FR2536690A1 - AUTOMATIC HANDLING DEVICE FOR INDUSTRIAL WORKS - Google Patents

Abstract

AN AUTOMATIC MANIPULATION DEVICE INCLUDES SEVERAL 20-22 OFFSET ARMS AROUND A ROTATION AXIS, ON A SUPPORT 8, AND DRIVING MEANS TO ROTATE THE ARMS AS WELL AS ACTUATION MEANS IN THE AXIS ZONE OF ROTATION TO CONTROL THE TOOL HEADS AT THE ENDS OF THE ARMS 20-22 EACH OF WHICH IS MADE WITH A DETERMINED LENGTH, THAT IS TO SAY A DETERMINED EXTENSION OF THE ROTATION AXIS TO THE TOOL HEADS. ON THE ARMS OR IN THE ARM BEARING ARE PROVIDED DRIVE MOTORS TO MOVE THE TOOL HEAD AND THE TOOL WITH AT LEAST TWO DEGREES OF FREEDOM.

Description

Automatic handling device for industrial works.

  The invention relates to an automatic handling device.

  that comprising several arms offset around an axis of rotation on a support mounted on a base and drive means for pivoting the arms, as well as actuation means in the area of the axis of rotation for

  order the tool heads at the ends of the arms.

  In such a known manipulation device according to DE-OS 20 02 987, there is a vertical axis in a

  rotary housing inside a system of rotary bearings

  tifs at least one arm which can move in the longitudinal direction and carries a gripping device at each of its extended ends Here, two portions of arm, or

  also two arms are oriented in alignment, but

  wind also be arranged 90 from one another The longitudinal mobility of the arms leads to an unbalanced weight distribution or center of gravity, so

  that with such a device one cannot carry out

  precision values The purpose of this known embodiment is, for this reason to group or transfer parts

  from one place to another with the function of going to find them

  expensive and to deposit them This function also includes that, to take a part, an advance must be made in order to grip the part and, in the case where the arms are arranged in alignment, the other arm cannot go into the function area of another working device For this reason, the known embodiment is limited. It cooperates with control cams which, on the one hand, control the advance of the arm in one or the other direction, and d on the other hand, in

  connection with a key actuating element, triggering

  also affect the operation of the gripping device.

  For this purpose, drive motors can also be used.

  in particular in the form of drive means by

  cylinders, the actuation of which is also triggered in operation

  control cams Arm guidance in the support

  central port for forward and backward movement is also essential When placed at 90, there are

results from difficulties.

  This known embodiment of a handling device does not allow rapid installation of different tools for different operations, which are placed in different tool heads and are brought to their position.

  of use by pivoting the arms.

  DE-OS 29 08 523 discloses a device for handling

  automatic delivery with only one support arm

  overhang relative to the axis of rotation This embodiment has the disadvantage of unfavorable use of the working instrument, because the work can only be carried out on one side, namely on the side where the arm swivel is in

  overhang and has the tool head.

  It is also known to place in the arm itself an ar-

  bre hollow actuable, a hollow central shaft and an inner shaft, which can be driven respectively by separate motors, so that one can obtain

  determined degrees of freedom of the handling device.

  In the known embodiment, the axis of rotation on the support provided for the arm is oriented horizontally.

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  it is understood that bearings are arranged on the axis of rotation between the support and the arm If, in this case, the support is placed on a base that can move and / or rotate, it results from the known embodiment a structure and a system bearings such that the arm is provided above the vertical axis of rotation of the base This is included in the invention.

  Such automatic handling devices for performing

  kill jobs of different types are known with a

  freely programmable electronic control Cer-

  tes, such machines are inherently advantageous However, they require, for precision, a stable structure, if only as regards the weight balancing,

  and they can only equip one workstation.

  When it is necessary to recondition or readjust the tool head,

  this results in downtime.

  For this reason, the object of the invention is to provide a

  automatic handling device of the aforementioned type per-

  putting, compared to known embodiments comprising several arms and tool heads, to ensure precise and regular work at different positions, as well as maintenance without stopping the entire device This means that, in a very short period of time short, more tools can be used, even simultaneously, than up to now, because the tool change can be done more economically. This object is achieved according to the invention by the fact that each

  arm is made with a determined length, only mo-

  drive tores are provided there to move the tool head with at least two degrees of freedom and that they are housed in the bearing for the arm, shafts mounted one in the other being interleaved in rotation and being able to rotate with respect to each other This gives not only an embodiment which can carry out transport in turn with arms to be retracted, i.e. to be used only with one side, but also a set of tool holders which allows faster machining of one or more parts

  attached to it, together with maintenance and replacement

  cement are facilitated It is essential here that the elongation

  one arm on the other side does not provide a skidding function

  vement, having regard to the axial displacement of the arm in a direction

  tion but on the contrary always ensures the use of the

  tool head when the arm is rotated.

