed in DE 196 544 75 AI. In this application, elements known as parallel kinematics are used for the drive. In a modification of these known movement elements, however, no telescopic extension of the drive rods is carried out, but with a constant rod length, the articulation points are changed and the transport movements are thus achieved. The articulation points absorbing the forces or torques are not constant at a distance from one another, and support problems can occur in particular if these points are close to one another due to the desired driving curve. In order to increase the system rigidity, further links parallel to one another are also proposed which are connected to one another with cross members. To achieve a functionally reliable transport of large parts, the proposed system is correspondingly complex and of great height.
In der nicht vorveröffentlichen DE 100 10 079 schlägt der Anmelder ein System mit im Pressenständerbereich angeordneten Transporteinrichtungen. vor die vergleichbar einem Schwenkarmprinzip arbeiten. Mit Teileaufnahme- und Haltemittel versehenen, quer zur Transportrichtung angeordnete Traversen, werden jeweils an ihren Enden von diesen Schwenkarm-Robotern gehalten und bewegt . Somit sind die Schwenkarm-Roboter jeweils paarweise und sich gegenüberliegend im Ständerbereich angeordnet. Aufgrund der Bauhδhe und der durch das Antriebskonzept erforderlichen vertikalen Bewegung ist das vorgeschlagene TransportSystem insbesondere für Pressen mit einer größeren Bauhöhe geeignet. Der Schwenkarm besteht aus einem starren Stück, wodurch sich ein entsprechend großer Schwenkradius ergibt. Da zu einem möglichst frühen Zeitpunkt, nach Beginn der Stößelaufwärtsbewegung, die Werkstücke entnommen werden sollen sind der. große Schwenkradius und die daraus resultierenden Störkanten ungünstig. Eine wünschenswerte flache Ein- oder Ausfahrkurve ist mit diesem System nur schwierig realisierbar.In the unpublished DE 100 10 079, the applicant proposes a system with transport devices arranged in the press stand area. working in front of a comparable swivel arm principle. Traverses, which are provided with parts receiving and holding means and arranged transversely to the transport direction, are held and moved at their ends by these swivel arm robots. The swivel arm robots are therefore arranged in pairs and opposite each other in the stand area. Due to the height and the vertical movement required by the drive concept, the proposed transport system is especially suitable for presses with a larger overall height. The swivel arm consists of a rigid piece, which results in a correspondingly large swivel radius. Since the workpieces are to be removed at the earliest possible time after the start of the ram upward movement. large swivel radius and the resulting interference edges are unfavorable. A desirable flat entry or exit curve is difficult to achieve with this system.
Aufgabe und Vorteil der ErfindungObject and advantage of the invention
Der Erfindung liegt die Aufgabe zugrunde, ein hochflexibles und präzises Transportsystem mit geringer Bauhöhe zu schaffen, welches eine vorteilhafte Nutzung der Freigängigkeit zwischen Ober- und Unterwerkzeug zum Zwecke des Einlegen und Austragen von Werkstücken gewährleistet .The invention has for its object to provide a highly flexible and precise transport system with a low overall height, which ensures an advantageous use of the freedom of movement between the upper and lower tools for the purpose of inserting and removing workpieces.
Diese Aufgabe wird ausgehend von einem Transportsystem nach dem Oberbegriff des Anspruch 1, durch die kennzeichnenden Merkmale des Anspruch 1 gelöst. In den Unteransprüchen sind vorteilhafte und zweckmäßige Weiterbildungen des TransportSystems angegeben.This object is achieved on the basis of a transport system according to the preamble of claim 1 by the characterizing features of claim 1. Advantageous and expedient further developments of the transport system are specified in the subclaims.
Der Erfindung liegt der Gedanke zugrunde, statt einem starren Transportarm diesen aus 2 Teilen auszuführen die miteinander, gelenkig gelagert, verbunden sind. Zur Erzielung einer flachen Einfahr- und Austragekurve kann der Schwenkwinkel des ersten Teilarmes entsprechend groß gewählt werden.The invention is based on the idea that, instead of a rigid transport arm, it should be made of two parts which are connected to one another in an articulated manner. To achieve a flat entry and exit curve, the swivel angle of the first arm can be chosen to be correspondingly large.
Aufgrund der vorgeschlagenen Konstruktion, in Verbindung mit geregelten Antrieben, ist der Schwenkwinkel in jedem technisch sinnvollen Bereich wählbar. Als Folge daraus befindet sich der Transportarm im Werkzeugbereich in einer sehr flachen, gegen die Horizontalebene gerichteten Lage.Due to the proposed construction, in conjunction with controlled drives, the swivel angle can be selected in any technically sensible area. As a result the transport arm is in the tool area in a very flat position, directed against the horizontal plane.
