FR2539661A1 - PIECE EXTRACTOR CHARGER WITH ONE CONTROL MOTOR - Google Patents

Abstract

THE PURPOSE OF THE PRESENT INVENTION IS A PIECE EXTRACTOR CHARGER INCLUDING A PREHENSION DEVICE SUITABLE FOR GRABING A PART AND A SINGLE MOTOR MOUNTED FIXED ON A FRAME TO MOVE THE GRIPPING DEVICE. ACCORDING TO THE INVENTION THE EXTRACTOR LOADER INCLUDES A FIRST LEVER 16 SHIM ON A SHAFT 4 JOINT IN ROTATION OF THE MOTOR SHAFT, A SECOND LEVER 22 OF WHICH A FIRST END IS ARTICULATED ON THE FIRST LEVER, AND ON THE SECOND END OF WHICH IS ARTICULATED THE GRIPPING DEVICE 25, MEANS CONNECTING THE TWO LEVERS 16 AND 22 SO THAT THE PIVOTING MOVEMENT OF THE FIRST LEVER 16 GENERATES A PIVOTING MOVEMENT OF THE SECOND LEVER 22 SUCH AS THE SECOND END OF THIS SECOND LEVER 16 GIVES A PIVOTING MOVEMENT OF THE SECOND LEVER 22 SUCH AS THE SECOND END OF THIS SECOND LEVER, AND GIVES A DECREE MEANS SO THAT THE PREHENSION DEVICE 25 REMAINS PARALLEL TO ITSELF WHEN THE SAID SECOND END OF THE SECOND LEVER DESCRIBES THE SAID GIVEN TRAJECTORY.

Description

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  Extractor loader of parts with a single control motor.

  The present invention relates to coin extractor loaders comprising a grasping device capable of gripping a coin These extractor loaders are used to move coins, such as sheets, for example from one press to another for stamping operations. The gripping device must be able to be moved too

  well in a horizontal direction than in a vertical direction

  or in a direction inclined both with respect to a horizontal plane and with respect to the vertical For this purpose, in most extractor loaders currently used, the gripping device is carried by a slider which is

  vertically in relation to a truck itself

  In this case, it is usually necessary to provide two independent motors, one to control the movement of the slide relative to the slide, the other to control the movement of the slide relative to the slide.

fixed frame.

  The present invention relates to a loader parts extractor whose control requires only one fixed mounted motor

on a frame.

  The extractor loader of parts according to the invention is characterized

  characterized in that it comprises a first lever mounted on a shaft integral in rotation with the motor shaft, a second lever having a first end articulated on the first lever and on

  the second end of which is articulated the preheater device

  means connecting the two levers so that the movement

  pivoting of the first lever generates a movement of

  the second lever such as the second end of this

  cond le lever describes a given trajectory, and means for that

  the gripping device remains parallel to itself when the

  the second end of the second lever describes said given path. The means connecting the two levers may comprise a sun gear rotatably mounted around the shaft carrying the first lever, a satellite mounted free to rotate on the first lever and an end pinion whose axis is integral in rotation with the second lever. and which is also rotatably mounted on the

  first, the satellite being in contact with the sun gear and the

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end gnon.

  It is easy, by properly rotating the sun gear and the first lever to obtain the desired trajectory

for the gripping device.

  In a particular embodiment of the invention, the

  two levers have the same length and the end gear has a di-

  In this case, when the sun gear is fixed, the second lever pivots relative to

  at the first lever an angle double that of which pivots the first

  lever and the second end of the second lever as well as the

  gripping device have a rectilinear translational movement

  which can, in particular, be horizontal if the loader is

  It is then sufficient to keep the

  when it is desired for the gripping device to move

  this horizontally and to rotate this planet when the

  jectory of the gripping device must be different, for

vertical example.

  The sun gear can be secured to a free mounted sleeve

  in rotation about the pivot axis of the first lever and

  linked by a cam system to the motor shaft.

  In a particular embodiment, two cams are

  on the shaft carrying the first lever and cooperate each with a roller carried by an auxiliary lever, the two levers

  being fixed on the same pivoting shaft and arranged on both sides

  plane passing through their pivot axis and the pivot axis

  the first lever, and a third auxiliary lever fixed on the same shaft as the first two carries a roller engaged in

  a fork secured to the sheath.

  Means to maintain parallel to itself the device

  can be made up of a set of parallels

articulated logrammes.

  As a nonlimiting example, a description of the present invention is given below.

  embodiment of an extractor feeder according to the invention, with

  reference to the appended drawings in which:

  Figure 1 is a cross-sectional view of the loader;

  Figure 2 is an elevational view of the entire

  geur; Figure 3 is a view along arrow F of Figure 1, the second lever is not shown; Figure 4 is an elevational view of the cam system;

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  Figure 5 shows in elevation the stroke of the gripping device. As shown in the drawing, the extractor feeder

  of parts is controlled by a single programmable servo motor 1.