  We prefer here that the arm is extended beyond the bearing

  on the support and at least one double pivot arm is provided

  both This results in weight balancing benefits and

  couples, because we always have the same overhang compared to

  port au palier These advantages are also manifested in

  The invention preferably includes pre-

  see on the rotary bearing more than two arms, at least three arms which respectively have a tool head and are

  provided with different drive means.

  We can thus increase the number of tools to be used even more than with a double arm. This has nothing to do with grouping or transferring parts from one place to another; on the contrary, an improvement in the machining is obtained in a shorter time, even from the point of view that, for identical work, the worn tools are replaced by new tools, and in the non-operating position, it is possible either replace worn tools, or prepare new ones We multiply at the same time

  coefficient of use of the machine.

  For this reason, the support is advantageously mounted pivo-

  so much on the basement eton provides a command ae pivaocement-c

  to move the group of arms or stunned arms.

  It is preferred, in a particular embodiment, that, in the case where there are two degrees of freedom, a median shaft of the arms which can be driven is mounted with a drive motor inside the arm, and that hollow shafts are mounted in the arm so that they can rotate in different directions and they are connected to a second drive motor, a transmission being arranged between the hollow shafts of the arms extending in different directions This is particularly recommended

  for a realization with a rotary arm which is in door-to-

  false on both sides In this case it suffices to provide two drive motors with the associated intermediate transmissions.

  In another embodiment in which the head-

  tool is provided for three degrees of freedom, the invention provides that the median shaft also is produced in the form of a second hollow shaft, and an inner shaft is provided for

  which is provided with at least a third drive motor.

  As a result, in the embodiment comprising a rotary cantilever arm on both sides, an advantageous solution as regards the distribution of the weights and the capacity of use of the tools. joint drive, and the two second hollow shafts are

  linked together by an intermediate transmission.

  Another embodiment also provides for all trees, exterior trees and second trees

  hollow as well as the median shafts, drive motors

  separated for each arm, and couplings are respectively provided to clear or connect the shafts

  oriented towards the different tool heads.

  Up to now, we have preferably approached realizations

  tions comprising portions of a rotatably mounted arm which are cantilevered and aligned with each other. However, a solution is preferred in which the bearing is provided

  rotatable in the support at least three arms with heads-

6 2536690

  tools at their ends, and conical toothed rings are rotatably mounted in the area of the rotary bearing which are engaged respectively by means of conical toothed pinions with the different shafts and hollow shafts, and for each conical toothed crown, a motor with a

  bevel gear is placed on the drive shaft.

  The device which has just been described has considerable advantages. However, to allow gripping, even under conditions of use, alternately on one side and the other without moving the arm longitudinally, or extending it telescopically, the support itself is pivotally mounted on the base and it can pivot and tilt from different sides around the same axis as the arm. Thus, the different ends of the arms can be moved forward or backward, whether there are two or more, and we can order uses

  additional depending on the degrees of freedom at the head

  tool. The invention will be explained below using two embodiments shown in the drawing, in which: FIG. 1 is a schematic front view of a handling device; Figure 2 is a side view of Figure 1; Figure 3 is a top view of Figure 1; Figure 4 is a view corresponding to that of Figure 1 to illustrate the working process with the handling device; FIG. 5 is a side view of the contour of the arm, in the

  functional representation of an embodiment

carrying two degrees of freedom;

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  Figure 6 is a representation of an arm corresponding to Figure 5, with drive means for three degrees of freedom; FIG. 7 is a representation of an arm corresponding to FIG. 6, with the functional representation of two tool heads with largely separate controls, at the different ends of the arm; Figure 8 is a side view of a tool head, in section, for two degrees of freedom;

  Figure 9 is a corresponding side view of a head-

  tool, in section, for three degrees of freedom; FIG. 10 is a schematic side view of the arrangement,

  in section, to illustrate a separate training of the different

  annoying arms trees; Figure 11 is an embodiment corresponding to Figure 10 pouri illustrate the embodiment of the hub with three shafts; Figure 12 is a section through Figure 11 along the line XII-XII; Figure 13 is a view, corresponding to Figure 12, of a variant; and FIG. 14 is a view corresponding to FIG. 6, in

another embodiment.