In vorteilhafter Weise kann somit bei einem relativ kleinen Öffnungshub des das Oberwerkzeug tragenden Pressenstößels, der Gelenkarm in den sich bildenden Freiraum zwischen Ober- und Unterwerkzeug einfahren.Advantageously, with a relatively small opening stroke of the press ram carrying the upper die, the articulated arm can thus move into the space formed between the upper and lower dies.
Besonders vorteilhaft ist eine Ausführung der beiden Gelenkarmteile in gleichen Längen, da dann eine horizontale Transportbewegung ausgeführt wird. Die das Werkstück tragende Saugerspinne fährt somit eine verzerrungsfreie Horizontalbewegung. Die für das Ablegen und Anheben der Werkstücke erforderliche vertikale Bewegung wird von einem ortsfesten Hubantrieb ausgeführt.An embodiment of the two articulated arm parts in the same lengths is particularly advantageous since a horizontal transport movement is then carried out. The suction spider carrying the workpiece thus moves a distortion-free horizontal movement. The vertical movement required for depositing and lifting the workpieces is carried out by a stationary lifting drive.
Bei Überlagerung der Horizontal- mit der Vertikalbewegung ist ein entsprechend günstiger flacher Kurvenverlauf am Anfang und Ende der Transportbewegung realisierbar. Ohne Probleme kann die Großteil-Transferpresse oder Pressenstraße mit phasenverschobenen Stößelstellungen gefahren werden, wodurch sich bei geringerer Antriebsleistung eine günstige Kraftverteilung ergibt. Ebenfalls erhöht diese Maßnahme die Teileausbringung durch Reduzierung der Transportzeiten.If the horizontal and vertical movements are superimposed, a correspondingly favorable flat curve at the beginning and end of the transport movement can be realized. The large-part transfer press or press line can be operated with ram positions that are out of phase, which results in a favorable force distribution with lower drive power. This measure also increases the part output by reducing the transport times.
Während dem eigentlichen Umformvorgang sollte sich das Gelenkarm-Transportsystem in einer abgesenkten Stellung im Ständerbereich befinden, wodurch für den anschließenden Teiletransport eine günstige Freigängigkeit zu dem hochfahrenden Stößel gegeben ist. Diese Freigängigkeit ermöglicht eine frühzeitige Einfahrbewegung und reduziert dadurch wiederum die Nebenzeiten. Auch diese abgesenkte Parkposition wird durch Überlagerung der Horizontal- mit der Vertikalbewegung ermöglicht . Je nach Aufgabenstellung kann es erforderlich sein, dass die Teile zwischen 2 Umformstationen in der Lage verändert werden müssen. In einer Pressenstraße findet die Lageveränderung durch Zwischenablagen, sogenannten Orientierstationen, statt. Da die Zwischenablagen zu einer Vergrößerung der Pressenbaulängen führen, versucht man diese Lösung bei Großteil-Transferpressen zu vermeiden. Bei Einsatz in einer Großteil-Stufenpresse wird im Bedarfsfall das Gelenkarm- TransportSystem mit einer zusätzlichen Schwenkbewegung ausgeführt .During the actual forming process, the articulated arm transport system should be in a lowered position in the stand area, so that there is favorable freedom of movement for the subsequent tappet for the moving plunger. This freedom of movement enables an early entry movement, which in turn reduces idle times. This lowered parking position is also made possible by superimposing the horizontal and vertical movements. Depending on the task, it may be necessary to change the position of the parts between 2 forming stations. In a press line, the change of position takes place through clipboards, so-called orientation stations. Since the clipboards lead to an increase in the press lengths, an attempt is made to avoid this solution with large-part transfer presses. When used in a large-part step press, the articulated arm transport system is carried out with an additional swivel movement if necessary.
Die Anbaulage des Gelenkarm-Transportsystem ist beliebig, d. h. die Schwenkbewegung kann sowohl oberhalb, als auch unterhalb der Transportebene erfolgen.The mounting position of the articulated arm transport system is arbitrary, i. H. the swiveling movement can take place both above and below the transport level.
Weitere Einzelheiten und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen.Further details and advantages of the invention result from the following description of exemplary embodiments.
