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
• • 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
• • 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 transport device for transferring workpieces in a forming device comprising at least two stages according to the preamble of patent claim 1.
• Forming the stages are typically a charging stage and various forming stages.
• For transporting the workpieces from stage to stage are usually equipped with pincer-like gripping tools, working in the machine cycle of the forming device transport devices, the gripping tools simultaneously detect the workpieces, take out of a stage and each next stage, where they release it.
• the transport movements and the operation of the gripping tools are coupled to the drive train of the forming device - see e.g. the CH 595 155 A.
• a generic transport device for converting workpieces in a forming device is described in EP 1 048 372 Bl.
• a plurality of gripping tools designed as gripper tongs are each decoupled with their own drive train of the forming device
• Gripping tool drive arranged on a longitudinally and transversely to this movable common pliers support, by means of which all gripping pliers
• the gripping tongs comprise two pivot arms, which are driven by a servo motor via kinematic coupling members towards and away from each other pivotally.
• Process disturbances e.g. by workpieces inserted incorrectly into the gripping tools or by damaged parts, e.g. torn gripping tools or broken punches etc. are caused, can not be immediately reacted and thus often significant consequential damage to the transport device or the forming device can occur.
• the invention is based on the object
• Transport device of the type mentioned above to be improved so that caused by not correctly inserted into the gripping tools workpieces can be reduced process disturbances.
• the essence of the invention consists in the following: A transport device for converting workpieces in a comprehensive at least two stages
• Forming device comprises a gripping tool carrier, which can be moved back and forth between the steps of the forming device, on which at least two gripper tools designed as gripping tongs for gripping a respective workpiece are arranged.
• the gripping tools is ever one arranged on the gripper tool carrier
• Gripping tool drive assigned for the individual actuation of the gripper tools for gripping or releasing a workpiece.
• the gripping tools designed as gripper tongs each have two by means of the respective
• the gripper tool drives are each formed electrically or hydraulically servo-controlled.
• Pliers arms have the advantage that they dive evenly into the gripping diameter, if they attack on both sides at the same angle on the workpiece. This reduces the risk that workpieces are pushed obliquely into the gripping tongs.
• Each grasping tool drive can be individually assigned to each grasping forceps
• Tongs are individually adjusted and operated. Due to the electrical or hydraulic design of the gripper tool drives, the required
• Speed can be achieved while the servo control allows a position control of the gun arms.
• the pliers arms are each arranged on a pliers slide slidably mounted in a pliers body, wherein the pliers slides are kinematically connected to one rack and wherein the racks are engaged with a motor driven drive pinion, wherein the pliers carriage and thus the pliers arms by means of the drive pinion movable in opposite directions are.
• the pliers arms are arranged on the pliers carriage relative to these adjustable.
• the gun arms can be easily adjusted to the workpieces.
• each of the gripper tool drives on an (electric) servomotor with rotary encoder for opening and closing the gripping tools.
• Servo motors are particularly good because of their control options as Antriebs St. Actuators suitable and allow (over the torque) and a
• the gripper tool drives associated with a gripper tool control, which is adapted to control the opening and closing movements of the individual gripper tools individually.
• the gripping tool control is also designed to control the clamping force of the individual gripping tools individually. This allows an optimal adaptation to the respective requirements.
• the clamping force when inserting the workpieces in the gripping tools can be set smaller than for transport. The load on the mechanical components is thus only as great as necessary.
• the gripper tool control is designed to move one through an empty gripping tool or one incorrectly into the gripper
• the gripper tools are equipped with a four-point holder formed by pliers shoes for the workpieces to be gripped. This allows a particularly secure mounting of the workpieces and reduces the risk of tilting of the workpieces, especially when inserted into closed
• Figures 1-6 schematic views and sectional views of a
• Fig. 7 is an overall perspective view of the transport device of
• Fig. 8 is a front view of the transport device
• Fig. 9 is a side view of the transport device; 10 shows a section through the transport device according to the line XX of FIG. 9; 11 is a perspective view of a gripping tool unit of the transport device;
• FIG. 12 is a rear perspective view of the gripping tool unit of FIG.