  Figures 1-3 show a handling device

  automatic which is mounted on a base 1 by means of a coupling

  ronne 2 rotating on a base plate 3 It is well understood

  from here that the median axis 4 can be connected to a motor to cause the rotation of the base plate 3 on the rotary crown 2 On the base plate 3 is placed a casing 5

8 2536690

  rising upward on one side only The latter carries means of rotation bearings 6 and an axis of rotation 7 for a support 8 This support 8 comprises in the region of the means of rotation bearings 6 a toothed crown 9 with which cooperates a pinion 10 on the drive shaft of a motor

11 placed in the housing 5.

  The axis of rotation 7 is produced for example as a hollow axis to allow rotation of the support 8 In this

  hollow axis passes a median shaft 12 which is the drive shaft

  nement of a motor 13 housed in the casing 5 It brings to the ex-

  inner end a drive wheel 14 which is connected by the inter-

  diary of a transmission, for example chain or belt, to a drive wheel 16 at the outer end of the support 8 This drive wheel 16 is on an axis

  median 17 which at the same time constitutes a positioning axis

  ment for a bearing support 18 and a rotation bearing 19 on the arm 20 Such a rotation bearing constitutes in this zone, due to its volume and the elements which extend into the neighboring parts, a sub-group at

  housing delimited in three dimensions The central wheel

  ment 16 is arranged fixed on the positioning axis.

  In the embodiment shown, the arm 20 has its

  portions 21, 22 of the same length extending on each side.

  It serves as a casing for means of transmission and

  dragging, if necessary also for hollow shafts which can extend 23, -24 on which the

tool heads 25, 26.

  We see in Figure 2 that the vertical passing through the middle of the arm 20 coincides with the median axis 4, which allows

unbalanced actuation.

  It should be noted that the rotary crown 2 is associated with the drive motor 27 with the pinion 28 on its drive shaft.

9 2536690

  The representation which has been described so far shows an apparatus

  handling reel which has on both sides tool heads 25, 26 with tools 29, 30 which can be brought into engagement successively or alternatively For this purpose, the pivoting mounting of the support 8 is of particular importance for advancing or bringing back a tool 29, 30 and in this case the degrees of freedom always allow a

  control for the correct grip position.

  It should be noted that bundles of pipes function-

  105, 106 are planned starting from the landing area of

  pivot 19; this also applies to other realizations

  tions, but is not shown in more detail These canali-

  sations can be movable shafts or pressurized pipes for hydraulic or pneumatic fluids, which can be linked or attached to the arm in the course of the latter, so that the actuation itself

  the tool is independent of the tool guidance.

  The command, mentioned above, for the position (s)

  tools are particularly represented

  shown in Figure 4, in which the arm referenced as a whole in 20-is represented with its two portions 21, 22 in the vertical transition position, in which the tools 29, 30-rotate around the axis 17 along the line in mixed lines 31; the support 8 can itself pivot

  around the bearing 6, so that in an elongated embodiment

  gée, as in Figure 4, the tool 29 could move on line 32 The distance between lines 31, 32 in the horizontal plane 33 passing through the axis 17 shows a

  freedom of movement when the arm 20 is oriented horizontally

  horizontally, to bring the tool heads alternately

in or out of grip.

  The following figures 5-7 respectively show the

  arm 20 in outline as well as the drive wheel 16 turn-

  around axis 17 of which only the center has been shown

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  tre The arm 20 is cantilevered on both sides, which gives the portions 21 and 22 In FIG. 5, hollow arms 38, 39 rotate in the arm 20 on each side of the axis, by a side in bearings 34, 35, on the other side in bearings 36, 37 They are provided at their inner ends with toothed rings 40, 41 With these toothed rings mesh two toothed wheels 42, 43 mounted in the arm, and connected by an axis 44 With the ring gear 41 also meshes a pinion 45 on the drive shaft of a motor 46 Thus, the two hollow shafts 38, 39 can rotate in the direction of the arrow 47 The two hollow shafts 38, 39 are crossed by a median shaft 48 which extends

  into the tool heads 25, 26 and drives therein

  ci a mechanism which causes the tools 29, 30 to be driven in a second degree of freedom in the direction of the arrow

  49 On the median shaft 48 is placed a toothed driving wheel.

  50, which is driven by a pinion 51 on the drive shaft of a motor 52 This gives a particularly favorable drive mode which can be varied at will, with weight balancing due to

  the symmetrical arrangement with respect to axis 17.

