EP1862237A1 - Dispositif de saisie d'une pièce à usiner pour changement d'outillage automatique - Google Patents

Dispositif de saisie d'une pièce à usiner pour changement d'outillage automatique Download PDF

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Publication number
EP1862237A1
EP1862237A1 EP07009501A EP07009501A EP1862237A1 EP 1862237 A1 EP1862237 A1 EP 1862237A1 EP 07009501 A EP07009501 A EP 07009501A EP 07009501 A EP07009501 A EP 07009501A EP 1862237 A1 EP1862237 A1 EP 1862237A1
Authority
EP
European Patent Office
Prior art keywords
locking
coupling
gripper
workpiece
workpiece gripping
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
EP07009501A
Other languages
German (de)
English (en)
Other versions
EP1862237B1 (fr
Inventor
Andreas Dangelmayr
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
L Schuler GmbH
Original Assignee
L Schuler GmbH
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Filing date
Publication date
Application filed by L Schuler GmbH filed Critical L Schuler GmbH
Publication of EP1862237A1 publication Critical patent/EP1862237A1/fr
Application granted granted Critical
Publication of EP1862237B1 publication Critical patent/EP1862237B1/fr
Active 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
    • B21D43/05—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
    • B21D43/057—Devices for exchanging transfer bars or grippers; Idle stages, e.g. exchangeable

