WO1996034817A1 - Transportvorrichtung für werkstücke, insbesondere autopressteile, sowie anordnung und verfahren - Google Patents
Transportvorrichtung für werkstücke, insbesondere autopressteile, sowie anordnung und verfahren Download PDFInfo
- Publication number
- WO1996034817A1 WO1996034817A1 PCT/EP1996/001832 EP9601832W WO9634817A1 WO 1996034817 A1 WO1996034817 A1 WO 1996034817A1 EP 9601832 W EP9601832 W EP 9601832W WO 9634817 A1 WO9634817 A1 WO 9634817A1
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- WO
- WIPO (PCT)
- Prior art keywords
- transport
- machine
- transfer
- automatic
- movement
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- 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
Definitions
- Transport device for workpieces in particular car pressed parts, as well as arrangement and method
- the invention relates to a universal room portal movement machine, its arrangements and its method for transporting and stacking workpieces or parts, in particular for transporting to a production station (large-part stage press) or from a production station (large-part stage press).
- feeders were used instead of swivel arm robots.
- These are two-axis automatic machines that have a fast or highly dynamic main axis in the transport direction of the auto-pressed parts.
- This highly dynamic In CNC-controlled feeders the axis is driven by belts in the axle bed and reaches a maximum speed of up to 270 meters per minute. Also highly dynamic with
- Belt drive is the lifting axis for lifting and lowering the car press parts.
- the feeder During the production of auto pressed parts, the feeder only moves to two defined positions. With such feeders, cycle times of approximately 8.5 parts per minute are achieved.
- two feeders are used between two press stages, so that the autopress must be transferred from one feeder to the other.
- So-called turning stations or orientation stations are used for this takeover. These pick up an auto-pressed part from a feeder and bring it into a more favorable position for the transfer to the next feeder.
- Step presses with such transport devices or so-called suction transfer presses can be used to achieve very high numbers. These are e.g. with Peugeot I and II at approx. 15.5 parts per minute. In a double part production, 31 parts per minute are produced.
- the transport device consists of two rail-like devices which are arranged on both sides of the presses arranged one behind the other. These rail-like devices are connected by crossbeams on which suction cups are used to pick up and put down the workpieces.
- the part between the presses is now transported from a press mechanically coupled to the press arrangement and equipped with suction crossbars from a press to an intermediate universal tray (robot with S-axes). Then the suction pad moves verse back again to remove another workpiece from the press that opens again in the meantime.
- the universal tray brings the picked-up workpiece into a position that is favorable for transfer to a further suction traverse.
- This suction crosshead picks up the workpiece in order to feed it to a subsequent press stage before it closes again.
- stepped presses in the automotive industry are a mechanically highly complex arrangement which is coupled to one another via flywheels.
- This arrangement ejects workpieces at predetermined intervals.
- the number of pieces ejected per unit of time is currently 15.5 pieces per minute for single-part production and 31 pieces per minute for double-part production.
- These workpieces must now be removed from the exit of the stage press and placed in intermediate storage. If this cannot be done reliably and quickly enough, the large section press must be turned off. However, each shutdown of a large section press leads to a loss of production and thus to enormous costs.
- a conveyor belt is conventionally used to remove the manufactured workpieces (auto parts).
- the last suction crosshead unloads the workpiece machined by the last press onto the conveyor belt.
- the workpieces or parts are transported on an approx. 50 meter long conveyor belt.
- the maximum pressing stroke and double part production i.e. approx. 31 parts per minute
- an operating staff of approx. 6 to 8 people is required. Since the large part presses typically have to run around the clock due to the high cost pressure in the automotive industry, shift operation is necessary for this. Furthermore, there are always stalls during unloading and palletizing. This leads to high costs.
- the object of the invention is to provide a device or arrangement and a method which remedies the disadvantages of the prior art; in particular, it should be made possible to pick up auto-pressed parts, which are output in large numbers per unit of time from a large-part stage press, and to place them in pallets.
- a room portal movement machine is provided according to claim 1.
- This room gantry movement machine which can also be referred to as a feeder room gantry or a universal room gantry, is similar to the feeder used between the individual stages of a step press already described above.
- this universal space portal or the space portal movement machine has three highly dynamic and very fast main axes, which are preferably each driven by a belt drive in accordance with the features of the characterizing part of claim 1. This makes it possible to move to any position in the room, and not just two fixed positions as in the case of the conventional feeders, very quickly within the working space of the room portal automatic motion device.
- the invention With the drive according to the invention, e.g. Speeds of up to 300 m / min along a first main transport axis (X) up to 300 m / min along the second transport axis (Y) and up to 200 m / min along the main lifting axis can be achieved.
- the invention thus provides an automatic machine with three highly dynamic main axes, each with a speed of over 150 m / min, which is able to transport parts over several meters (typically 1.5 m to 8 m).
- This room portal automatic movement machine is therefore particularly suitable for quickly transporting parts picked up by a large part step press to certain positions on a pallet.
- This highly dynamic room portal movement machine is also generally suitable for picking up parts from any position and extremely quickly for any other position within the work space of the room portal.
- Transport automatic machines This room portal movement machine is also suitable, for example, for removing heavy parts from a universal tray or universal transfer robot particularly quickly and specifically and transporting them to any position.
- parts can be removed from pallets, for example, by means of the room portal movement machine and fed to a further processing device, for example a press.
- the belt drives each advantageously have one or two motor devices, e.g. with position sensor and brake, as well as one or two gear devices and a belt pulley device, these parts of at least one drive device preferably being fixedly connected to the frame.
- Preferably two drive devices for the horizontal and the vertical movement of the lifting carriage are arranged in the transport carriage and not in the lifting carriage, in order to make the lifting carriage lighter. This allows the lifting carriage to move up and down quickly.
- all three main axis motors can also be arranged in a stationary manner on the frame. They then act via drive trains and drive belts on the transport carriage (or the bridge) and on the lifting carriage (or trolley and walking beam). In this way, the weight of the transport carriage to be moved could be reduced even further.
- the room portal movement machine is advantageously controlled by an electrical control device.
- This controls the movement of the main axes and the gripping device.
- the gripping device can be rigid and have a support arm with a suction spider. However, it can also e.g. be rotatable about an axis that runs parallel to the stroke axis. Other conventional gripper designs with one or more translatory or rotary axes are also conceivable.
- the axes of the gripping device represent the secondary axes of the room portal automatic machine.
- Collision monitoring rails are advantageously provided along the main axes. These work with sensors and, depending on the length and arrangement of the collision monitoring rails with the sensors or (contacts), permit hardware monitoring Areas of the space portal automatic machine. This hardware monitoring is set up with contactors and relays and prevents dangerous collision states in the event of failure or non-response of the control units of the room portal automatic movement machine. Two examples to explain this: A room gantry movement machine is arranged to load a press with parts made of plates. The collision monitoring rail is arranged along the main axis, in the direction of the press, and is switched with sensor, contactors (contacts and relays) so that, as long as the gripper arm is in the press, the press does not engage or does not start or close.
- two room portal movement machines are arranged one above the other, but both have a common partial receiving space.