Die 7 Figuren zeigen schematisch:The 7 figures show schematically:
Figur 1 Pressenstraße mit Gelenkarm-TransportsystemFigure 1 press line with articulated arm transport system
Figur 2 Großteil-Transferpresse mit Gelenkarm-Transportsystem ,FIG. 2 large-part transfer press with articulated arm transport system,
Figur 3a Einzelheit Antrieb GelenkarmFigure 3a detail drive articulated arm
Figur 3b Einzeleinheit Antrieb Quertraverse schwenkenFigure 3b Single unit drive cross beam swivel
Figur 4 Draufsicht von Figur 3a und Figur 3bFigure 4 top view of Figure 3a and Figure 3b
Figur 5 Einzelheit Gelenkarm ohne Quertraverse schwenkenFigure 5 Swivel the articulated arm without the crossbar
Figur 6 Draufsicht von Figu 5FIG. 6 top view of FIG. 5
Beschreibung der AusführungsbeispieleDescription of the embodiments
Beispielhaft sind in Figur 1 von einer Pressenstraße 1 Pressen 2 und 3 dargestellt. Pressenstößel 4 und 5 tragen Oberwerkzeuge 6 und 7. Unterwerkzeuge 8 und 9 befinden sich auf Schiebetischen 10 und 11. Zwischen den Pressen sind Orientierstationen 12 und 13 angeordnet. An den Pressenständern 14 - 17 befinden sich die erfindungsgemäßen Gelenkarm-Transportsysteme 18 - 21 in unterschiedlichen Funktionsstellungen. Vertikale Führungsschienen.22 sind an den Pressenständern 14 - 17 befestigt, Schlitten 23 mit Führungen 24 tragen die Gelenkarme 43, 44. Der Antriebsmotor für die Armverschwenkung ist mit 25 bezeichnet. Der stationäre Hubmotor 26 für die vertikale Bewegung steht über ein Zahnrad 27, in Wirkverbindung mit einer Zahnstange 28. Nähere konstruktive Details werden in folgenden Figuren beschrieben. Die Aufgabe des Gelenkarm-TransportSystems 18 - 21 besteht darin, in Transportrichtung 29, Teile taktweise durch hintereinander angeordnete Bearbeitungs- und Orientierstationen zu befördern. Die verschiedenen Bewegungsabläufe sind nicht chronologisch sondern beispielhaft dargestellt.By way of example, presses 2 and 3 of a press line 1 are shown in FIG. Press rams 4 and 5 carry upper tools 6 and 7. Lower tools 8 and 9 are located on sliding tables 10 and 11. Between the presses Orientation stations 12 and 13 arranged. The articulated arm transport systems 18-21 according to the invention are located in different functional positions on the press stands 14-17. Vertical guide rails 22 are fastened to the press stands 14-17, carriages 23 with guides 24 carry the articulated arms 43, 44. The drive motor for the arm pivoting is designated by 25. The stationary lifting motor 26 for the vertical movement is connected via a gear 27, in operative connection with a rack 28. Further structural details are described in the following figures. The task of the articulated arm transport system 18-21 is to convey parts in the transport direction 29 in cycles through processing and orientation stations arranged one behind the other. The different movements are not shown chronologically but as examples.
Zum Laden der ersten Presse 2 nehmen die an Quertraverse 36 befestigten Teilehaltemittel 31, z. B. Saugerspinnen, des Gelenkarm-Transportsystem 18, Platinen 32 von einem Platinenstapel 33. Aus der geöffneten Presse 2 wird ein umgeformtes Teil 34 vom Gelenkarm-Transportsystem 19 entnommen und zu der Orientierstation 12 transportiert . Gelenkarm-Transportsystem 20 legt ein*" Teil 35, welches auf der Orientierstation 12 zuvor in eine Lageveränderung erfahren hat, in Presse 3 ein. Gelenkarm-Transportsystem 21 wiederum legt ein in Presse 3 umgeformtes Teil 36 auf die Orientierstation 13 ab. Die Fahrkurve für den Teiletransport ist mit 37 die für die Parkposition mit 38 gekennzeichnet. Eine Teileverschwenkung durch das Gelenkarm-Transportsystem ist in diesem Anwendungsfall nicht vorgesehen und wird bei Bedarf durch die Orientierstationen 12, 13 durchgeführt.To load the first press 2 take the part holding means 31, e.g. B. vacuum spinning, the articulated arm transport system 18, blanks 32 from a stack of blanks 33. A deformed part 34 is removed from the articulated arm transport system 19 from the open press 2 and transported to the orientation station 12. Articulated arm transport system 20 places a * " part 35, which has previously undergone a change in position on orienting station 12, in press 3. Articulated arm transport system 21 in turn places a part 36 formed in press 3 on orienting station 13. The driving curve for the parts transport is marked with 37 and for the parking position with 38. Part pivoting by the articulated arm transport system is not provided in this application and is carried out by the orientation stations 12, 13 if necessary.
Jeweils paarweise und spiegelbildlich gegenüberliegend sind die Gelenkarm-Transportsysteme an den Pressenständern angeordnet. Aufnahmeelemente für die die Teilehaltemittel 31 tragende Quertraverse 30 sind so gestaltet, das ein automatischer Austausch bei einem Werkzeugwechsel möglich ist.The articulated arm transport systems are arranged on the press stands in pairs and mirror images. Receiving elements for the parts holding means 31st load-bearing crossmember 30 are designed so that an automatic exchange is possible when changing tools.