Definitions

  • the invention relates to a workpiece gripper device which is set up for press automation, in particular for large section presses.
  • the workpiece gripper device is particularly suitable for automatic tooling change.
  • the gripper devices serve, for example, the transfer of the sheet metal parts from press to press, ie for loading and unloading of the sheet metal parts in the respective press stage.
  • the gripper devices may for example be suction spiders or similar devices.
  • the suction spiders comprise a plurality of suction cups, which are held on a plurality of arms of a frame.
  • the suction cups are adapted to the contour of the sheet metal part.
  • the suction spiders are moved by a drive device, which is designed, for example, as a cross-traverse transfer.
  • the workpiece gripper device has gripper means, for example in the form of a suction spider, and a carrier, for example in the form of a straight traverse, wherein the carrier is connected to the gripper means via a coupling device.
  • the peculiarity of the coupling device consists in a mechanical locking device which is locked and unlocked via a button.
  • the button can be actuated by a relative movement of the coupling device against a stop, wherein the relative movement of the Locking device transferred into release when the button is pressed by the relative movement.
  • the drive device is present in any case to move the carrier and with this the gripper means for workpiece transfer.
  • the drive device is preferably set up so that it can move the carrier in different spatial directions and ultimately also along its longitudinal direction and transversely thereto.
  • the movement in the transverse direction can be used to actuate the button, if it is approached with a firm stop.
  • the movement in the longitudinal direction of the carrier can be used for uncoupling or coupling the gripper means, i. be used for opening and closing the coupling device.
  • the coupling device in particular the carrier-side coupling half, can be displaceably guided on the carrier by means of a linear guide device.
  • the coupling device may be assigned a drive device in order to be able to move the coupled gripper device in the longitudinal direction of the carrier. This can be in the coupled state in the sheet metal part transport, the sheet metal parts or other workpieces be adjusted along the carrier.
  • the linear guide device can be used in conjunction with a drive device to perform the coupling movement.
  • the coupling half associated with the gripper device has a locking device with which the gripper device can be locked to a shelf, for example a storage rack or a storage trolley.
  • the locking device is preferably actuated by a relative movement between the gripper device and the tray.
  • the relative movement is, for example, transversely to the elongated support, e.g. vertically oriented.
  • the locking device is formed by index pins, which are provided on the storage rack and can drive into corresponding openings of the coupling half, which is associated with the gripper device.
  • the coupling means is preferably formed by intermeshing coupling halves, wherein a coupling half may comprise one or more fingers, which may be parallel to the carrier, i. extend parallel to the engagement and Auskuppelambasraum.
  • the fingers or other elongated projections are associated with recesses in the other coupling half.
  • the recesses in turn include locking members that belong to the locking device, for example in the form of locking pins that can take in recesses of the fingers. The locking pins lock the fingers in the associated recess when they reach into the recess of the respective finger.
  • the locking pin can be actuated by an actuating pin section which forms the button.
  • the locking pin and thus the button are, for example, oriented transversely to the carrier and thus transversely to the input and Auskuppelraum. Sets the button on one Stop on and the carrier together with the coupling device continues to move in the transverse direction, the button and thus the locking pin is transferred to the release position. In this way, by simply controlling the drives of the transfer device, engagement and disengagement of the tooling holding the carrier can be achieved.
  • FIG. 1 a press plant 1 with two presses 2, 3 and a transfer device 4, to which a transfer unit 5 belongs, is illustrated in an extremely schematic representation.
  • the transfer unit 5 serves to create workpieces such as sheet metal parts, in particular large sheet metal parts such as motor vehicle body parts, from the press 2 to the press 3 or also to a clipboard, which is not further illustrated.
  • the press system 1 can only consist of a single, as shown in two or even several presses.
  • the transfer device 4 may comprise one or more transfer units.
  • the transfer device moves one or more straight trusses 6, which forms a carrier for gripper means 7.
  • the gripper means 7 may for example be formed by one or more suction spiders 8, as shown in FIG.
  • the presented transfer unit 5 has a provided with at least one hinge 9 arm 10 with sections 12, 13.
  • drives 14, 15 as well as further drives are provided with which the crossbeam 6 can be selectively moved horizontally and vertically and pivoted about selected directions.
  • a drive means 16 to the drive means 16 may also include an adjustment 17, with which the suction spider 8 is movable longitudinally to the cross member 6.
  • the adjustment drive 17 is optional. It can be used, in particular, for transfer units which allow movement of the crosshead 6 in the horizontal transverse direction, i. in Traversenlnaturesraum allow omitted.
  • the suction spider 8 has a frame 18, to which, for example, two pipes extending parallel to the traverse 6 belong. From these branches pipe arms 19, 20, 21, 22, 23, 24 from the end each have a sucker 25, 26, 27, 28, 29, 30 carry.
  • the suckers are, for example, cup-shaped curved downward Rubber elements, which can be acted upon via the pipe arms 19 to 24 with vacuum.
