EP3448597A1 - Procédé de transport pour la manutention de pièces - Google Patents

Procédé de transport pour la manutention de pièces

Info

Publication number
EP3448597A1
EP3448597A1 EP17719252.3A EP17719252A EP3448597A1 EP 3448597 A1 EP3448597 A1 EP 3448597A1 EP 17719252 A EP17719252 A EP 17719252A EP 3448597 A1 EP3448597 A1 EP 3448597A1
Authority
EP
European Patent Office
Prior art keywords
gripping
tools
tool carrier
gripping tool
gripper
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
EP17719252.3A
Other languages
German (de)
English (en)
Other versions
EP3448597B1 (fr
Inventor
Markus Moser
Stephan LEIBUNDGUT
Andreas MARITZ
Andreas Matt
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
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 Hatebur Umformmaschinen AG filed Critical Hatebur Umformmaschinen AG
Publication of EP3448597A1 publication Critical patent/EP3448597A1/fr
Application granted granted Critical
Publication of EP3448597B1 publication Critical patent/EP3448597B1/fr
Active 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
    • B21D43/025—Fault detection, e.g. misfeed detection
    • 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 invention relates to a transport method for transferring workpieces between a plurality of successive stages of a processing device, in particular a forming device, according to the preamble of patent claim 1 and a transport device for carrying out the transport method according to the preamble of patent claim 7.
  • stages In general, machining operations frequently pass through several stages of a processing device, with the workpieces being transported from stage to stage.
  • the stages In a forming apparatus, the stages are typically a loading stage and various forming stages.
  • To transport the workpieces from stage to stage are usually with pincers
  • the gripping tools equipped, working in the machine cycle of the processing 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 with the drive strlind the processing device coupled - see, for example. the CH 595 155 A.
  • EP 2 233 221 A2 discloses a punching device for a follow-on punching press, in which punched parts are transported by means of gripping tools on a rotating arm star from one processing station to the next.
  • the rotary arm star is thereby alternately clockwise and in the drive of a drive motor
  • Forming device is described in EP 1 048 372 Bl.
  • transport device are designed as gripping tongs gripping tools with each with its own, decoupled from the drive train of the forming device
  • 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.
  • the EP 1 048 372 Bl essentially deals with the design of the gripping tongs and their drives, the drive of the forceps carrier for carrying out the Umsetzioloen the gripping tongs is not described specifically
  • the raw material is usually fed in bar form, from which then pieces of the required length are cut off.
  • the rod ends and rod beginnings must not enter into the forming process and must be eliminated. These excreted sections are missing in the forming process and produce in the
  • Forming device individual empty forming steps. Because of the missing forming force there, the deformation of the machine body changes, which has a negative effect on the geometry of the formed parts. Depending on the requirements then such parts can not be used and must be sorted out manually from the finished parts or discharged by means of suitable switches. Because the
  • the invention is based on the object
  • Transport device to be improved so that it can be easily and quickly responded to process disturbances, so that consequential damage can be avoided.
  • voids should be avoided in the stages of the processing device.
  • the essence of the invention is as follows:
  • a transport method for converting workpieces between several successive stages of a processing device, in particular a forming device the workpieces are each simultaneously by means of several jointly movable gripping tools in a transport cycle from one stage to the next successive stage Processing device transported.
  • the transport cycle is interrupted and the gripping tools with the workpieces are moved to a waiting position, in which the workpieces are outside the range of action of processing tools of the stages of the processing device.
  • the transport cycle of the workpieces is resumed.
  • the movement of the gripper tools into a safe waiting position outside the effective range of the processing tools of the stages can prevent consequential damage to the process disturbance.
  • the method is particularly advantageous if the process disturbance is due to a missing or non-workable workpiece in a loading stage of the
  • Machining device is caused because it can be avoided empty processing stages and the associated disadvantages.
  • the method is also advantageous if the process disturbance is caused by a missing or incorrectly inserted into a gripping tool workpiece, as thus also empty machining stages or due to the incorrectly inserted workpiece caused further disturbances can be avoided.
  • the method is also advantageous if the process disturbance is caused by a damaged part of a gripping tool or a damaged part of the processing device, since in this way further consequential damage can be avoided.
  • the absence or presence of a workpiece that is not suitable for processing is detected by means of a sensor device, wherein the
  • Waiting position is at the initiative of the gripper tool control. In the case of a process malfunction caused by the absence or presence of a workpiece incorrectly inserted into a gripping tool, this allows an automatic movement of the gripping tools into the waiting position.
  • a transport device has a movably mounted gripping tool carrier, to which a plurality of gripping tools for Gripping ever a workpiece are arranged, and a motor
  • Gripping tool carrier drive for reciprocating movement of the
  • the gripper tool carrier drive is designed to move the gripper tool carrier with the gripping tools in a waiting position.
  • the transport device furthermore has a carrier control for the gripper-tool carrier drive, which is designed to control the movement of the gripper-tool carrier and to grasp the gripper-tool carrier with the gripper tools by means of the control command supplied thereto
  • Gripping tool carrier drive to move to the waiting position and to interrupt the transport of the workpieces.
  • the workpiece transport can easily be interrupted when a process disturbance occurs and the gripper tool carrier with the gripping tools can simply be moved into a secure position so that consequential damage can be avoided.
  • the gripping tool carrier is on the one hand linearly movably mounted and on the other hand mounted deflectable transversely to its linearly guided mobility by means of a Parallelogrammationsanaku. Furthermore, the
  • each crank gear assembly comprises a rotatably driven by the associated gripper tool carrier drive motor crank and a drive rod, which with the crank on the one hand and the
  • Gripping tool carrier on the other hand is hingedly connected.
  • the transport device from the drive strssen the processing device is decoupled. Due to the decoupling and the deflectability of the gripping tool carrier transversely to its linear reciprocating motion of the gripper tool carrier can be moved quickly in case of failure in a safe position.
  • the kinematic coupling of the gripper tool carrier with the gripper tool carrier drive motors via two crank gear assemblies allows easy control of the motion sequences solely by appropriate control of the gripper tool drive drive smotors.
