EP1862237B1 - Workpiece gripper device for automatic tooling change - Google Patents

Workpiece gripper device for automatic tooling change Download PDF

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Publication number
EP1862237B1
EP1862237B1 EP07009501A EP07009501A EP1862237B1 EP 1862237 B1 EP1862237 B1 EP 1862237B1 EP 07009501 A EP07009501 A EP 07009501A EP 07009501 A EP07009501 A EP 07009501A EP 1862237 B1 EP1862237 B1 EP 1862237B1
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EP
European Patent Office
Prior art keywords
locking
gripper device
coupling
workpiece gripper
workpiece
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EP07009501A
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German (de)
French (fr)
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EP1862237A1 (en
Inventor
Andreas Dangelmayr
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L Schuler GmbH
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L Schuler GmbH
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Publication of EP1862237A1 publication Critical patent/EP1862237A1/en
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    • 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 according to the preamble of claim 1, which is adapted for press automation, in particular for large step 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.
  • traverses on which the tooling, ie the gripping means in the form of a frame from which arms with suckers extend away, is held.
  • a generic transfer device is known to the cross members with suction spiders belong.
  • the suction spiders which are also referred to as tooling, are detachably connected via a coupling device with the crosspiece.
  • the coupling device is locked by a locking pin in the coupling position.
  • the locking bolt can be solved by tarnishing on a flat surface of a tooling car.
  • the Toolingwagen has a positive receptacle, which is brought upon engagement of the locking pin into engagement with the tooling.
  • a longitudinal movement of the cross-beam then causes the uncoupling between tooling and cross-beam and at the same time locking the connection between tooling and Toolingablage.
  • 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 is released when the button is actuated 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.
  • the sheet metal parts or other workpieces can be adjusted along the carrier in the coupled state in the sheet metal part transport.
  • 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 device is preferably formed by interlocking coupling halves, wherein a coupling half may have one or more fingers, or parallel to the carrier, ie parallel to the Einkuppel- and Extend Auskuppelierisraum.
  • 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 e.g. oriented transversely to the carrier and thus transversely to the input and Auskuppelraum. If the button is placed on a stop and the carrier together with the coupling device continues to move in the transverse direction, the button and thus the locking pin are 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 is in an extremely schematic representation of a press line 1 with two presses 2, 3 and a transfer device 4 illustrated, to which a transfer unit 5 belongs.
  • 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 they are made FIG. 2 evident.
  • 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.
  • form the drives 14, 15 together with the other, not illustrated drives a drive means 16.
  • To the drive means 16 also includes an adjustment 17, with which the suction spider 8 is movable longitudinally to the cross member 6.
  • 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, shell-like downward curved 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 along 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. From the coupling half 37 extends, as FIG. 4 illustrates, parallel to the guide rail 34 and parallel to the cross member 6, a finger 38 away, which is received 39 play by a corresponding hole or other opening 39.
  • the finger 38 is engaged with a locking device 40.
  • the finger 38 at his End such as off FIG. 5 or 6 can be seen, a depression, for example in the form of a trough or round running rounded or otherwise formed groove 41 on.
  • This groove 41 is assigned to the 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 extends an actuating pin portion 45 away, the diameter of which is so small that it does not intersect the bore 39 when he, as FIG. 5 or 6 shows, is shifted 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 pin 42 projects into this recess 53 but not beyond this, as from the FIGS. 3 and 4 evident.
  • the transfer unit 5 described so far operates as follows regarding the tooling change:
  • a suction spider 8 is held on the cross member 6 and should be changed.
  • the arm 10 therefore moves the traverse 6 via a storage rack 48, as in FIG. 3 is illustrated and lowers the traverse 6.
  • the coupling half 37 is placed on the index pin 49, which enters the bore 47.
  • the actuating pin portion 45 is seated on the surface 52 and is pressed relative to the coupling half 36 against the force of the spring 46 in the release position. This condition is in FIG. 5 illustrated.
  • the locking portion 44 is pushed out of the bore 39.
  • the locking portion 45 does not fit into the groove 41, whereby the finger 38 is released.
  • Its head 38 a can be moved past the actuating pin portion 45, ie the finger 38 can be pulled out of the bore 39.
  • the transfer unit 5 moves the traverse 6 in traverse longitudinal direction, as in FIG. 6 is illustrated.
  • 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 slides as FIG. 6 indicates, on the surface 52 of the unlocking plate 51st
  • the transfer unit 5 moves the traverse 6 upwards, leaving the tooling on the delivery rack 48. This condition is in FIG. 7 illustrated.
  • 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 (actuating 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. In addition, electrical couplings may be provided for power transmission, for transmission of control signals and / or information signals, for sensors or for actuators. Furthermore, 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 in FIG. 3 Abstractly indicated by dashed lines.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Jigs For Machine Tools (AREA)
  • Feeding Of Workpieces (AREA)
  • Automatic Assembly (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

Workpiece gripper system for large presses, e.g. for car bodywork, has connectors which link the grippers to a supporting arm. These consist of two halves (36, 37), one of which carries a pin (38) which fits into a bore (41) in the other and is held in place by a spring-loaded bolt (45, 46) on it.

