EP1862237B1 - 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
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
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.)
Active
Application number
EP07009501A
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German (de)
English (en)
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EP1862237A1 (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
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L Schuler GmbH
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Publication date
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Publication of EP1862237A1 publication Critical patent/EP1862237A1/fr
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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 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)
  • Load-Engaging Elements For Cranes (AREA)
  • Feeding Of Workpieces (AREA)
  • Surgical Instruments (AREA)
  • Automatic Assembly (AREA)
  • Jigs For Machine Tools (AREA)

Claims (12)

  1. Dispositif de préhension de pièces à usiner pour l'automatisation de presses, en particulier de presses transfert pour pièces de grandes dimensions,
    comprenant un support (6) qui peut être déplacé par un dispositif d'entraînement (16) pour effectuer le transport d'une pièce à usiner,
    comprenant un moyen de préhension (7) qui est agencé pour la préhension et la libération contrôlées de pièces à usiner et se présente sous la forme d'un dispositif à ventouses (8),
    comprenant un dispositif d'accouplement (31) qui présente deux demi-accouplements (36, 37) dont un est relié au support (6) et l'autre au moyen de préhension (7), où
    le dispositif d'accouplement (31) présente un moyen de verrouillage (40) mécanique doté d'un palpeur (45) qui peut être amené en contact avec une butée (51), par un mouvement relatif du dispositif d'accouplement (31), et qui, lorsqu'il est actionné, amène le moyen de verrouillage (40) dans la position de libération, caractérisé par le fait que
    le dispositif d'entraînement (16) comprend en outre un moyen de manoeuvre (17) qui permet de déplacer le dispositif à ventouses (8) dans le sens longitudinal de la traverse (6).
  2. Dispositif de préhension de pièces à usiner selon la revendication 1, caractérisé par le fait que le dispositif d'accouplement (31) est guidé avec possibilité de déplacement en translation sur le support (6), dans le sens longitudinal de celui-ci, à l'aide d'un dispositif de guidage linéaire (34).
  3. Dispositif de préhension de pièces selon la revendication 1, caractérisé par le fait que le demi-accouplement (37) associé au dispositif de préhension (7) comporte un moyen d'arrêt (47, 49) qui permet d'arrêter le dispositif de préhension (7) sur un moyen de réception (48).
  4. Dispositif de préhension de pièces selon la revendication 3, caractérisé par le fait que le moyen d'arrêt (47, 49) est actionné par un mouvement relatif entre le dispositif de préhension (7) et le moyen de réception (48).
  5. Dispositif de préhension de pièces selon la revendication 4, caractérisé par le fait que le moyen d'arrêt (47, 49) est constitué d'éléments (47, 49) qui s'engagent l'un dans l'autre et peuvent être amenés en prise et hors de prise par un mouvement relatif linéaire.
  6. Dispositif de préhension de pièces selon la revendication 1, caractérisé par le fait que les demi-accouplements (36, 37) sont pourvus d'éléments (38, 39) qui s'engagent l'un dans l'autre par complémentarité de formes.
  7. Dispositif de préhension de pièces selon la revendication 1, caractérisé par le fait que l'un des demi-accouplements (36, 37) comporte un doigt (38) muni d'un creux (41) qui sert de creux de verrouillage.
  8. Dispositif de préhension de pièces selon la revendication 7, caractérisé par le fait qu'une tige de blocage (42), constituant le moyen de verrouillage (40), est associée au doigt (38).
  9. Dispositif de préhension de pièces selon la revendication 8, caractérisé par le fait que la tige de blocage (42) est mise sous précontrainte dans le sens du blocage par un moyen formant ressort (46).
  10. Dispositif de préhension de pièces selon la revendication 8, caractérisé par le fait que la tige de blocage (42) est disposée pour s'étendre transversalement à la direction d'engagement et de dégagement du dispositif d'accouplement (31).
  11. Dispositif de préhension de pièces selon la revendication 8, caractérisé par le fait que la tige de blocage (42) présente une portion de blocage (44) qui est en prise avec faible jeu avec le creux (41) du doigt (38).
  12. Dispositif de préhension de pièces selon la revendication 11, caractérisé par le fait que la tige de blocage (42) présente une partie de tige d'actionnement (45) dont le diamètre est inférieur au diamètre de la portion de blocage (44).
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 EP1862237A1 (fr) 2007-12-05
EP1862237B1 true EP1862237B1 (fr) 2008-10-29

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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 (2)

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DE102012016721A1 (de) 2012-08-09 2014-02-13 Springer Gmbh Schnellwechselsysteme für eine werkstückspezifische Handhabungsvorrichtung. werkstückspezifische Handhabungsvorrichtung mit denselben sowie Ablagegestell für selbige
US11660761B2 (en) 2020-09-24 2023-05-30 Gm Global Technology Operations, Llc Flexible robotic system using end-effector with pass-through suction modules

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DE102010053401A1 (de) 2010-12-03 2012-06-06 Volkswagen Ag Verfahren zum Bau von Mechanisierungen in Pressenanlagen
DE102011001924B4 (de) * 2011-04-08 2013-09-19 Schuler Pressen Gmbh Transfereinrichtung für eine Presse oder Pressenstraße mit Achsantrieb und auswechselbarem Grundträger
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
US10010988B2 (en) * 2013-04-17 2018-07-03 Hitachi Zosen Fukui Corporation Workpiece transfer apparatus with shifter and crossbar and workpiece transfer method using same
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JP6219447B1 (ja) * 2016-05-09 2017-10-25 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
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
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

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Publication number Priority date Publication date Assignee Title
DE102012016721A1 (de) 2012-08-09 2014-02-13 Springer Gmbh Schnellwechselsysteme für eine werkstückspezifische Handhabungsvorrichtung. werkstückspezifische Handhabungsvorrichtung mit denselben sowie Ablagegestell für selbige
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
US11660761B2 (en) 2020-09-24 2023-05-30 Gm Global Technology Operations, Llc Flexible robotic system using end-effector with pass-through suction modules

Also Published As

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

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