  • the gripping tool carrier with the gripping tools by means of the gripper tool carrier drive in a forward movement along a first linear trajectory and in a return movement along one to the first linear
  • Gripping tools are easily moved out of the sphere of action of machining tools in the steps of the processing device out.
  • the transport device has a
  • Assigned gripping tools and a gripping tool control which is designed to control the opening and closing movements and preferably also the clamping force of the individual gripping tools individually and to recognize a by an empty gripping tool or incorrectly inserted into a gripping tool workpiece related process disturbance and the carrier control to signal.
  • the carrier control can be automatically caused to move the gripping tools in the waiting position.
  • Processing device in different phases of a workflow an overall perspective view of the transport device of the processing device according to Figures 1-6; a front view of the transport device; a side view of the transport device; a section through the transport device according to the line XX of FIG. 9; a perspective view of a gripping tool unit of the transport device; a rear perspective view of the gripping tool unit of FIG.
  • Fig. 20 - a schematic path of movement of the gripping tools in a
  • FIG. 1 is a front view taken along the line I-I in Fig. 2, Fig. 2 shows a
  • Figures 3 and 5 are front views and Figures 4 and 6 are corresponding 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, supplied by means of a bar material supply device, also not shown) and an ejecting member 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. In 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 these workpieces W simultaneously to each next stage 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
  • T transport device comprises a stationary frame 10, a movably arranged in or on the frame 10, 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). A the
  • 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 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 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 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 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 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.
  • Tool carrier drive two crank gear assemblies, each having a crank 51 and 52 and a drive rod (connecting rod) 53 and 54 respectively.
  • the cranks 51 and 52 are each on a rotatable part of the transmission of
  • Gripping tool carrier drive motors 55 and 56 fixedly mounted and driven by this rotating.
  • the frame 10 is in practical use on (not limited
  • machine body of the forming device M solvable
  • 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 gripping tool carrier 20 attached.
  • the distance between the two pairs of pivot pins 15 and 16 is equal to the distance between the two Rinnings rods 11 and 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 guided linearly movable on the one hand parallel to the reference plane E and on the other hand mounted so as to be deflectable transversely to its linear movement substantially parallel to the reference plane.
  • 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 the parallelogram guide arrangement. 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 gripper tool carrier 20 is selected such that the gripper tool units 30 or gripping tools arranged on the gripper tool carrier 20 are at the level of the second linear trajectory outside the engagement region of the forming tools 122, 132, 142, 152 located in the forming stages 120, 130, 140, 150, as can be seen from Fig. 5.
  • 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 servo motor 33 (via the transmission), so that upon rotation of the drive pinion 38, the two racks 37a and 37b move in opposite directions and thus the two gun arms 32a and 32b be moved towards 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 regulated and confirmed, just as in the above-described gripper tool drive with electric servomotor the case is.
  • 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.
  • such 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).
  • the forceps arms 32a and 32b can be easily adjusted laterally or in height relative to the forceps slides 35a and 35b, for example, to adapt the gripping tongs to the respective workpiece.
  • differently shaped gripping tools can be used in the inventive transport device instead of gripping tongs.
  • the gripping tools could also be designed as a vacuum gripper.
  • gripping tools in the form of grippers are common and proven in use in a forming device.
  • 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 controller 60 also cooperates with a sensor device 65 which is adapted to receive e.g. to detect a process failure caused 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), which is not shown, and may be e.g. be a light barrier arrangement.
  • the sensor device 65 is able to detect rod starts and rod ends. If the sensor device 65 detects a rod end or a rod end, it signals this to the carrier control 60, so that the carrier control knows that the next following rod portion is defective and has to 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 gripper control 70 cooperate with a higher-level control 80, which among other things also establishes the connection to the processing device and specifies at which position of the
  • Controller 80 is 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
  • Sensor device 65 a corresponding control command to the carrier control 60 for the Greifwerkmaschinenantrieb.
  • the carrier control 60 then causes the gripper tool carrier 20 with the gripper tool units 30 not to follow the usual movement path 21 (FIG. 19), but rather that the gripper tool carrier 20 engages with the gripper tool carrier 20 in the gripping tool units 30 located workpieces W is moved to a waiting position 27 (Fig. 20).
  • 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 control 60 then causes the gripper tool carrier 20 with the gripper tool units 30 not to follow the usual movement path 21 (FIG. 19), but rather that the gripper tool carrier
  • Carrier control 60 returns the gripper tool carrier 20 to its original path of travel, with the workpieces in each of them
  • Forming steps are passed and the gripper tool carrier 20 then moves along its normal path of movement 21 in its starting position 22 shown in Figures 1 and 2, there to pick up workpieces W and then to transport the next respective forming stage.
  • 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
  • Motion paths 21 correspond.
  • 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 has been lost from a gripping tool to react to the situation and the gripping tool carrier 20 with its gripping tool units 30 in a secure position, e.g. the said
  • 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 gripper tool carrier.
  • the clamping force may e.g. when inserting the workpieces in the gripping tongs are set smaller than 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 be detected in this way, process disturbances caused, for example, by skewed workpieces in the gripping tools or a tearing open the gripping tools.
  • 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 gripping tongs have the advantage over gripping tongs with pivotable gripper arms that the pliers shoes dive uniformly into 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)
  • Specific Conveyance Elements (AREA)
  • Forging (AREA)
  • Press Drives And Press Lines (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