  FIG. 6 represents an embodiment with three degrees of freedom To the degrees of freedom 47 and 49 is added the degree of freedom according to the arrow 53 The external hollow shafts 38, 39 are driven in the manner which has been described and the median shaft 48 is produced as a median hollow shaft 54, 55 which respectively has at its ends different

  sides of the gear rings 56, 57 and an internal transmission

  intermediate 44 in engagement with the latter The drive motor

  dragging 59 meshes with its pinion 60 with the toothed crown 56 In this embodiment, the median motor 52 is connected to the median shaft 48 by the pinions 51 and The external hollow shafts 38, 39 are driven by the drive motor 46 via gears

  and the intermediate transmission 45, 41, 42, 44, 43 and 40.

  il 2536690 Figure 7 shows an embodiment corresponding to that of Figure 6, except that, while retaining all the other drives, the two outer hollow shafts

  38, 39 are driven by different drive motors

  rents 46 and 61 By the output pinion 45, 62, of the last 61 acts directly on the ring gear 41, 40 of the shafts

external hollows 38.39.

  The median hollow shafts 54, 55 according to FIG. 7 are also

  Lately driven by separate drive motors 59, 63 with appropriate intermediate transmissions It is thus possible to have separate controls - with

determination of yield.

  FIG. 8 represents the production of a tool head, for example 26, for two degrees of freedom Here, the external hollow shaft 39 attacks the tool head casing 64 to make it rotate The internal shaft 48 is introduced -in the tool head and, by a bevel gear 65, drives a toothed crown 66 for a tool holder 67 This gives a shape

  of particularly simple realization.

  FIG. 9 represents an exemplary embodiment for three

  freedom, using the explanations given so far

  here; the inner shaft referenced hitherto at 48 is surrounded by a hollow shaft 54 or 55, which is crossed by the inner shaft 48 The median hollow shaft 54, 55 drives, according to FIGS. 8 and 9, a toothed pinion 65 which causes , by means of the ring gear 66, the tilting of the tool holder 67 On the inner shaft 48 in FIG. 9 is provided another bevel gear 68 which drives a gear

  conical toothed 70 mounted on the pivot shaft 69 of the holder

  tool 67, which pinion is engaged on the other hand with a bevel gear 71 This is mounted fixed in rotation on a rotating shaft 72 for a tool holder 73, to make

turn this one over.

  Figures 10 and 11 show a particular solution.

  In Figure 10 is shown the median axis 17 around

  from which a hub 74 is rotatably mounted.

  Unlike the arm 20 which has been described so far, this hub 24 is a particular element from which four arms 75-78 start in FIGS. 10 and 11 This hub 74 is mounted in a way

  corresponding to element 20 which can be seen in FIG. 2.

  To facilitate understanding, also referring to Figure 6, only the inside of the middle trees

  ending inside the hub 74, namely the inner shafts

  laughers identified at 48 in Figure 6 and at 79, 80, 81 and 82 in Figure 10.

  They respectively carry a pinion 83-86 which meshes with

  a conical toothed crown 87 Provision is made for

  drag for this ring gear a bevel gear 88

  on a gear motor 89 mounted in the hub.

  In FIG. 10, this is a representation of principle.

  According to FIG. 11, the toothed crown 87 is associated with the toothed crown 90 for the median shafts 91, 92, 93, 94 and another external toothed crown 95 for *

  the external hollow shafts 96, 97, 98, 99 To all of these

  toothed crowns which according to the different diameters of the shafts

  interior, median and exterior are offset perpendicularly

  Rely in the plane of the drawing in Figure 11, are associated the drive motors 89, 100 and 101 inside the hub referenced as a whole at 74, in which are also arranged the bearing means, not shown in the figures 10 and 11, for the different trees We see on

  Figure 9 their connection to a tool head.

  Figure 12 is a schematic section along line XII-XII through Figure 11 We see the median shaft 80, the median hollow shaft 94 and the outer hollow shaft 99 On these are the conical toothed crowns already described, so that the pinions 102, 103 and 104 can be connected respectively to motors located towards the outside in different planes, which can, for example, be equipped

of a corner gear.

  Figure 6 shows, in principle, different drive motors and intermediate transmissions in conjunction with

  parts 44 and 58 In FIG. 14, the internal transmission shafts

  diaries 44 and 58 as well as the inner shaft 48 are each made in two parts, which can be connected to each other or separated at

  using controllable couplings 107, 108, 109, As a result

  quence, in addition to the motors described in Figure 6, there are additional motors 110, 111 and 112, to drive

  the trees going to the different arms when the

  When the coupling is engaged,

  only one of the motors associated with the corresponding shaft

  be activated This is sufficient for many users.

  tions so that it is sufficient to provide a single motor according to Figure 6 This is particularly true for an embodiment with two arms The use of couplings also allows to disconnect an arm of its drive for

carry out work on the tool.