Die zur Nutzung der Freigängigkeit zwischen Ober- und Unterwerkzeug besonders günstige Formgestaltung des Gelenkarmes ist gut erkennbar. Auch die Fahrkurven 37, 38 zeigen anschaulich die günstigen Verhältnisse für ein sehr flaches Einfahren und Austragen der Teile. Eine Überlagerung der Vertikalbewegung durch den Hubantrieb 26 mit der Horizontalbewegung des durch den Antriebsmotor 25 betätigten Schwenkarmes ergibt sehr vorteilhafte Bewegungsabläufe.The shape of the articulated arm, which is particularly favorable for the use of the free movement between the upper and lower tools, is clearly recognizable. The driving curves 37, 38 also clearly show the favorable conditions for very flat insertion and removal of the parts. A superimposition of the vertical movement by the lifting drive 26 with the horizontal movement of the swivel arm actuated by the drive motor 25 results in very advantageous movement sequences.
Auch die vorgeschlagene abgesenkte Parkposition begünstigt ein frühes Einfahren in den Werkzeugfreiraum.The proposed lowered parking position also favors early entry into the tool space.
Figur 2 zeigt die Anordnung eines Gelenkarm-Transportsystems in einer Großteil-Transferpresse 39. Dargestellt sind beispielhaft Umformstufen in unterschiedlichen Bewegungsabläufen. Zur Reduzierung der Pressenbaulänge wurde auf Zwischenablagen bzw. Orientierstationen verzichtet. Ist eine Lageveränderung des Teiles erforderlich, wird dieses direkt von dem Gelenkarm-Transportsystem ausgeführt. Zu diesem Zweck dient ein Antrieb 40 der? über Antriebselemente mit der Quertraverse 30 verbunden ist. Die Funktionsabläufe sind vergleichbar wie bereits unter Figur 1 beschrieben.FIG. 2 shows the arrangement of an articulated arm transport system in a large-part transfer press 39. Forming stages in different movement sequences are shown by way of example. In order to reduce the overall length of the press, clipboards or orientation stations were dispensed with. If it is necessary to change the position of the part, this is carried out directly by the articulated arm transport system. A drive 40 of the? is connected to the crossbar 30 via drive elements. The functional sequences are comparable to those already described under FIG. 1.
Figur 3a und Figur 3b zeigen einen Gelenkarm vergrößert in der Vorderansicht . Zur Vereinfachung und besseren Klarstellung wurde die Darstellung so gewählt, dass in Figur 3a die Antriebskette für den Schwenkarm und in Figur 3b der Antrieb für das Verschwenken der Quertraverse 30 erläutert werden kann. Zusätzlich wird zum Verständnis der Funktion auf Figur 4 verwiesen. Zu sehen sind die vertikalen Führungsschienen 22 und der in Führungen 24 bewegbare Schlitten 23 der den Schwenkarm trägt. Die vertikale Bewegung bewirkt der ortsfeste Hubmotor 26 der das Zahnrad 27 antreibt, welches in Wirkverbindung mit der Zahnstange 28 steht. Zum Schwenken des Gelenkarmes dient gemäß Figur 3a der Antriebsmotor 25, der Zahnrad 41 antreibt. Das Zahnrad 41 treibt Zahnrad 42 an, welches fest mit dem ersten Schwenkarmteil 43 verbunden ist. Diese Verbindung bewirkt die Schwenkbewegung des ersten Schwenkarmteils 43 um die Drehachse 69. Ein weiterer Antriebsstrang dient zur Weiterleitung der Schwenkbewegung, vom ersten Schwenkarmteil 43, an den zweiten Schwenkarmteil 44. Zu diesem Zweck befindet sich ein erstes Zahnrad 45 im ersten Schwenkarmteil 43. Dieses Zahnrad 45 ist fest mit dem Schlitten 23 verbunden. In das Zahnrad 45 greift das Zahnrad 46 und in dieses das Zahnrad 47 ein. Das Zahnrad 47 ist fest mit dem zweiten Schwenkarmteil 44 verbunden. Wird durch den Antriebsmotor 25 über Zahnräder 41, 42 die Schwenkbewegung des ersten Schwenkarmteils 43 eingeleitet, so erzeugt diese eine sich abwälzende Drehbewegung der Zahnräder 46, 47 und durch die feste Verbindung mit Zahnrad 47 die entsprechende Schwenkung des zweiten Schwenkarmteils 44 um die Drehachse 70.Figure 3a and Figure 3b show an articulated arm enlarged in the front view. For simplification and better clarification, the illustration was chosen so that the drive chain for the swivel arm can be explained in FIG. 3a and the drive for pivoting the cross-beam 30 in FIG. 3b. In addition, reference is made to FIG. 4 to understand the function. The vertical guide rails 22 and the slide 23 movable in guides 24, which carries the swivel arm, can be seen. The vertical movement is effected by the stationary lifting motor 26 which drives the gear 27, which is in operative connection with the rack 28. According to FIG. 3a, the drive motor 25, which drives the gearwheel 41, serves to pivot the articulated arm. The gear 41 drives gear 42, which is fixedly connected to the first swivel arm part 43. This connection causes the swivel movement of the first swivel arm part 43 about the axis of rotation 69. Another drive train serves to forward the swivel movement from the first swivel arm part 43 to the second swivel arm part 44. For this purpose, a first gear 45 is located in the first swivel arm part 43. This gear 45 is firmly connected to the carriage 23. The gear 46 engages in the gear 45 and the gear 47 engages in this. The gear 47 is fixedly connected to the second swivel arm part 44. If the swivel movement of the first swivel arm part 43 is initiated by the drive motor 25 via gear wheels 41, 42, this produces a rolling rotational movement of the gear wheels 46, 47 and, through the fixed connection to the gear wheel 47, the corresponding swiveling of the second swivel arm part 44 about the axis of rotation 70.
