EP1682289B1 - Dispositif de transport a bras articule - Google Patents

Dispositif de transport a bras articule Download PDF

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Publication number
EP1682289B1
EP1682289B1 EP04802709A EP04802709A EP1682289B1 EP 1682289 B1 EP1682289 B1 EP 1682289B1 EP 04802709 A EP04802709 A EP 04802709A EP 04802709 A EP04802709 A EP 04802709A EP 1682289 B1 EP1682289 B1 EP 1682289B1
Authority
EP
European Patent Office
Prior art keywords
articulated arm
transport device
movement
press
workpiece
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.)
Not-in-force
Application number
EP04802709A
Other languages
German (de)
English (en)
Other versions
EP1682289A1 (fr
Inventor
Erich Harsch
Rainer Reichenbach
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 EP1682289A1 publication Critical patent/EP1682289A1/fr
Application granted granted Critical
Publication of EP1682289B1 publication Critical patent/EP1682289B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • 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 large-scale transfer press, in which only one tool is arranged under each plunger, with a device for transporting workpieces from a processing station in the subsequent processing station according to the preamble of claim 1.
  • step press or press line for cost-effective production.
  • the number of tools then corresponds to the number of work stages that are required for the production.
  • the presses are transport facilities with which the workpieces are transported from one workstation to the next.
  • the transport devices consist of gripper rails or mounting rails which extend through the entire length of the forming machine.
  • the mounting rails with gripper or Equipped holding elements To transport the workpieces, the mounting rails with gripper or Equipped holding elements.
  • a pivoting to change the position of the part during the transport step may be required. This change in position can also be done by an arranged between the forming stages Orientierstation.
  • the transfer movement is initiated via curves which are forcibly synchronized via motion transfer elements with the ram drive.
  • the production of particularly large-scale parts led to the development of the bulk transfer presses in ever larger dimensions based on the forming force and the transport routes. Tool distances of the order of 5,000 mm are quite common today, and corresponding transport steps are required.
  • the masses of the transfer systems to be accelerated and braked are in complete contrast to the low 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 thus acceleration and deceleration.
  • each stand area is one in the DE 100 42 991 A1 disclosed transfer device.
  • the transport device is designed as an articulated arm and designed so that favorable clearances relative to the plunger movement are possible.
  • the articulated arm can thus already drive in at a relatively small opening stroke of the upper ram supporting the upper tool for parts removal between the upper and lower tool.
  • a disadvantage of this arrangement is the space required to avoid a collision between the plunger and the transfer device.
  • a clearance for carrying out the pivoting movement of the transport device is required between the stator and the plunger. This leads to presses which require larger dimensions transversely to the part transport direction.
  • Has transport device and this is designed as an articulated arm with a crossbeam with workpiece holding means.
  • the transport device itself is arranged above the part transport plane to the press stands. Lifting and / or pivoting movement are effected by means of controllable lifting drives in operative connection with gear means.
  • the solution consists of a one-piece swivel arm, which moves in the area of the workpiece transport plane. Thus, this solution requires a lot of space between the plunger and the lower tool. The movement paths in the horizontal direction are low.
  • a transport device for multistage multistage multistage presses having a tappet having two pivotally interconnected pivot arms wherein the lower part of the arm connected to suction arms is shorter than the other one.
  • This device realizes two-dimensional movements, namely the transport and lifting stroke.
  • the drive of the pivot arms takes place from a drive arranged below the partial transport plane, wherein the pivot point of the connecting joint of the two articulated arm parts always moves above the part transport plane.
  • the drive for the associated with suction arms Gelenkarmteil is arranged so that it must be constantly moved during the transport movement.
  • the invention is based on the object, a large-scale press with a device for transporting Further develop workpieces so that no additional space between the stand and the plunger is required for the transport device with cheaper clearance.
  • the invention is based on the idea of modifying the movement sequence of the articulated arm transport device in large step presses in such a way that a sufficient, in particular vertical, distance from the tappet is ensured. Due to the geometry of the Gelenkarmmaschine and their pivotal movement substantially above the common pivot point, the free movement is further improved. In addition, the Gelenkarmtransportvorides in the stand area and above the workpiece transport plane has an advantageous effect.
  • the Gelenkarmtransportvorides is grown above the parts transport plane to the press stands.