L'invention concerne un procédé de transport pour la manutention de pièces entre plusieurs étages successifs d'un dispositif d'usinage, en particulier d'un dispositif de mise en forme. Selon ledit procédé, les pièces sont transportées chacune simultanément, au moyen de plusieurs outils de préhension mobiles conjointement, au cours d'un cycle de transport, d'un étage à l'étage suivant du dispositif d'usinage. En présence d'une anomalie de processus, le cycle de transport est interrompu et les outils de préhension en possession des pièces sont déplacés dans une position d'attente (27), dans laquelle les pièces se situent à l'extérieur de la zone d'action des outils d'usinage des étages du dispositif d'usinage. Une fois l'anomalie de processus résolue, le cycle de transport des pièces reprend son cours. Le déplacement des outils de préhension dans une position d'attente sécurisée à l'extérieur de la zone d'action des outils d'usinage des étages permet d'empêcher l'apparition de dommages consécutifs à l'anomalie de processus.
EP17719252.3A 2016-04-28 2017-04-25 Procédé de transport pour la manutention de pièces Active EP3448597B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH00562/16A CH712403A1 (de) 2016-04-28 2016-04-28 Transportverfahren zum Umsetzen von Werkstücken zwischen mehreren aufeinanderfolgenden Stufen einer Bearbeitungseinrichtung.
PCT/EP2017/059724 WO2017186675A1 (fr) 2016-04-28 2017-04-25 Procédé de transport pour la manutention de pièces

Publications (2)

Publication Number Publication Date
EP3448597A1 true EP3448597A1 (fr) 2019-03-06
EP3448597B1 EP3448597B1 (fr) 2020-06-10

Family

ID=56137041

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17719252.3A Active EP3448597B1 (fr) 2016-04-28 2017-04-25 Procédé de transport pour la manutention de pièces

Country Status (10)

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EP3448597B1 (fr) 2020-06-10
US20190118241A1 (en) 2019-04-25
ES2808998T3 (es) 2021-03-02
KR102353811B1 (ko) 2022-01-20
CH712403A1 (de) 2017-10-31
TW201739536A (zh) 2017-11-16
CN109070188B (zh) 2020-12-22
JP7266408B2 (ja) 2023-04-28
KR20190002484A (ko) 2019-01-08
JP2023055700A (ja) 2023-04-18
JP2019520983A (ja) 2019-07-25
US10537932B2 (en) 2020-01-21
CN109070188A (zh) 2018-12-21
EA201892458A1 (ru) 2019-03-29

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