• Fig. 13 is a front view of the gripping tool unit of Fig. 11;
• Fig. 14 - a section through the gripping tool unit according to the line
• FIG. 15 shows a side view of the gripping tool unit according to FIG. 11;
• Fig. 16 - a section through the gripping tool unit according to the line
• Fig. 17 - a section through the gripping tool unit according to the line
• Fig. 18 is a schematic representation of a control arrangement of
• Forming device or its transport device
• Fig. 19 - a schematic path of movement of the gripping tools of
• Fig. 20 - a schematic path of movement of the gripping tools in a
• FIGS. 1-6 show the parts of the inventive forming device which are relevant for the understanding of the present invention. While Fig. 1 is a front view taken along the line I-I in Fig. 2, Fig. 2 shows a sectional view taken along the line II-II in Fig. 1st
• Figures 3 and 5 are front views and Figures 4 and 6 are respective sectional views.
• the shaping device designated M as a whole comprises five adjacently arranged steps 110, 120, 130, 140, 150, of which a first stage 110 is a loading stage and the remaining stages 120, 130, 140 and 150 are forming stages.
• the forming stages 120, 130, 140 and 150 comprise four forming dies 121, 131, 141 and 151 formed in a common die holder 101, four forming tools in the form of press dies 122, 132, 142 and 152 and four ejecting members 123, 133, 143 and 153, with those in the
• Forming dies can be ejected from the forming dies by means of the workpieces W formed by the press dies.
• the loading stage 110 comprises a shearing device 112 for shearing a workpiece W from a bar material (not shown, also supplied by a bar material feeding device) and an ejector 113, with which a workpiece W can be ejected from the shearing device 112.
• a transport device, generally designated T serves to transfer the workpieces from one step to the next step of the forming device M.
• FIGS. 1-6 only gripper tools, each with a pair of tong arms 32a and 32b, are shown by the transport device T.
• the tong-like gripping tools of the transporting device T formed by the pair of gun arms 32a and 32b respectively assume an initial position provided in the loading stage 110 or from the forming dies 121, 131, 141 and 151 of the forming stages 120, 130, 140 and 150 ejected workpiece W on ( Figures 1 and 2) and then transport them Workpieces W at the same time to each next level of the forming device M, wherein the received from the last forming stage 150, finished formed workpiece W is released so that it can be removed from the forming device.
• Figures 3 and 4 illustrate this.
• the workpieces W are introduced and shaped by means of the press dies 122, 132, 142 and 152 into the forming dies 121, 131, 141 and 151.
• Gripping tools in each case a new, provided in the loading stage 110 or from the forming dies 121, 131, 141 and 151 of the forming stages 120, 130, 140 and 150 ejected workpiece W and transport these workpieces in turn to the next stage of the forming device, as in Figures 3 and 4 is shown.
• the entire process takes place in a transport cycle in the machine cycle of the forming device M.
• each gripper tool has a different workpiece in each conversion cycle
• Transport device comprises a stationary frame 10, a in or on
• Frame 10 movably arranged, plate-like gripping tool carrier 20, which here in the example five gripping tool units 30 carries, and a
• the gripping tool units 30 are all arranged at the same distance from a common reference plane E (FIG. 7).
• E a common reference plane
• Gripping tool carrier 20 is aligned parallel to the reference plane E.
• Gripping tool carrier drive comprises two gripper tool carrier drive motors 55 and 56, which are each designed as servomotors with rotary encoder and gear and are fixedly mounted on the frame 10. Furthermore, the tool carrier drive comprises two crank gear assemblies, each having a crank 51 and 52 and a
• cranks 51 and 52 are each fixedly mounted on a rotatable part of the gears of the gripper-tool carrier drive motors 55 and 56, respectively, and are rotationally drivable therefrom.
• the frame 10 is in practical use on (not shown) machine body of
• Forming device M detachably mounted or pivoted away, so that the access to the forming dies and the forming tools in a simple manner
• two parallel guide rods 11 and 12 are arranged (FIGS. 7-10) whose axes define the reference plane E (FIG. 7).
• two links 13 and 14 are guided linearly movable in the longitudinal direction of the guide rods.
• the two links 13 and 14 are also hinged to each one of the two guide rods 11 and 12 pivotally. At their the guide rods from the end facing the handlebars 13 and 14 means
• Pivot pairs 15 and 16 ( Figures 9 and 10) pivotally mounted on the gripper tool carrier 20.
• the distance between the two pivot pairs 15 and 16 is equal to the distance between the two guide rods 11 and 12.
• the distance of the pivot pin 15 of the guide rod 11 is the same size as the distance of the pivot pin 16 of the guide rod 12.