  • the first Gelenkarmteil is dimensioned so that only at a relatively large tilt angle overlap with the plunger is possible. Due to the plunger movement, however, this is then in the region of its top dead center, whereby a collision is reliably avoided.
  • the front, second Gelenkarmteil performs one, based on the pivot point of the Gelenkarmmaschine each other, upward pivoting movement.
  • the first Gelenkarmteil is rotatably mounted on a support carriage, to carry out a vertical lifting movement during workpiece transport.
  • the movement overlay of the two Articulated arm parts in conjunction with the vertical lifting axis allow a freely programmable travel profile in a wide range, both for the part transport, as well as for the free travel.
  • the free travel can thereby realize a very flat and thus with respect to the clearance extremely favorable travel curve.
  • the articulated arm can move into the forming free space between the upper and lower tool. This procedure results in a reduction of the time for the part transport and leads to an increase in the efficiency of the press plant. Due to the dynamic lifting axis, the Gelenkarmvoriques can be operated without any further structural measures with a variety of tool heights.
  • the entire transport device consists of two, in the stator area mirror images of each other arranged Gelenkarmtransportvoriquesen which are connected to each other via a crossbeam.
  • the crossbeam is coupled to the front end of the shorter Gelenkarmteils and carries the actual holding means for workpieces.
  • the crossbeam with additional degrees of freedom, such as pivoting in or against the transport direction, skew or movability of the holding means transverse to the part transport direction, z. B. for double parts, be equipped.
  • the respective functions can be carried out by self-drives on the cross-beam or by means of stationary drives via the articulated arm.
  • the Gelenkarmtransportvoriques is in a parking position in the stand area.
  • the proposed embodiment shows a very cheap, narrow design which has an advantageous effect on the design of the press stand. these can are dimensioned exclusively according to the teaching of strength and do not require additional width for the transport device.
  • the invention can also be used in a press line, a transfer press, a simulator or the like.
  • FIG. 1 a section of a large-scale step press 1 (also referred to as transfer or multi-stage press), in which only one tool is arranged under each plunger, shown with a transport device for transporting workpieces from a processing station in the subsequent processing station. Visible are the head piece 2, plunger 3 with attached upper tool 4. The lower tool 5 is on the press table or sliding table. 6 curious; excited.
  • the Gelenkarmtransportvortechnik 11-14 is attached and shown in different functions.
  • the arranged on the press stand 7 Gelenkarmtransportvorides 11 shows a removal of the formed workpiece.
  • the press stand 8 associated transport device 12 is during the forming process in parking position.
  • the transport device 13 has taken a workpiece and transported this along the travel curve 15 to the next forming stage.
  • the Gelenkarmtransportvorides 14 the workpiece in a lower tool 5 a.
  • the driving curves 15 and 16 clearly show the favorable conditions for a very flat retracting, discharging and inserting the workpieces.
  • the travel curve 16 shows the movement of the articulated arm without a workpiece.
  • the travel curve 15 shows the workpiece transport.
  • the front view of the Gelenkarmtransportvoriques shows FIG. 2 , This consists of the Gelenkarmmaschine 19 and 20.
  • drives 21 and 22 are provided which put the gears 23 and 24 in a rotational movement or hold in the rest position. These gears 23 and 24 act on the racks 25 and 26 so that they perform a corresponding vertical movement.
  • the movements of the articulated arm 19 can be seen from Table 46. Shown, however, are only the movements resulting in the drive case by the same speeds of the drives 21 and 22. If z. B. both drives 21 and 22 rotate at the same speed to the right, this causes via the drive train 23, 24, 25, 26, a right turn the gear 27 and thus a right-handed pivoting movement of the connected gear 27 pivot arm 19. In the vertical (Y-) axis does not move in this case. A movement superimposition, ie pivoting and vertical movement, is achieved, for example, by stoppage of drive 21 and rotation of drive 22. As can be seen from Table 46, by appropriate rotation or stoppage only the drives 21 and 22 can be reached in any plane in any plane.
  • the forwarding of the pivoting movement of the first Gelenkarmteils 19 to the second Gelenkarmteil 20 is off FIG. 3 to see.
  • the gear 30, which is located in the first Gelenkarmteil 19 is connected via axis 45 with the carriage 29.
  • the gear 30 is operatively connected to the gears 31 to 34.
  • the gear 34 is fixedly connected to the second Gelenkarmteil 20. If a pivotal movement of the first Gelenkarmteils 19 is introduced via the drive train 23,24,25,26, this generates a rolling rotational movement of the gears 31, 32,33, 34 and the fixed connection with gear 34, the corresponding pivoting of the second Gelenkarmteils 20th about the rotation axis 35.
  • Drive 37 can drive a possibly required apart driving the workpiece holding means 18 for double parts via a second system of bevel gears, which are stored in the hollow shafts of the bevel gears 41 to 43 for pivoting.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)
  • Valve-Gear Or Valve Arrangements (AREA)
  • Fuel Cell (AREA)
  • Specific Conveyance Elements (AREA)