- the lifting devices or gripper devices can collide through this common partial receiving space.
- collision overgrowth rails, sensors and hardware circuits with contactors (contacts and relays) a collision room is built up around each partial recording room of the room portal movement machine.
- the collision rooms are monitored with contactor circuits (contacts and relays) in such a way that only one room portal movement machine can be in the collision room. If the control unit should fail or malfunction, dangerous system states should be avoided with collision monitoring rails, sensors and their hardware circuits.
- the object according to the invention is also achieved by the transport arrangement according to claim 6.
- This transport arrangement has an automatic transfer machine (or universal transfer robot) and one or more automatic transfer machines.
- the automatic transfer machine is there to mechanically decouple the parts transport from the step press to the pallets or any other storage device from the large part step press.
- the automatic transfer machine is controlled electrically in synchronism with the large section press. In principle, this makes it possible to couple the transport arrangement according to the invention to the large section press or to test it at any distance from the press in real time without having to shut it down, which would be necessary for a mechanical coupling.
- the transport arrangement is therefore advantageously constructed as modularly as possible and easily movable or transportable in order to have a to be able to couple the tested transport arrangement quickly and easily, for example, to a press for removing parts. Because a shutdown of even one hour leads to an enormous loss of production and thus very high costs.
- the automatic transfer machine or universal transfer robot is there to take over the parts, which can be in any position, that are output by the large-part stage press or any other device and to spend them in a transfer position that is favorable for further transport.
- a transfer machine e.g. an automatic movement machine can be used which is similar in function to the universal storage device already described in the introduction.
- An automatic transfer machine could e.g. have three translational axes. All three main axes are highly dynamic and very fast.
- the main axes of the automatic transfer machine are: the axis in the transport direction, the axis transverse to the transport direction and the lifting axis.
- the automatic movement machine follows a predetermined movement sequence between the pick-up position, hereinafter also referred to as the take-over position, and the transfer position according to a universal program.
- the automatic transfer machines are controlled synchronously with the transfer of the large-capacity press.
- An electronic cam switching mechanism electrically coupled to the press would be possible.
- the electronic position transmitter for the transfer of the press is electrically coupled.
- the current actual positions or angular positions of the transfer are thus available to the electric cam switch.
- the electronic cam switch outputs cam signals (log. "1 signals) at the programmed positions of the 360 ° circle or the 360 ° transport curve of the transfer (the transfer curve is divided into 360 °).
- cam signals log. "1 signals
- the positioning axes are controlled, ie a cam signal starts a positioning process of a dynamic axis of the automatic transfer machine.
- the receiving position and the transfer position are advantageously as far apart as possible, but only to such an extent that the automatic transfer machine has sufficient time to move the parts between the positions, within the time specified by the production cycle.
- the transport route to be covered by the automatic transfer machine is kept as short as possible. This makes it possible to achieve a sufficiently high transport rate from the pick-up position.
- the transfer position and the transfer position are each sufficiently far apart so that there are no obstructions during the transport of the parts from the press to the automatic transfer machine (universal transfer robot) and from the transfer automatic machine to the automatic transfer machine.
- the automatic transfer machine also has the advantage that the removed part can be transferred to the automatic transport machine at a predetermined position.
- the transfer position would not be fixed, but could vary from time to time.
- a higher control effort might be necessary, e.g. Part detection with video sensors to still seize the part safely through the transport machine.
- a more complex control in turn leads to a slower transport of the parts through the transport movement machine.
- transfer positions can be advantageous, e.g. can be arranged one above the other or next to each other.
- the use of several transfer positions also makes it possible to cover large transport distances or to remove a large number of pieces per unit of time. While the automatic transfer machine picks up each part at the clock frequency specified by the large part stage press and distributes it to the transfer positions, there remains a time for the back and forth movement of the automatic transport machine that is by the number of the transfer positions is longer than the time that the automatic transfer machine has to move back and forth between the transfer and transfer positions, including the pick-up and discharge positions.
- a preferred control arrangement for example with Siemens controls, would be a central programmable logic controller.
- this central control for example SS-155U
- control units which are integrated for the automatic transfer machine (universal transfer robot) and the automatic transport machine and which are separate for each automatic machine can be modularly integrated.
- an electronic cam switch WF715 or an electronic cam switch as a component in the central programmable logic controller, a position controller and positioning controller a WF 726/723 for the automatic motion switch, the control would be RCM1F or WF 726 / for the transport machine. 723 conceivable, depending on the possibility of the automatic transport movement.
- This control arrangement is the cheapest solution, since all tasks divided into modules for solving the transport task can be combined in a central programmable logic controller.
- any other control arrangements for example with industrial personal computers, with industrial microcomputers, with other programmable logic controllers, control units, computers, etc., can be implemented.
- the control of the individual transport movement autonomous for which the space portal movement machines described above can also be used, take place independently for each transport movement machine.
- the automatic transport movement device can have a gripping device which can be moved in any direction.
- this gripping device can also be rigid and e.g. have an arm with a suction spider. This suction spider is transferred to the part in a position that is convenient for storage in the pallet by the transfer movement machine.
- a movable gripping device of the automatic transport machine could, for example, e.g. place the part to be transported flat on a pallet or upright.
- the highly dynamic main axes of the transport movement machine (s) are preferably driven by belt drives.
- the transport movement machine can be the highly dynamic room portal movement machine described above or the universal room portal. Due to its high speed, this automatic movement machine allows the parts supplied by a suction transfer press to be removed quickly.
- this automatic movement machine allows the parts supplied by a suction transfer press to be removed quickly.
- other sufficiently fast transport movement machines are also conceivable.
- an industrial robot with a vertical articulated arm and portal traversing axis could be used, the portal traversing axis of which roughly extends from the transfer position to the pallet units.
- the space portal movement machines according to the invention are used as transport movement machines and are arranged one above the other, care must be taken to ensure that no collisions occur.
- two stacking units or pallets that are arranged one above the other should not be approached simultaneously by two stacking and moving machines.
- a collision can also be easily avoided if, for example, with only two transfer positions, there is always only one automatic transport machine in the vicinity of the transfer position, while the other is currently storing a part in a pallet.
- a collision is thus avoided as far as possible by this counter-phase movement.
- the control of the transport arrangement is constructed as modularly as possible. This makes it possible to fall back on common integrable standard assemblies and standard modules. Maintenance is further simplified and subsequent expansion is made easier. For commissioning it is possible to test individual parts separately.
- the controller contains a synchronization device in order to synchronize the transport arrangement with leading and trailing machines or devices.
- a synchronization device in order to synchronize the transport arrangement with leading and trailing machines or devices.
- one or more control panels coupled with a visualization device, which in turn is connected to the control system in the data network (software and hardware), facilitate operation.
- the synchronization device is advantageously equipped with a cam switching mechanism. This processes the current rotational or angular position of the shaft and thus the current actual position of the press transfer by means of an encoder arranged on the central shaft of the press transfer.