  • a coupling device 31 is provided, which is arranged at one end of the frame 18. At the other end, a further coupling device or a connection device 32 may be provided, the two interlocking interlocking and directed longitudinally to the cross member 6 axial movement into and disengageable halves 32a, 32b.
  • the coupling device 31 is suitable, in particular, for depositing the tooling in the form of the suction spider 8 on a passive storage rack utilizing movements which the transfer unit 5 of the traverse 6 can issue by means of the already existing drives, which are provided for the traverse 6 in the room position to transport the workpiece.
  • FIG. 3 illustrates the coupling device 31 on the traverse 6.
  • a linear guide 33 is arranged, with which the coupling device 31 can be moved longitudinally to the traverse 6.
  • Corresponding to the linear guide device 33 is a parallel to the cross member 6 oriented and held on this guide rail 34 on which a carriage is movable.
  • the coupling device 31 includes a first coupling half 36, which is directly connected to the carriage running on the guide rail 34 or the cross-beam 6 and a second coupling half 37 which carries the frame 18. Of the coupling half 37 extends, as Figure 4 illustrates, parallel to the guide rail 34 and parallel to the crossbar 6, a finger 38 away, which is received 39 play with little play by a corresponding bore or other opening.
  • the finger 38 is engaged with a locking device 40.
  • a locking device 40 for this purpose, the finger 38 at his End, for example, as shown in Figure 5 or 6, a recess, for example in the form of a trough or round running rounded or otherwise formed groove 41 on.
  • This groove 41 is assigned to a locking device 40 associated locking pin 42 which is slidably mounted in a transverse to the bore 39 arranged further bore 43.
  • the bore 43 intersects the bore 39 off-center at an angle of approximately 90 °. While the bore 39 is preferably oriented parallel to the carrier 6, the bore 43 is preferably oriented vertically transversely thereto.
  • the locking pin 42 has a locking portion 44, whose diameter corresponds to the diameter of the bore 43 and the radius of curvature of the groove 41. From the locking portion 44, an actuating pin portion 45 extends away, the diameter of which is so small that it does not intersect the bore 39 when, as shown in Figure 5 or 6, is displaced upwards.
  • the actuating pin section 45 forms a button, via which the coupling device 31 can be transferred from its blocked or locked blocking state into an unlocked state and thus released.
  • the locking pin 42 is biased by a disposed in the bore 43 spring 46 or other suitable means in its locking position in which the locking portion 44, the bore 39 intersects.
  • the coupling half 37 has a bore 47, which is preferably oriented parallel to the bore 43, ie transversely to the carrier 6.
  • the bore 47 is associated with a arranged on a storage rack 48 index pin 49, which preferably extends vertically upwards and the low-clearance fits into the bore 47.
  • the coupling half 37 can on each side of the carrier 6 have a corresponding bore, with index pins are provided in a corresponding number and matching position.
  • an unlocking plate 51 is provided as a stop 50, which has on its upper side a transverse to the index pin 49 straight surface 52.
  • This surface 52 may be a flat surface. It preferably runs parallel to the finger 38.
  • the unlocking plate is associated with a recess 53 formed in the underside of the coupling half 36 into which the unlocking plate 51 fits.
  • the actuating pin portion 45 of the locking bolt 42 does not protrude into this recess 53 beyond this, as can be seen from Figures 3 and 4.
  • the transfer unit 5 described so far operates as follows regarding the tooling change:
  • the transfer unit 5 moves the traverse 6 in the traverse longitudinal direction, as illustrated in FIG.
  • the adjusting drive 17, on the coupling half 36 can be activated to cause the axial movement of the coupling half 36 and thus the decoupling.
  • the end face of the actuating pin portion 45, as indicated in FIG. 6, slides on the surface 52 of the unlocking plate 51.
  • the transfer unit 5 moves the traverse 6 upwards, leaving the tooling on the delivery rack 48. This condition is illustrated in FIG.
  • a storage rack 48 has one or more pins 49 or index pins for receiving and fixing the Toolings and a pressure plate or one or more unlocking plates 51 for unlocking a locking device 40.
  • This can be formed by a locking bolt, the bore of which cuts a bore for receiving a coupling bolt 38.
  • the locking pin 40 is biased into its locking position and, when its slender nose (operating pin portion 45) touches on the unlocking plate 51, be transferred to the release position.
  • the unlocking movement for actuating the locking bolt 42 is transverse to the traverse 6 while the input and Auskuppelieri is oriented parallel to the traverse 6.
  • the coupling device 31 is preferably provided with fluid couplings which are parallel to the coupling pin or Finger 38 are oriented and serve to transfer vacuum or compressed air to the Saugerspinne. If necessary, further media couplings can be provided.
  • electrical couplings may be provided for power transmission, for transmission of control signals and / or information signals, for sensors or for actuators.
  • clutches for information carriers such as light guides may be provided, wherein the coupling and uncoupling direction in each case coincides with the longitudinal direction of the traverse 6 and the longitudinal direction of the finger 38.
  • Such a coupling device 54 is indicated abstractly in FIG. 3 by dashed lines.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Jigs For Machine Tools (AREA)
  • Feeding Of Workpieces (AREA)
  • Surgical Instruments (AREA)
  • Load-Engaging Elements For Cranes (AREA)
EP07009501A 2006-05-31 2007-05-11 Dispositif de saisie d'une pièce à usiner pour changement d'outillage automatique Active EP1862237B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006025272A DE102006025272B3 (de) 2006-05-31 2006-05-31 Werkstückgreifereinrichtung für automatischen Toolingwechsel