Claims (5)

  1. Presse à étage à large cadre (1) comprenant un dispositif pour transporter des pièces, chaque poste d'usinage présentant au moins un dispositif de transport indépendant transportant la pièce, et celui-ci étant réalisé sous forme de bras articulé avec une traverse (17) ayant des moyens de retenue de pièce (18), le dispositif de transport à bras articulé (11 à 14) étant disposé au-dessus du plan de transport des pièces sur les supports de presse (7 à 11), un mouvement de levage et/ou de pivotement pouvant être effectué au moyen d'entraînements de levage réglables en liaison fonctionnelle avec des moyens d'engrenage, caractérisée en ce que le bras articulé se compose de deux parties de bras articulé (19, 20), la partie de bras articulé (20) connectée à la traverse (17) étant plus courte que la première partie de bras articulé (19), en ce que le dispositif de transport à bras articulé est disposé de telle sorte que le mouvement de pivotement (48) puisse être effectué essentiellement au-dessus du pivot commun (35) et en ce qu'un entraînement réglable (36) avec des moyens d'engrenage (40 à 44) est prévu, afin que la traverse (17) puisse pivoter par le biais du moyen d'engrenage (40 à 44) autour d'un axe de pivotement (38).
  2. Dispositif selon la revendication 1, caractérisé en ce qu'un mouvement de levage ou d'abaissement d'un chariot de palier (29) pour la première partie de bras articulé (19) a lieu au moyen de deux crémaillères parallèles (25, 26), qui peuvent être entraînées par au moins deux moteurs d'entraînement stationnaires (21, 22) par le biais de roues dentées (23, 24).
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que deux crémaillères parallèles (25, 26) agissent en commun sur une roue dentée d'entraînement (27) pour la première partie de bras articulé (19), de telle sorte qu'un mouvement de levage et d'abaissement d'un chariot porteur (29) et/ou un mouvement de pivotement d'un bras articulé monté sur le chariot porteur (29) puisse être ajusté.
  4. Dispositif selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la première partie de bras articulé (19) effectue un mouvement de pivotement avec un angle de pivotement (47) de valeur réglable, et celui-ci est plus petit, d'un rapport constant, que l'angle de pivotement (48) de la deuxième partie de bras articulé (20).
  5. Dispositif selon la revendication 1, caractérisé en ce qu'un entraînement réglable (37) sert à faire varier la position des moyens de retenue de pièce (18).
EP04802709A 2003-11-13 2004-11-11 Dispositif de transport a bras articule Not-in-force EP1682289B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10352982A DE10352982B4 (de) 2003-11-13 2003-11-13 Gelenkarmtransportvorrichtung
PCT/DE2004/002492 WO2005046907A1 (fr) 2003-11-13 2004-11-11 Dispositif de transport a bras articule

Publications (2)

Publication Number Publication Date
EP1682289A1 EP1682289A1 (fr) 2006-07-26
EP1682289B1 true EP1682289B1 (fr) 2009-03-18

Family

ID=34585037

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04802709A Not-in-force EP1682289B1 (fr) 2003-11-13 2004-11-11 Dispositif de transport a bras articule

Country Status (8)

Country Link
US (1) US7484922B2 (fr)
EP (1) EP1682289B1 (fr)
CN (1) CN100455373C (fr)
AT (1) ATE425826T1 (fr)
CA (1) CA2545301A1 (fr)
DE (2) DE10352982B4 (fr)
ES (1) ES2322474T3 (fr)
WO (1) WO2005046907A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014102522B3 (de) * 2014-02-26 2015-07-09 Schuler Pressen Gmbh Transport- und Orientierungssystem zum Transportieren und Orientieren von Werkstücken

Families Citing this family (12)

