GB2256409A

GB2256409A - Track for a handling device.

Info

Publication number: GB2256409A
Application number: GB9207789A
Authority: GB
Inventors: Jorg Niederstadt; Michael Janzer
Original assignee: Mannesmann AG
Current assignee: Vodafone GmbH
Priority date: 1991-04-09
Filing date: 1992-04-09
Publication date: 1992-12-09
Also published as: DE4111885A1; DE4111885C2; FR2675068A1; ITMI920862A0; ITMI920862A1; GB9207789D0; IT1258295B

Description

22-3o439 1 Handling device formed from modular units The invention relates

to a handling device formed from modular units of the kind which are used in automatic control engineering. It is particularly concerned with framework which supports the handling 5 appliance for example, when the device is in use.

Handling devices of the above type typically comprise one or more tracks which are supported on columns and provided with a suitable drive mechanism such as pneumatic or servopneumatic drives, electric directcurrent or alternating-current drives,or electric linear drives. The driving power from the respective drive can be transmitted via a traction mechanism to a power pickup slide mounted on the track which can be moved between two end positions in a controlled manner.

As noted above, handling devices of this kind are used in automatic control engineering for example, when assembling, arranging, guiding or connecting, to carry out required movement sequences according to preset control signals. Apart from the necessary drive and control members, considerable importance is attributed to short cycle times with a correspondingly high accuracy of the movement sequences in terms of space and time.

An assembly system used in the handling engineering field is known from'European published Specification No.

0 307 645, which c onsistg.of a sup port member and a slide unit. The support member is formed as a guideway and produced as a one-piece, rigid cellular structure composed of a plurality of floors, which are arranged at a distance from one another and extend over the length of the support, and side walls. In this-case the track, which consists of- guide bars,-extends inside the housing to mount the slide unit. Although this track is adjustable from outside, the aim is rather to achieve a sufficiently torsion-proof and accurate guide without special adjusting means.

A sectional bar with longitudinal slots formed at 2 the end and longitudinal walls is used in another device known from German Patent Specification No. 36 29 3677. Slide rails are mounted at the end walls and busbars with an insulating mount in the longitudinal slots at the longitudinal walls. Modular units are mounted in a displaceable manner on these sectional bars. The use of a sectional bar of this kind is, however, restricted to the described arrangement.

The invention seeks to enable a sectional bar to be used for one-arm or multi-arm handling appliances with different drive systems, i.e. to permit alternative embodiments of handling appliances.

According to the present invention, a handling device assembled from modular units has at least one track supported on columns, and a drive mechanism for controllably moving a slide between two end positions on the track. The track comprises a bar with a cross section comprising an outer portion with an external guide rail for the slide and an inner portion, which projects at least on one side beyond the outer portion and forms a uniform inner contact surface. Typically, two such bars are combined to form the track with their.inner contact surfaces in abutting eilgagement. They can be held together by a cl.amp rail enclosing projecting sections of the inner portions.

The invention enablesa gantry support to be used for many purposes. Adaptation to different loads is also possible. Not only can a handling device according to the invention be easily adapted to'different requirements, but it also enables the drive mechanism to be subsequently varies for example, between the mechanisms referred to-above. -The bar is at the same time the focal point for the further construction of a handling device which, while entailing little expenditure, can be used for smaller objects and smaller working areas and, when fully developed, is also suitable for larger objects of a corresponding number and larger working areas, also permitting desirable short k 3 cycle times on account of a low displacement weight.

The requisite securing mechanisms for the movement sequences may be easily accommodated by providing the bar with spaced longitudinal T-slots at the inner contact surface and at an outer surface of the outer portion of the cross section. The outer surfaces of the slide can also be provided with longitudinal T-slots for the attachment of fittings such as tools or tool holders. The desired low displacement weight with minimal loss of resistance of the track to torsional and bending stresses which is still a requisite, can be achieved if the bar is formed as an extruded hollow section, the cross section of which encompasses connecting webs and the Tslots.

The-efficiency of a device according to the invention can also be increased by providing a plurality of power pick-up slides on a pair of sectional bars and connecting them to a respective drive.

Embodiments of the invention will now be described by way of example and with reference to the accompanying drawings wherein:

Figure 1 is a perspective view of a column arrangement in modular design; Figure la is a perspective view of a working cylinder without a piston rod and with power pick-up slides as an alternative; Figure 1b is a perspective view of an electric drive with a circulating toothed belt as a further alternative; Figure ic is a perspective view showing the use of an electric drive with.a fixed toothed belt and a deflection pulley,4, Figure Id is a perspective view showing the use of a rack with an electric drive; Figure 2 is a perspective view of a single guide for the power pick-up slide; Figure 3 is a perspective view of two guides, which are connected together, for a plurality of power pick-up slides; 4 Figure 4 is a cross section through a single guide with power pick-up slides; Figure 5 is a cross section through two abutting guides with respective mounted power pick-up slides; and Figure 6 is a perspective view of a complete column arrangement with an electric drive and a toothed belt.