Die Größe der Schwenkbewegung bzw. der Schwenkwinkel 48 ist stufenlos über den Antrieb 25 regelbar, der z. B. als geregelter Servomotor ausgeführt ist. Gut erkennbar ist, dass je größer der Schwenkwinkel 48 gewählt wird, um so mehr nähert sich das Gelenkarmsystem 43, 44 der horizontalen Strecklage und um so geringer ist der erforderliche Freiraum zum Einlegen oder Austragen der Teile. Eine verzerrungsfreie Horizontalbewegung wird erreicht, wenn bezogen auf die Drehbzw. Lagerachsen 69, 70, 62 die beiden Schwenkarmteile 43, 44 in gleicher Länge ausgeführt werden. Ist als weitere Bewegung eine Lageveränderung der Teile während dem Transportschritt erforderlich, so kann dieses gemäß Figur 3b erfolgen. Zu diesem Zweck treibt der auf Schlitten 23 gelagerte Schwenkantrieb 40 das Zahnrad 49 an. Über Zwischenrad 50 wird die Drehbewegung auf Zahnrad 51 übertragen. Über eine gemeinsame Welle 52 ist Zahnrad 51 mit Zahnrad 53 verbunden. Zahnrad 53 treibt die im ersten Schwenkarmteil 43 gelagerte Räderkette 54 - 57 an. Zahnrad 57 ist über eine Hohlwelle 58 mit Zahnriemenscheibe 59 fest verbunden und treibt dieses an. Zahnriemenscheibe 59 treibt über Zahnriemen 60 Zahnriemenscheibe 61 an. Zahnriemenscheibe 61 bildet mit der Aufnahme- und Lagereinheit der Quertraverse 30 eine Einheit und bewirkt eine Schwenkbewegung um die Schwenkachse 62. Da auch der Schwenkantrieb 40 ein geregelter Servomotor sein kann, ist eine definierte LageVeränderung der Teile gewährleistet.The size of the swivel movement or the swivel angle 48 is infinitely variable via the drive 25, the z. B. is designed as a controlled servo motor. It can be clearly seen that the larger the swivel angle 48 is chosen, the closer the articulated arm system 43, 44 approaches the horizontal extended position and the less the required space for inserting or removing the parts. A distortion-free horizontal movement is achieved if related to the rotary or Bearing axes 69, 70, 62, the two swivel arm parts 43, 44 are of the same length. If, as a further movement, a change of position of the parts is required during the transport step, this can take place according to FIG. 3b. For this purpose, the swivel drive 40 mounted on the carriage 23 drives the gear 49. The rotary motion is transmitted to gear 51 via intermediate gear 50. Gear 51 is connected to gear 53 via a common shaft 52. Gear 53 drives the gear chain 54 - 57 mounted in the first swivel arm part 43. Gear 57 is fixedly connected to toothed belt pulley 59 via a hollow shaft 58 and drives it. Toothed belt pulley 59 drives toothed belt pulley 61 via toothed belt 60. Toothed belt pulley 61 forms a unit with the receiving and bearing unit of the crossbar 30 and causes a pivoting movement about the pivot axis 62. Since the pivot drive 40 can also be a controlled servo motor, a defined change in position of the parts is guaranteed.
Die Aufnahme- und Lagereinheit für die Quertraverse 30 ist beispielhaft als Kardangelenk 63 ausgeführt, wodurch auch eine horizontale und vertikale Schrägstellung der Quertraverse 30. ermöglicht wird. Elemente zum automatischen Wechsel der Quertraverse 30 bei einem Werkzeugwechsel sind vorgesehen und mit 64 bezeichnet .The receiving and storage unit for the crossmember 30 is designed, for example, as a universal joint 63, which also enables a horizontal and vertical inclination of the crossmember 30. Elements for automatically changing the crossbar 30 during a tool change are provided and designated 64.