  It is understood that in the embodiment according to FIG. 7, the invention also includes a division of the median shaft 17 and in this case, a drive motor is provided for

each part of the tree.

  In the embodiment according to FIG. 12, in which the toothed crowns 87, 90, 95 are represented, it is indicated that these toothed crowns are mounted on concentric shafts The shaft 113 is provided on the most located toothed crown 87 inside On this shaft is mounted using bearing means 114 the hollow shaft 115-of the ring gear 90 and on this shaft is mounted using bearing means 116 the hollow shaft 117 of the toothed crown

  96 These bearings can be arranged in an inter-wall

  medial or a side wall of the bearing 19 We will refer

  for this purpose in Figure 13 On this one, the parts identified

  ques are represented with the same reference numbers in a rotary bearing referenced as a whole at 19, which has a side wall or an intermediate partition 118 On this intermediate partition is in turn mounted, by means of a bearing 119, l 'hollow shaft 117 On the hollow shafts 117 and 115 as well as on the median shaft 113 are placed respectively the drive wheels 120, 121 and 122 With these drive wheels mesh pinions

  123, 124, 125 of drive motor transmission units

  126, 127, 128 yes are arranged in the housing.

staggered by the arm.

  It should be noted with reference to FIG. 14 that for the median shaft 48 a bearing 129, 130 is placed in the hollow shaft 54, 55, and that, for the latter, a bearing 131, 132 is provided in the hollow shafts 38, 39 The bearings are only indicated

  that schematically In these realizations also,.

  functional pipes are brought in from outside

to operate the tools.

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Claims (9)

Claims.   1 Automatic handling device comprising more   arms offset around an axis of rotation mounted on a support placed on a base and drive means for pivoting the arms, as well as actuation means   in the axis of rotation area to control the heads-   tools at the ends of the arms, characterized in that each arm (20-22; 75-78; 96-99) has a determined length and that there are provided drive motors (46, 52, 59, 89, 100 , 101, 61, 63, 110-112,126-128) to move the tool head and the tool in at least two degrees of freedom, motors which are placed in the bearing (19) for the arm, guided shafts one inside the other being mounted so as to be actuated and   to rotate relative to each other.   2 Device according to claim 1, characterized in that the arm (20) is extended in the axial direction beyond the bearing on the support (8) and that at least one arm is provided double swivel (21, 22).   3 Device according to claim 1, characterized in that there is provided on the bearing (9), or on the pivoting bearing   more than two arms (21, 22), at least three arms, which comprise   each have a tool head (25, 26) and are provided with different rents means of training.   4 Device according to any one of claims 1 to   3, characterized in that the support (8) is arranged to pivot-   on the base (1) and that a pivot control is provided -   to move the group of arms or the arms without unbalanced -   Device according to any one of claims 1 to   4, characterized in that, for two degrees of freedom, a controllable median shaft (48) of the arms is mounted with a drive motor (52) inside the arm (20) and hollow shafts (38, 39 ) are mounted so that they can rotate respectively in different directions in the arm and are connected to a second drive motor, a transmission link (42-44) being placed between the hollow shafts of the arms extending in different directions. 6 Device according to claim 5, characterized in that the controllable median shaft is divided and that provision is made   for each part of the median shaft a drive motor particularly special.   7 Device according to any one of claims 1 to   6, in which the tool head is provided for three degrees of freedom, characterized in that the median shaft also is produced as a second hollow shaft (54, 55) and that an inner shaft (48) is provided for which is expected at   minus a third drive motor (52).   8 Device according to any one of claims 1 to   7, characterized in that there is provided for the second hollow shafts (54, 55) a common drive motor (46), and the two second hollow shafts are connected by a transmission intermediate (56-58).   9 Device according to any one of claims 1 to   8, characterized in that all the trees are provided with external trees (38, 39; 96-99) and second hollow trees (54, 55; 91-94) as well as median trees (17, 79- 82) drive motors (56, 61, 59, 63, 100, 101, 46, 52, 89,   110-112) separated for each arm and respective   couplings to clear or connect the shafts   oriented towards the different tool heads.   Device according to any one of claims 1   to 8, characterized in that the swivel bearing is provided   (19), in the support (8) at least three arms provided with heads-   tools at their ends, and in the area of the rotary bearing 17 2536690   are mounted to rotate conical toothed rings   (87, 88, 90, 95), which are respectively engaged by the   intermediate bevel gear with different shafts and hollow shafts, and that for each bevel gear, a drive motor (89, 100, 101) provided with a   bevel gear is mounted on the output shaft.   11 Device according to claim 10, characterized in that   that the conical toothed rings are mounted concentrically on a wall.