WO2000058059A1

WO2000058059A1 - Automation arm

Info

Publication number: WO2000058059A1
Application number: PCT/EP2000/002601
Authority: WO
Inventors: Matthias Kohlhase; Anton Horsky
Original assignee: Boehringer Werkzeugmaschinen Gmbh
Priority date: 1999-03-25
Filing date: 2000-03-23
Publication date: 2000-10-05
Also published as: DE19913615A1

Abstract

The invention relates to an automation arm and a method for modifying the length thereof. Despite a simplified and cost-effective production method, said method allows an automation arm to be produced which requires a minimum of space, which extends rapidly in a manner that can be accurately controlled, yet which involves low production and maintenance costs. The inventive automation arm comprises at least one telescopically extendable arm section, consisting of at least one base part (3) and a telescopic part (11) which can be extended telescopically in relation thereto. Said automation arm is characterised in that a mechanical transmission which gears upwards with regard to the longitudinal direction of the telescopic part, is located in at least one telescopically extendable arm section between the telescope drive motor and the telescopic part (11).

Description

Automation arm

I. Field of application

The invention relates to an automation arm, as is present, for example, in machine tools that are installed in a production line, for example, for supplying workpieces and / or for supplying tools.

II. Technical background

Such machine tools, for example lathes, milling machines etc., generally have a work space accessible from above and / or from the front, in which the workpiece is held clamped during machining. The automation arm must be able to deliver or remove the workpiece from this processing position. If the automation arm is used to equip the processing unit with tools, these are also located within the work area and the tool positions must be accessible from the automation arm.

Since the working area is closed by protective covers during processing to protect the environment from emissions or material particles that arise during processing, the automation arm must either remain in the working area during processing or must be re-entered into the working area with each new loading / unloading process reach in, so that then to Minimizing dead times and the access speed of the automation arm is of great importance, in addition to the exact reproducibility of the movements.

Such an automation arm is therefore - in the second case - generally arranged behind or above the working space of the machine tool, and has one or more arm parts, which are then usually at an angle to one another or pivotable relative to one another. At least one of the arm parts, usually the vertical arm part, is usually telescopic, that is, can be extended in the longitudinal direction of the arm part, and in addition, the entire automation arm or part thereof is often z. B. pivotable vertical axis in order to be able to deposit the part removed from the machining area on a conveyor element arranged behind or next to the machine tool.

The problem here is that the space available for the movements of the automation arm also outside the working area of the machine tool is limited upwards and also to the side by other devices such as ceiling conveyors, switch cabinets, additional conveying devices, etc.

For this reason, automation arms that are designed as articulated arms, the individual arm parts of which cannot be telescoped, can often not be used, since such articulated arms protrude far to the rear or upward in the retracted state.

In the case of automation arms in which one or more of the arm parts can be telescoped in the longitudinal direction, there is also the problem that if the movable part is extendable by more than the length of the base part, which is fixed in contrast, the extendable part (telescopic part) in the retracted state is far beyond the rear the base part protrudes. This is the most common solution, namely a vertically telescopic arm part that is attached to a fixed one horizontal carrier, which runs through the working arm, is moved horizontally, a disadvantage in addition to the contamination of the carrier.

For this reason, it is not possible to use drive elements that increase the length of this extendable part, such as threaded spindles etc. acting on the extendable part, but rather drive elements (pneumatics, in some cases with end stops) that are less precisely controllable ) are avoided.

III. Presentation of the invention

a) Technical task

It is therefore the object of the present invention to provide an automation arm and a method for changing its length which, despite simple and inexpensive manufacture, enables an automation arm with a small space requirement, quick and precisely controllable extendability and nevertheless low manufacturing and maintenance costs.

b) solving the problem

This object is achieved by the characterizing features of claims 1 and 10. Advantageous embodiments result from the subclaims.

The arrangement of a mechanical, translating and non-reducing gear between the two parts that can be telescoped relative to one another, the base part and the telescopic part of an arm part, makes it possible to increase and extend the extension length of the telescopic part and thus the entire arm part in its idle state when it is at rest in particular increase its extension speed by driving the intermediate gear instead of the telescopic part.

This mechanical transmission can be an intermediate part which, when the arm part is telescoped, moves relatively both with respect to the base part and with respect to the telescopic part, for example a rolling element carrier with one or more rolling elements mounted therein. By driving this mechanical transmission, in particular the intermediate part or the rolling element carrier, the drive element, for example a motor-driven threaded spindle, has to overcome considerably smaller path differences than the distances to be bridged by the telescopic part.

The mechanical transmission is in operative connection both with the base part and at the same time with the telescopic part, for example in that the rolling element carrier, that is to say the intermediate part, is a rolling element cage with a plurality of rolling elements mounted in the rolling element carrier and simultaneously on one side on the base part and on roll their opposite side on the telescopic part, and in particular are kept in slip-free contact with the base part or telescopic part.