Description

Die Erfindung betrifft eine Werkstückgreifereinrichtung gemäß dem Oberbegriff des Anspruchs 1, die zur Pressenautomatisierung, insbesondere für Großteilstufenpressen eingerichtet ist. Die Werkstückgreifereinrichtung eignet sich insbesondere zum automatischen Toolingwechsel.The invention relates to a workpiece gripper device according to the preamble of claim 1, which is adapted for press automation, in particular for large step presses. The workpiece gripper device is particularly suitable for automatic tooling change.

Als "Tooling" werden an einer Presse, insbesondere einer Großteil-Stufenpresse, wie beispielsweise einer Karosseriepresse oder dergleichen, die blechteilespezifischen Elemente oder Organe der Presse, wie beispielsweise die Greifereinrichtungen, bezeichnet. Die Greifereinrichtungen dienen beispielsweise der Überführung der Blechteile von Presse zu Presse, d.h. zum Ein- und Auslegen der Blechteile in die jeweilige Pressenstufe. Die Greifereinrichtungen können beispielsweise Saugerspinnen oder ähnliche Einrichtungen sein. Die Saugerspinnen umfassen mehrere Saugnäpfe, die an mehrere Armen eines Gestells gehalten sind. Die Saugnäpfe sind dabei der Kontur des Blechteils angepasst. Die Saugerspinnen werden von einer Antriebseinrichtung bewegt, die beispielsweise als Quertraversentransfer ausgebildet ist. Zu diesem gehören mehrere, sich quer zur Transportrichtung erstreckende Tragbalken, so genannte Traversen, an denen das Tooling, d.h. die Greifermittel in Form eines Rahmens, von dem sich Arme mit Saugern weg erstrecken, gehalten ist. Beim Werkzeugwechsel ist in der Regel auch das Tooling zu wechseln.As a "Tooling" are on a press, in particular a large-scale press, such as a body press or the like, the sheet metal part specific elements or organs of the press, such as the gripper devices called. 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. This includes a plurality of transversely extending to the transport direction support beams, so-called traverses on which the tooling, ie the gripping means in the form of a frame from which arms with suckers extend away, is held. When changing tools, the tooling has to be changed as well.

Aus der DE 10 2004 052 001 A1 ist eine gattungsgemäße Transfereinrichtung bekannt, zu der Quertraversen mit Saugerspinnen gehören. Die Saugerspinnen, die auch als Tooling bezeichnet werden, sind über eine Kupplungseinrichtung mit der Quertraverse lösbar verbunden. Die Kupplungseinrichtung ist durch einen Arretierbolzen in Kuppelstellung verriegelt. Der Arretierbolzen kann durch Anlaufen an eine ebene Fläche eines Toolingwagens gelöst werden. Der Toolingwagen weist eine formschlüssige Aufnahme auf, die beim Lösen des Arretierbolzens in Eingriff mit dem Tooling gebracht wird. Eine Längsbewegung der Quertraverse bewirkt dann das Entkuppeln zwischen Tooling und Quertraverse und gleichzeitig das Arretieren der Verbindung zwischen Tooling und Toolingablage.From the DE 10 2004 052 001 A1 a generic transfer device is known to the cross members with suction spiders belong. The suction spiders, which are also referred to as tooling, are detachably connected via a coupling device with the crosspiece. The coupling device is locked by a locking pin in the coupling position. The locking bolt can be solved by tarnishing on a flat surface of a tooling car. The Toolingwagen has a positive receptacle, which is brought upon engagement of the locking pin into engagement with the tooling. A longitudinal movement of the cross-beam then causes the uncoupling between tooling and cross-beam and at the same time locking the connection between tooling and Toolingablage.

Es ist Aufgabe der Erfindung, eine Werkstückgreifereinrichtung zu schaffen, bei der der Toolingwechsel automatisch von statten gehen kann und wobei der Toolingwechsel besonders einfach ist.It is an object of the invention to provide a workpiece gripper device, in which the tooling change can be done automatically and the tooling change is particularly simple.

Diese Aufgabe wird mit der Werkstückgreifereinrichtung nach Anspruch 1 gelöst.This object is achieved with the workpiece gripper device according to claim 1.

