EP1979112B1 - Dispositif de transport de pieces - Google Patents

Dispositif de transport de pieces Download PDF

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Publication number
EP1979112B1
EP1979112B1 EP07700125A EP07700125A EP1979112B1 EP 1979112 B1 EP1979112 B1 EP 1979112B1 EP 07700125 A EP07700125 A EP 07700125A EP 07700125 A EP07700125 A EP 07700125A EP 1979112 B1 EP1979112 B1 EP 1979112B1
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EP
European Patent Office
Prior art keywords
gripping
transport device
gripper
workpiece transport
link
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
EP07700125A
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German (de)
English (en)
Other versions
EP1979112A1 (fr
Inventor
Daniel Ruchti
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.)
Hatebur Umformmaschinen AG
Original Assignee
Hatebur Umformmaschinen AG
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Filing date
Publication date
Application filed by Hatebur Umformmaschinen AG filed Critical Hatebur Umformmaschinen AG
Publication of EP1979112A1 publication Critical patent/EP1979112A1/fr
Application granted granted Critical
Publication of EP1979112B1 publication Critical patent/EP1979112B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
    • B21K27/00—Handling devices, e.g. for feeding, aligning, discharging, Cutting-off means; Arrangement thereof
    • B21K27/02—Feeding devices for rods, wire, or strips
    • B21K27/04—Feeding devices for rods, wire, or strips allowing successive working steps