This results in a ratio of 2: 1 such that the longitudinal movement of this rolling element cage by one unit of length moves the telescopic part forward by two units of length relative to the base part. This makes it possible, in particular, to move the telescopic part so far in the longitudinal direction relative to the base part that these two parts no longer directly overlap each other, but only one overlap to the intermediate part, that is to say to the roller cage arranged therebetween. For this purpose, the rolling elements should preferably be operatively connected to one another, since otherwise the translation effect is lost. In the retracted initial state of the telescopic part, this avoids large protrusions to the rear and thus one large space requirement of such a telescopic arm part of an automation arm.

Of course, several arm parts arranged at an angle to one another and in particular also articulated to one another can each be designed telescopically in this way, and not only as described above in one step, but also in several steps, that is to say with several base parts and telescopic parts that can be displaced relative to one another in each case, and mechanical parts arranged in between Gear units or intermediate parts, in particular in the form of a rolling element carrier, wherein the telescopic part of the first stage can simultaneously form the base part of the second stage and so on with multi-stage telescopability.

The same transmission ratio is achieved by using a deflection head as an intermediate part instead of the rolling element cage as a rolling element carrier, in that a deflecting element is deflected via this deflecting head, which carries either a deflecting roller at its tip or only a sliding surface as a rolling element, which on the one hand on the base part and on the other hand on Telescopic part is attached. The tension element can either be a finite tension element, the ends of which are fastened as described above, or also an endless tension element guided by two or more deflection points which are located on the intermediate part.

It is also irrelevant whether sliding guideways or rolling guideways are arranged between the base part and intermediate part or between the intermediate part and telescopic part for the purpose of relative displacement, that is to say sliding friction or rolling friction.

In the case of finite tension elements, however, the free ends of the tension element striving from the deflection head must not extend away from the deflection head in the same, diametrically opposite direction, but preferably in two such directions, the intermediate angle of which is as small as possible. Here, too, the telescopic part is displaced by two length units with respect to the base part by pushing the deflection head forward relative to the base part by one length unit.

It is irrelevant in both specifically described solutions whether the drive source that moves the rolling element carrier, that is to say the rolling element cage or deflection head, is fixed relative to the base part or relative to the telescopic part.

In the case of an endless traction element, which is placed around the deflection points on the intermediate part, the drive can either be located on the intermediate part and drive the traction element, in particular directly, for example a toothed belt by means of a pinion, or the motor can be arranged on the base part or the telescopic part , and cause a displacement of the intermediate part relative to the part supporting the motor, ie the base part or the telescopic part. In the former case, the drive must be free of slippage in order to maintain a constant gear ratio.

With a two-stage telescopability, in which the telescopic part of the first stage is also the base part of the second telescopic stage, it is advisable to arrange the drive source, for example an electric motor, on the telescopic part of the first telescopic stage, and from there, e.g. B. by means of two threaded spindles, in particular diametrically striving threaded spindles, which are particularly equipped with mutually opposite threads, to drive the two closest rolling element carriers to this telescopic part.

In the case of a deflection head with a tension element, which is placed around it, in particular finite, as a rolling element carrier, either a second tension element must be placed around the deflection head in the opposite direction for the backward movement, or there must be a spring preload in the retraction direction for the telescopic part. Furthermore, the telescoping does not have to take place in the direction of a straight line, but it is also possible to telescoping in the form of an arc, in particular in the form of a circular arc, in that both the base part and the telescopic part have a corresponding curvature, and also the intermediate part or rolling element carrier which is arranged between them in effect. Even telescoping along a curve with a non-constant curvature is possible, provided the telescopic part and / or the rolling element carrier or intermediate part and / or the base part have a variable curvature, for example in that they each consist of articulated individual elements.

It is also conceivable to make the base part which specifies the telescopic direction variable in its curvature, in that a base part made of elastic material which can be influenced in its curvature, for example using the so-called memory effect in the case of metals and plastics, or by means of a layer-like structure and Relative displacement of the layers to each other is used.

Furthermore, it is possible that the full telescoping of a first arm part shortly before reaching its end position simultaneously causes the telescoping of the following second arm part, which is arranged on the first arm part at an angle or articulated thereto, and / or the pivoting of this second arm part relative to the first arm part.

In this way too, the overall space requirement for the automation arm can be drastically reduced.

c) working examples

An embodiment according to the invention is described in more detail below with reference to the figures. Show it: 1: a schematic diagram of the mechanical intermediate gear,

2a: a first embodiment in side view,

2b: a first cross-sectional variant from FIG. 2a,

2c: a second embodiment in side view,

2d: a third embodiment in side view,

2e: a second cross-sectional variant from FIG. 2a,

2f: a fourth variant in cross section,

3: a second embodiment in side view,

4: a double telescopic third embodiment analogous to FIG.

3,

Fig. 5: another embodiment with double translation in the

Side view,

6a: an automation arm with two arm parts,

6b: another automation arm with two arm parts,

6c: the automation arm of FIG. 6b with a different drive of the vertical arm part,

7: an automation arm with inclined arm parts,

8: an automation arm with curved arm parts, 9: an automation arm with a variable direction,

10a: a machine tool with automation arm in the idle state,

10b: the machine tool with automation arm of FIG. 10a in the telescopic state,

11: the machine tool of FIG. 10a in top view,

12a: the machine tool according to FIG. 10a in a side view, and

Fig. 12b: another machine tool in side view.