- the transport arrangement can of course also be operated in the opposite direction. This means that parts are transported from at least one storage position to one or more transfer positions by means of one or more automatic movement machines. There, the part can then be picked up by the automatic transfer machine and guided to the takeover position, which now represents a delivery position, or directly from the mobile transfer machine or machines to a production machine without the automatic transfer machine.
- an automatic room portal movement machine or a transport arrangement according to the invention in front of and behind a production machine, parts to be processed can thus be supplied to the production machine and processed parts can be transported away. In this way, a fully automatic production line according to the invention can be realized.
- a method according to the invention for the transport of parts, in particular auto-pressed parts, is evident from claim 18.
- the method described therein is claimed in the case of two transfer positions. If there are several transfer positions, the automatic transfer machine would move the parts one after the other from the transfer position to the first, second and third transfer positions and then back to the first and so on.
- the transport movement machines assigned to each transfer position each take a part of their transfer position and transport it to a storage position. Then they move back again in order to receive another part at the transfer position from the transfer movement machine when it has reached this transfer position again.
- the method according to the invention can of course also run in the opposite direction.
- the transport arrangement e.g. can be used as a loading device, the parts from pallets e.g. feeds a further processing device.
- Fig. 1 is an oblique view of a room portal automatic machine
- Figure 2 is a plan view of a space portal automatic machine, the first main transport axis (X axis) being driven by two motors;
- FIG. 3 shows a plan view of a space portal automatic movement machine whose X axis is driven by a motor
- Fig. 4 is a view of a room portal automatic machine
- 5a shows a rear view of a room portal automatic movement machine whose motors for driving the Y and Z axes run parallel to the X axis;
- FIG. 5b is a front view of a room portal automatic movement machine according to FIG.
- FIGS. 5a and 5b shows a plan view of a room portal automatic movement machine according to FIGS. 5a and 5b;
- Fig. 5d is a sectional view taken along line A-A of Fig. 5c;
- FIG. 6a shows a rear view of a room portal automatic movement machine whose motors for driving the Y and Z axes run parallel to the Y axis;
- FIG. 6b is a front view of a room portal automatic movement machine according to FIG.
- FIG. 6c shows a plan view of a room portal automatic movement machine according to FIGS. 6a and 6b;
- Fig. 7 is a front view of a space portal automatic machine;
- FIG. 8a shows a schematic top view of a transport arrangement according to the invention
- 8b is a schematic plan view of a press line according to the invention.
- Fig. 8c is a schematic plan view of another, with the press line according to
- FIG. 9 shows a schematic side view of a transport arrangement according to the invention.
- FIG. 10 shows a plan view of a transport arrangement according to the invention
- FIG. 11 shows a view of the transport arrangement according to FIG. 10 which is opposite to the transport direction;
- FIG. 12 is a plan view of a transport arrangement according to the invention with a schematic representation of one of the possible gripping arm or Suction spider orientations;
- FIG. 13 shows a schematic illustration of the transport arrangement using a room portal automatic movement device
- 16 is a schematic illustration of a transport process of a transport
- FIG. 17 shows a flowchart of a transport process of a room portal movement machine or transport movement machine
- 19a shows the possible arrangement of the tools required for a fully or partially automatic tool change in the lower level and their means of transport of the arrangement according to the invention or of automatic transport motion devices;
- 19b shows the arrangement in the upper level according to FIG. 19a;
- Tool change such as automatic transfer machine and a transport-automatic machine of the lower level according to FIG. 20a;
- 20c shows a flowchart of a further special part of the fully or partially automatic tool change, such as individual transport movement machines of the lower or upper level according to FIG. 20a.
- FIG. 1 shows a schematic oblique view of a room portal automatic motion machine.
- the portal frame 140 comprises four legs 141, two cross members 142 and two longitudinal members 143.
- the leg arrangement can be changed, for example, when combining several room portals.
- a leg 141 can be moved to 141b (rear).
- the longitudinal members 143 have a linear guide for the first translational transport main axis X. In these linear guides, the main axis X is driven by a drive device 110.
- the drive device 110 comprises a motor 111 with gear 112 and pulleys 113, as well as a belt 114.
- This belt 114 is connected to a transport carriage 160 and runs in the axle bed of the longitudinal members 143.
- the motor 111 with gear 112 is arranged in a cross member 142.
- the pulleys 113, which are driven by the gear 112, are each arranged on the end faces of the two cross members 142.
- a second drive device 120 and a third drive device 130 are located in the transport carriage 160.
- the second drive device 120 serves to move the lifting carriage 150 in its lifting carriage stand 150a along the second main transport axis Y via a second belt drive (not shown).
- the third drive device 130 also with a belt drive (not shown), drives the main lifting axis Z and thus makes it possible to raise and lower the lifting carriage 150, which is guided in a lifting carriage stand 150a.
- the lifting carriage has a carrying and tensioning device 152 at its lower end, on which suction spiders 153 with suction devices 154 or gripping arms 153 with grippers 154 are attached. These suction arms, suction spiders or gripper arms 153 represent the tools of the room portal automatic movement machine and can be exchanged as desired. More complicated tools with various dynamic or non-dynamic axes for turning, swiveling and gripping can also be realized.
- a part hanging on the suction spider 153 can be transported from the transfer position 14 to a pallet 34 (or vice versa).
- a part hanging on the suction spider 153 can be transported from a production machine 2 to a pallet 34 or from a pallet 34 to a production machine 2.
- Fig. 2 shows a schematic plan view of a room portal automatic motion machine.
- the drive principle of the X axis is shown schematically.
- the X-axis or first translatory main transport axis is driven by two belts 114, one belt running in each of the longitudinal members 143.
- the two belts are each moved over two pulleys 113, which are located at the end of the longitudinal members 143.
- a belt tensioning device 113b is located at the opposite end of the drive belt.
- One pulley of each side member is driven by a separate drive unit. This includes a motor with position encoder 111 and a gear 112.
- the Y axis which runs transversely to the X axis.
- This can be made of aluminum, for example, in order to keep the weight of the transport carriage to be moved as low as possible. As a result, the dynamics in the X transport direction can be increased due to the lower inertia of the transport carriage to be moved.
- FIG. 3 shows an alternative embodiment of a drive for the X transport axis.
- This can have a common motor 111 or two motors 111b for driving the two X-axis belts.
- the common motor 111 drives a shaft 112b via a T gear 112a, which drives the pulleys 113 in the two longitudinal members 143.
- FIG. 4 is a schematic view of an automatic room portal movement machine with a view of the slide and belt of the main Y and Z axes.
- the two longitudinal beams 143 are U-shaped and open inwards towards the lifting slide.
- On each of these running tracks run rollers 145, which are connected to the transverse transport carriage 160 via running bearings 146.
- two belt bushings 115 are shown, each of which allows a smooth passage of the lower run of the belt 114 for driving the X axis.
- the upper run of the two belts 114 for driving the X-axis is in each case firmly connected to the transport carriage 160 (not shown).
- the belt bushings 115 are each located approximately in the outer half of the section of the carriage 160 encompassed by the longitudinal member 143.
- Pulleys 123 for driving the main Y axis are also shown. With a belt 124, these belt pulleys 123 move the lifting carriage stand 170a and the lifting carriage 170 located therein in the Y direction.