Definitions

  • the present invention relates to a workpiece transport device for a forming machine according to the preamble of independent claim 1.
  • Multi-stage forming machines In today usual forming machines workpieces are normally placed by means of workpiece transport devices in forming stations and / or removed again after the forming. Multi-stage forming machines have a plurality of successively arranged forming stations, in which a workpiece is processed one after the other. The transport of the workpiece between the individual forming stations takes place by means of a workpiece transport device.
  • Known workpiece transport devices comprise a plurality of grippers, with which the workpieces in the individual forming stations can be grasped, transported and then released again at the same time.
  • the grippers are driven together by a drive mechanism in the machine cycle.
  • a grasping forceps which has two non-intersecting, mutually pivotable gripper arms each having a gripping end for gripping a workpiece.
  • each of the two gripper arms is articulated at the end opposite the gripping end on a common guide head and in a central region between the two ends on a separate link.
  • the two links are rotatable about a common, fixed pivot point.
  • the invention has the object to provide a workpiece transport device of the type mentioned, in which the gripper arms of the at least one gripping tongs require less space laterally.
  • a workpiece transport device for a forming machine comprises at least one gripping tongs, which has two non-intersecting, mutually pivotable gripper arms, each with a gripping end for gripping a workpiece.
  • Each of the two gripper arms is articulated at the end opposite the gripping end on a common guide head and in a central region between the two ends on a separate link.
  • the two links are each rotatable about a fixed pivot point.
  • the fixed pivot point of the arm of one gripper arm is arranged closer to the other gripper arm than the fixed pivot point of the arm of this other gripper arm.
  • the links of the two gripper arms are arranged so that they are rotatable about different fixed pivot points, and also the fixed pivot points of the links are each offset to the gripper arm, which is not hinged to the respective link, the two gripper arms are less far apart swung outwards.
  • the lateral space requirement of the at least one gripping pliers is thus smaller than in comparable workpiece transport devices of the prior art.
  • the guide head is guided linearly displaceable on a fixed guide, so that upon rotation of a link of the guide head through a gripper arm, on which this link is articulated, is linearly displaced, whereby the other gripper arm mitschoben and is rotated due to the articulation to the other link in the direction opposite to a gripper arm direction.
  • a rotary drive can be used, which acts on one of the handlebars.
  • the workpiece transport device preferably has a pretensioning device which exerts a force on the guide head in the direction of the gripping ends of the gripper arms.
  • this biasing device By means of this biasing device, the gripping tongs is held in gripping position or pressed into the gripping position when no active drive for opening the gripping tongs takes place.
  • the bias also prevents undefined flapping of the gripper arms.
  • the two gripper arms are articulated in the guide head on a common axis of rotation.
  • the guide head can be made relatively compact.
  • each of the two links is rotatably mounted in each case in a fixed housing part of the gripping tongs around the fixed pivot point belonging to the respective link.
  • the respective pivot point of the link is located at one end of the handlebar and the entire length of the handlebars can be used by the other end of the link is articulated to the associated gripper arm.
  • the workpiece transport device has a rotary drive with which one of the links is rotatable.
  • a rotary drive has the advantage that it is easier to seal than a linear drive. In addition, it is easier to implement and takes up less space than a linear drive.
  • the rotary drive on a drive rod which is displaceable in the longitudinal direction and via intermediate links with one of the handlebars is connected, so that by a longitudinal displacement of the drive rod of the handlebar in question is rotatable.
  • a drive rod can in principle be used for the simultaneous drive of a plurality of adjacently arranged grippers by being connected via intermediate links with one of the links of each gripping pliers.
  • the workpiece transport device on a plurality of juxtaposed gripping tongs, which are operable in parallel with a drive.
  • the workpieces in the individual forming stations can be grabbed, transported and then released at the same time.
  • the gripper arms and the handlebars are designed and arranged such that upon rotation of the handlebars from one end position to the other, the gripping ends of the two gripper arms are initially moved away from one another and then swung back towards one another. In the two end positions, the at least one gripping tongs then occupy relatively little space laterally.
  • a transverse displacement of the at least one grasping forceps with or without a workpiece takes place in time so that the opening course of the grasping forceps allows a collision-free movement. For reasons of time, the transverse movement usually begins before the gripping tongs reach one of the end positions.
  • Fig. 1 a cutout on the die side of a multi-stage forming machine with an exemplary embodiment of a workpiece transport device according to the invention with four tongs;
  • Fig. 2A to 2C Essential elements of one of the four gripping tongs of the workpiece transport device of Fig. 1 with a workpiece from the front in a lower end position, a middle position and an upper end position;
  • Figs. 3A to 3C The gripping forceps elements of Fig. 2A with workpiece from behind in a lower end position, a middle position and an upper end position;
  • FIGS. 4A to 4C The gripping forceps elements of Fig. 2A with workpiece in a perspective view obliquely from behind in a lower end position, a central position and an upper end position;
  • Fig. 5 The gripping forceps elements of Fig. 2A with further elements of the gripping pliers and a rotary drive in a perspective view obliquely from the front;
  • Fig. 6 The Greifzangen- and rotary drive elements of Fig. 5 in a perspective view obliquely from behind, with a housing part is omitted for clarity;
  • Fig. 7 The Greifzangen- and rotary drive elements of Fig. 5 from the rear, wherein a housing part is omitted for clarity;
  • FIG. 8 - A sectional view along the line AA in Fig. 7 , wherein additional housing parts are shown;
  • Figs. 9A to 9C The Greifzangen- and rotary drive elements of Fig. 5 from the front in a lower end position, a middle position and an upper end position;
  • Fig. 11 - A substantial part of the rotary drive of the workpiece transport device of Fig. 1 ;