1 shows a basic illustration of a telescopic arm part with a base part 3 and a telescopic part 11 that can be displaced in the longitudinal direction 10. Between the two there is a mechanical gear in the form of a rolling element 9, which is simultaneously on one side on the base part 3 and on the opposite side rolls on the telescopic part 11.

By moving the center point of the rolling element 9, that is to say a hypothetical rolling element carrier by a distance x, the telescopic part 11 is moved in the same direction by twice the path length 2x with respect to the base part.

Instead of the rolling of the rolling element 9 directly on the base part and telescopic part, there can also be an operative connection in the form of a tension element, as will be described in more detail with reference to FIGS. 2c ff.

Figures 2a and 2b show a first embodiment based on the direct rolling. A plurality of rolling elements 9 are combined in a rolling element cage 4 as an intermediate part at a distance in the longitudinal direction 10, in where they are stored. As the cross-sectional representation of FIG. 2b shows, the rolling elements can be rollers which can be supported and held with their front ends in end plates 4a, 4b, which together form the rolling element cage 4. The front ends of the rolling elements 9 can be pointed and can be received in corresponding recesses in the end plates 4a, 4b, in order to reduce the sliding friction therebetween.

The rolling elements 9 are accommodated in the cage 4 in two planes with axes of rotation lying parallel to one another. In the space between the two levels of rolling elements, there is the base part 3, which, for example, can be connected to the machine tool in a fixed, ie immovable manner. Through a - in the present case trapezoidal cross-section - trough corresponding to the shape of the outer contour of the rolling elements 9, lateral guidance between the base part 3 and the rolling elements 9 and thus also the rolling element cage is achieved.

On their outer sides both levels of the rolling elements 9 run in correspondingly shaped grooves of the telescopic part 11, which according to FIG. 2b is a closed box-shaped hollow profile and has the grooves on the two mutually opposite inner sides. The box profile of the telescopic part 11 thus encloses the base part 3 and the rolling element cage 4 including the rolling elements 9. In the design of the rolling element cage 4 with two separate end plates 4a, both must be driven simultaneously and synchronously with one another, for example as shown in FIG. 2b by a threaded spindle in each case 14, 14 '. In order to both form the rolling element cage 4 in one piece and to improve the accessibility and assembly, a design according to FIG. 2c is advantageous in which both the rolling element cage 4 and the outer part composed of the base part 3 and the telescopic part 11, for example the telescopic part 11, consist of one U profile exist. The central part, for example the base part 3, consists of a z. B. rectangular profile, in particular a solid rectangular profile. As the side view of Fig. 2a shows, the translation is achieved in the drive that the rolling element cage 4 is driven in the longitudinal direction 10 relative to the base part 3, which results in a displacement of the telescopic part 11 relative to the base part 3 is twice as large.

The drive can take place by means of a threaded spindle 14, which also extends in the longitudinal direction 10 and acts on the rolling element cage 4, via a motor M1, which is fixed in relation to the base part 3. Another possibility - as shown in the lower half of FIG. 2a - is a scissor linkage which is arranged on the one hand on the rolling element cage 4 and on the other hand on the driving motor M3, the motor M3 then pivoting the swivel arm attached to it. In this case, lateral clearance is required for the retracted, then laterally projecting, scissor linkage.

Regardless of whether one of the two prescribed drive types or a further drive type is selected for the rolling element cage 4, the drive sources, that is to say the motors M1 and M3, can also be fastened to the telescopic part 11 instead of the base part 3.

Another possibility is to set some or all of the rolling elements 9 in rotation with respect to the rolling element cage 4 directly by means of a motor M2, and thereby to cause the relative movement of the base part 3, rolling element cage 4 and telescopic part 11 relative to one another, due to the freedom from slip of the rolling elements 9 opposite base part and telescopic part.

As shown in Fig. 2a, when the arm part is extended, the telescopic part 11 can be extended so far that it no longer overlaps with the base part 3, but only a relative overlap of the rolling element cage 4 on the one hand with the base part 3 and on the other hand with the telescopic part 4 viewed in the longitudinal direction 10 .

In this case, however, an operative connection, that is to say a non-rotatable connection, must be made between at least the rolling elements 9, which, even when completely apart, Driven position of the arm part are still in the area of the base part 3, and those that are still in the area of the telescopic part 11, but preferably over all the rolling elements 9, at least one of the two levels of rolling elements 9, are present.

This can e.g. B. toothed belt connection via a toothed belt 17 or a connection via idler gears 18 between the individual rolling elements 9, for example in the form of idler gears, can be selected.