• Gripping tool carrier 20 in both directions (in the figures up and down) transversely to the longitudinal direction of the guide rods 11 and 12 is deflectable. In Fig. 7, this is symbolized by the double arrow 25. At the same time, the gripping tool carrier 20 is guided along the sliding rods 13 and 14 in the longitudinal direction of the guide rods 11 and 12 along this guided back and forth, which is indicated in Fig. 7 by the double arrow 26. The gripping tool carrier 20 is thus on the one hand parallel guided to the reference plane E linearly movable and on the other hand mounted substantially parallel to the reference plane transversely to its linear mobility deflectable.
• the drive rods (connecting rods) 53 and 54 are each rotatably connected at one end to the crank 51 and 52 and at the other end rotatably hinged to the gripping tool carrier 20.
• Gripping tool carrier 20 at its Querauslenkung (pivoting movement around the guide rods) only a small movement perpendicular to it
• Fig. 19 is a typical movement path of the gripping tool carrier 20 and thus the attached thereto gripping tool units 30 is shown schematically.
• the self-contained, cyclically traversed motion path 21 comprises four
• Motion path sections 21a-21d correspond to the linear guided sliding movement of the two linear movement path sections 21a and 21c.
• the two linear movement path sections 21a and 21c correspond to the linear guided sliding movement of the
• Motion path sections 21b and 21d result from the deflection of the
• Gripping tool carrier 20 by means of Parallelogrammationsan Aunt. Points 22 and 23 mark the starting position shown in FIG. 1 and the position of the gripping tool carrier 20 shifted by one step as shown in FIG. 3. As FIG. 19 shows, the gripping tool carrier 20 moves along a first linear path of movement (FIG. Movement path section 21a) while the
• Movement path parallel linear trajectory (motion path section 21c) takes place.
• the distance between the two linear trajectories resulting from the deflection of the gripping tool carrier 20 is selected such that the gripping tool units 30 arranged on the gripper tool carrier 20 and / or their Gripping tools at the level of the second linear movement path outside the engagement region of the forming tools 122, 132, 142, 152 in the forming stages 120, 130, 140, 150 are located, as shown in FIG. 5 can be seen.
• With 27 a waiting position is marked, which will be returned further below.
• the gripper tool units 30 arranged next to one another on the gripper tool carrier 20 are all of the same design. Their structure is apparent from Figures 11-17.
• Each gripper unit 30 includes a tong body 31, a pair of movable tong arms 32a and 32b forming a gripper, and a gripper
• Gripping tool drive in the form of an (electric) servomotor 33 with rotary encoder and gear, wherein the servo motor is shown only in Figures 9 and 14.
• the pliers body 31 and the servomotor 33 including gear are each on
• the two tong arms 32a and 32b are movably arranged on the tong body 31.
• the pliers slides 35a and 35b are each kinematically connected via a drive rod 36a and 36b, each with a rack 37a and 37b, so that a movement of the racks causes a co-movement of the pliers carriage and vice versa.
• the two racks 37a and 37b are engaged with a drive pinion 38 on diagonally opposite sides thereof, which is rotatably driven by the servomotor 33 (via its gear), so that upon rotation of the drive pinion 38, the two racks 37a and 37b move in opposite directions and thus the two tong arms 32a and 32b are moved toward or away from each other.
• the opening and the closing movement of the gripping tongs formed by the forceps arms 32a and 32b is thus effected by the servomotor 33 or the drive pinion 38 driven by it.
• the gripper tool drive may alternatively be designed as a servo-controlled (servo valves exhibiting) hydraulic drive. It is essential that the movement of the grippers on the one hand can be done very quickly and above all position-controlled and the clamping force of the two gun arms on the other hand precisely adjusted or can be regulated and confirmed, just as in the above-described gripper tool drive with electric servomotor is the case.
• Pliers shoes 39a and 39b are arranged at the free ends of the two tong arms 32a and 32b, which serve for gripping the workpieces and are fastened interchangeably, so that the gripper tongs can be easily gripped against the shape of the workpieces
• the pliers shoes need not be the same design and / or arranged on all gripping pliers.
• two pliers shoes are arranged on each pliers arm, which together form a particularly expedient four-point holder for the workpieces to be gripped.
• a four-point holder enables a secure holding of the workpieces and, on the other hand, reduces the risk of tilting of the workpieces, in particular when they are inserted into closed gripping tongs.