  • Fig. 12 a partial sectional view of the forming machine with workpiece transport device of Fig. 1 ,
  • FIG. 1 illustrated embodiment of a multi-stage forming machine 8 comprises four forming stations, each of which a die 81, 82, 83 and 84 is visible.
  • the dies 81, 82, 83, 84 are mounted in a stationary die holder 85, which is indirectly connected to a machine frame 86.
  • a workpiece transport device is provided which has four grippers 1.
  • the grippers 1 are on the one hand transversely displaceable, to which they are attached to a transverse transport block 4, which is transversely displaceable by means of a transverse transport tube.
  • the grippers are 1 open and lockable as well as simultaneously raised or lowered, which is done by means of a mechanism which will be explained in detail below.
  • a displaceable in its longitudinal direction drive rod 3 is provided which is longitudinally displaceable by means of an adjusting device 5, as in connection with Fig. 12 explained in more detail below.
  • Fig. 2A, 2B, 2C . 3A, 3B, 3C . 4A, 4B and 4C are essential elements of a grasping forceps 1 shown in a lower end position, a central position and an upper end position
  • the gripping pliers 1 is closed and engages a workpiece 9.
  • the gripping tongs 1 is opened to the maximum and raised to half the maximum height.
  • the gripper tongs 1 is closed again and raised to maximum height.
  • the gripper 1 comprises two non-intersecting, mutually pivotable gripper arms 11 and 12, each having a gripping end 111 and 121 for gripping the workpiece 9.
  • At the gripping ends 111, 121 are each two gripping members 112 and 113 and 122 and 123 screwed, which hold the workpiece 9 between them.
  • each of the two gripper arms 11, 12 hinged to a common axis of rotation, which is not shown here.
  • the gripper arms 11, 12 are articulated in each case via a non-visible axis of rotation at one end 131 or 141 of a separate arm 13 or 14.
  • the two links 13, 14 are each rotatable about a fixed pivot point 130 and 140, which is located in the middle of the other end 132 and 142 of the arm 13 and 14, respectively. How out the Figs. 4A, 4B and 4C this is realized in the present embodiment by fixed pivot axes 133 and 143 in the middle of the handlebar ends 132 and 142, respectively.
  • the pivot points 130, 140 and the fixed axes of rotation 133, 143 are stationary when opening and closing the gripping tongs 1, they only move with the transverse transport of the gripping tongs 1.
  • the fixed pivot point 130 of the arm 13 of the gripper arm 11 is arranged closer to the gripper arm 12 than the fixed pivot point 140 of the arm 14 of this gripper arm 12.
  • the fixed pivot point 130 of the arm 13 is practically directly behind the gripper arm 12.
  • the fixed pivot point 140 of the arm 14 is practicallyttle.vor the gripper arm 11th
  • a prism 134 is attached, which has an attachment surface for a drive member, not shown here.
  • the prism 134 is screwed by means of a screw 135 on the handlebar end 131.
  • the handlebar ends 132,142 of the handlebars 13, 14 in fixed housing parts 161 and 162 of a fixed housing 16 are rotatably mounted.
  • the upper Greiferarmenden 114, 124 of the gripper arms 11, 12 are hinged to the aforementioned common axis of rotation in a common guide head 15 which is mounted linearly displaceable on two vertical guide rods 151, 152 in the vertical direction.
  • a rod 172 and a bearing pin 173 of a biasing means 17 are mounted around which a coil spring 171 is arranged.
  • the coil spring 171 the upper end rests against a fixed housing part, not shown here, is biased by compression and exerts on the guide head 15, a force in the direction of the gripping ends 111, 121 of the gripper arms 11, 12 out.
  • the acted upon by the coil spring 171 guide head 15 thus has the tendency to move the gripper arms 11, 12 in the lower end position or to hold in this.
  • the closing of the gripping tongs 1 by the biasing means 17 is effected while the opening is accomplished with an active rotary drive.
  • a neck portion 221 is rotatably screwed with a Ansetz phenomenon 222 for a power transmission member.
  • Fig. 8 shows, in addition to the already explained components, how the upper Greiferarmenden 114, 124 of the gripper arms 11, 12 are hinged in the guide head 15 to a common axis of rotation 153.
  • the fixed housing part 163 of the fixed housing 16 is shown, against which the upper end of the coil spring 171 rests.
  • FIGs. 9A, 9B and 9C already explained parts of the gripping tongs 1 are shown in a front view again in the lower end position, the center position and the upper end position. It is clearly visible here how the guide head 15 in the fixed housing 16 is displaced linearly upward and thereby compresses the spiral spring 171.
  • the 10A, 10B and 10C show the turning of the arm 13 by means of the drive lever 2 based on the lower end position, the center position and the upper end position of the gripping tongs 1. It is clear it can be seen that the lever arm 21 engaging the prism 134 of the handlebar end 131 rotates the handlebar 13 with the prism 134, while the pivotally mounted on the lever arm 22 neck portion 221 maintains its orientation relative to the forming machine with simultaneous rotation of the lever arm 22 below it.
  • the attachment part 221 with the attachment surface 222 is moved on a circular arc path from right to left. This allows rotation of the drive lever 2 by a linear movement of a voltage applied to the Ansetz Structure 222 power transmission member.
  • Fig. 11 four juxtaposed drive lever 2 are shown, wherein for a drive lever 2 and parts of the associated gripping tongs 1 are drawn. At the attachment surfaces 222 of the attachment parts 221 of the drive lever 2 is in each case a force transmission member 31 at. All four power transmission members 31 are fixed to a common power transmission rod 32, which is connected via a connecting part 33 with the drive rod 3. By moving the drive rod 3 in its longitudinal direction so all four drive lever 2 can be rotated together.
  • the drive rod 3 is longitudinally displaceable by means of an adjusting device 5, as in the Fig. 12 and 1 is shown.
  • the adjusting device 5 comprises in the present case a drive shaft 51 which drives a transmission shaft 52 via gears 511 and 521.
  • the transmission shaft 52 is provided with a curve 522 which presses on a freely rotating roller 531 of a rotary member 53.
  • the rotary member 53 in turn presses on a roller 543 which is freely rotatably mounted at a free end of a lever arm 541 of a double lever 54.
  • the double lever 54 with the two lever arms 541 and 542 is thereby rotated about a fixed axis of rotation 544, wherein the lever arm 542 pulls the hinged thereto link 55 and thus the hinged to this drive rod 3 to the outside.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Feeding Of Workpieces (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
  • Pens And Brushes (AREA)
  • Toys (AREA)