The rolling elements 9, which in this case can also be balls, are captively supported in the free-ending legs of the U-shaped rolling element cage 4 by being received there with a precise fit over part of the outer circumference, and in turn roll on the outer contour of the central part, e.g. B. the base part 3, and the inner contour of the free legs of the outer U-shaped part, for. B. the telescopic part 11, from.

2c and 2d, on the other hand, show a drive option in which, instead of a rolling element cage 4, an intermediate part 4 'now carries two deflecting elements 9' which, in contrast to the rolling elements 9, no longer roll on the base part 3 or telescopic part 11. Instead, a tension element 7e is guided tightly around the deflecting body 9 ', which can be pulled around the deflecting body 9', usually rollers. The tension element 7e is fixed on the one hand with respect to the base part 3 and on the other hand with respect to the telescopic part 11. As shown in the alternative detailed drawings in the middle between Figures 2c and 2d, it can be an endless traction element 7e, or a finite traction element 7e, the two ends of which are attached to the base part 3, or an finite traction element 7e, the two ends of which are attached to the telescopic part 11, or by two finite traction elements, one end of each of the two finite traction elements being fastened both to the base part 3 and to the telescopic part 11.

The solutions of Figures 2c and 2d differ in their drive: 2c, the tension element 7e is driven by a motor M, which is arranged on the intermediate part 4 'and directly drives one of the deflection bodies 9' as a drive roller without slippage, in the solution according to FIG. 2d not the tension element 7e, but that Intermediate part 4 'driven by a motor M, which is arranged on the base part 3 in FIG. 2d, but could just as well sit on the telescopic part 3. The drive is preferably carried out by means of a toothed rack 27, in which a pinion 28 engages on the motor shaft of the motor M.

A two-stage telescoping is made possible in a simple manner according to FIGS. 2e and 2f in that, in the above-described solutions, the outer telescopic part 11 is doubled back to back to an H-profile, in the two free spaces of which an analog rolling element cage 4 or Intermediate part 4 'runs with a central inner part. One inner part then still functions as a base part 3, while the other inner part then represents the second telescopic part 12. Both roller body cages 4 are in turn drivable in the longitudinal direction 10, indicated for. B. by the drawn-in threaded spindle 14a or 14b. The threaded spindles can either be driven independently of one another or only simultaneously and in the same direction and at the same speed, but can be driven by the same motor M, which should then preferably be fixed to the first telescopic part 11 which extends over both telescopic stages.

Due to the separate, independent driveability of the two rolling element cages 4, 4 ', switching one of the drives on and off can switch from fast to slow operating speed of the telescopic arm, which enables quick bridging of large distances on the one hand and slow, very targeted approach to a target point on the other hand.

FIGS. 3 to 6 show solutions in which the rolling element 9 is also not operatively connected to the base part 3 and the telescopic part 11, but indirectly via a tension element. The basic form here is the simple telescopability according to FIG. 3. The aim is again to move a telescopic part 11 in the longitudinal direction 10 relative to a base part 3. For this purpose, a U deflecting body 9 'in the form of a roller is also displaced in the longitudinal direction 10, with a tensile element 7, for example a belt or rope, being wrapped around the right side in FIG. 3 via the deflecting body 9', while the two are free abstreben ends of the train ^¬ element 7 to the left.

Having a free end 15 of the traction member 7 is fixed to the base part 3, the other free end 16 on the other hand to the telescopic part 11. By displacement of the rolling ^¬ body 9 ', that is the center point of the deflecting roller or said sliding body by a distance x, for example, to the right the telescopic part 11 is in turn shifted twice to the right relative to the base part 3.

For the backward movement in the opposite direction, either the telescopic part 11 must be spring-loaded in this direction or a second tension element 7 ', as shown in FIG. 3, must be placed the other way around the deflecting body 9', in turn with the fastening of one end 15 'on the base part 3 and the other free end 16' on the telescopic part 11.

The displacement of the center of the deflecting body 9 'takes place preference ^¬ example directly in the longitudinal direction 10, but not exactly perpendicular thereto, namely for example by means of a threaded spindle 14 which is driven by a motor M, which against either the base portion 3 as drawn or to the telescopic part 11 is fixed.

Fig. 4 shows a working according to this basic principle, two-stage Telesko ^¬ pierbarkeit, wherein the first telescopic part 11 of the first telescopic stage at the same time as the base part 3 is used for the second telescopic stage. Thus, the one free ends 115, 115 'of the two tension elements 107, 107' of this second telescopic stage attached to the first telescopic part 11, and also the motor Mb of this second telescopic stage.

5 shows an arm part 2 which can only be telescoped in one step according to this basic principle, but with a double translation, that is to say displacement of the deflecting body 9 'by the distance x and thereby displacement of the telescopic part 11 by the distance 4x relative to the base part 3.