Publications (2)

Publication Number Publication Date
EP1862237A1 true EP1862237A1 (fr) 2007-12-05
EP1862237B1 EP1862237B1 (fr) 2008-10-29

Family

ID=38472935

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07009501A Active EP1862237B1 (fr) 2006-05-31 2007-05-11 Dispositif de saisie d'une pièce à usiner pour changement d'outillage automatique

Country Status (7)

Country Link
US (1) US7784324B2 (fr)
EP (1) EP1862237B1 (fr)
CN (1) CN101081421B (fr)
AT (1) ATE412479T1 (fr)
DE (2) DE102006025272B3 (fr)
ES (1) ES2317605T3 (fr)
RU (1) RU2365455C2 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009135552A1 (fr) * 2008-05-09 2009-11-12 Erdrich Beteiligungs Gmbh Presse comprenant un dispositif de transfert pour décaler les pièces pas à pas et comprenant un accouplement de rail à pinces
DE102010053401A1 (de) 2010-12-03 2012-06-06 Volkswagen Ag Verfahren zum Bau von Mechanisierungen in Pressenanlagen
WO2012136750A1 (fr) * 2011-04-08 2012-10-11 Schuler Pressen Gmbh Dispositif de transfert pour une presse ou un train de presses comprenant une transmission et support de base échangeable
WO2014023286A1 (fr) * 2012-08-09 2014-02-13 Springer Gmbh Systèmes de changement rapide pour un dispositif manipulateur spécialement adapté aux pièces, dispositif de manutention spécialement adapté aux pièces comportant le dispositif, et ossature de dépose pour ces pièces
DE102014204366A1 (de) 2014-03-10 2015-09-10 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Aufbau einer werkstückbezogenen Werkstückgreifeinrichtung für die Pressenautomatisierung
JP2017202491A (ja) * 2016-05-09 2017-11-16 アイダエンジニアリング株式会社 ワーク保持ツールの着脱支持装置

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110070056A1 (en) * 2009-09-24 2011-03-24 Modern Packaging Inc. High accuracy transfer system for intact filling
JP5575063B2 (ja) 2011-06-22 2014-08-20 アイダエンジニアリング株式会社 ワーク保持装置交換支持装置
WO2014171064A1 (fr) * 2013-04-17 2014-10-23 株式会社エイチアンドエフ Appareillage de transfert de pièces et procédé de transfert de pièces l'utilisant
JP6391181B2 (ja) * 2016-10-04 2018-09-19 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
DE102016125484B3 (de) 2016-12-22 2018-03-08 Strothmann Machines & Handling GmbH Transfervorrichtung
EP3479921A1 (fr) * 2017-11-07 2019-05-08 ABB Schweiz AG Dispositif de manipulation de pièces
US11660761B2 (en) 2020-09-24 2023-05-30 Gm Global Technology Operations, Llc Flexible robotic system using end-effector with pass-through suction modules
DE102021204134A1 (de) * 2021-04-26 2022-10-27 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Montage einer Blechwerkstückgreifeinrichtung
DE102022109994A1 (de) 2022-04-26 2023-10-26 Khs Gmbh Klemmbackenwechselsystem

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3634756A1 (de) * 1985-12-24 1987-06-25 Warnke Umformtech Veb K Greiferschienenwechsel- und positioniereinrichtung fuer den automatischen werkzeugwechsel an pressen, insbesondere transferpressen
DE3836715A1 (de) * 1987-12-29 1989-07-13 Warnke Umformtech Veb K Schnellspannvorrichtung fuer formteilaufnahme an zufuehr- und entnahmeeinrichtungen fuer umformmaschinen
DE4324619A1 (de) * 1993-07-22 1995-01-26 Erfurt Umformtechnik Gmbh Vorrichtung zur lösbaren Verbindung von Greiferschienenteilen in einer Transferpresse
US20030051980A1 (en) * 2001-09-14 2003-03-20 Hugh Sofy Press device having separably removable transfer bars
EP1366834A1 (fr) * 2002-05-29 2003-12-03 Müller Weingarten AG Dispositif de changement d'outil pour presses
DE102004052001A1 (de) * 2004-10-25 2006-04-27 Müller Weingarten AG Automatische Toolingwechselvorrichtung