Die erfindungsgemäße Werkstückgreifereinrichtung weist Greifermittel, beispielsweise in Form einer Saugerspinne, und einen Träger, beispielsweise in Form einer geraden Traverse, auf, wobei der Träger mit den Greifermitteln über eine Kupplungseinrichtung verbunden ist. Die Besonderheit der Kupplungseinrichtung besteht in einer mechanischen Verriegelungseinrichtung, die über einen Taster verriegelt und entriegelt wird. Der Taster kann durch eine Relativbewegung der Kupplungseinrichtung gegen einen Anschlag betätigt werden, wobei die Relativbewegung die Verriegelungseinrichtung in Freigabe überführt, wenn der Taster durch die Relativbewegung betätigt wird.The workpiece gripper device according to the invention 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 is released when the button is actuated by the relative movement.

Bei dieser Lösung wird es beim automatischen Toolingwechsel möglich, zum Kuppeln und Entkuppeln der Kupplungseinrichtung Bewegungen zu nutzen, die die Antriebseinrichtung dem Träger erteilen kann. Die Antriebseinrichtung ist ohnehin vorhanden, um den Träger und mit diesem die Greifermittel zum Werkstücktransfer zu bewegen. Die Antriebseinrichtung ist dabei vorzugsweise so eingerichtet, dass sie den Träger in verschiedenen Raumrichtungen und letztendlich auch entlang seiner Längsrichtung sowie quer dazu bewegen kann. Die Bewegung in Querrichtung kann zur Betätigung des Tasters genutzt werden, wenn mit diesem ein fester Anschlag angefahren wird. Die Bewegung in Trägerlängsrichtung kann zum Abkuppeln bzw. zum Ankuppeln der Greifermittel, d.h. zum Öffnen und Schließen der Kupplungseinrichtung benutzt werden.In this solution, it is possible during automatic tooling change to use for coupling and decoupling of the coupling device movements that can give the drive device to the wearer. 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.

Somit ist es bei der vorgestellten Lösung möglich, für den automatischen Toolingwechsel ausschließlich die vorhandenen Achsen der Transfereinrichtung zu nutzen. Aktive Kupplungen oder aktive Verriegelungen mit entsprechenden ferngesteuerten Aktuatoren sind nicht erforderlich. Der Wegfall von Antrieben für die Kupplungseinrichtung vermindert das Gewicht der Kupplungseinrichtung, wodurch die Dynamik der Transfereinrichtung verbessert werden kann.Thus, it is possible in the presented solution to use for the automatic tooling change exclusively the existing axes of the transfer device. Active couplings or Active locks with corresponding remote controlled actuators are not required. The elimination of drives for the coupling device reduces the weight of the coupling device, whereby the dynamics of the transfer device can be improved.

Die Kupplungseinrichtung, insbesondere die trägerseitige Kupplungshälfte, kann an dem Träger mittels einer Linearführungseinrichtung verschiebbar geführt sein. Der Kupplungseinrichtung kann eine Antriebseinrichtung zugeordnet sein, um die angekoppelte Greifereinrichtung in Trägerlängsrichtung bewegen zu können. Damit können im angekuppelten Zustand bei dem Blechteiletransport die Blechteile oder sonstige Werkstücke längs des Trägers verstellt werden. Außerdem kann die Linearführungseinrichtung in Verbindung mit einer Antriebseinrichtung dazu genutzt werden, die Kupplungsbewegung zu vollführen.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. Thus, the sheet metal parts or other workpieces can be adjusted along the carrier in the coupled state in the sheet metal part transport. In addition, the linear guide device can be used in conjunction with a drive device to perform the coupling movement.

Vorzugsweise weist die der Greifereinrichtung zugeordnete Kupplungshälfte eine Arretierungseinrichtung auf, mit der die Greifereinrichtung an einer Ablage, beispielsweise einem Ablagegestell oder einem Ablagewagen arretierbar ist. Die Arretierungseinrichtung wird vorzugsweise durch eine Relativbewegung zwischen der Greifereinrichtung und der Ablage betätigt. Die Relativbewegung ist dabei beispielsweise quer zu dem länglichen Träger, z.B. vertikal orientiert. Im einfachsten Fall wird die Arretiereinrichtung durch Indexbolzen gebildet, die an dem Ablagegestell vorgesehen sind und in entsprechende Öffnungen der Kupplungshälfte fahren können, die der Greifereinrichtung zugeordnet ist.Preferably, 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. In the simplest case, 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.