For this purpose, the tension element 7, in which in turn one end 15 is fastened to the base part 3 and the other end 16 to the telescopic part 11, is placed in between in an S-shape around two deflection points in the form of deflection bodies 9a ', 9b'. These two deflecting bodies 9a ', 9b' can be moved in opposite directions, preferably driven by means of one and the same motor M with the aid of threaded spindles 14a, 14b. If each of the deflection points 9a ', 9b' is displaced outwards from the center by a unit of length x, this results in the displacement by the distance 4x in the longitudinal direction 10, that is to say the end 16 fastened to the telescopic part 11 to the end 15 fastened to the base part 3 to. The return movement is realized here by a tension spring 8 between the telescopic part 11 and the base part 3.

By not only double, but multiple deflection of the tension element 7, the transmission factor can be increased as desired.

The tension elements can be designed as smooth belts or ropes, the deflecting rollers 9 and 9a, 9b only serving for the deflection. When the tension elements 3 are designed as positive tension elements such as toothed belts, the drive can also consist in the fact that the deflection rollers or 9a, 9b in FIG. 5 are rotated by a motor itself and the arm part is thereby telescoped or drawn in, only by Spring preload or other aids the constant contact of the pulley on the tension element must be ensured. The tension element 7 - regardless of whether it is smooth or form-fitting - may of course not be stretchable or as little as possible. 6 shows an automation arm 1 with a first telescopic arm part 2a, which can be telescoped in two stages horizontally, and a second telescopic arm part 2b attached to the free end on the first arm part 2a, which in turn can be telescoped in two stages and can be extended vertically downwards .

The second arm part 2b can preferably be pivoted up by spring preload into a parallel position to the first arm part 2a, and the entire first arm part 2a - together with the second arm part 2b attached to it - is in particular in a vertically upward rest position relative to the base part 3, which is a Part of the machine tool is swiveling up.

The arm parts 2a, 2b are shown in an at least partially extended position, in which the automation arm 1 engages in the working space 20 of the machine tool and is able to place or grasp a workpiece at the machining position 21 with the aid of a gripper 24 arranged at the front end of the second arm part 2b.

The telescopability of the first arm part 2a is not shown in more detail and can be solved according to one of the two basic principles described.

The telescopability of the second arm part 2b, which consists of a base part 3b, first telescopic part 11b slidable thereon and second telescopic part 12b slidable thereon, is realized by means of the pulling element solution. For this purpose, a deflection roller 9 'is arranged at the front end of the base part 3b, around which a tension element 7 is placed. The traction element 7 is fastened at one end to the rear end of the first telescopic part 11b and at the other end to the base part 3, that is to say a fixed point, the free ends running at an intermediate angle to one another. In an analogous manner, a further tension element T is placed around a further deflection roller 9 'at the front end of the first telescopic part 11b, and with one free end fixed at the rear end of the second telescopic part 12b, with the other end in turn on the base part 3 of the machine tool. In addition, the opening of the gripper 24 consisting of two gripping claws 24a, 24b can also be solved by means of further pulling elements 7 ″, which are fastened on the one hand to the gripping claws 24, which are articulated at the front end of the second and last telescopic part 12b, and on the other hand to the first telescopic part 11b By relative extension of the second telescopic part 12b relative to the first telescopic part 11b, the gripping claws 24a, 24b are automatically pivoted relative to one another into an open position against the force of a spring 25.

In a similar manner, the entire second arm part 2b can be folded down relative to the first arm part 2a against the force of a further spring 25 '. For this purpose, a traction element 7 ″ is in turn fastened with one end to the rear end of the base part 3b of the second arm part 2b and with the other end to the front end of the first telescopic part 11 of the first arm part 2a.

By moving the second telescopic part 12 relative to the first telescopic part 11 of the first arm part 2a, the second arm part 2b is held by the pulling element 7 "'against the force of the spring 25', which holds the first and second arm parts 2a, 2b in an aligned position, folded down into an angular position in that the deflection point 9 '", which can be identical to the articulation point, lies on the side of the connecting line facing away from the spring 25' between the end points of the tension element 7" '.

As FIG. 6 further shows, after the automation arm has been retracted into the rest position, the work space 20 can be closed completely and without hindrance by the automation arm 1 by closing a door 22 ′ in particular in the protective cover 22.

Figures 6b and 6c also show an automation arm 1 with a first telescopic arm part 2a, the z. B. one-stage in the horizontal is telescopic, and a second telescopic arm part 2b attached to the free end of this first arm part 2a, which, for. B. is telescopic in one stage in the vertical.

Each of the arm parts 2a, 2b can of course also be telescoped in several stages.

In the form shown, each of the arm parts 2a, 2b consists of base part 3 or 3b, intermediate part 4 'or 4'b and telescopic part 11 or 11b. The base part 3b of the second arm part 2b is simultaneously the telescopic part 11 of the first arm part 2a.

The arm parts 2a and 2b are each equipped with an endless tension element 7 or 7b on the intermediate parts 4 'or 4'b, analogously to the solutions in FIGS. 2c and 2d.

The vertical arm part 2b is driven in FIG. 6b by means of a separate motor, which is arranged either as a motor Mb., On the base part 3b, which is also the telescopic part 11 of the first arm part 1a, and via pinion 28 'and rack 27' drives the intermediate part 4'b. Alternatively, the arrangement of a motor Mb _{2 would be} directly on the intermediate part 4'b and drive the tension element 7b there, for. B. by driving one of the pulleys.