- the belt pulleys 123 are arranged in the transport carriage 160, specifically at a point which is just just encompassed by a longitudinal beam 143.
- Another pulley 133 is also arranged somewhat further inside the left pulley 123 at the same height in the transverse transport carriage 160. This serves to drive the Z-axis, that is to say for lifting and lowering the lifting carriage 170 via a belt 134 which is in engagement with the belt pulley 133.
- the lifting carriage 170 runs in a lifting carriage stand or lifting carriage carrier 170a. This lifting carriage carrier is guided along the transport carriage and moved back and forth by the belt 124.
- the deflection rollers 137 and 138 are fastened to the lifting carriage stand and ensure the force deflection when the belt 134, which is pretensioned and fastened at the end of the axle, is shortened or lengthened, and for the belt deflection during the transverse transport from the lifting carriage stand 170a from the lifting carriage 170.
- the pulley 135 is attached to the upper part of the lifting carriage and the belt pulley 136 to the lower part of the lifting carriage. If the drive pulley of the Z-axis 133 is now rotated clockwise, the upper belt part is lengthened and the lower belt part of the belt 134 is shortened. That is, the belt 134 pulls the lifting carriage 170 upward over the lower pulley 136 in its lifting carriage stand 170a.
- the drive pulley 133 is now rotated counterclockwise, the upper belt part is shortened and the lower belt part of the belt 134 is lengthened. That is, the belt 134 pulls the lift carriage 170 down over the upper pulley 135 in its lift carriage stand 170a.
- Metal rails also called collision free rails 181 and 182
- the metal rails can be arranged along the main axis of the room portal automatic machines and the hardware signals, the sensors with contactors and relays, e.g. hardware, Collision spaces are defined, that are not dependent on any electronic control. This is mainly used to prevent dangerous plant conditions.
- a gripping device 150 is attached to the lower end of the lifting carriage 170.
- This comprises a carrying and tensioning device 152, on which a suction spider or gripper arm 153 with suction devices or grippers 154 is fastened.
- the suction spider or gripper arm also has a partial control 155. This contains sensors to determine whether the gripping device has gripped a part.
- the suction devices or grippers are actuated via valve devices 157 in order to pick up or discharge parts by means of the suction devices or grippers.
- Valve devices for pneumatic or hydraulic devices for suction, gripping and clamping are controlled by a central control.
- a longitudinal member 143 on the left-hand side of the illustration comprises a section of the transport carriage 160.
- the leadthrough 115 of the belt for driving the X-axis is located at the lower left end of the carriage 160.
- the motor 121 With the brake and position sensor as well as the gear 122. which drives the pulley 123 to drive the Y axis.
- a pulley 133 which cooperates with the belt 134 for moving the lifting carriage up and down.
- FIG. 5b shows an arrangement corresponding to FIG. 5a, also in a viewing direction parallel to the X axis, but this time from the front.
- a pulley 123 can now be seen, which interacts with the belt 124 for driving the Y axis.
- This pulley is in turn arranged approximately centrally between the wheels 145.
- To the right of this is a motor 131 with a brake and position sensor, and a gear 132.
- FIGS. 5a and 5b shows a schematic top view of the arrangement according to FIGS. 5a and 5b.
- the motor 121 for driving the Y-axis with its gear 122 and the belt pulley 123 is just like the motor 131 with its gear 132 and the belt pulley 133 are arranged parallel to the X axis.
- Reference numeral 143 denotes the Edge of the side member.
- Belt 124 for driving the Y axis is approximately twice as wide as belt 134 for driving the Y axis.
- the belt 124 further includes the motor 131 with its upper run and its lower run.
- the motor-transmission-pulley arrangements for driving the Y-axis and for driving the Z-axis are oriented in opposite directions along the X-axis.
- a section along AA is indicated by a dashed line. This runs through a cross member 162 of the transport carriage 160.
- Fig. 5d shows the section along the line A-A of Fig. 5c.
- the cross member 162 of the transport carriage 160 can again be seen.
- the cross member 162 is connected to an upper frame 163 and a lower frame 164 of the transport carriage 160 in an approximately right-angled arrangement.
- the metal thickness of the cross member is approx. 10 cm.
- the thickness of the upper and lower frame, shown in section in FIG. 5d, is approximately 3 cm.
- the distance between the top of the top frame and the bottom of the bottom frame is approximately 46 cm.
- the pulley 123 for driving the Y axis is shown on the left of the cross member and the pulley 133 for driving the Z axis on the right of the cross member.
- the pulleys are located approximately halfway between the upper frame and the lower frame, these frames being approximately 44 cm wide.
- the pulleys are separated by the cross member 162, the axes of rotation of the pulleys being approximately perpendicular to the surfaces of the cross members 162 running in the X-axis direction.
- FIG. 6a shows a partial rear view of a carriage 160 guided in a longitudinal beam 143.
- the motors for driving the Y axis and the Z axis are parallel to the Y axis arranged.
- the parallel arrangement of the motor 121 for driving the Y-axis and its transmission 122 can be seen.
- the motor unit 121 comprises the brake and position encoder.
- the carriage 160 is guided in the longitudinal beam 143 in the same way as described in FIGS. 5a to 5d via rails 144 and rollers 145.
- the pulley 133 for driving the Z axis has a smaller diameter than the pulley for driving the Y axis.
- This pulley 123 for driving the Y axis with the associated belt 124 is shown in FIG. 6b.
- 6b is again one schematic partial view in the direction of the X axis, ie from the front.
- the belt 124 runs above and below the drive device 130 for driving the Z axis.
- the motor 131 with the brake and position sensor runs in its longitudinal direction parallel to the Y axis.
- Gear 132 is shown to the right of the engine.
- the upper edge of the carriage 160 continues in a stepped manner to the right.
- a buffer axle stop 172 is attached to the step edge in order to dampen any impact of the lifting carriage 170 or lifting carriage stand 170a on the step of the transport carriage 160.
- FIGS. 6c shows a top view of the arrangement of FIGS. 6a and 6b.
- This top view clearly shows that the motors are arranged in their longitudinal axis parallel to the Y axis and not, as shown in FIGS. 5a to 5d, parallel to the X axis. 5a to 5d, the belt pulley 123 for driving the Y axis and the belt 124 in the direction of the axis of rotation are approximately twice as wide as the belt pulley 133 with the belt 134 for driving the Z axis .
- the gears 122 and 132 are each arranged in the longitudinal direction of their associated motors 121 and 131.
- the belt 124 runs above and below the motor gear arrangement 131, 132.
- the cross member of the carriage 160 is designated 162 and the edge of the longitudinal member is designated 143.
- Fig. 7 shows a view of the room portal movement machine in the X direction.
- the motor 121 runs parallel to the Y axis.
- a palette 34 is drawn in with dashed lines, which can be loaded by means of the room portal automatic movement device.
- the pallet is located within the working area of the room portal automatic movement machine, which has 181 in the Y direction through the contact rail or collision-free rail.