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Publication number Priority date Publication date Assignee Title
EP1902815A3 (fr) * 2006-09-20 2008-04-30 Grob, Margret Ligne de travail avec une pluralité de dispositifs de transport
US8100622B2 (en) * 2010-02-02 2012-01-24 Rainbow Conversion Technologies, Llc Articulated lift arm
JP5606145B2 (ja) 2010-05-12 2014-10-15 キヤノン株式会社 ワーク搬送システム
US9080775B2 (en) 2010-05-12 2015-07-14 Bsh Home Appliances Corporation Slide-in simmer potentiometer for a household appliance
EP2444174B1 (fr) * 2010-10-22 2013-11-27 TRUMPF Corporation Agencement mécanique pour le traitement de pièces usinées, notamment des tôles, ainsi que procédé de déchargement de pièces usinées sur un tel agencement mécanique
DK2692486T3 (en) * 2011-03-30 2016-06-06 Squse Inc Scott-Russel mechanism arrangement
US20130266414A1 (en) * 2012-04-06 2013-10-10 AMF Automation Technologies, LLC d/b/a AMF Bakery Systems Pan Stacker
JP5793109B2 (ja) 2012-05-15 2015-10-14 アイダエンジニアリング株式会社 ワーク搬送装置
KR101212195B1 (ko) * 2012-07-19 2012-12-13 미원정밀공업(주) 탠덤 프레스 라인용 더블 로봇라인을 이용한 프레스 성형품 자동 제조시스템
JP6192131B2 (ja) * 2015-12-10 2017-09-06 アイダエンジニアリング株式会社 プレス機械のワーク搬送装置
CN107175298B (zh) * 2017-05-09 2018-10-26 芜湖思科生产力促进中心有限公司 一种弯管加工用送管装置
US11760573B2 (en) * 2021-02-03 2023-09-19 Everseen Limited Bidirectional unilinear multi-carrier repository interface system

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US4056198A (en) 1976-03-29 1977-11-01 Danly Machine Corporation Transfer and turnover mechanism for use with power press or the like
US4065001A (en) * 1976-06-15 1977-12-27 Shiroyama Kogyo Co., Ltd. Manipulator
DE2802738A1 (de) 1978-01-23 1979-07-26 Felss Geb Handhabungsgeraet
FR2539661B1 (fr) 1983-01-20 1986-07-04 Citroen Sa Chargeur extracteur de pieces a un seul moteur de commande
IT8354029V0 (it) * 1983-12-12 1983-12-12 Comau Spa Robot manipolatore particolarmente per il trasferimento di elementi di lamiera da una stazione di stampaggio alla stazione successiva di una linea di stampaggio
DE3525988A1 (de) 1985-07-20 1987-01-29 Seitz Enzinger Noll Masch Palettiermaschine fuer insbesondere im stapel ineinanderragende gegenstaende
JPH03170280A (ja) * 1989-11-30 1991-07-23 Orii:Kk 物品搬送装置
US5452981A (en) * 1991-03-06 1995-09-26 Leland D. Blatt Automatic tool changer
DE4408449A1 (de) * 1994-03-12 1995-09-14 Mueller Weingarten Maschf Transportsystem
EP0693334B1 (fr) * 1994-06-16 1999-11-10 Müller Weingarten AG Système de transport
ES2190955T3 (es) 1999-03-17 2003-09-01 Mueller Weingarten Maschf Sistema de transporte.
DE10064930A1 (de) * 2000-02-10 2001-08-16 Mueller Weingarten Maschf Horizontales Transportsystem
DE10009574A1 (de) * 2000-02-29 2001-08-30 Mueller Weingarten Maschf Flexible Transporteinrichtung für Pressen
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014102522B3 (de) * 2014-02-26 2015-07-09 Schuler Pressen Gmbh Transport- und Orientierungssystem zum Transportieren und Orientieren von Werkstücken

Also Published As

Publication number Publication date
ATE425826T1 (de) 2009-04-15
WO2005046907A1 (fr) 2005-05-26
CN100455373C (zh) 2009-01-28
US7484922B2 (en) 2009-02-03
DE502004009183D1 (de) 2009-04-30
DE10352982A1 (de) 2005-06-23
US20070077135A1 (en) 2007-04-05
CA2545301A1 (fr) 2005-05-26
CN1878624A (zh) 2006-12-13
EP1682289A1 (fr) 2006-07-26
ES2322474T3 (es) 2009-06-22
DE10352982B4 (de) 2007-06-21

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