Of course, here too, the fixed connection of the tension element 7b, which is arranged on the intermediate part 4'b, is present with respect to the base part 3b on the one hand and the telescopic part 11b on the other hand of the arm part 2b.

6c instead shows a drive of the vertical arm part 2b in the downward direction by means of gravity, and in the upward direction by means of a pulling element 31, which on the one hand fastens to the intermediate part 4'b of the vertical arm part 2b and on the other hand to the intermediate part 4 'of the horizontal first arm part 2a is. If there is a deflection on the one hand via a point on the telescopic part 11 and on the other hand via a further deflection point on Intermediate part 4 'itself, but which is closer to the base part 3 than the attachment point of the tension element 31, so when the first arm part 2a is extended, the intermediate part 4'b of the second arm part 2b hanging on the tension element 31 is lowered relative to its base part 3b, and thereby second arm part 2a including its telescopic part 11b extended downwards.

As a result, a separate drive motor is not necessary and, in particular, no energy supply for such a motor has to be guided to the telescopic part 11 or to the second arm part 2b, which can be changed in its position, which should be avoided as much as possible because of the space-intensive and damage-prone cable towing devices.

Gripping devices or the like for gripping a part to be handled can be arranged at the free lower ends of the second arm parts 2b, that is to say their telescopic parts 11b.

Fig. 7 shows a schematic representation of a one-part automation arm 1, which, however, can be telescoped in several stages by moving a first telescopic part 11 on a base part 3, a second telescopic part 12 on this and in turn a third telescopic part 13, etc., on this , again according to one of the two basic principles described at the outset, that is to say with a mechanical transmission gear between the individual parts.

However, the guide directions of the individual telescopic parts for the adjacent parts running on them are not parallel, but are arranged at an angle to one another with an approach to the free end. This results in an overall curvature for the automation arm when extending.

As shown in FIG. 8, instead of straight, but at an angle to each other, guide directions of the individual telescopic parts, parallel, but inherently curved, in particular uniformly curved, guide surfaces can also be provided, thus arcuate telescopic parts 11, 12. extending the working arm can help to avoid a second arm part or a pivoting between the first and second arm part.

In the solution according to FIG. 8, the base part 3 of the automation arm can additionally be pivoted about a vertical pivot axis 23 with respect to the machine tool, in order to store objects away from the work area, eg. B. behind the machine tool to store or record.

FIG. 9 shows a solution similar to the side view in FIG. 1, but with the difference that a curved path of movement when extending the arm part 2 is also possible in that the roller body cage 4 is not a one-piece, rigid part, but consists of several links 4a-4d, which can be pivoted via joints 26 on their axis of symmetry about their pivot axis, which runs transversely to the longitudinal direction 10 and transversely to the rows of rolling elements 9.

The two middle elements 4b, 4c each have only one rolling element 9 in each of the row of rolling elements, while the first and last segments 4a and 4d each have several rolling elements per row.

As soon as more than one rolling element per row of the first and last segment 4a or 4d is in contact with the base part 3 or the telescopic part 11, this part is held in alignment and thus parallel to the respective segment.

As long as base part 3 and telescopic part 11 overlap one another, this also maintains an aligned, parallel position of base part 3 with telescopic part 11.

As soon as such an overlap no longer exists due to extension, the segments of the rolling element cage 4 which can be moved relative to one another fold into a maximum possible stop position — in FIG. 9 due to the force of gravity — according to the force of gravity or an existing spring tension that the direction of the cage part and thus the arm part 2 is changed.

FIGS. 10a, 11 and 12a show a machine tool, for example a lathe, with an associated automation arm 1. In the front view (FIG. 10a), that is to say from the operator's point of view, in the top view (FIG. 11) and in the side view (FIG 12a), the automation arm 1 being shown in the deactivated rest position.

The representations of the corresponding FIGS. 10b and 12b differ in that the automation arm is shown here in an activated, that is to say telescopic, working position, in which it accesses the machining position 21.

In FIGS. 10-12, it can be seen that the automation arm 1 consists of a first, horizontal arm part 2a and a second arm part 2b which can be telescoped vertically downward at its free end, at the free end of which an angular gripping unit 32 is arranged, which is arranged on each of its has free leg gripper 24. The horizontal first arm part 2a is attached to a vertical column 29, which serves as the base part of the arm part 2a, and rises so high that the horizontal arm part 2a runs above the processing position 21, which the automation arm 1 should be able to access.

As shown in FIG. 10, the column 29 is arranged on the front side next to or at the front end on the bed 33 of the machine, which is usually on a base plate 34.