Die in den Figuren 3a und 3b beschriebenen Antriebsketten sind aus der Schnittdarstellung von Figur 4 gemeinsam zu ersehen. Neben anderen konstruktiven Details ist insbesondere die für das Schwenken vom ersten Schwenkarmteil 43 erforderliche feste Verbindung von Zahnrad 45, mit Schlitten 23 und ebenso die feste Verbindung von Zahnrad 47 mit dem zweiten Schwenkarmteil 44 zu ersehen. Da der Öffnungswinkel zwischen den Schwenkarmteilen 43, 44 doppelt so groß ist wie der Schwenkwinkel 48, beträgt auch das Übersetzungsverhältnis von Zahnrad 45 zu Zahnrad 47 entsprechend 2:1. Die in der Figur 4 dunkler schraffierte Antriebskette dient der Verschwenkung der Quertraverse 30 um die Schwenkachse 62. Eine Ausführung ohne Verschwenkung der Quertraverse 30 zeigt Figur 5 und 6. Die Funktionsbeschreibung der vertikalen Hubbewegung und der Getriebeanordnung im Schlitten 23 und erstem Schwenkarm 43 ist den vorherigen Figuren zu entnehmen. Auch die Verbindung vom ersten Schwenkarmteil 43 mit dem zweiten Schwenkarmteil 44 über Zahnrad 47 und die bewegliche Lagerung der Arme ist baugleich mit der bereits beschriebenen Ausführung. Neu ist die feste Verbindung von Zahnriemenscheibe 66 mit dem ersten Schwenkarmteil 43. Die Zahnriementriebe 66, 67, 68 dienen jetzt zur Stabilisierung und lagegerechten Halterung der Quertraverse 30. Wichtig ist dabei, dass bei der gewählten Anordnung und Geometrie die Riemenscheibe und damit die Übersetzung im Verhältnis 2:1 gewählt werden, d.h. die Riemenscheibe 68 hat den zweifachen Durchmesser der Riemenscheibe 66. Bei gleicher Länge der Schwenkarmteile 43, 44 ist somit wieder eine einwandfreie Horizontalbewegung, von Quertraverse 30 und Teilehaltemittel 31, gewährleistet.The drive chains described in FIGS. 3a and 3b can be seen together from the sectional illustration in FIG. In addition to other design details, the fixed connection of gear 45 with slide 23 required for pivoting from first pivot arm part 43 and also the fixed connection of gear 47 with second pivot arm part 44 can be seen. Since the opening angle between the swivel arm parts 43, 44 is twice as large as the swivel angle 48, the gear ratio from gear 45 to gear 47 is also 2: 1. The drive chain shaded in FIG. 4 serves to pivot the crossbar 30 about the pivot axis 62. An embodiment without pivoting the crossmember 30 is shown in FIGS. 5 and 6. The functional description of the vertical lifting movement and the gear arrangement in the slide 23 and the first swivel arm 43 can be found in the previous figures. The connection of the first swivel arm part 43 to the second swivel arm part 44 via gear 47 and the movable mounting of the arms are identical in construction to the embodiment already described. What is new is the fixed connection of toothed belt pulley 66 with the first swivel arm part 43. The toothed belt drives 66, 67, 68 are now used for stabilizing and holding the cross-beam 30 in the correct position. It is important that the pulley and thus the translation in the selected arrangement and geometry Ratio 2: 1 can be selected, ie the pulley 68 has twice the diameter of the pulley 66. With the same length of the swivel arm parts 43, 44, a correct horizontal movement of the transverse cross member 30 and the parts holding means 31 is thus again guaranteed.