• the pliers arms 32a and 32b are detachably connected via a pair of end-toothed plates 40a and 40b to the pliers slides 35a and 35b, respectively (FIGS. 15 and 17). In this way, the forceps arms 32a and 32b can simply be adjusted laterally or in height relative to the forceps slides 35a and 35b, respectively, to provide e.g. adapt the gripping tongs to the respective workpiece.
• the transport device T also comprises a carrier control 60 for the gripper-tool carrier drive motors 55 and 56 and a gripper-tool controller 70 for the control of the gripper tool carrier drive motors 55 and 56
• the gripper tool control 70 is adapted to the opening and
• the carrier control 60 calculates the respective rotational positions of the two cranks 51 and 52 required for the movement path 21 of the gripping tool carrier 20 to be shut off and controls them
• the carrier control 60 also cooperates with a sensor device 65, which is designed to detect a process disturbance caused, for example, by a non-workable or missing workpiece W in the loading stage 110 and to signal the carrier controller 60.
• the sensor device 65 which is indicated only symbolically in FIGS. 2, 4 and 6, is associated with the rod material supply device (not shown) and may, for example, be a light barrier arrangement.
• Sensor devices on rod feeders are known per se and e.g. in EP 1 848 556 B1.
• the sensor device 65 is able to
• Rod beginnings and rod ends to recognize.
• the sensor device 65 detects a rod end or a rod end, it signals this
• Carrier control 60 so that the carrier control knows that the next following rod portion is faulty and must be eliminated or may not be introduced into the forming process.
• the carrier controller 60 then responds to this process fault in the manner explained in more detail below.
• the carrier control 60 and the gripping tool control 70 cooperate with a higher-level control 80, which, inter alia, also establishes the connection to the forming device and specifies at which position of the movement path the gripping tool carrier or its gripping tools should respectively be located.
• a higher-level control 80 By means of the higher-level control 80, an operator can also establishes the connection to the forming device and specifies at which position of the movement path the gripping tool carrier or its gripping tools should respectively be located.
• Gripping tool control 70 and the higher-level control 80 also realized in another configuration, e.g. be summarized in a single controller.
• Hot forming usually supplied to the raw material in bar form, which are then sheared off pieces of suitable length.
• the rod ends and rod beginnings must not enter into the forming process and must be eliminated. These excreted sections are missing in the
• Gripping tools 32a, 32b provides the inventive transport device described above, the ability to empty forming stages in one
• the carrier controller 60 then causes the gripper tool carrier 20 with the gripper tool units 30 not to follow the usual travel path 21 (FIG. 19), but moves the gripper tool carrier 20 into a waiting position 27 with the workpieces W in the gripper tool units 30 (FIG ).
• the waiting position is, for example, on the upper movement path section 21c of the gripping tool carrier 20 with the gripper arms 32a and 32b of the gripping implement units 30 above and between the tools 112, 122, 132, 142 and 152 so as to be out of reach thereof.
• This situation is shown in FIGS. 5 and 6.
• the forming tools perform an idle stroke, but this has no negative consequences, since all the forming stages are empty.
• the carrier controller 60 then causes the gripper tool carrier 20 with the gripper tool units 30 not to follow the usual travel path 21 (FIG. 19), but moves the gripper tool carrier 20 into a waiting position 27 with the workpieces W in the gripper tool units 30 (FIG ).
• the waiting position is, for example, on the upper
• Carrier control 60 returns the gripper tool carrier 20 to its original path of travel, with the workpieces in each of them
• FIG. 20 graphically illustrates the above-described movement sequence of the gripping tool carrier 20 in the event of a process disturbance. The movement of the
• Gripping tool carrier 20 in the waiting position 27 takes place along a
• the entire movement path from the position 22 via the waiting position 27 to the position 23 is designated by 24.
• the movement path sections 24a and 24b do not necessarily have the course shown in FIG.
• the movement of the gripping tool carrier 20 may, for example, along along more alternative
• Forming device can be set and varied regardless of the stroke of the forming tools duration and way to transport, ventilation and gripping.
• venting is meant here the vertical deflection of the gripping tool carrier 20, wherein the ventilation stroke corresponds to the vertical distance between the two movement path sections 21a and 21c.