In the deactivated state of the horizontal arm part 2a, the entire automation arm 1 is located laterally outside the working space 20, which is sealed by a protective cover 22 during operation of the machine. In this case, the horizontal arm part 2a does not protrude beyond the base of the base plate 34 and the front end of the rear part facing away from the arm part 2b The horizontal first arm part 2a still ends outside the front wall of the protective cover 22. After opening a door 22 'in the lateral end wall of the protective cover 22, the horizontal first arm part 2a can be moved into the work space, as shown in FIG. 10b, up to the processing position 21, and then the vertical second arm part 2b can be telescoped downwards until the gripper 24 arranged there reaches the machining position 21 and the part, workpiece or tool to be handled can grip.

11 shows that the intermediate part 4 'of the horizontal arm part 2a is preferably guided along its one longitudinal edge on the base part 3, which can also be the column 29 or a separate component, and the telescopic part 11 on the other long side is performed on it. In this way, viewed in the front view of FIGS. 10a, 10b, the second, vertical arm part 2b can be moved from the left to the right side of the column 29 without colliding with it.

As the side views of FIGS. 12a, 12b show, the column 29 is provided at the upper end with a gallows-shaped projection 29 ', which in turn may even be cranked downward at its free front end. This is necessary so that on the one hand the column 29 can be attached directly to the bed 33 of the machine, but on the other hand it can bridge the distance to the processing position 21 in front of the bed.

The automation arm 1 can be guided horizontally on the front (FIG. 12a) or on the rear vertical surface of a downward extension of the projection 29 '.

Fig. 12a also shows that the vertical, second arm part 2b with an upper carriage system, which is guided on the bed 33 and z. B. one

Tool turret 35 carries, can collide. This would be avoidable if the

Column 29 or its projection 29 'far enough above the top one Carriage system or tool system would be arranged, and the lower end of the vertical arm part 2b including gripper would still end above this uppermost carriage system in the rest position. However, this would result in very long travels of the vertical second arm part 2b and / or the need to open the protective cover 22 not only at the end face (door 22 ') but also at the top thereof, which is to be avoided. For this purpose, the second, vertical arm part 2b can be pivoted about a horizontal axis 36 in order to be guided past such a turret 35 or, overall, an upper slide system without collision in the Z direction.

The pivoting of the vertical arm part 2b can take place in relation to the horizontal arm part 2a, or together with this with respect to the column 29 or its projection 29 '.

At the lower, free end of the vertical second arm part 2b, an angular gripping unit 32 is preferably arranged, the two legs of which each have grippers 24 at their free ends, one gripper 24 being used for gripping the machined old workpiece and the second gripper, on the other hand, for simultaneously Delivery of the new workpiece. In a manner known per se, this L-shaped gripping unit 32 can also be pivoted about a horizontal axis relative to the telescopic part 11b of the second vertical arm part 2b.

The grippers 24 are functionally controlled in particular by means of pneumatics or hydraulics, since the required gripping accuracy can thereby be achieved. This gives the possibility of not having to supply electrical energy to the front end of the second arm part 2b, since only the telescopic arm parts 2a, 2b generally have to be moved by means of electric motors. Here too, an attempt is made to look at the necessary motors M as far as possible from the column 29 to the gripper 24 at the front end of the automation arm 1, that is, if possible only on the first arm part 2a, position in order to keep the masses to be moved as low as possible with the moving components.

REFERENCE SIGN LIST

1 automation arm 18 idler gears

2a, 2b, 2c arm parts 20 work space

3 Base part 30 21 machining position

4 rolling element cage 22 protective cover

4 'intermediate part 23, 23' pivot axis

5 pulley 24 gripper

6 deflection head 25 spring

7, 7 'tension element 35 26 joints

7e endless traction element 27 rack

8 tension spring 28 pinion

9 rolling elements 29 pillar

9 'deflector 29' overhang

10 Longitudinal direction 40 30 gripping position

11 first telescopic part 31 tension element

12 second telescopic part 32 gripping unit

13 third telescopic part 33 bed

14 threaded spindle 34 base plate

15 late 45 35 revolver

16 end 36 horizontal axis

17 timing belts

Claims

PATENT CLAIMS

1. Automation arm with at least one telescopic arm part, which comprises at least a base part and a telescopic part that is telescopic, characterized in that in at least one telescopic arm part (2a, 2b, ...) between the motor (M) of the telescopic drive and the telescopic part ( 11) a mechanical transmission is arranged which translates with respect to the longitudinal direction (10) of the telescopic part (11).

2. Automation arm according to claim 1, characterized in that the mechanical transmission comprises an intermediate part, in particular a rolling element carrier, which is operatively connected to both the base part (3) and the telescopic part (11) of the telescopic arm part (2a, 2b) , and in particular in the longitudinal direction (10) of the telescopic arm part (2a, 2b, ...) is driven.

(Fig.2 :)

3. Automation arm according to claim 2, characterized in that the rolling element carrier is a rolling element cage (4) in which a plurality of rolling elements (9) are spaced apart in the longitudinal direction (10), both on the base part (3) and on the telescopic part ( 11) unwind at the same time, in particular as slip-free as possible. (Fig. 3 -6 :)

4. Automation arm according to claim 2 or 3, characterized in that - the rolling element carrier is a deflection head (6) around which a finite, non-stretchable tension element (7) is placed, one end of which on the base part (3) and the other end of which Telescopic part (11) is fixed, and wherein the free ends of the tension element (7) have an intermediate angle of not equal to 180 °, - wherein the deflection head (6) in its position relative to the base part (3) and / or to the telescopic part (11) is displaceable , in particular in the longitudinal direction (10), is.