Die Kupplungseinrichtung wird vorzugsweise durch ineinander greifende Kupplungshälften gebildet, wobei eine Kupplungshälfte einen oder mehrere Finger aufweisen kann, der oder die sich parallel zu dem Träger, d.h. parallel zu der Einkuppel- und Auskuppelbewegungsrichtung erstrecken. Den Fingern oder sonstigen länglichen Vorsprüngen sind Ausnehmungen in der anderen Kupplungshälfte zugeordnet. Zu den Ausnehmungen gehören wiederum Sperrglieder, die zu der Sperreinrichtung gehören, beispielsweise in Form von Sperrbolzen, die in Ausnehmungen der Finger fassen können. Die Sperrbolzen arretieren die Finger in der zugeordneten Ausnehmung wenn sie in die Vertiefung des jeweiligen Fingers fassen.The coupling device is preferably formed by interlocking coupling halves, wherein a coupling half may have one or more fingers, or parallel to the carrier, ie parallel to the Einkuppel- and Extend Auskuppelbewegungsrichtung. 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.

Der Sperrbolzen kann durch einen Betätigungsstiftabschnitt betätigt werden, der den Taster bildet. Der Sperrbolzen und somit der Taster sind z.B. quer zu dem Träger und somit quer zur Ein- und Auskuppelrichtung orientiert. Setzt der Taster auf einem Anschlag auf und wird der Träger nebst Kupplungseinrichtung fortgesetzt in Querrichtung bewegt, wird der Taster und somit der Sperrbolzen in Freigabestellung überführt. Auf diese Weise kann durch einfache Ansteuerung der Antriebe der Transfereinrichtung ein Ein- und Auskuppeln, der das Tooling an dem Träger haltenden Kupplung erreicht werden.The locking pin can be actuated by an actuating pin section which forms the button. The locking pin and thus the button are e.g. oriented transversely to the carrier and thus transversely to the input and Auskuppelrichtung. If the button is placed on a stop and the carrier together with the coupling device continues to move in the transverse direction, the button and thus the locking pin are 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.

Weitere Einzelheiten vorteilhafter Ausführungsformen der Erfindung ergeben sich aus der Zeichnung, der Beschreibung oder Ansprüchen.Further details of advantageous embodiments of the invention will become apparent from the drawings, the description or claims.

In der Zeichnung ist ein Ausführungsbeispiel der Erfindung veranschaulicht. Es zeigen:

Figur 1
Pressen mit einer schematisch veranschaulichten Transfereinheit,
Figur 2
die Transfereinheit nach Figur 1 mit Querträger und Tooling,
Figur 3
eine zu der Transfereinrichtung nach Figur 2 gehörige Kupplungseinrichtung mit zugeordnetem Ablagegestell in ausschnittsweiser schematisierter Darstellung,
Figur 4
die Kupplungseinrichtung nach Figur 3 in teilweise geschnittener Seitenansicht,
Figur 5
die Kupplungseinrichtung nach Figur 3 und 4 aufgesetzt auf das Ablagegestell mit entkuppelter Verriegelungseinrichtung,
Figur 6
die Kupplungseinrichtung nach Figur 5 beim Entkuppeln und
Figur 7
die Kupplungseinrichtung und das Ablagegestell nach dem Ablegen des Toolings auf dem Ablagegestell in schematisierter ausschnittsweiser Seitenansicht.
In the drawing, an embodiment of the invention is illustrated. Show it:
FIG. 1
Pressing with a schematically illustrated transfer unit,
FIG. 2
the transfer unit after FIG. 1 with crossbeam and tooling,
FIG. 3
one to the transfer device FIG. 2 associated coupling device with associated storage rack in a fragmentary schematic representation,
FIG. 4
the coupling device after FIG. 3 in a partially sectioned side view,
FIG. 5
the coupling device after FIGS. 3 and 4 mounted on the rack with uncoupled locking device,
FIG. 6
the coupling device after FIG. 5 when uncoupling and
FIG. 7
the coupling device and the storage rack after the placement of the tooling on the storage rack in a schematic fragmentary side view.