• Forming tools decoupled adjustment of lifting and gripping movement allows individual adaptation to the respective workpieces, whereby the
• Machine wear is reduced. Moreover, this also makes it possible, in case of accidents in the tool room, e.g. if a forming part was not completely pushed out of the forming die or a broken punch in the
• Forming die gets stuck or a forming part was lost from a gripping tool to respond to the situation and drive the gripping tool carrier 20 with its gripping tool units 30 in a safe position, eg said waiting position 27, and stop the forming device until the fault. This can be prevented that, for example, gripping tools demolished or other consequential damage to the transport device caused.
• the Greiftechnikmaschinemaschineen 30 are, as already mentioned, by means of
• Gripping tool control 70 individually controllable.
• the time for opening and closing can be set individually for each gripper unit.
• the opening stroke of the gun arms 32a and 32b and the duration of the movement can be matched to the respective workpiece.
• the gripper tool carrier 20 can be moved by the desired amount from the center (zero position) by simply inputting the desired values to the higher-level control 80 by means of the gripper tool carrier drive motors 55 and 56.
• the relevant gripper is then aligned with a centric adjustment and then the
• Gripping tool carrier moved back to its zero position. In this way, a gripping tongs or several gripping tongs can be adjusted eccentrically. The remaining grippers are set when the gripper tool carrier 20 is again in the middle (in the zero position).
• each gripper unit 30 The clamping or holding force of each gripper unit 30 is determined by means of
• Gripping tool control 70 controlled by the torque of the associated servo motor 33 and can be easily adapted in this way to the workpiece to be held and optionally also varied over the movement cycle of the gripping tool carrier.
• the clamping force can eg when inserting the workpieces in the Tongs are smaller than to be adjusted for transport. The load on the mechanical components is thus only as great as necessary.
• Servo motors usually have a rotary encoder for the feedback of the current rotational position to their control. With the encoder, the
• Gripper control 70 by simply comparing actual to desired rotational position to determine whether a gripping tool is filled or empty, e.g. if a workpiece has been lost from a gripping tool, so that the forming device can be stopped if necessary.
• Gripping tool control 70 can also process disturbances, e.g. be caused by skewed workpieces in the gripping tools or tearing open the gripping tools are detected. In this case, this signals the gripper tool controller 70 to the carrier controller 60 properly, and the carrier controller 60 then causes the gripper tool carrier 20 to move with the gripper tool units 30 to a safe position, e.g. the said waiting position 27, is driven and stopped there until the process fault is corrected.
• the risk of tearing open a gripping tool arises, for example, when a workpiece is incompletely pushed out of the die or the press ram breaks and gets stuck in the workpiece. When trying to transport the workpiece, the gripping tool would be torn open. However, the gripper tool controller 70 recognizes this early on and causes the carrier control 60 to retract the
• Gripping tool units 30 in a secure position, e.g. the mentioned waiting position 27, driven and stopped there until the process fault is corrected.
• Forming device is naturally stopped during this time. In this way it is possible to react immediately to a process malfunction before major damage occurs.
• Carrier control 60 is symbolized in FIG. 18 by the arrow 71.
• the gripper tools or gripping tongs of the transport device shown have parallel tong arms 32a and 32b, which are moved linearly toward and away from each other.
• Such grippers have opposite tongs with pivotable gun arms have the advantage that the pliers shoes immerse evenly in the gripping diameter. If the tong shoes engage the workpiece at the same angle on both sides, they are pressed in by the same amount when the workpiece is inserted. This reduces the risk of a workpiece being pushed obliquely into the gripping tongs.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Load-Engaging Elements For Cranes (AREA)
• Feeding Of Workpieces (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

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Family Applications (1)

Country Status (9)

Families Citing this family (5)

Family Cites Families (13)

• 2016
  • 2016-04-28 CH CH00561/16A patent/CH712402A1/de not_active Application Discontinuation
• 2017
  • 2017-04-25 WO PCT/EP2017/059721 patent/WO2017186673A1/de active Search and Examination
  • 2017-04-25 US US16/096,722 patent/US20190134695A1/en not_active Abandoned
  • 2017-04-25 JP JP2018556330A patent/JP2019514692A/ja active Pending
  • 2017-04-25 CN CN201780025826.5A patent/CN109070180A/zh active Pending
  • 2017-04-25 EP EP17719251.5A patent/EP3448596A1/de not_active Withdrawn
  • 2017-04-25 EA EA201892456A patent/EA201892456A1/ru unknown
  • 2017-04-25 KR KR1020187030832A patent/KR20190003519A/ko unknown
  • 2017-04-27 TW TW106114108A patent/TW201742807A/zh unknown

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