Die Erfindung ist nicht auf die beschriebenen und dargestellten Ausführungsbeispiele beschränkt. Sie umfaßt auch alle fachmännischen Ausgestaltungen im Rahmen des geltenden Anspruches 1. Möglich ist beispielsweise, die horizontale Transportbewegung in eine schräge bzw. diagonale Bewegung zu ändern. Zu diesem Zweck wird das mit dem Schlitten 23 fest verbundene Zahnrad 45, über ein weiteres Zahnrad mit Antrieb, derart angetrieben, dass eine vertikale Bewegung die Horizontalbewegung überlagert. Pressenstraße Presse Presse Pressenstößel Pressenstößel Oberwerkzeug Oberwerkzeug Unterwerkzeug Unterwerkzeug Schiebetisch Schiebetisch Orientierstation Orientierstation Pressenständer Pressenständer Pressenständer Pressenständer Gelenkarm-Transportsystem Gelenkarm-Transportsystem Gelenkarm-Transportsystem Gelenkarm-Transportsystem Vertikale Führungsschienen Schlitten Führungen Antriebsmotor Hubmotor Zahnrad Zahnstange Transportrichtung Quertraverse Teilehaltemittel Platine Platinenstapel Teil Teil Teil Fahrkurve Teiletransport Fahrkurve-Parkposition Großteil-Transferpresse Antrieb schwenken Zahnrad Zahnrad Erster Schwenkarmteil Zweiter Schwenkarmteil Zahnrad Zahnrad Zahnrad Schwenkwinkel Zahnrad Zwischenrad Zahnrad Welle Zahnrad Zahnrad Zahnrad Zahnrad Zahnrad Hohlwelle • Zahnriemenscheibe Zahnriemen Zahnriemenscheibe Schwenkachse Kardangelenk Wechseleinrichtung Lagerung Zahnriemenscheibe Zahnriemen Zahnriemenscheibe Drehachse Drehachse The invention is not restricted to the exemplary embodiments described and illustrated. It also includes all professional configurations within the scope of the current claim 1. It is possible, for example, to change the horizontal transport movement into an oblique or diagonal movement. For this purpose, the gear 45, which is fixedly connected to the carriage 23, is driven via a further gear with a drive such that a vertical movement overlaps the horizontal movement. Press line Press Press Press ram Press ram Upper tool Upper tool Lower tool Lower tool Sliding table Sliding table Orientation station Orientation station Press stand Press stand Press stand Press stand Articulated arm transport system Articulated arm transport system Articulated arm transport system Articulated arm transport system Vertical guide rails Carriage guides Drive motor Lift motor Gear wheel Rack and pin holder Partial part transport direction Partial part transport Driving curve parts transport Driving curve parking position Large parts transfer press Drive swivel gear wheel First swivel arm part Second swivel arm part Gear wheel Gear wheel Swivel angle gear wheel idler gear wheel Shaft gear wheel Gear wheel Gear wheel Hollow shaft • Timing belt pulley Timing belt Timing belt pulley Swivel axis Cardan joint Exchange device Storage Timing belt pulley Timing belt Timing belt pulley Rotation axis Rotation axis

Claims

Ansprüche : Expectations :
1. Einrichtung zum Transportieren von Werkstücken in einer Presse, Pressenstraße, Großteil-Stufenpresse, einem Simulator oder dergleichen, wobei eine Bearbeitungsstation wenigstens eine, das Werkstück transportierende unabhängige Transporteinrichtung (18-21) zur Durchführung einer zweiachsigen Transportbewegung aufweist, dadurch gekennzeichnet, dass die Transporteinrichtung (18-21) einen Schwenkarm umfaßt welcher wenigstens aus zwei drehbeweglich gelagerten Schwenkarmteilen (43, 44) besteht mit an einem Ende des zweiten beweglichen Schwenkarmteil (44) angeordneten Aufnahme- und Haltemittel (64) für eine Quertraverse (30) mit Teilehaltemittel (31) und aus einem Antriebsmotor (25) der auf Bewegungsübertragungsmittel (41, 42) derart einwirkt, dass ein Schwenkwinkel (48) in seiner Größe regelbar ist.1. Device for transporting workpieces in a press, press line, large-part step press, a simulator or the like, wherein a processing station has at least one, the workpiece transporting independent transport device (18-21) for performing a two-axis transport movement, characterized in that the Transport device (18-21) comprises a swivel arm which consists of at least two rotatably mounted swivel arm parts (43, 44) with receiving and holding means (64) arranged at one end of the second movable swivel arm part (44) for a crossbar (30) with part holding means ( 31) and from a drive motor (25) which acts on movement transmission means (41, 42) in such a way that the size of a pivoting angle (48) can be regulated.
2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, dass ein Schlitten (23) in Linearführungen (22, 24) gelagert und durch einen ortsfesten Hubmotor (26) über Bewegungsübertragungsmittel (27, 28) vertikal verfahrbar ist.2. Device according to claim 1, characterized in that a carriage (23) is mounted in linear guides (22, 24) and can be moved vertically by means of a stationary lifting motor (26) via movement transmission means (27, 28).
3. Einrichtung nach Anspruch 1 und 2 , dadurch gekennzeichnet, dass ein erster Schwenkarmteil (43) an einem Schlitten (23) drehbeweglich gelagert ist. !3. Device according to claim 1 and 2, characterized in that a first swivel arm part (43) is rotatably mounted on a carriage (23). !
4. Einrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein zweiter Schwenkarmteil (44) über Lagerung (65) drehbar gelagert mit dem ersten Schwenkarmteil (43) verbunden ist.4. Device according to one of the preceding claims, characterized in that a second swivel arm part (44) is rotatably connected to the first swivel arm part (43) via bearing (65).