In Figur 1 ist in aufs Äußerste schematisierter Darstellung eine Pressenanlage 1 mit zwei Pressen 2, 3 und einer Transfereinrichtung 4 veranschaulicht, zu der eine Transfereinheit 5 gehört. Die Transfereinheit 5 dient dazu, Werkstücke, wie beispielsweise Blechteile, insbesondere große Blechteile wie Kraftfahrzeugkarosserieteile, von der Presse 2 zu der Presse 3 oder auch zu einer Zwischenablage zu schaffen, die nicht weiter veranschaulicht ist. Die Pressenanlage 1 kann lediglich aus einer einzigen, wie dargestellt aus zwei oder auch aus mehreren Pressen bestehen. Die Transfereinrichtung 4 kann eine oder mehrere Transfereinheiten umfassen. Die Transfereinrichtung bewegt ein oder mehrere gerade Traversen 6, die einen Träger für Greifermittel 7 bildet. Das Greifermittel 7 kann beispielsweise durch ein oder mehrere Saugerspinnen 8 gebildet sein, wie sie aus Figur 2 hervorgeht. Die vorgestellte Transfereinheit 5 weist einen mit zumindest einem Gelenk 9 versehenen Arm 10 mit Abschnitten 12, 13 auf. Um die Abschnitte 12, 13 kontrolliert zu bewegen, sind Antriebe 14, 15 sowie weitere, nicht veranschaulichte Antriebe vorgesehen, mit denen die Traverse 6 gezielt horizontal und vertikal bewegt und um ausgewählte Richtungen geschwenkt werden kann. Insoweit bilden die Antriebe 14, 15 zusammen mit den weiteren, nicht veranschaulichten Antrieben eine Antriebseinrichtung 16. Zu der Antriebseinrichtung 16 gehört außerdem ein Verstellantrieb 17, mit dem die Saugerspinne 8 längs zu der Traverse 6 bewegbar ist.In FIG. 1 is in an extremely schematic representation of a press line 1 with two presses 2, 3 and a transfer device 4 illustrated, to which a transfer unit 5 belongs. 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 they are made FIG. 2 evident. The presented transfer unit 5 has a provided with at least one hinge 9 arm 10 with sections 12, 13. In order to move the sections 12, 13 in a controlled manner, drives 14, 15 as well as further drives (not illustrated) are provided with which the crossbeam 6 can be selectively moved horizontally and vertically and pivoted about selected directions. In that regard, form the drives 14, 15 together with the other, not illustrated drives a drive means 16. To the drive means 16 also includes an adjustment 17, with which the suction spider 8 is movable longitudinally to the cross member 6.

Die Saugerspinne 8 weist einen Rahmen 18 auf, zu dem z.B. zwei sich parallel zu der Traverse 6 erstreckende Rohre gehören. Von diesen zweigen Rohrarme 19, 20, 21, 22, 23, 24 ab, die endseitig jeweils einen Sauger 25, 26, 27, 28, 29, 30 tragen. Die Sauger sind beispielsweise schalenartig nach unten gewölbte Gummielemente, die über die Rohrarme 19 bis 24 mit Vakuum beaufschlagbar sind.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, shell-like downward curved rubber elements, which can be acted upon via the pipe arms 19 to 24 with vacuum.

Zur Lagerung der Saugerspinne 8 an der Traverse 6 ist eine Kupplungseinrichtung 31 vorgesehen, die an einem Ende des Rahmens 18 angeordnet ist. An dem anderen Ende kann eine weitere Kupplungseinrichtung oder eine Anschlusseinrichtung 32 vorgesehen sein, die zwei formschlüssig ineinander greifende und durch längs zu der Traverse 6 gerichtete Axialbewegung in und außer Eingriff überführbare Hälften 32a, 32b aufweist.For supporting the suction spider 8 on the traverse 6, 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.

Die Kupplungseinrichtung 31 eignet sich insbesondere zum Ablegen des Toolings in Form der Saugerspinne 8 an einem passiven Ablagegestell unter Ausnutzung von Bewegungen, die die Transfereinheit 5 der Traverse 6 mittels der ohnehin vorhandenen Antriebe erteilen kann, die dazu vorgesehen sind, die Traverse 6 im Raum zu positionieren, um das Werkstück zu transportieren.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.