- Suction spiders, gripper arms, etc. 153 are attached to a carrying and clamping arm by means of a clamping and coupling device in such a way that the parts can be transported to and from pallets 34 in the best possible transport route.
- the arrangement of the suction spider 153 and the drive device of the Y and Z axes should, if possible, be such that an approximately uniform weight distribution of the masses arises.
- 8a shows a schematic top view of an exemplary embodiment for a transport arrangement.
- the automatic transport machine or room portal automatic machine 31 is implemented with three highly dynamic main transport axes and serves the warehouse units 34 I to 34 VI as well as the press 2. These highly dynamic main axes are driven by belt drives and thus reach speeds of up to 300 m / min.
- a suction spider that can be pivoted about the lifting axis or two double-superimposed pivot axes for rotating the suction or gripper spider in the X / Z plane can be attached to the lifting slide of the room portal movement machine.
- 8a shows six bearing units 34 I, 34 II, ..., 34 VI. Due to the large storage space 30 or transport space, this arrangement is particularly well suited for the transport of parts into and out of a press directly in storage units.
- Fig. 8b shows an arrangement of the space portal movement machines 31a, 31b, 31c in front of and behind a press, e.g. to link several presses to a press line or processing arrangement, i.e. with this arrangement, the part is transported from press to press. With this arrangement, the part is rotated 180 ° around the stroke axis during transport from press 2 to press 2. It therefore makes sense to provide the suction or gripper spider with two dynamic axes of rotation, e.g. an A-axis for rotation about the lifting axis of the automatic transport machine and an A'-axis with the same arrangement and direction of rotation below the A-axis. The A'-axis is attached to the A-axis and rotates with it.
- Such a double rotary axis or a gripper device with the above-described two rotary axes can advantageously also be combined with other automatic machines in order to obtain an automatic machine with a rapidly rotating gripper device.
- the double axis of rotation can also be combined with movement machines according to the invention.
- FIG. 8c shows a schematic top view of an exemplary embodiment of a processing arrangement according to the invention around a production machine 2, e.g. a welding machine which is supplied with two different parts by two automatic transport machines or room portal automatic machines 31a and 31b, e.g. Car roof and its stiffening plates, shown.
- the parts are alternately a part of stiffening sheet, the next part of the car roof is transported directly from the storage units 24b by the automatic transport mechanisms 31a and 31b into the welding machine.
- the automatic transport mechanism 31c transports the new part into one of its storage units 34e.
- This arrangement ensures a high partial yield and relief of the people from monotonous work processes due to their large part stock or part memory and the high speeds of the highly dynamic belt drive axes of the space portal movement machines according to the invention.
- FIG. 8d shows a schematic top view of an exemplary embodiment of a transport arrangement according to claim 6c.
- a work space of the transfer movement machine 10 is identified by a dash-dotted line.
- This automatic machine removes a workpiece or part from a takeover position 12. These parts are used in a suction transfer press e.g. from the last suction traverse stored there in the cycle cycle of the production of the suction transfer press. The automatic machine picks up this part from the transfer position 12 and brings it to one of the two transfer positions 14a or 14b in the case of simple part production. An automatic transport device 31a or 31b takes over this part at the transfer position 14a or 14b from the automatic transfer machine.
- the automatic transfer machine or universal transfer robot has, for example, three highly dynamic transfer main axes with belt drives, which can be moved in a range of approximately 1 to 2 meters.
- the transport movement machine lays in the one Arrow shown in Fig. 8d transport direction a distance of up to about 7.5 meters, for example. In order to cover this distance quickly enough, the automatic transport machine has three highly dynamic main axes. If a space portal movement machine is used, as described above, speeds of up to 300 meters per minute can be achieved along the X axis, for example. In the Y-axis running transversely to the direction of transport, speeds of up to 300 meters per minute can also be achieved. The maximum lifting speed can be, for example, up to 200 meters per minute. In this way, it is possible to move approximately 8.5 parts per minute from a transfer position 14 to a storage position 32 with a room portal automatic movement device.
- a maximum number of strokes of 15.5 parts per minute are currently achieved by a suction transfer press.
- a second room portal movement machine 31b is therefore used in addition to a first room portal movement machine 31a.
- the parts are alternately transported from the transfer machine 10 to the transfer positions 14a and 14b. From there, they are each picked up by a transport movement machine 31a and 31b and transported to their storage position 32a or 32b. Since the transfer positions 14a and 14b are loaded alternately, a stroke rate of 8 parts per minute of an automatic transport movement machine is sufficient to remove the 15.5 parts per minute that are delivered to the transfer position in the case of simple part production.
- the working space 30a or 30b of the automatic transport machine 31a or 31b preferably comprises at least two bearing units 34a or 34b. In this way it is possible to load one storage unit while the other, filled one, is replaced. This ensures smooth removal of the parts ejected by the suction transfer press.
- FIG. 9 shows a side view of the transport curves 41u, 42u, 41o, 42o of the transport movement machines in the event that they are arranged one above the other.
- the transfer positions 14u, 14o are arranged one above the other.
- the lower transfer position 14u can be at the same height as the transfer position 12. In the first place, however, it must be ensured that the sequence of movements from the transfer position 12 to each of the transfer positions 14 is optimized.
- the automatic transfer machine should preferably be empty or unloaded at its take-over position 12 when the production machine, for example suction transfer presses, supplies parts in an angular position.
- the optimization of the highly dynamic axes should preferably take place at very high speeds and with ideal path specifications such that each part delivered by the production machine is taken over at the receiving position 12 by the automatic transfer machine with the tools provided, so-called templates, and at its corresponding delivery position 14u or 14o are transferred to the transport movement machine (s).
- the automatic transfer machine should transport the part as far as possible into the space of the automatic transport machine 31a or 31b without neglecting its task of transferring the part from the production machine to the automatic transport machine.
- the lateral, simplified representation of the transport curves 41u and 42u comprise a family of transport curves which lead from the transfer position 14u to a loading unit 34u or to a pallet 34u in order to deliver parts to different storage positions within the pallet.
- the transport curve 42u represents the first transport curve when the pallet 34u is empty
- the transport curve 41u represents the transport curve when the pallet 34u is almost full. This means that the parts are preferably moved in sequence from bottom to top with the help of the automatic transport machine. The same applies to the filling of the upper pallet 34o.
- the stands or machine stands for supporting the pallets and possibly also the transport movement machines are indicated at 50.
- FIG. 10 shows a further exemplary embodiment of a transport arrangement according to the invention in plan view, only the upper level of the pallet arrangement being shown.
- a suction transfer press works in double-part production and thus delivers two parts at the takeover position 12. From there, the two parts from the transfer machine 10 to one of the transfer positions 14u (bottom, not shown) or 14o (top). This means that two parts arrive at a transfer position at once. For this reason, two transport automatic machines are used in one level, in order to transport a part to the pallets 34or and 34ol of the upper level or 34ur and 34ul (see FIG. 11) of the lower level, which are designated by I to IV.
- the part delivered by the transfer movement machine to the right at the transfer position 14o is transported to the pallets 34or and the part transferred to the left in the transport direction is transported to the pallets 34ol.
