EP2274114A1

EP2274114A1 - Transporting apparatus with positioning stop

Info

Publication number: EP2274114A1
Application number: EP09737716A
Authority: EP
Inventors: Thomas Spiesshofer
Original assignee: Mueller Weingarten AG
Current assignee: L Schuler GmbH
Priority date: 2008-04-29
Filing date: 2009-02-07
Publication date: 2011-01-19
Anticipated expiration: 2029-02-07
Also published as: ES2487520T3; DE102008050125A1; CN102015146B; CN102015146A; EP2274114B1; WO2009132608A1

Abstract

The invention relates to a transporting apparatus (1) by means of which a non-deformed blank (11) supplied is transferred to a press (12), wherein the transporting apparatus (1) comprises a movable arm (3), or a movable crossmember, and an interchangeable tooling unit (4) which is arranged thereon and has suckers (6). The tooling unit (4) here comprises, in addition to the suckers (6), at least one stop (5, 5a) which can be extended into the plane of the blank (11), to the sides of the blank.

Description

"Transport device with positioning stop"

The invention relates to a transport device for transferring a prepared undeformed board to a press according to the preamble of claim 1.

In the area of sheet metal forming, for example in the automotive and supplier industry, the houseware industry or other sheet-metal forming industries, mechanical and hydraulic forming systems and their associated automation devices have become indispensable. An essential component of such forming systems form Mehrstösel transfer systems such as press lines, in which undeformed sheet metal blanks are formed into corresponding workpieces in several steps. Starting from their undeformed raw state, the sheet metal blanks are successively inserted into individual press modules, in which the individual forming or other processing steps take place. Before entering such a press line and between the individual processing stations transport facilities take over the transfer of both the undeformed board to the first processing station and the transfer between the individual processing stations. An essential factor in this case, in addition to compliance with the processing cycle frequency and the ability to always safely and properly guide the formed workpieces, including the necessary precision when inserting the workpieces in the next processing station. The present invention relates to a transport device, which is designed to transfer a prepared undeformed board to a first processing station, in particular to a first press of a press line. Such a transport device always comprises a movable arm, for example a robot arm, or a movable traverse, wherein these devices may have the necessary travel path from receiving the prepared undeformed board into the working area of the press. The movable arm or the movable traverse serves as the basis for an interchangeable tooling arranged thereon, which depending on the field of application can be equipped with various handling means in a wide variety of arrangements. A possible combination in the field of sheet metal forming press lines here is the combination of a suction bar, and the tooling arranged thereon with individual, the workpiece appropriately positioned suckers, the tooling can be replaced according to the, dependent on the produced workpiece requirements, for example, if the Workpiece dimensions or the mechanical properties of workpiece to workpiece type, such as a fender or a door change.

The term tooling thus represents an interchangeable, work piece type-dependent and workpiece type-adapted arrangement of necessary tools for workpiece handling, which can be easily decoupled from a movable arm or a movable traverse when retrofitting the processing line, and by a, the retrofitting corresponding new Tooling is replaced. Alternatively, the combination of tooling and arm or traverse, in particular a suction bar, be replaced if the tooling example, is firmly attached to the suction bar. Transport devices for transferring a ready undeformed printed circuit board to a press, which have a tooling with suction devices arranged thereon, are known from the prior art. The undeformed board is prepared after the removal of a stack of boards, the board can go through in advance, for example, a washing station, a leveler or any other necessary device for preparing the sheet metal forming machining. The board is then placed on a transfer station for transfer to the press, which is usually at the time of readying the undeformed board whose exact position relative to the first press of the press line is not determined. Due to the cleaning carried out in advance or any other handling of the undeformed board this may have in the provision for the transport device in its storage level, for example, an offset by several centimeters. In particular, when inserting into the first press of a press line, however, the exact positioning of the undeformed board is essential because continued inaccuracies in the first forming process, in particular during the first drawing process usually through all processing stations of a press line.