Claims (9)

  1. Dispositif de transport de pièces pour une machine-outil de formage, comprenant au moins une pince de préhension (1) qui présente deux bras de préhension (11, 12) ne se croisant pas et pouvant être amenés à pivoter l'un vers l'autre, dotés chacun d'une extrémité de préhension (111, 121) destinée à saisir une pièce (9), chacun des deux bras de préhension (11, 12) étant articulé, à l'extrémité (114, 124) opposée à l'extrémité de préhension (111, 121), sur une tête de guidage (15) commune, et dans une région médiane située entre les deux extrémités, sur un bras oscillant propre (13, 14), et les deux bras oscillants (13, 14) étant respectivement montés pour pouvoir pivoter autour d'un pivot (130, 140) fixe, caractérisé en ce que le pivot fixe (130, 140) du bras oscillant (13, 14) de l'un des bras de préhension (11, 12) est plus proche de l'autre bras de préhension (11, 12) que le pivot fixe (130, 140) du bras oscillant (13, 14) de cet autre bras de préhension (11, 12).
  2. Dispositif de transport de pièces selon la revendication 1, caractérisé en ce que la tête de guidage (15) est guidée en déplacement linéaire sur un guide fixe (151, 152) de façon telle que, lors d'une rotation d'un bras oscillant (13, 14), la tête de guidage (15) est déplacée linéairement par l'un bras de préhension (11, 12) sur lequel est articulé ce bras oscillant (13, 14), l'autre bras de préhension (11, 12) étant, de ce fait, déplacé de façon concomitante et, du fait de l'articulation sur l'autre bras oscillant (13, 14), entraîné en rotation dans la direction opposée à l'un bras de préhension (11, 12).
  3. Dispositif de transport de pièces selon la revendication 1 ou 2, caractérisé en ce qu'il présente un dispositif de précontrainte (17) qui exerce sur la tête de guidage (15) une force en direction des extrémités de préhension (111, 121) des bras de préhension (11, 12).
  4. Dispositif de transport de pièces selon l'une des revendications 1 à 3, caractérisé en ce que les deux bras de préhension (11, 12) sont articulés, dans la tête de guidage (15), au niveau d'un axe de rotation commun (153).
  5. Dispositif de transport de pièces selon l'une des revendications 1 à 4, caractérisé en ce qu'une extrémité (132, 142) de chacun des deux bras oscillants (13, 14) est montée respectivement dans un élément de carter fixe (161, 162) de la pince de préhension (1) pour pouvoir pivoter autour du pivot fixe (130, 140) appartenant au bras oscillant (13, 14) respectif.
  6. Dispositif de transport de pièces selon l'une des revendications 1 à 5, caractérisé en ce qu'il présente un entraînement en rotation permettant la rotation de l'un des bras oscillants (13, 14).
  7. Dispositif de transport de pièces selon la revendication 6, caractérisé en ce que l'entraînement en rotation présente une tige d'entraînement (3) déplaçable dans la direction longitudinale et reliée, par l'intermédiaire d'organes intermédiaires (2, 31, 32, 33), à l'un des bras oscillants (13, 14) de façon telle que le bras oscillant (13, 14) concerné peut être amené en rotation par un déplacement longitudinal de la tige d'entraînement (3).
  8. Dispositif de transport de pièces selon l'une des revendications 1 à 7, caractérisé en ce qu'il présente plusieurs pinces de préhension (1) disposées côte à côte, qui peuvent être actionnées en parallèle au moyen d'un entraînement.
  9. Dispositif de transport de pièces selon l'une des revendications 1 à 8, caractérisé en ce que les bras de préhension (11, 12) et les bras oscillants (13, 14) sont conçus et disposés de telle façon que, lors d'une rotation des bras oscillants (13, 14) d'une position extrême à l'autre, les extrémités de préhension (111, 121) des deux bras de préhension (11, 12) sont amenées à pivoter, tout d'abord en s'éloignant l'une de l'autre, puis de nouveau en se rapprochant l'une de l'autre.
EP07700125A 2006-01-24 2007-01-19 Dispositif de transport de pieces Active EP1979112B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH1122006 2006-01-24
PCT/CH2007/000027 WO2007085102A1 (fr) 2006-01-24 2007-01-19 Dispositif de transport de pieces