- the transfer position 14o Under the transfer position 14o is the transfer position 14u, which is alternately approached to the transfer position 14o by the automatic transfer machine with two parts. These two parts are transported to pallets by two further automatic transport machines in an underlying level. These pallets are located directly below the 34or and 34ol pallets on the upper level. The arrangement of the pallets in two levels can be seen in FIG. 11. The view is from the rear against the transport direction.
- transport curves are shown in FIG. 10 for explanation. These are the transport routes for transporting a part from the transfer position 14u and 14o to the storage units or pallets.
- each transport movement machine travels a different transport curve.
- the transport movement machine 34or moves the transport curve 43a from the transfer position 14u to pallet I 34ur and the transport movement machine 34or lying above it moves the transport curve 43c from the transfer position 14o to pallet III 34or, that is to say alternately and offset.
- the transport arrangement according to the invention and thus the transport curves can be in the opposite direction, i.e. to transfer parts from the pallets to a production facility.
- the gripping device of an automatic transport machine can be moved in any direction and can be positioned and adjusted with dynamic axes in all directions. However, it is also conceivable to keep the gripping device rigid and thus, for example, to give the suction spider an orientation as shown as an example in FIG. 12. The orientation of the suction spider thus points diagonally between the pallet groups I and II or III and IV arranged on the edge of a square.
- the orientation of the suction spiders is indicated by an arrow 38r for the automatic transport movement machine working in the transport direction.
- the orientation of the suction spider for the transport movement machine working on the left in the transport direction is designated 381.
- Test stations are schematically indicated in the transport direction on the left and right, which can be provided instead of further pallets or next to this pallet. These test points 37 are approached by the transport movement machines in order to deposit workpieces there for test purposes and random samples (see also FIG. 10).
- the pallets are also conceivable as double pallets of double size.
- FIG. 13 shows the use of a transport movement machine 100 with three transverse main axes X, Y and Z. At a transfer position 14, this removes a part transferred by a universal transfer robot, also a transfer movement machine 10. This part comes from a press 2 and was placed in the takeover position 12.
- FIG. 14 shows a transport arrangement against the direction of the X-axis and against the transport direction with four room portal movement machines or four universal room portals. These room portal motion machines are distributed on two levels. Two are located in an upper level and two in a lower level and two on one side to the right of the parts transport axis 300 and two to the left of the transport axis 300.
- a pallet II is shown in broken lines on the outer sides above and below. For the sake of clarity, pallets III and IV, as shown in FIGS. 10 and 11, have not been shown.
- Collision free rails 181, 182 and 183 along the X axis are shown on the lifting carriage 170 and on the transport carriage 160, with which a collision space can be defined and evaluated (see above).
- FIG. 15 It schematically shows the chronological order in which the various pallets of two superimposed levels, which are arranged one above the other in the transport direction, are loaded by automatic transport mechanisms, and thus the transport curves during the loading process of the pallets.
- Each square should represent a pallet or storage unit 34. There are always two other storage units 34 offset in the planes and the transport curves are fully loaded.
- the storage unit 34ur I is filled by the lower transport movement machine and the storage unit 34or III by the upper transport movement machine. If these storage units 34ur I and 34or III are filled, the next two storage units become 34ur
- the lower transport movement machine travels from the storage unit 34ur I to the lower transfer position 14u or to a waiting position in front of it.
- the upper transport movement machine travels from the transfer position 14o to the storage unit 34or III.
- the bearing units 34ur I and 34or III are filled with this alternating part transport of the levels. If these storage units are filled, the storage units 34ur II and 34or IV according to FIG. 15 are filled. 15 shows the storage units to be filled on the respective level. This order can also be reversed, e.g. for the respective unloading of storage units in two superimposed levels.
- the automatic transfer machine In the case of single-part production, for example, there can be two levels, each of which has an automatic transport machine.
- the automatic transfer machine only transfers one at a time Part to an upper and lower transfer position, or there can be two transport automatic machines in one level for single part production.
- the automatic transfer machine only transfers a part to a left and right transfer position.
- the transport arrangements described above are preferably used for a production of 16 strokes per minute. If the parts are delivered to the delivery position at 8 strokes per minute, in the case of double-part production, the automatic transfer machine can transfer the two parts to one transfer position to two room portal automatic machines. With single part production and 8 strokes per minute, the universal robot can transfer the parts to a transport movement machine at a transfer position. In this case, too, a transport movement machine can pick up the part to be transported into a storage position directly from a press.
- the gripper of the automatic machine then advantageously has at least one axis of rotation.
- the transport arrangements of the automatic transport movement devices described in this invention can be used not only for unloading but also for loading production machines. In this case, the transport direction is simply reversed. In this case, the automatic transfer machine can possibly be omitted.
- a second automatic transfer machine can be used, e.g. two further transfer positions take over the parts from the transport movement machines and transport them specifically to an end position. The parts would therefore arrive at this end position in the same number of pieces per minute as they were removed from the transfer position.
- At least one of the following three types of collision monitoring is advantageously implemented, particularly advantageously all three.
- Such collision monitors are particularly advantageous when the transport movement machines are used in two levels arranged one above the other. In this case, it must be prevented that the lower level lifting slide collides with the upper level lifting slide.
- a collision-free signal is reported (logical "1") as long as the main axes (X, Y and Z) are outside the collision area. If there is a transport movement machine in the collision area, it is advantageous to ensure that the other transport movement machine is outside the collision area. If the other transport movement machine also moves into the collision area, the hardware release of the electrical servo drives of the various main axes is preferably interrupted. This allows the axles to be braked quickly.
- FIG. 16 shows a driving curve 400 of a space portal automatic movement machine or a transport automatic movement machine.
- This driving curve connects pick-up and delivery positions 410 and 420.
- the pick-up position 410 corresponds to the transfer position
- the delivery position 420 corresponds to the storage position.
- Fast path switching functions are indicated by circles (also called M functions, auxiliary functions or peripheral output instructions). These are advantageously queried by a higher-level controller, preferably a programmable logic controller, or transferred to a higher-level controller by a robot controller for controlling the automatic transport machine or room portal automatic machine.
- the driving curves of a room portal movement machine or a transport movement machine are thus advantageously controlled via path switching functions. It is particularly advantageous here to control the individual movement machines of a transport arrangement separately from one another or in each case independently.
- path switching functions or fast peripheral output instructions are marked with circles in FIG. 16. They are quickly transferred to the higher-level control system during the positioning processes of the automatic motion machine. With these path switching functions, collision monitoring, signals for suction devices or Grippers or start / stop signals for upstream or downstream machines can be realized. Furthermore, they advantageously serve to inform the higher-level controller of the position of the lower-level unit, that is to say of the automatic transport movement machine or of the room portal automatic movement device. Approximately 20 railroad switching functions (BSF) are preferably provided per subordinate unit (for example, per room portal automatic movement machine). 16 shows an example of part of the usable path switching functions (BSF).