In order to provide an exact positioning of the undeformed board prior to entry into the press line, ie before insertion into the first press by the transport device, positioning stations have hitherto been used which have different movable modules in the area of the positioning surface, which depending on the outline shape of the undeformed Move the board on the positioning in a predetermined position, so that the transport device for transferring into a first press always finds the undeformed board in a defined position. Such positioning station thus have means which move the board in its plane and so Align against defined attacks that it is present in a predetermined transfer position for the transport device.

A disadvantage of the known positioning, for example, centering is that they must be set and equipped differently depending on the outline of the present board, ie for each type of workpiece, often the number of required displacement means and the corresponding

Shifter positions must be adjusted in the area of the positioning. Such positioning, in particular centering are also equipped with an extremely complex mechanics, which must be adaptable to all individual circumstances, as a positioning from the expiration of a press line can not be easily removed and replaced by another. Taking into account all these requirements, which are to be placed on such a positioning, is also assumed to be very high cost of such a station.

The object of the invention is now to ensure that it is achieved by means of a transport device for transferring a prepared undeformed board to a press that the undeformed board can be precisely positioned in the region of a first press, and the precise positioning while avoiding the need for an expensive and expensive Positioning is guaranteed for a variety of workpiece types.

The object is achieved on the basis of the preamble of claim 1 by the characterizing features of claim 1. In the dependent claims advantageous refinements and appropriate additions of the subject invention are given. The transport device according to the invention for transferring a prepared undeformed printed circuit board to a press usually comprises a movable arm, in the form of a transfer robot, or a movable traverse, for example in the form of a suction bar. However, multi-arm robot arrangements or other types of movement devices are also conceivable which can handle the distance to be bridged between the position of the board provided and the working position of the first press. Furthermore, the transport device according to the invention comprises a fixed or exchangeable tooling, which can be exchanged according to the respective workpiece type and matching the respective processing device of the press line with or without the movable arm or the traverse, wherein the movable arm or the movable traverse always as a basis and optionally serves as a connection for different toolings. The tooling includes according to the workpiece type adapted and arranged manipulation aids such as suckers, which are necessary for handling the board. Also conceivable would be other types of handling means, such as electromagnets or the like. The tooling further comprises at least one extendable stop, whereby this stop in the area of the board level, laterally next to the board is extendable. By means of such an extendable stop, it is possible to move the board in its board level, or to limit the available for a displacement of the board in its plane path.

An advantageous embodiment of the transport device according to the invention or of the associated tooling is the possibility that is achieved by a movement of the extendable into the board plane stop, in particular by a travel movement and / or pivotal movement of the stop, the board from a random Position in which it has been prepared to move to a position relative to the tooling, so that the subsequent taking place of the board, for example by means of tooling arranged suction device is defined so that the board by the transport device in a defined position in the first press the press line can be inserted.

According to the invention, in an advantageous embodiment, the at least one stop attached to the tooling has a drive arranged thereon, in particular via a linear drive, such as a cylinder, via which the stop is at least linearly movable.

In a further embodiment of the transport device according to the invention with a tooling, the stop has a linear displacement, in particular via a cylinder, over which the stop is extendable, wherein the stop and / or the linear displacement has means for controlling a movement curve of the stop. Such means may be formed, for example in the form of guides or detent positions, which assign the stop different movement sequences to different positions of the linear displacement, so for example at different extension positions of the piston from a cylinder. In the present case, the movement curve of the stop does not necessarily have to be linear; rather, it may be formed by suitable means for controlling the movement curve, in particular by means of guide means or deflecting means, also in the form of a non-linearly directed movement.

In an advantageous development of the means for controlling the movement curve of the stop, at least one linear guide means and / or at least one toggle mechanism is included. In a further advantageous embodiment of the means for controlling the movement curve, the sections between the individual movement processes are influenced by additional components arranged in the region of the means for controlling the movement curve, preferably by an existing counterpressure spring.

In a further embodiment of the transport device according to the invention, the movement curve on which the stop is movable, as a combination of a linear movement and a rotational and / or pivotal movement of the stopper can be assembled.