  This motor is coupled to a gearbox 2 and the assembly is carried by a frame 3 The output shaft 4 of the gearbox 2 is pivotally mounted by means of bearings 5 in a sleeve 6 which is itself pivotally mounted in the built 3 through a

bearing 7.

  On the shaft 4 are wedged two cams 8a and 8b on which are supported two rollers 9a and 9b carried by levers l Oa and lob These levers are fixed on a shaft 11, on either side of the plane passing through the axes of trees 4 and 11; on this tree 11,

  which is pivotally mounted in the frame 3 via the rollers

  12, is wedged a third lever 13 which carries at its end

  mité a roller 14 engaged in a fork 15 secured to the oven-

water 6.

  On the end of the sheath 6 which protrudes outside the frame 3, is pivotally mounted a hollow arm 16 on which is fixed the shaft 4 The end of the sheath 6 carries a pinion 17 which is connected by an intermediate gear 18 to a pinion 19, the axes 20

  and 21 gears 18 and 19 being carried by the arm 16 The diameter

  pitch of the pinion 19 is half that of pinion 17 of

  so that when the latter pivots, while the arm 16 is

  xe, the pinion 19 pivots in the same direction, but a double angle.

  On the axis 21 of the pinion 19 is fixed an arm 22 which is articulated

  lé-en 23 on a support 24 for a gripping device 25; the distance between the axis 23 and the axis 21 of the pinion 19 is equal to

  the distance between this axis 21 and the axis of the shaft 4.

  On the axis 21 is pivotally mounted a support 26 which carries two arms 27 and 28 located on the same side relative to the arm 16, but on both sides of the plane P passing through the axis 21 and the axis of the shaft 4 (see Figure 3) These arms are connected by two rods of the same length 29 and 30 to two arms 31 and 32, also located on the same side relative to the arm 16, but located on the side and The arms 27 and 28 are respectively the same length as the arms 31 and 32 In these conditions; the rod 29, the arms

  27 and 31 and the plane P constitutes a first parallelogram

  while the connecting rod 30, the arms 28 and 32, and this plane P con-

  a second articulated parallelogram, so that the suppor

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  26 maintains a fixed orientation when the arm rotates with

the tree 4.

  Furthermore, the support 26 carries a third arm 33 which is connected to the support 24 by a tie rod 34 parallel to the lever 22 and articulated at 35 on the arm and at 36 on the support, the pivot

  being located in the same horizontal plane as the axis 21

  between axes 35 and 36 is equal to the distance between

  axes 21 and 23 so that the lever 22 and the tie rod 34 constitute

  the elements of an articulated parallelogram.

  tions, since the support 26 has a fixed orientation, it is

  even of the support 24; the gripping device is thus horizontal

  zontal, and the remainder regardless of the trajectory of the axis 23, while describing itself a trajectory parallel to that of

this axis 23.

  In the embodiment of FIG. 4, the two cams 9a and 9b have profiles that are symmetrical with respect to the vertical plane passing through the axis of the shaft 4. Each of these profiles comprises a portion 37a or 37b. which is circular and extends over an angle here a little greater than 90 This circular portion is connected by a ramp 38a or 38b to another circular portion 39a or 39b of short length The opposite side to the ramp relative to the

  part 37a or 37b, the cam has a recess 40a or 40b.

  In the position shown in the drawing, the two rollers 9 a

  and 9b are in contact with the circular parts 37a and 37b of the

  mes so that the two levers l Oa and 10b remain motionless when the shaft 4 pivots; the same is true of lever 13,

the fork 15 and the sheath 6.

  When the shaft 4 has pivoted by an angle, for example clockwise to the drawing, the ramp 38b of the cam 8b meets the roller 9b while the hollow 40a

  of the cam 8a comes opposite the roller 9a The ramp 38b pushes -

  the roller 9b so that the levers l Oa, lob and 13 rotate

  rotation of the axis of the shaft 11 in the opposite direction to that of the clockwise lever 13 drives the range 15 and

  the sheath 6 which pivot in the sense of the needles of a

  be. Conversely, if the shaft 4 has rotated by a certain angle in the opposite direction to that of the clockwise, the ramp 38 has

  the cam 8 has come to meet the roller 9a and the sheath 6 pivots

  in the opposite direction to that of the hands of a watch.