- the path control function BSF 21 informs the higher-level control that this position has been reached. If there is an enable signal, the waiting position is simply passed over. If the automatic motion machine continues in the direction of takeover position 410, a path switching function BSF 22 informs the higher-level control system that the automatic motion machine is located within the collision area. Another path switching function BSF23 notifies that the vacuum is switched on and the gripper is ready. Via the path switching function BSF25, the higher-level control is informed that the automatic machine is in the takeover position 410.
- the next takeover position can advantageously be calculated during this waiting time. This is necessary, for example, when parts of a stack are picked up one after the other by the space portal automatic movement machine or transport automatic movement machine.
- a sensor located on the automatic machine determines whether the part was picked up correctly. This information is then evaluated at BSF 26 by the higher-level controller.
- the higher-level control system learns that the automatic machine is outside the collision area. Depending on whether the higher-level control system specifies a release signal for position 440 or not, the automatic motion machine stops at 440. Its position is communicated to the higher-level control system by the path switching function BSF 31.
- the movement machine waits at position 440. Shortly before the part is delivered at 420, the path switching function BSF 33 informs the control system that the suction device switches off and the Gripper for delivering the part opens. At 420 a short waiting time is again advantageous started to deliver the part correctly. This waiting time is advantageously used to deliver the part correctly or to calculate the delivery position to be traveled to the next delivery (for example within a pallet).
- the delivery position is communicated to the higher-level controller by means of the path switching function BSF 35.
- the sensor arranged on the gripping device transmits to the higher-level control system that no part is now being gripped by the gripper.
- BSF 36 this information is evaluated by the higher-level controller.
- BSF 37 tells the higher-level control whether the pallet is full or not. This information can also be obtained either by sensors attached to the pallets or inferred from the delivery position within a pallet.
- the path switching function BSF 39 can advantageously be used to communicate the state of the storage units to a machine (for example a following machine) that cooperates with the room portal automatic movement machine or the transport automatic movement machine.
- signals are sent from the takeover position 410 and the delivery position 420 to the higher-level control system, which indicate whether a part has been picked up or delivered. This information is preferably also obtained by sensors arranged at the pick-up and delivery position. This sequence of a transport curve just described can also be implemented in the opposite direction.
- FIG. 17 shows a flowchart of a transport process of a room portal movement machine or transport movement machine according to the invention.
- the movement machine In the case of a waiting position recording, the movement machine is in a waiting position outside the collision area in order to continue in the direction of the transfer position after a release by the higher-level control. If such a release signal already exists, the waiting position is passed over. When the automatic machine has reached the take-over position, a signal is transmitted to the higher-level control in order to inform it.
- a gripping sensor is used to determine whether a part has been gripped or not. If this is the case, the movement machine continues in the direction of the waiting position delivery. If the part is not detected, two possibilities advantageously result. On the one hand, the operator feeds the part to the gripper by hand and the operator acknowledges the error. The grip sensor and signal then determine whether the manual feed was previously successful. If this is not the case, the stops Sequence of movements. If this is the case, the automatic machine continues in the direction of the waiting position delivery.
- the operator removes the part by hand and acknowledges it with a signal. This transfer is checked by the gripping sensor. If it is not successful, the movement sequence is stopped. If it is successful, the automatic machine moves back to the waiting position pickup, in order to move back to the takeover position if a new part is delivered.
- the movement machine If the movement machine has reached the waiting position for delivery (waiting position - delivery), it continues to the delivery position or waits at the waiting position for delivery, depending on whether or not there is a release signal from the higher-level control system. Once the automatic machine has reached the delivery position, it in turn sends a signal to the higher-level control. After successful delivery, which in turn can be monitored by the gripping sensor (not shown), the movement machine returns to the waiting position for the recording. If the spatial positions are changed, this process can also be used to load machines or unload storage units.
- XY and Z ⁇ characterize the current actual position of the X, Y and Z axes of an automatic machine located in a lower level.
- X 2 , Y 2 and Z indicate the actual position of the X, Y and Z axes of an automatic machine in the upper level.
- X> ⁇ ,Y> ⁇ andZ> ⁇ indicate the difference between the X, Y and Z positions of the automatic machines in the upper and lower levels.
- the smallest possible distance between the positions at which there is no collision is advantageously chosen.
- the braking distance is also preferably taken into account. If the collision monitor responds, each positioning process is advantageously switched off. In manual operation, an operator can then only move the automatic machine out of the collision area in the opposite direction.
- 19a and 19b explain the tools to be replaced in the arrangement according to the invention or the automatic transport movement and the arrangement of the tools in storage units specially provided for this purpose (e.g. tool change pallets).
- the levels of the arrangements according to the invention e.g. The arrangement of the tools or their storage units 550 of the automatic transport motor 510 below on the right-hand side of the transport direction, the storage units 550ur I and 550ur II, are intended as follows: the tool change should always be made from a tool No. 1 that has just been installed to a new one Tool No. 2 done.
- the storage unit 550ur I is therefore intended to receive the replaced tools No. 1 and is empty at the start of the tool change.
- a template carrier gripper arm 515 is removed from the storage unit 550ur II by the transport movement machine 510, which is provided for receiving and transporting the so-called templates, which are fastened on so-called template carriers 513 and 514 with quick releases.
- Stencils are made of metal and plastic and are adapted to the shape of the parts.
- the automatic transfer machine takes the parts with templates (or tools) and thus holds them in place during transport.
- the tools No. 1 of the automatic transfer machine or the templates and the template carrier No. 1 513 are brought with the template carrier gripper 515 of the automatic transport machine from the automatic transfer machine into the storage device 550ur I.
- the transport movement machine brings the tools No. 2 of the transfer movement machine (the templates or template carriers) 514 out of the storage unit 550 for the transfer movement automatons.
- the template carrier gripper arm is then brought from the automatic transport movement 510 to the storage unit 550ur I and deposited at position 515. Now the automatic transport machine 510 drives to the storage unit 550ur II and takes over the tool No. 2 512.
- the old automatic tools (eg tool No. 1) and the new tools have been moved from the transport automatic machine 510 to a storage unit 550ur I (eg tool no. 2) for the transfer and transport movement machine from the storage unit 550ur II, ie a tool change for the transfer and transport movement machine 510 from tool no. 1 to tool no. 2 was carried out.
- the exchange of the tools of an automatic transport machine 520 without a transfer automatic machine does not require any templates or template carriers and therefore also no template carrier gripper 515.
- Only the tool no. 1 is moved to the storage unit 550ur I in position 521, and the factory ⁇ witness No. 2 from the storage unit 550ur II taken from position 522.
- the arrangement of a new tool or No. 2 in the storage units 550 II of the lower level or the old or replaceable tool No. 1 in the storage units 550 I of the lower level ensures defined positions of the tools in the lower level and is therefore arbitrary often executable.
- the arrangements of the bearing units 550 according to FIG. 19b are intended for the positions of the tools of the tool change when automatic transport motion machines 530, 540 are arranged one above the other, for example in an upper level according to the arrangement according to the invention.
- the storage units 550 are at the tool change of the automatic transport machines 530, 540 at positions 550or III, where the tool No. 1 531 to be replaced is received, or at 550or IV, where the new tool No. 2 is provided at position 532.