Basically, it can be assumed that depending on the contour of the corresponding prepared board, so depending on the type of workpiece to be processed a different number of extendable attacks are provided at different positions on the tooling, depending on how many such extendable stops are needed to an exact positioning of the prepared unmolded board relative to the tooling by moving the board in the board plane by means of the movable stops to allow arranged.

A schematically illustrated embodiment of a transport device according to the invention and an exemplary description of the inventive arrangement of stop and linear displacement are shown in the following embodiments. However, the invention is not limited to the variants shown in the embodiment, but rather includes all those embodiments which make use of the inventive concept. These show the following Figures Ia to Ih a transport device according to the invention with tooling, which performs the transfer of a ready undeformed board to a press under the inventive use of the stop arranged on the tooling.

Figure 2 shows the modular division between a movable arm and a tooling to be arranged thereon in different variants.

Figure 3 is a plan view of the arrangement of linear displacement and stop in the retracted state.

Figure 4 is a plan view of the arrangement of linear displacement and stop in the process of linear feed.

Figure 5 is a plan view of the inventive arrangement of linear feed and stop in the extended and lowered state.

Figure 6 shows an inventive arrangement of linear feed and stop in the side view with three traversed in the field of pivoting position snapshots. Figure 7 shows a detail of a tooling according to the invention in two snapshots of the positioning of the board relative to the tooling.

Figure 8 is a plan view of a transport device according to the invention with existing on the transport tooling and appropriate arrangement of the stops and suckers.

In detail, Figure Ia shows an arrangement of a transport device 1, comprising two articulated on a stand 2 movable arms 3, at the end of a tooling 4 is arranged. The tooling 4 in turn comprises an arrangement of stops 5; 5a and suckers 6, wherein the stops 5; 5a are extendable via horizontal cylinder 7 and vertical cylinder 8 along a horizontal extension direction 9 and a vertical extension direction 10. A prepared board 11 is provided in a relative to the tooling 4 Undefined or random position I for transfer to a press 12.

The tooling 4 is located in the figure Ia in a compact retracted state in which the horizontal cylinder 7 and the vertical cylinder 8 are retracted to give the tooling 4 in the press area a high degree of freedom.

Figure Ib shows a state in which the tooling 4 horizontally and vertically extended linear cylinder 7; 8, wherein the stopper 5 so down into the region of the platinum level 20, which starts at least on the upper surface of the prepared in a random position board 11, projects, and by means of Horizontal cylinder 7 is moved along a driving movement 21.

Figure Ic shows the transport device according to the invention with tooling in a sliding movement 30, which takes place through the contact 31 between the stopper 5 and the board 11.

Figure Id shows the completion of the sliding movement 30 by the stops 5, wherein the board 11 is now located in a relative to the tooling 4 aligned position II under the tooling 4. The stopper 5, which in the present example has shifted the board from the left along the sliding movement to the right, can be supported by a second stop 5a such that both stops are moved to a defined position by the horizontal cylinders 7 along the horizontal extension direction that the board 11 is fixed in the aligned position II in any case on all free sides by a stop. In the aligned position II of the board, the stops 5 and 5a can optionally be retracted and the tooling 4 are lowered in a tooling gripping movement along the direction 41 with the suckers 6 on the prepared board, so that the board are moved by the tooling can.

FIG. 1e shows the desired transport direction 50 of the tooling held on the movable arms in the working area of the press 12.

FIG. 1f shows the transport device 1 during the transport of the prepared board 11 into the press.

Figure Ig shows the placement of the board 11 in the press by the transport device. 1 Figure Ih shows the press 12 in the deformation process of the board 11, wherein the transport device 1 has been moved out with the tooling 4 on the movable arms already from the work area of the press 12 and ready for positioning and subsequent reception of a new prepared undeformed board in the state with retracted attacks stands.