Figur 3 veranschaulicht die Kupplungseinrichtung 31 an der Traverse 6. Unterhalb derselben ist eine Linearführung 33 angeordnet, mit der die Kupplungseinrichtung 31 längs zu der Traverse 6 verfahren werden kann. Entsprechend gehört zu der Linearführungseinrichtung 33 eine parallel zu der Traverse 6 orientierte und an dieser gehaltene Führungsschiene 34, auf der ein Schlitten verfahrbar ist. Zu der Kupplungseinrichtung 31 gehören eine erste Kupplungshälfte 36, die mit dem auf der Führungsschiene 34 laufenden Schlitten oder der Quertraverse 6 direkt verbunden ist und eine zweite Kupplungshälfte 37, die den Rahmen 18 trägt. Von der Kupplungshälfte 37 erstreckt sich, wie Figur 4 veranschaulicht, parallel zu der Führungsschiene 34 bzw. parallel zu der Traverse 6 ein Finger 38 weg, der von einer entsprechenden Bohrung oder sonstigen Öffnung 39-spielarm aufgenommen ist. Der Finger 38 steht mit einer Verriegelungseinrichtung 40 in Eingriff. Dazu weist der Finger 38 an seinem Ende, wie beispielsweise aus Figur 5 oder 6 ersichtlich, eine Vertiefung, beispielsweise in Form einer Mulde oder einer ringsum laufenden gerundeten oder anderweitig ausgebildeten Nut 41, auf. Dieser Nut 41 ist ein zu der Verriegelungseinrichtung 40 gehöriger Sperrbolzen 42 zugeordnet, der in einer quer zu der Bohrung 39 angeordneten weiteren Bohrung 43 verschiebbar gelagert ist. Die Bohrung 43 schneidet die Bohrung 39 dabei unter einem Winkel von ungefähr 90° außermittig. Während die Bohrung 39 vorzugsweise parallel zu dem Träger 6 orientiert ist, ist die Bohrung 43 quer zu diesem vorzugsweise vertikal orientiert. FIG. 3 illustrates the coupling device 31 on the traverse 6. Below the same, a linear guide 33 is arranged, with which the coupling device 31 can be moved along 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. From the coupling half 37 extends, as FIG. 4 illustrates, parallel to the guide rail 34 and parallel to the cross member 6, a finger 38 away, which is received 39 play by a corresponding hole or other opening 39. The finger 38 is engaged with a locking device 40. For this purpose, the finger 38 at his End, such as off FIG. 5 or 6 can be seen, a depression, for example in the form of a trough or round running rounded or otherwise formed groove 41 on. This groove 41 is assigned to the 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.

Der Sperrbolzen 42 weist einen Sperrabschnitt 44 auf, dessen Durchmesser dem Durchmesser der Bohrung 43 und dem Rundungsradius der Nut 41 entspricht. Vom dem Sperrabschnitt 44 erstreckt sich ein Betätigungsstiftabschnitt 45 weg, dessen Durchmesser so gering ist, dass er die Bohrung 39 nicht schneidet, wenn er, wie Figur 5 oder 6 zeigt, nach oben verschoben ist. Der Betätigungsstiftabschnitt 45 bildet einen Taster, über den die Kupplungseinrichtung 31 aus ihrem blockierten oder verriegelten Sperrzustand in einen ungesperrten Zustand überführt und somit freigegeben werden kann.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 extends an actuating pin portion 45 away, the diameter of which is so small that it does not intersect the bore 39 when he, as FIG. 5 or 6 shows, is shifted 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.

Der Sperrbolzen 42 ist durch eine in der Bohrung 43 angeordnete Feder 46 oder ein anderes geeignetes Mittel in seine Sperrposition hin vorgespannt, in der der Sperrabschnitt 44 die Bohrung 39 schneidet.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.

Die Kupplungshälfte 37 weist eine Bohrung 47 auf, die vorzugsweise parallel zu der Bohrung 43, d.h. quer zu dem Träger 6 orientiert ist. Der Bohrung 47 ist ein an einem Ablagegestell 48 angeordneter Indexbolzen 49 zugeordnet, der sich vorzugsweise vertikal nach oben erstreckt und der spielarm in die Bohrung 47 passt. Die Kupplungshälfte 37 kann auf jeder Seite des Trägers 6 eine entsprechende Bohrung aufweisen, wobei Indexbolzen in entsprechender Zahl und passender Position vorgesehen sind.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.

Neben dem Indexbolzen 49 ist als Anschlag 50 ein Entriegelungsplatte 51 vorgesehen, der an seiner Oberseite eine quer zu dem Indexbolzen 49 gerade verlaufende Fläche 52 aufweist. Diese Fläche 52 kann eine ebene Fläche sein. Sie verläuft vorzugsweise parallel zu dem Finger 38. Der Entriegelungsplatte ist eine in der Unterseite der Kupplungshälfte 36 ausgebildete Ausnehmung 53 zugeordnet, in die die Entriegelungsplatte 51 passt. Der Betätigungsstiftabschnitt 45 des Sperrbolzens 42 ragt in diese Ausnehmung 53 jedoch nicht über diese hinaus, wie aus den Figuren 3 und 4 hervorgeht.In addition to the index pin 49, 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 pin 42 projects into this recess 53 but not beyond this, as from the FIGS. 3 and 4 evident.