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  Finally, when the shaft 4 pivots from one of its extreme positions, the sleeve 6 pivots, then remains motionless for a certain time, and then resumes its movement in the same direction.

  meaning until the shaft 4 has reached its other ex-

  treme. The operation of the extractor feeder which has just been described is as follows, assuming that the arms 16 and 22 are both vertical When the shaft 4 pivots while the rollers 9a and 9b are in contact with the circular parts 37 a and 37 b

  cams 8a and 8b and that the sleeve 6 is therefore immobile, it

  The pinion 18 constitutes a satellite of the pinion 17 which is fixed, and drives the pinion 19 Because of the ratios of the pitch diameters of the pinions 17 and 19, the pinion 19 rotates.

  from a double angle to that with which the pinion pivots.

  22 arm is equal to that of the arm 16, the axis 23 and by

  following the gripping device 25 move in a direc-

  perpendicular to the initial direction of the arms 16 and 22, that is to say horizontally The axis 23 moves for example veri

D in Figure 5.

  When the sleeve 6 starts to pivot, the sun gear 17

  vote in the same direction as the arm 16, but at a lower speed

  As a result, the arm 22 continues to pivot with respect to the arm 16, but at an angle less than twice that of which the arm 16 pivots. The axis 23 moves downwards and the same is true of the arm 16. of the gripping device 25 By suitably selecting the profile of the ramp 38a or 38b of the cam 8a or

  8 b it is easy to obtain for the axis 23, for example, a trajec.

  curved track DE connecting to a vertical path E F. If, from a position in which both arms 16 and 22 were both vertical, the shaft 4 is rotated in the opposite direction, the axis 23 moves To C When the sheath will rotate, the axis 23 and the gripper 21 will move down By a suitable choice of profile, the ramp of the second cam, can be obtained for the axis 23 , pa:

  example, a curved trajectory C B connecting to a trajectory

  re vertical B A The total trajectory of the axis 23 has the shape

of an inverted U.

  But, in a more general way, one can by playing on the profiles of the cams and / or on the length of the arm 16 and on that

  arm 22, obtain any desired shape trajectory.

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  The slave motor 1 makes it possible to program stops that do not

  which point of the trajectory In the exemplary embodiment shown, it is possible to obtain an inverted U-shaped trajectory if the limit switches are programmed between A and B, and between E and F. The horizontal part of the trajectory has a fixed length for a given device but the vertical parts of the trajectory have

  changeable and programmable lengths These two parts

  Ticals can therefore be of equal or unequal lengths One can also obtain an L-shaped trajectory if one of the breakpoints is between C and D, and the other between A and B, or between E and F; in this case the lengths of both horizontal and

  are editable and programmable. Finally, we can obtain

  nir a simple horizontal trajectory if both ends of the race

  are between C and D, the trajectory then being programmable in

and in position.

  It goes without saying that the present invention should not be

  considered as limited to the embodiments described and

  on the contrary, covers all variants.

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Claims (5)

  1 extractor extractor of parts comprising a device for   gripping to grab a part and a single motor mounted fi   on a b & ti to move the gripping device,   characterized in that it comprises a first lever 16 wedged on an armature   4 rotatably integral with the motor shaft, a second lever 22, a first end is articulated on the first lever, and on the second end of which is articulated the device of   25, means connecting the two levers 16 and 22 of   that the pivoting movement of the first lever 16 generates   a pivoting movement of the second lever 22 such as the second   end of this second lever describes a given trajectory,   and means for the gripping device 25 to remain paral-   lends itself to itself when said second end of the second lever describes said given trajectory.   Extractor loader according to Claim 1, characterized   in that the means connecting the two levers 16 and 22 comprise   A sun gear 17 is mounted rotatably around the shaft 4 carrying the first lever 16, a satellite 18 mounted to rotate freely on the first lever 16, and an end pinion 19 whose axis is rotationally integral with the second lever. 22 and who is also   rotatably mounted on the first; the satellite being in   with the sun gear and the end gear.   3 extractor loader according to claim 2, characterized in that the two levers 16 and 22 have the same length, and in that the end gear has a pitch diameter, half of that of the planet.   Extractor loader according to claim 2 or 3, characterized   characterized in that the sun gear 17 is secured to a sleeve 6 mounted free to rotate about the pivot axis of the first   lever 16 and connected by a cam system to the motor shaft.   Extractor feeder according to claim 4, characterized in that two cams 8a and 8b are keyed on the shaft 4 carrying the first lever 16 and each cooperate with a roller carried by an auxiliary lever l Oa or lob, the two levers being fixed on the same shaft 11 and arranged on either side of the plane passing   by their pivot axis and the pivot axis of the first _ 8 2539661   16 and that a third auxiliary lever 13 fixed on the same shaft 11 as the first two carries a roller 14 engaged in   a fork 15 secured to the sheath 6.   Extractor loader according to one of the preceding claims   are characterized in that the means for maintaining parallel to   itself the gripping device are constituted by a   seems of articulated parallelograms.