- the arrangement is selected such that the storage unit 550ol III receives the tool No. 1 541 to be replaced and the storage unit 550ol IV provides the new tool No. 2 at position 542.
- 20a to 20c show the schematic sequence of the fully automatic tool change (WzW) depending on the arrangement in the levels of FIGS. 19a and 19b, the tool change being able to be implemented in several sub-operating modes.
- a tool change and its start is carried out externally, e.g. a pre-machine (suction transfer press).
- the operating mode tool change semi-automatic and semi-automatic part is selected and started manually. The process occurs step by step after the previous step or steps have been carried out.
- 20a shows the general specifications of the tool change up to the start. After the start, the tool change is logically the same for every transport machine (see Fig. 20c). However, if a transport arrangement has a transfer movement machine, the tool change of a transfer and transport movement machine takes place according to FIG. 20b.
- the transport movement machines move into a parking position so as not to cause any collisions with one another or with the storage units. If the transport movement machines are in their parking position, the storage units of the production parts of tool no. 1 are removed, at the same time the transfer movement machine moves into a tool delivery position.
- the storage units with the tool storage locations e.g. Tool change pallets I and II, each for the lower transport movement machines and tool pallets III and IV for the upper transport movement machines (see FIGS. 19a and 19b).
- tool no. 1 is guided on the lifting slide of the transport movement machine 516 into the defined bearing unit according to FIGS. 19a and 19b at the bottom right at position 511.
- the transport movement machine takes over a stencil carrier gripping arm (GFA) for gripping the stencil holder from item 515 of the WzW pallet II. If this step is carried out, the stencil holder of tool No. 1 is transferred from the handover Transfer automatic motion machines to position 513 in the storage unit 511.
- GFA stencil carrier gripping arm
- the automatic transport movement devices move into their collision-free parking position.
- the tool cycle is interrupted, for example to be able to carry out repair work without tools. From this stop of the semi-automatic tool change, it can preferably only be restarted by hand at the same point.
- the stencil carriers of tool no. 2 are transferred from the storage unit 512 from position 514 to the transfer movement machine by a transport movement machine.
- the template carrier gripper GFA is transferred to position 515 in the storage unit 511.
- the steps of stencil carrier gripper reception and delivery and the steps of stencil carrier from the automatic transfer machine are transferred to the storage unit and from the storage unit to the automatic transfer machine. They are preferably only used in a transport machine with a transfer machine, e.g. in the lower right plane according to FIGS. 20b and 19a.
- the transport movement machine 510 takes over tool No. 2 from position 512. After this step, the automatic transport machines move into the parking position. Once this step has been carried out, the tool change storage units are removed and, at the same time, the automatic programs and data for the new tool No. 2 are loaded or activated in the control units. Once the step to remove tool storage units has been carried out, the storage units for the parts of tool no. 2 are brought up. If the automatic programs for tool no. 2 have been loaded, the automatic transport and automatic transfer machines move into the starting position of the automatic cycle. Once these steps have been carried out, the general part of the tool change (see FIG. 20a) checks whether all the movement machines have carried out their tool. If this step is fulfilled, the system switches back to automatic. 20c explains the tool change sequence for a transport movement machine without a transfer movement machine.
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Application Number | Priority Date | Filing Date | Title |
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DE19515994.2 | 1995-05-02 | ||
DE1995115994 DE19515994A1 (de) | 1995-05-02 | 1995-05-02 | Transportvorrichtung für Werkstücke, insbesondere Autopreßteile, sowie Anordnung und Verfahren |
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WO1996034817A1 true WO1996034817A1 (de) | 1996-11-07 |
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DE102004062160A1 (de) * | 2004-12-23 | 2006-07-13 | Siemens Ag | Elektronisches Nockensteuerwerk bzw. Verfahren zur Generierung von Nocken |
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EP0059477A1 (de) * | 1981-03-04 | 1982-09-08 | Bengt Ake Bengtsson | Vorrichtung zum Laden von Gegenständen |
DE3320830A1 (de) * | 1983-06-09 | 1984-12-13 | Hans 4320 Hattingen Schoen | Stufenvorschub fuer folgewerkzeuge, insbesondere an stanzpressen |
US4941793A (en) * | 1987-12-21 | 1990-07-17 | Honda Giken Kogyo Kabushiki Kaisha | System for sending-off press-formed parts |
DE3926670A1 (de) * | 1989-08-11 | 1991-02-14 | Siemens Ag | Handhabungseinrichtung |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61284379A (ja) * | 1985-06-06 | 1986-12-15 | 本田技研工業株式会社 | ロボツト装置 |
DE3623506A1 (de) * | 1986-07-09 | 1988-01-28 | Mannesmann Ag | Fuehrung fuer einen industrieroboter |
-
1995
- 1995-05-02 DE DE1995115994 patent/DE19515994A1/de not_active Withdrawn
-
1996
- 1996-05-02 WO PCT/EP1996/001832 patent/WO1996034817A1/de active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0059477A1 (de) * | 1981-03-04 | 1982-09-08 | Bengt Ake Bengtsson | Vorrichtung zum Laden von Gegenständen |
DE3320830A1 (de) * | 1983-06-09 | 1984-12-13 | Hans 4320 Hattingen Schoen | Stufenvorschub fuer folgewerkzeuge, insbesondere an stanzpressen |
US4941793A (en) * | 1987-12-21 | 1990-07-17 | Honda Giken Kogyo Kabushiki Kaisha | System for sending-off press-formed parts |
DE3926670A1 (de) * | 1989-08-11 | 1991-02-14 | Siemens Ag | Handhabungseinrichtung |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6955518B1 (en) | 2000-09-29 | 2005-10-18 | Hermann Hagel | Transfer device |
CN106185306A (zh) * | 2016-08-29 | 2016-12-07 | 江苏准信自动化科技股份有限公司 | 电池快速上料装置 |
CN108069250A (zh) * | 2017-10-30 | 2018-05-25 | 嘉兴南洋职业技术学院 | 一种全方位机电夹爪 |
CN108584374A (zh) * | 2018-07-23 | 2018-09-28 | 珠海格力智能装备有限公司 | 自动翻转下料装置 |
CN109879009A (zh) * | 2019-03-05 | 2019-06-14 | 江苏理工学院 | 一种风扇散热器自动上下料机构及其工作方法 |
CN112193813A (zh) * | 2020-08-26 | 2021-01-08 | 杭州长川科技股份有限公司 | 芯片分选装置 |
CN112193813B (zh) * | 2020-08-26 | 2022-06-24 | 杭州长川科技股份有限公司 | 芯片分选装置 |
CN117485891A (zh) * | 2023-12-29 | 2024-02-02 | 佛山华翔车顶系统有限公司 | 一种汽车顶棚成品后的转运装置 |
CN117485891B (zh) * | 2023-12-29 | 2024-04-12 | 佛山华翔车顶系统有限公司 | 一种汽车顶棚成品后的转运装置 |
Also Published As
Publication number | Publication date |
---|---|
DE19515994A1 (de) | 1996-11-14 |
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