Die insoweit beschriebene Transfereinheit 5 arbeitet hinsichtlich des Toolingwechsels wie folgt:The transfer unit 5 described so far operates as follows regarding the tooling change:

Es wird davon ausgegangen, dass, wie Figur 2 andeutet, zunächst eine Saugerspinne 8 an der Traverse 6 gehalten ist und gewechselt werden soll. Der Arm 10 bewegt die Traverse 6 deshalb über ein Ablagegestell 48, wie es in Figur 3 veranschaulicht ist und senkt die Traverse 6 ab. Dabei wird die Kupplungshälfte 37 auf den Indexbolzen 49 aufgesetzt, der in die Bohrung 47 einfährt. Der Betätigungsstiftabschnitt 45 setzt dabei auf der Fläche 52 auf und wird relativ zu der Kupplungshälfte 36 gegen die Kraft der Feder 46 in Freigabestellung gedrückt. Dieser Zustand ist in Figur 5 veranschaulicht. Der Sperrabschnitt 44 wird aus der Bohrung 39 herausgedrückt. Der Sperrabschnitt 45 fasst nicht in die Nut 41, womit der Finger 38 freigegeben ist. Sein Kopf 38a kann an dem Betätigungsstiftabschnitt 45 vorbei bewegt werden, d.h. der Finger 38 kann aus der Bohrung 39 herausgezogen werden. Dazu bewegt die Transfereinheit 5 die Traverse 6 in Traversenlängsrichtung, wie es in Figur 6 veranschaulicht ist. Alternativ kann der Verstellantrieb 17, der an der Kupplungshälfte 36 angreifen kann, aktiviert werden, um die Axialbewegung der Kupplungshälfte 36 und somit das Entkuppeln zu bewirken. Bei diesem Vorgang gleitet die Stirnfläche des Betätigungsstiftabschnitts 45, wie Figur 6 andeutet, auf der Fläche 52 der Entriegelungsplatte 51.It is assumed that, like FIG. 2 indicates, first a suction spider 8 is held on the cross member 6 and should be changed. The arm 10 therefore moves the traverse 6 via a storage rack 48, as in FIG. 3 is illustrated and lowers the traverse 6. In this case, the coupling half 37 is placed on the index pin 49, which enters the bore 47. The actuating pin portion 45 is seated on the surface 52 and is pressed relative to the coupling half 36 against the force of the spring 46 in the release position. This condition is in FIG. 5 illustrated. The locking portion 44 is pushed out of the bore 39. The locking portion 45 does not fit into the groove 41, whereby the finger 38 is released. Its head 38 a can be moved past the actuating pin portion 45, ie the finger 38 can be pulled out of the bore 39. For this purpose, the transfer unit 5 moves the traverse 6 in traverse longitudinal direction, as in FIG. 6 is illustrated. Alternatively, 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. In this process, the end face of the actuating pin portion 45 slides as FIG. 6 indicates, on the surface 52 of the unlocking plate 51st

Hat der Finger 38 aus der Bohrung 39 herausgefunden, bewegt die Transfereinheit 5 die Traverse 6 nach oben, wobei sie das Tooling auf dem Ablagegestell 48 liegen lässt. Dieser Zustand ist in Figur 7 veranschaulicht.If the finger 38 has found out of the bore 39, the transfer unit 5 moves the traverse 6 upwards, leaving the tooling on the delivery rack 48. This condition is in FIG. 7 illustrated.

Die Ankopplung eines gleichen oder anderen Toolings, d.h. einer Saugerspinne an die Traverse 6 erfolgt auf umgekehrte Weise.The coupling of a same or different tooling, i. a suction spider to the cross member 6 takes place in the reverse manner.

Zum automatischen Toolingwechsel gestattet es die vorliegende Erfindung, ausschließlich die vorhandenen Achsen der Transfereinheit 5 zu benutzen. Es sind weder aktive Kupplungen noch aktive Verriegelungen erforderlich oder vorgesehen. Ein Ablagegestell 48 weist einen oder mehrere Stifte 49 oder Indexbolzen zur Aufnahme und Fixierung des Toolings sowie eine Druckplatte bzw. ein oder mehrere Entriegelungsplatten 51 zur Entriegelung einer Verriegelungseinrichtung 40 auf. Diese kann durch einen Sperrbolzen gebildet sein, dessen Bohrung eine Bohrung zur Aufnahme eines Kupplungsbolzens 38 schneidet. Der Verriegelungsbolzen 40 ist in seine Verriegelungsstellung vorgespannt und kann, wenn seine schlanke Nase (Betätigungsstiftabschnitt 45) auf der Entriegelungsplatte 51 aufsetzt, in Freigabeposition überführt werden. Die Entriegelungsbewegung zur Betätigung des Sperrbolzens 42 ist quer zu der Traverse 6 während die Ein- und Auskuppelbewegung parallel zu der Traverse 6 orientiert ist.For automatic tooling change, the present invention allows to use exclusively the existing axes of the transfer unit 5. Neither active couplings nor active interlocks are required or provided. 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 (actuating 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 Auskuppelbewegung is oriented parallel to the traverse 6.