5. Einrichtung nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass bezogen auf ihre Drehachsen (69 , 70, 62) die Abstandsmaße des ersten Schwenkarmteil (43) und des zweiten Schwenkarmteil (44) gleich sind. 5. Device according to one or more of the preceding claims, characterized in that, based on their axes of rotation (69, 70, 62), the spacing dimensions of the first swivel arm part (43) and the second swivel arm part (44) are the same.
6. Einrichtung nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine fest mit dem ersten Schwenkarmteil (43) verbundene Zahnriemenscheibe (66) im zweiten Schwenkarmteil (44) angeordnet ist und über Zahnriemen (67) und Zahnscheibe (68) mit der Wechseleinrichtung (64) der Quertraverse (30) verbunden ist.6. Device according to one or more of the preceding claims, characterized in that a toothed belt pulley (66) fixedly connected to the first swivel arm part (43) is arranged in the second swivel arm part (44) and via toothed belt (67) and toothed pulley (68) with the Changing device (64) of the crossbar (30) is connected.
7. Einrichtung nach Anspruch 6, dadurch gekennzeichnet, dass das Übersetzungsverhältnis von Zahnriemenscheibe (68) zu Zahnriemenscheibe (66) 2 zu 1 beträgt.7. Device according to claim 6, characterized in that the transmission ratio of toothed belt pulley (68) to toothed belt pulley (66) is 2 to 1.
8. Einrichtung nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass Zahnrad (45) mit Schlitten (23) fest verbunden ist.8. Device according to one or more of the preceding claims, characterized in that the gear (45) with the carriage (23) is fixedly connected.
9. Einrichtung nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein erster Schwenkarmteil (43) in Verbindung mit9. Device according to one or more of the preceding claims, characterized in that a first swivel arm part (43) in connection with
Bewegungsübertragungsmittel (45, 46, 47) das Schwenken des zweiten Schwenkarmteils (44) um Drehachse 70 bewirkt und das Übersetzungsverhältnis zwischen Zahnrad (45) und Zahnrad (47) 2 zu 1 beträgt .Motion transmission means (45, 46, 47) causes the second swivel arm part (44) to pivot about the axis of rotation 70 and the transmission ratio between the gear (45) and the gear (47) is 2 to 1.
10. Einrichtung nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass Quertraverse (30) über Wechseleinrichtung (64) mit Kardangelenk (63) verbunden ist.10. Device according to one or more of the preceding claims, characterized in that the cross-beam (30) is connected to the universal joint (63) via a changing device (64).
11. Einrichtung nach Anspruch 1 und 2 , dadurch gekennzeichnet, dass über ein an dem Schlitten 23 befestigter Schwenkmotor 40 und Bewegungsübertragungsmittel (49, 50, 51, 53, 54, 55, 56, 57, 59, 60, 61) die Quertraverse 30 um die Schwenkachse (62) schwenkbar ist und der Schwenkwinkel durch Regelung des Schwenkantriebes (40) wählbar ist. 11. The device according to claim 1 and 2, characterized in that via a pivot motor 40 attached to the slide 23 and movement transmission means (49, 50, 51, 53, 54, 55, 56, 57, 59, 60, 61), the crossbar 30th is pivotable about the swivel axis (62) and the swivel angle can be selected by regulating the swivel drive (40).
EP01964901A 2000-09-01 2001-08-10 Articulated arm transport system Expired - Lifetime EP1313575B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10042991 2000-09-01
DE10042991A DE10042991A1 (en) 2000-09-01 2000-09-01 Articulated arm transport system
PCT/DE2001/003083 WO2002018073A2 (en) 2000-09-01 2001-08-10 Articulated arm transport system

Publications (2)

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EP1313575A2 true EP1313575A2 (en) 2003-05-28
EP1313575B1 EP1313575B1 (en) 2005-09-21

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US (1) US6712198B2 (en)
EP (1) EP1313575B1 (en)
AT (1) ATE304906T1 (en)
BR (1) BR0107159A (en)
CA (1) CA2389291C (en)
DE (2) DE10042991A1 (en)
ES (1) ES2249469T3 (en)
MX (1) MXPA02004312A (en)
WO (1) WO2002018073A2 (en)

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Publication number Publication date
BR0107159A (en) 2002-06-18
WO2002018073A2 (en) 2002-03-07
CA2389291C (en) 2008-01-08
US20020192058A1 (en) 2002-12-19
ES2249469T3 (en) 2006-04-01
US6712198B2 (en) 2004-03-30
WO2002018073A3 (en) 2002-07-18
DE10042991A1 (en) 2002-03-21
CA2389291A1 (en) 2002-03-07
MXPA02004312A (en) 2003-09-22
EP1313575B1 (en) 2005-09-21
ATE304906T1 (en) 2005-10-15
DE50107515D1 (en) 2006-02-02

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