EP2274114A1 - Dispositif de transport avec butée de positionnement - Google Patents

Dispositif de transport avec butée de positionnement

Info

Publication number
EP2274114A1
EP2274114A1 EP09737716A EP09737716A EP2274114A1 EP 2274114 A1 EP2274114 A1 EP 2274114A1 EP 09737716 A EP09737716 A EP 09737716A EP 09737716 A EP09737716 A EP 09737716A EP 2274114 A1 EP2274114 A1 EP 2274114A1
Authority
EP
European Patent Office
Prior art keywords
stop
tooling
board
transport device
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09737716A
Other languages
German (de)
English (en)
Other versions
EP2274114B1 (fr
Inventor
Thomas Spiesshofer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
L Schuler GmbH
Original Assignee
Mueller Weingarten AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mueller Weingarten AG filed Critical Mueller Weingarten AG
Publication of EP2274114A1 publication Critical patent/EP2274114A1/fr
Application granted granted Critical
Publication of EP2274114B1 publication Critical patent/EP2274114B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • 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
    • B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/10—Reciprocating or oscillating grippers, e.g. suction or gripper tables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H9/00—Registering, e.g. orientating, articles; Devices therefor
    • B65H9/12—Registering, e.g. orientating, articles; Devices therefor carried by article grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/53—Articulated mechanisms
    • B65H2403/533—Slotted link mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/341—Suction grippers being oscillated in arcuate paths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/342—Suction grippers being reciprocated in a rectilinear path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/173—Metal

Definitions

  • the invention relates to a transport device for transferring a prepared undeformed board to a press according to the preamble of claim 1.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • positioning stations 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 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.
  • a movable arm in the form of a transfer robot, or a movable traverse, for example in the form of a suction bar.
  • 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.
  • the transport device 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.
  • 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.
  • 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.
  • 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.
  • At least one linear guide means and / or at least one toggle mechanism is included.
  • 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.
  • 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.
  • FIG. 1 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • tooling with a varied and the type of workpiece adapted sucker assembly is shown.
  • 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.
  • FIG 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.
  • 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.
  • the linear displacement 70 has a carriage 76, which is movably mounted on the guide rods 74.
  • a counter-pressure spring 77 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.
  • FIG. 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.
  • 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 serves to accommodate the tooling 111 and transferred the prepared board 115 in the area of a first press, where it is then processed.

Abstract

L'invention concerne un dispositif de transport (1) pour transférer à une presse (12) un flan (11) mis à disposition et non façonné. Selon l'invention, le dispositif de transport (1) comprend un bras mobile (3) ou une traverse mobile et un outillage interchangeable (4) muni de ventouses (6) monté sur celui-ci. L'outillage (4) comprend en plus des ventouses (6) au moins une butée (5, 5a) qui peut sortir de l'outillage pour pénétrer dans le plan du flan (11) latéralement par rapport à ce dernier.
EP09737716.2A 2008-04-29 2009-02-07 Dispositif de transport avec butée de positionnement Not-in-force EP2274114B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102008021448 2008-04-29
DE102008050125A DE102008050125A1 (de) 2008-04-29 2008-10-06 Transporteinrichtung mit Positionieranschlag
PCT/DE2009/000172 WO2009132608A1 (fr) 2008-04-29 2009-02-07 Dispositif de transport avec butée de positionnement

Publications (2)

Publication Number Publication Date
EP2274114A1 true EP2274114A1 (fr) 2011-01-19
EP2274114B1 EP2274114B1 (fr) 2014-05-07

Family

ID=41131078

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09737716.2A Not-in-force EP2274114B1 (fr) 2008-04-29 2009-02-07 Dispositif de transport avec butée de positionnement

Country Status (5)

Country Link
EP (1) EP2274114B1 (fr)
CN (1) CN102015146B (fr)
DE (1) DE102008050125A1 (fr)
ES (1) ES2487520T3 (fr)
WO (1) WO2009132608A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109530541A (zh) * 2018-12-24 2019-03-29 安徽中佳自动化科技有限公司 一种用于组合加工厨房柜异型门板的生产线

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3490740A1 (fr) * 2016-07-29 2019-06-05 Güdel Group AG c/o Güdel AG Installation de dépôt automatique de tôles sur une pile de dépôt de manière à obtenir des noyaux de transformateur

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT385219B (de) * 1986-05-30 1988-03-10 Haemmerle Ag Manipulator fuer in einer blechbearbeitungsmaschine zu verformende blechstuecke
DE19521976A1 (de) * 1994-06-16 1995-12-21 Mueller Weingarten Maschf Transportsystem
JPH09155480A (ja) * 1995-12-06 1997-06-17 Aida Eng Ltd プレス機械のトランスファ装置
DE102004006085B4 (de) * 2004-02-07 2007-01-04 Müller Weingarten AG Transportvorrichtung für Werkstücke durch Pressenanlagen
AT503196B1 (de) * 2006-01-19 2008-06-15 Trumpf Maschinen Austria Gmbh Biegepresse mit beschickungseinrichtung und verfahren zu deren betrieb

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2009132608A1 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109530541A (zh) * 2018-12-24 2019-03-29 安徽中佳自动化科技有限公司 一种用于组合加工厨房柜异型门板的生产线
CN109530541B (zh) * 2018-12-24 2023-10-13 安徽中佳自动化科技股份有限公司 一种用于组合加工厨房柜异型门板的生产线

Also Published As

Publication number Publication date
DE102008050125A1 (de) 2009-11-05
EP2274114B1 (fr) 2014-05-07
CN102015146B (zh) 2013-03-27
CN102015146A (zh) 2011-04-13
WO2009132608A1 (fr) 2009-11-05
ES2487520T3 (es) 2014-08-21

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