Die Kupplungseinrichtung 31 ist vorzugsweise mit Fluidkupplungen versehen, die parallel zu dem Kupplungsbolzen oder Finger 38 orientiert sind und dazu dienen, Vakuum oder Druckluft zu der Saugerspinne zu übertragen. Bedarfsweise können weitere Medienkupplungen vorgesehen sein. Außerdem können elektrische Kupplungen zur Stromübertragung, zur Übertragung von Steuersignalen und/oder Informationssignalen, für Sensoren oder für Aktuatoren vorgesehen sein. Des Weiteren können Kupplungen für Informationsträger, wie beispielsweise Lichtleiter vorgesehen sein, wobei die Kupplungs- und Entkupplungsrichtung jeweils mit der Längsrichtung der Traverse 6 bzw. der Längsrichtung des Fingers 38 übereinstimmt. Eine solche Kupplungseinrichtung 54 ist in Figur 3 anhand gestrichelter Linien abstrakt angedeutet.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. In addition, electrical couplings may be provided for power transmission, for transmission of control signals and / or information signals, for sensors or for actuators. Furthermore, 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 in FIG. 3 Abstractly indicated by dashed lines.

Claims (12)

  1. Workpiece gripper device for the automation of presses, in particular large-part progressive presses,
    with a support (6), which can be moved by a drive means (16) to conduct a workpiece transport,
    with a gripper element (7), which is fitted to grasp and release workpieces in a controlled manner, in the form of a set of suction grippers (8),
    with a coupling means (31), which has two coupling halves (36, 37), one of which is connected to the support (6) and the other to the gripper element (7), wherein
    the coupling means (31) has a mechanical locking means (40) with a sensor (45), which can be actuated by relative movement of the coupling means (31) against a stop (51) and which moves the locking means (40) into release position when it is actuated, characterised in that
    the drive means additionally includes an adjusting drive (17), with which the set of suction grippers (8) is movable longitudinally to the crossbeam (6).
  2. Workpiece gripper device according to claim 1, characterised in that the coupling means (31) is displaceably guided on the support (6) in the longitudinal direction of the support by means of a linear guide means (34).
  3. Workpiece gripper device according to claim 1, characterised in that the coupling half (37) associated with the gripper means (7) has a locking means (47, 49), with which the gripper means (7) can be locked on a stand (48).
  4. Workpiece gripper device according to claim 3, characterised in that the locking means (47, 49) can be actuated by a relative movement between the gripper means (7) and the stand (48).
  5. Workpiece gripper device according to claim 4, characterised in that the locking means (47, 49) is formed by intermeshing elements (47, 49), which can be moved into and out of engagement by a linear relative movement.
  6. Workpiece gripper device according to claim 1, characterised in that the coupling halves (36, 37) are provided with elements (38, 39) intermeshing in a positive-locking manner.
  7. Workpiece gripper device according to claim 1, characterised in that one of the coupling halves (36, 37) has a finger (38) with a recess (41), which serves as a locking recess.
  8. Workpiece gripper device according to claim 7, characterised in that a locking pin (42), which forms the locking means (40), is associated with the finger (38).
  9. Workpiece gripper device according to claim 8, characterised in that the locking pin (42) is biased in locking position by a spring element (46).
  10. Workpiece gripper device according to claim 8, characterised in that the locking pin (42) is arranged to extend transversely to the direction, in which the coupling means (31) moves into and out of engagement.
  11. Workpiece gripper device according to claim 8, characterised in that the locking pin (42) has a locking section (44), which stands in engagement with the recess (41) of the finger (38) with low play.
  12. Workpiece gripper device according to claim 11, characterised in that the locking pin (42) has an actuating pin section (45), the diameter of which is smaller than the diameter of the locking section (44).
EP07009501A 2006-05-31 2007-05-11 Workpiece gripper device for automatic tooling change Active EP1862237B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006025272A DE102006025272B3 (en) 2006-05-31 2006-05-31 Workpiece gripper system for large presses, e.g. for car bodywork, has connectors linking grippers to supporting arm and consisting of two halves, one of which carries pin fitting into bore in other and held in place by spring-loaded bolt

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EP1862237A1 EP1862237A1 (en) 2007-12-05
EP1862237B1 true EP1862237B1 (en) 2008-10-29

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

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Publication number Publication date
ATE412479T1 (en) 2008-11-15
CN101081421B (en) 2010-06-02
CN101081421A (en) 2007-12-05
US7784324B2 (en) 2010-08-31
ES2317605T3 (en) 2009-04-16
US20070277582A1 (en) 2007-12-06
RU2365455C2 (en) 2009-08-27
DE102006025272B3 (en) 2007-11-22
RU2007120197A (en) 2008-12-10
DE502007000203D1 (en) 2008-12-11
EP1862237A1 (en) 2007-12-05

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