Publications (2)

Publication Number Publication Date
EP1979112A1 EP1979112A1 (fr) 2008-10-15
EP1979112B1 true EP1979112B1 (fr) 2009-09-23

Family

ID=36173950

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07700125A Active EP1979112B1 (fr) 2006-01-24 2007-01-19 Dispositif de transport de pieces

Country Status (10)

Country Link
US (1) US20100253107A1 (fr)
EP (1) EP1979112B1 (fr)
KR (1) KR20080087008A (fr)
CN (1) CN101374616B (fr)
AT (1) ATE443584T1 (fr)
DE (1) DE502007001577D1 (fr)
EA (1) EA013444B1 (fr)
ES (1) ES2331490T3 (fr)
UA (1) UA91391C2 (fr)
WO (1) WO2007085102A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100117282A1 (en) * 2007-01-19 2010-05-13 Vermeer Manufacturing Company Vise for a directional drilling machine
JP6192131B2 (ja) * 2015-12-10 2017-09-06 アイダエンジニアリング株式会社 プレス機械のワーク搬送装置
JP6787688B2 (ja) 2016-05-16 2020-11-18 オークマ株式会社 工作機械
CN107470536A (zh) * 2017-09-28 2017-12-15 山西晨辉锻压设备制造有限公司 一种锻造装取料机钳头旋转装置
CN110125688A (zh) * 2019-05-22 2019-08-16 上海格林罗格精密机械技术有限公司 膜片转阀式化油器本体的加工设备
CN114905619B (zh) * 2022-04-14 2024-02-06 美尔森石墨工业（重庆）有限公司 适用多类型的石墨胚卸料夹具

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US3652117A (en) * 1966-05-14 1972-03-28 Herbert Schroder Equipment for manufacturing bakery products
US3371953A (en) * 1967-03-16 1968-03-05 Leland F. Blatt Gripper
FR2123085B1 (fr) * 1970-12-08 1974-02-15 Est Aciers Fins
US3965718A (en) * 1973-07-23 1976-06-29 The National Machinery Company Transfer mechanism
US3963271A (en) * 1974-10-15 1976-06-15 Yamatake-Honeywell Company, Limited Finger mechanisms of industrial robots
DE2929800A1 (de) * 1977-09-13 1981-02-12 Nedschroef Octrooi Maats Vorrichtung zum transport von bolzen, muttern o.dgl. auf werkzeugmaschinen
NL8002746A (nl) * 1980-05-13 1981-12-16 Nedschroef Octrooi Maats Inrichting voor het overbrengen van te bewerken producten op gereedschapswerktuigen van het ene bewerkingsstation naar het daarop volgende.
US4549425A (en) * 1983-07-14 1985-10-29 The National Machinery Company Forging machine transfer with misalignment detector
BE902755A (fr) * 1984-06-29 1985-10-16 Nat Machinery Co Dispositif de transfert de machine a former et machine a former equipee de ce dispositif.
DE3615812A1 (de) * 1986-05-10 1987-11-12 Schuler Gmbh L Einrichtung zum transport von werkstuecken in einer mehrstufigen umformpresse
US4666199A (en) * 1986-08-08 1987-05-19 Burndy Corporation Chip carrier extraction tool
US5092731A (en) * 1989-10-30 1992-03-03 Rand Automated Compaction System, Inc. Container handling apparatus for a refuse collection vehicle
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KR940002172B1 (ko) * 1991-03-16 1994-03-18 한국과학기술연구원 2방향 이송용 그립퍼(gripper)장치
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US6371544B1 (en) * 2000-03-29 2002-04-16 San Shing Hardware Works Co., Ltd. Workpiece transfer device for a forging machine
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Also Published As

Publication number Publication date
US20100253107A1 (en) 2010-10-07
EP1979112A1 (fr) 2008-10-15
CN101374616B (zh) 2010-04-21
ES2331490T3 (es) 2010-01-05
CN101374616A (zh) 2009-02-25
KR20080087008A (ko) 2008-09-29
UA91391C2 (ru) 2010-07-26
EA013444B1 (ru) 2010-04-30
DE502007001577D1 (de) 2009-11-05
ATE443584T1 (de) 2009-10-15
EA200801625A1 (ru) 2008-10-30
WO2007085102A1 (fr) 2007-08-02

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