The handling devices illustrated consist of modular units. Primarily, each comprises a column arrangement with columns 1 and 2, between which a linear track 3 is secured. The linear tracks 3 can be provided with different drives 4. Pneumatic and servopneumatic working cylinders (Figure la); electric drives, together with a circulating toothed belt 5 (Figure 1b); electric drives with fixed toothed belts and deflection pulleys 6 (Figure 1c); and electric drives with a rack 6a (Figure 1d), are used as drives 4, while an electric stepping motor may also be used as a linear drive if required.

The drive 4 is mounted on a power pick-up slide 7 (Figures ld, lc) or engages with a drive shaft of a toothed belt pulley 8 (Figure.1b). If a working cylinder without a piston rod is used (Figure la), the power pick:up slide 7 is connected to a piston slide 9a.

Trailing electrical.cables 10 are provided n the linear track 3 for a drive in the vertical direction (z direction in the Cartesian'xyz system), which cables are connected to and end at a vertical-securing member 11 of the power pick-up slide 7. The trailing cables 10 are laid in a guide channel 10a. The linear axis 3 is connected via shield plats 12 and 13 to the columns 1 and 2.

The linear tracks 3 also comprise a guide 14 for the power pick-up slide 7 which co-sists of at least one sectional bar 15. A cross section 16 forms an outer portion 17 with a respective external upper and lower guide rail 18, on which the power pick-up slide 7 is guided. The cross section.16 also forms an inner portion 19, which projects at least at the upper side (Figure 2) and forms a prominent strip 20 and at the inside a uniformly plane contact surface 21. The prominent strip 20 makes the sectional bar 15 particularly torsion-proof. Moreover, the power pick-up slide 7 occupies little space, so that the guide 14 as a whole is very compact.

Figure 3 shows two sectional bars 15 of this kind with their contract surfaces 21, which are uniformly plane towards the inside, connected together in an abutting manner. These two sectional bars are connected together in a releasable manner by means of a clamp rail 22, which encompasses at least inner prominent respective strips 20. The power pick-up slide 7 encompasses with an outer guide 23 the upper guide rail 18, while inner and outer rotatably mounted rollers 24 bear against the lower guide rail 18 (Figure 4).

The sectional bar 15 is provided with spaced T-slots 28, which extend in the longitudinal direction of the sectional bar, both at the inner uniformly plane contact surface 21 and at an outer surface 26 of the outer portion 17 of the cross section 16 in order to secure for example tools and holders therefor, measuring tools and stops. Furthermore, the section bar.15 consists of an extruded hollow section 29 for the purpose of saving weight, while the cross section 16 forms connecting webs and also encompasses the T-slots 28 (Figure 4). The outer surfaces 31 of thepg)wej5. pick-up slide 7 are also provided with T-slots. 32 in the longitudinal direction 27 of the sectional bar.' The handling device according to Figure 6 is provided with an electric drive 33, the toothed belt 5 and associated deflection pulley housings 34 and 35. The columns 1 and 2 ate connected.together via two sectional bars 15 (shown in Figure 5). The trailing cables 10 are guided in the guide channel loa and end at the vertical securing members 11 or'are guided up to the corresponding drive for a gripper tool 3. A toolholder 37 for the gripper tool 36 is secured in the T-slots 32 of the power 6 pick-up slide 7. Figure 6 also shows how the sectional bars 15 enable power pick-up slides 7 to be arranged on both sides, as is visible in Figure 5.

7

Claims

1. A handling device assembled from modular units, with at least one track supported on columns, and a drive mechanism for controllably moving a slide between two end positions on the track, wherein the track comprises a bar with a cross section comprising an outer portion with an external guide rail for the slide and an inner portion, which projects at least on one side beyond the outer portion and forms a uniform inner contact surface.

2. A handling device according to claim 1 wherein the track comprises two said bars with their inner contact surfaces in abutting engagement.

3. A handling device according to Claim 2 wherein the two sectional bars are held together by a clamp rail enclosing projecting sections of the inner portions.

4. A handling device according to any preceding Claim wherein the bar comprises spaced longitudinal T slots in the inner and outer surfaces.

5. A handling device according to any preceding Claim wherein the bar is an extruded hollow section.

6. A handling device according to any preceding Claim wherein the outer surfaces of the slide are provided with longitudinal T-slots.

7. A handling device according to Claim 6 including a toolholder forgripper tools mounted in the T-Slots of the slide.. -

8. A handling-device according to any preceding Claim wherein a plurality of slides are. mounted on the track.

9. A hafidling device substantially as described herein with reference to the accompanying drawings.