Figure 2 shows schematically the modular structure of a transport device according to the invention, wherein on a stand 2 movable arms 3 are provided, at the end of a Tooling approach 60 is arranged. The delivery area 61 for the still undeformed board 11 is arranged in the region of the operating radius of the transport device. Figures 2a, 2b and 2c show various configurations of toolings, which can be attached to the tooling approach 60, and thus according to the equipment of the press line can be adapted in each case to the workpiece type to be machined. The tooling designated by a) corresponds to the tooling shown in FIGS. 1 a to 1 h with horizontally and vertically designed displacement cylinders for positioning and receiving an undeformed circuit board. Under b) a tooling with a varied and the type of workpiece adapted sucker assembly is shown. In c) is shown a tooling with a varied suction arrangement and with a variation in the area of the vertical cylinders, which have been replaced by other Vertikalverstellmechanismen in Tooling shown under c). The term tooling is thus understood to mean any exchangeable arrangement of manipulation aids in the area of transport devices according to the invention, which need not be limited to the genus of suckers or stops.

Figure 3 shows an arrangement of a linear displacement 70 and a stop 71, which is in the present case in the form of a finger, in plan view. The Linear displacement comprises a cylinder 72 with a piston 73, which is presently housed in the retracted state in the inner region of the cylinder. Furthermore, the linear displacement 70 comprises guide rods 74, which are connected at their front end in the region of a first pivot 75 with the stop 71. In a rear region, the linear displacement 70 has a carriage 76, which is movably mounted on the guide rods 74. Between the front region of the guide rods 74 and the region of the carriage 76 is a counter-pressure spring 77, preferably arranged on both guide rods 74. The counter-pressure spring removes the carriage 76 from the pivot 75 and provides an extension of a toggle mechanism 78 which is disposed between the pivot 75 and the tip of the piston 73 which is mounted on the carriage 76. The linear displacement 70 further comprises guides 79 and end stops 80 on the guide rods 74. The piston 73 is fixed to the carriage 76, wherein the carriage 76 has a second pivot 81, and between this pivot 81 and the pivot 75 at the front end of the guide rods 74 itself a knee lever mechanism 78 connected to the stop 71 is located.

Figure 4 shows a linear displacement 70 according to the invention, wherein the piston 73 is now extended from the cylinder 72 by the distance of the linear feed 85, so that the end stops 80 in the region of the guides 79 lead to a limitation of the extension movement of the guide rods 74. The carriage 76 still has the predetermined by the toggle mechanism 78 in the extended state distance to the front end of the guide rods, wherein the counter-pressure spring 77 is dimensioned such that in the extension movement of the piston 73 first the guide rods 74 to the end stop 80 through the guide are extended before the carriage 76 moves against the pressure of the spring 77 toward the front ends of the guide rods 74. Figure 5 shows the linear displacement of the invention in the state of the downwardly pivoted stop or finger 71, wherein now the carriage 76 has been pressed against the back pressure of the spring 77 by the piston 73 beyond the region of the linear feed 85 out in a range of the pivoting feed 90.

Figure 6 shows to illustrate the distinction between the linear feed 85 and the swivel feed 90 is a side view of the linear displacement 70 according to the invention, in the present case, the guide rods 74 are not shown. The toggle mechanism 78 has in the state of its first position 91 in a stretched state, wherein the piston is extended at this time only to the region of the linear feed 85. If the piston 73 is further extended, the already locked guide rods 74 provide for a front fixation of the rotary joint 75, wherein the carriage 76 moves a second rotary joint 81 further in the direction of advance of the piston 73. The toggle mechanism 78 thus generates a rotational movement of the stopper 71 through a second position 92 up to a third position 93, which corresponds to the retracted and in the plane of the board (not shown here) retracted state of the stopper 71 and the finger.