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US5071309A (en) * 1990-08-06 1991-12-10 Syron Engineering & Manufacturing Corporation Mounting arrangement for a multi-function arm
DE4309643C2 (de) * 1993-03-25 2002-06-13 Schuler Pressen Gmbh & Co Umsetzeinrichtung für den Werkstücktransport
US5733097A (en) * 1994-12-12 1998-03-31 Syron Engineering & Manufacturing Corp. Cross-bar tool mounting system
US5632181A (en) * 1995-02-23 1997-05-27 Verson, A Division Of Allied Products Corporation System and method for transferring a work piece in a multi-station press
US5842370A (en) * 1996-12-19 1998-12-01 Schuler Pressen Gmbh & Co. Transfer device and multistation presses
DE19720518A1 (de) * 1997-05-16 1998-11-19 Schuler Pressen Gmbh & Co Transferpresse mit seitlicher Toolingablage
DE19740293A1 (de) * 1997-09-13 1999-03-18 Schuler Pressen Gmbh & Co Transferpressen mit automatischem Toolingwechsel
DE10064154B4 (de) * 2000-12-22 2004-06-03 Schuler Pressen Gmbh & Co. Kg Mehrstufenpresse"
US7128198B2 (en) * 2002-12-26 2006-10-31 Komatsu Ltd. Workpiece conveyor for press line
US7748107B2 (en) * 2004-10-12 2010-07-06 Syron Engineering & Manufacturing, Llc Bar mounted tool adaptor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3634756A1 (de) * 1985-12-24 1987-06-25 Warnke Umformtech Veb K Greiferschienenwechsel- und positioniereinrichtung fuer den automatischen werkzeugwechsel an pressen, insbesondere transferpressen
DE3836715A1 (de) * 1987-12-29 1989-07-13 Warnke Umformtech Veb K Schnellspannvorrichtung fuer formteilaufnahme an zufuehr- und entnahmeeinrichtungen fuer umformmaschinen
DE4324619A1 (de) * 1993-07-22 1995-01-26 Erfurt Umformtechnik Gmbh Vorrichtung zur lösbaren Verbindung von Greiferschienenteilen in einer Transferpresse
US20030051980A1 (en) * 2001-09-14 2003-03-20 Hugh Sofy Press device having separably removable transfer bars
EP1366834A1 (fr) * 2002-05-29 2003-12-03 Müller Weingarten AG Dispositif de changement d'outil pour presses
DE102004052001A1 (de) * 2004-10-25 2006-04-27 Müller Weingarten AG Automatische Toolingwechselvorrichtung

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009135552A1 (fr) * 2008-05-09 2009-11-12 Erdrich Beteiligungs Gmbh Presse comprenant un dispositif de transfert pour décaler les pièces pas à pas et comprenant un accouplement de rail à pinces
US8522679B2 (en) 2008-05-09 2013-09-03 Erdrich Beteiligungs Gmbh Press with a transfer device for the stepwise displacement of the workpieces and with a gripper rail coupling
DE102010053401A1 (de) 2010-12-03 2012-06-06 Volkswagen Ag Verfahren zum Bau von Mechanisierungen in Pressenanlagen
WO2012136750A1 (fr) * 2011-04-08 2012-10-11 Schuler Pressen Gmbh Dispositif de transfert pour une presse ou un train de presses comprenant une transmission et support de base échangeable
US9713835B2 (en) 2011-04-08 2017-07-25 Schuler Pressen Gmbh Transfer arrangement for a press or press line with an axial drive and interchangeable base
WO2014023286A1 (fr) * 2012-08-09 2014-02-13 Springer Gmbh Systèmes de changement rapide pour un dispositif manipulateur spécialement adapté aux pièces, dispositif de manutention spécialement adapté aux pièces comportant le dispositif, et ossature de dépose pour ces pièces
DE102014204366A1 (de) 2014-03-10 2015-09-10 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Aufbau einer werkstückbezogenen Werkstückgreifeinrichtung für die Pressenautomatisierung
US10384258B2 (en) 2014-03-10 2019-08-20 Bayerische Motoren Werke Aktiengesellschaft Method and device for construction of a workpiece-related workpiece gripping device for press automation
JP2017202491A (ja) * 2016-05-09 2017-11-16 アイダエンジニアリング株式会社 ワーク保持ツールの着脱支持装置

Also Published As

Publication number Publication date
RU2365455C2 (ru) 2009-08-27
DE502007000203D1 (de) 2008-12-11
ES2317605T3 (es) 2009-04-16
CN101081421A (zh) 2007-12-05
EP1862237B1 (fr) 2008-10-29
US7784324B2 (en) 2010-08-31
RU2007120197A (ru) 2008-12-10
CN101081421B (zh) 2010-06-02
DE102006025272B3 (de) 2007-11-22
ATE412479T1 (de) 2008-11-15
US20070277582A1 (en) 2007-12-06

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