FIG. 7 shows a sectional view of a transport device 1 according to the invention with a linear displacement 70 arranged on a tooling 99 with a corresponding stop 71, wherein the stop 71 is shown in positions 101 and 102, these positions corresponding to the positions indicated by 92 and 93 in FIG , The board 100 located under the tooling 99 is detected in a contact area 103 by the finger 71 located in the position 102 and displaced in its plane to the position 102, which reposition the board to the Offset 104 corresponds. The linear displacement and the stop are designed so that the repositioning of the board 100 corresponds to the desired positioning with respect to the tooling 99. In a further step, not shown, the sucker 105 can then be lowered onto the board 100, wherein the stop 71 can be retracted either before the lowering of the sucker 105, or until the final contact between the sucker 103 and board 100 as motion fixation of the board 100th can remain extended.

FIG. 8 shows a transport device 110 according to the invention comprising a tooling 111, wherein several suckers 112 and a plurality of linear displacements 113 with stops 114 arranged thereon are arranged on the tooling in accordance with FIGS. 3 to 6. The board 115 has irregular outline contours, wherein the arrangement of the suckers 112 and the stops 114 is designed such that a positioning of the board to a desired position in the region of the tooling 111 can be achieved via the use according to the invention of such stops. Trained to suspend the tooling crossbar (not shown here) serves to accommodate the tooling 111 and transferred the prepared board 115 in the area of a first press, where it is then processed.

Reference sign list:

1 Transport device

2 stands

3 arm

4 tooling

5 stop

5a stop

6 suckers

7 horizontal cylinder

8 vertical cylinders

9 horizontal extension direction

10 vertical extension direction

11 board

12 press

20 board level

21 driving movement

30 sliding movement

41 Tooling barrel movement

50 transport direction

60 tooling approach

70 linear displacement

71 stop / finger

72 cylinders

73 pistons

74 guide rod

75 swivel joint

76 sleds

77 Counterpressure spring

78 toggle mechanism

79 leadership

80 end stop

81 swivel joint

85 linear feed

90 swivel feed

91 first position 92 second position

93 third position 99 Tooling

100 board

101 second position

102 third position

103 contact area

104 offset

105 suckers

110 transport direction

111 Tooling

112 suckers

113 Linear displacement

114 stop

115 board

I random position of the board 11

II aligned position of the board 11th

Claims

Claims:

1. Transport device (1, 110) for transferring a ready, undeformed blank (11, 115) to a press (12), wherein the transport device (1, 110) has a movable arm (3) or a movable crossmember and an arranged thereon, fixed or exchangeable tooling (4, 99, 111) with suckers (6, 105, 112), characterized in that the tooling (4, 99, 111) in addition to the suckers (6, 105, 112) at least one in the Platinum level (20) laterally of the board (11, 115) extendable stop (5, 5a, 71, 114).

2. Transport device (1, 110) according to claim 1, characterized in that the board (11, 115) by a movement (30, 104) of the stopper (5, 5a, 71, 114), in particular a driving movement (30) and / or a pivoting movement (104) of the stop (5, 5a, 71, 114), from a random position (I), in which the board (11) has been prepared, in a position aligned with the tooling (4, 99, 111) (II) is displaceable.

3. Transport device according to claim 1 or 2, characterized in that the stop (5, 5a, 71, 114) by a tooling (4, 99, 111) arranged drive, in particular a linear drive such as a cylinder (7, 8, 72nd ), in particular linearly movable.

4. Transport device according to one of the preceding claims, characterized in that the stop (5, 5a, 71, 114) via a linear displacement, in particular via a cylinder (7, 8, 72) is extendable, wherein the stop (5, 5a, 71, 114) and / or the linear displacement means for controlling a movement curve of the stop (5, 5a, 71, 114).

5. Transport device according to claim 4, characterized in that the means for controlling the movement curve of the stop (5, 5a, 71, 114) comprise at least one linear guide means (74, 79) and / or at least one toggle lever (78).

6. Transport device according to claim 4 or 5, characterized in that the means for controlling the movement curve of the stop (5, 5a, 71, 114) comprise at least one counter-pressure spring (77).

7. Transport device according to one of the preceding claims, characterized in that the movement curve on which the stop is movable, from a combination of linear movement and rotational movement and / or pivotal movement is assembled.