5. Automation arm according to claim 2 or 3, characterized in that the intermediate part has at least two deflection points, around which a one- or multi-part tension element (7e) is laid, which on the one hand relative to the base part (3) and on the other hand relative to the telescopic part (11) is attached.

6. Automation arm according to claim 5, characterized in that the tension element (7e) by means of an intermediate part (30) arranged motor (M) is pulled around the deflection point.

7. Automation arm according to claim 5, characterized in that the intermediate part (30) is driven relative to the base part (3) or to the telescopic part (11) by means of a motor (M) which is arranged on the base part (3) or on the telescopic part (11) is.

8. Automation arm according to one of the preceding claims, characterized in that the telescopic arm part (2a, 2b, ...) can be telescoped several times, with a base part (3) and telescopic parts (11, 12, 13) which can be displaced relative to one another.

9. Automation arm according to one of the preceding claims, characterized in that the telescopic arm part (2a, 2b, ...) is telescopic in a straight direction.

10. Automation arm according to claim 9, characterized in that the longitudinal directions (10a, 10b, ...) of the individual telescopic parts (11, 12, 13, ...) of the telescopic arm part (2a, 2b, ...) at an angle , especially at an acute angle.

11. Automation arm according to one of the preceding claims, characterized in that the telescopic arm part (2a, 2b, ...) is telescopic along a curved, in particular uniformly curved, path.

12. Automation arm according to one of claims 2 to 11, characterized in that the rolling element carrier is moved in the longitudinal direction (10) by means of a motor-driven threaded spindle (14).

13. A method for changing the length of a base part (3) and at least one longitudinally displaceable telescopic part (11) having automation arm (1), characterized in that an intermediate part, in particular a rolling element carrier, which is part of the automation arm (1) and with Base part (3) and the telescopic part (11) is operatively connected, is driven along the longitudinal direction (10) relative to the base part (3).

14. A method for changing the length of an automation arm comprising a base part (3) and a telescopic part (11) which is longitudinally displaceable, characterized in that an intermediate part, in particular a rolling element carrier, which is part of the automation arm (1) and with the base part (3) and the telescopic part (11) is operatively connected, is driven along the longitudinal direction (10) relative to the subsequent telescopic part (11).

15. The method according to claim 13, characterized in that the drive source relative to the base part (3) is fixed in position.

16. The method according to claim 14, characterized in that the drive source with respect to the subsequent telescopic part (11) is fixed in position.

17. The method according to any one of the preceding method claims, characterized in that the rolling element carrier is in particular a rolling element cage and at least one of the rolling elements (9) of the rolling element carrier is driven and the drive source for the rolling element (9) is arranged on the rolling element carrier.

18. The method according to any one of the preceding method claims, characterized in that the rolling element carrier is a rolling element cage (4) with many rolling elements (9) spaced in the longitudinal direction (10), and the rolling elements (9) in slip-free contact both with the base part (3) as well as with the telescopic part (11).

19. The method according to any one of claims 13 to 17, characterized in that the rolling element carrier is a deflection head (6) and its deflection point in constant

System to a tension element (7) is held, one end (15) with the base part (3) and the other end (16) with the telescopic part (11) is attached.

20. Machining unit, with a machine tool and an associated automation arm (1) according to one of the preceding claims, characterized in that the automation arm is arranged in the deactivated state completely outside the protective cover (22) of the working space (20) of the machine tool.

21. Processing unit according to claim 20, characterized in that the automation arm has a first, in particular horizontal, telescopic arm part (2a) which can be telescoped through an opening in the protective cover (22) into the working space (20), so that a free end of the automation arm (1) arranged gripper (24) can grip the part to be handled, in particular at the machining position (21) of the machine tool.

22. Processing unit according to claim 20 or 21, characterized in that the automation arm (1) at the free end of the first telescopic arm part (2a) has a second telescopic arm part (2b), which is in particular vertically telescopic downwards and wherein the electrical power supply on horizontal first arm part (2a) ends.

23. Processing unit according to one of the preceding claims, characterized in that the automation arm (1) can be extended into the work space through an opening (22 ') in the lateral end face of the protective cover (22).

24. Processing unit according to one of the preceding claims, characterized in that the automation arm (1) can be extended through an opening in the top of the protective cover (22) into the working space (20).

25. Processing unit according to one of the preceding claims, characterized in that the second, in particular vertically telescopic, arm part (2b) relative to the first, in particular horizontally telescopic, arm part (2a) about an axis (36), in particular a horizontal axis, is pivotable .

26. Processing unit according to one of the preceding claims, characterized in that the first arm part (2a) together with the second arm part (2b) about an axis, in particular a horizontal axis, is pivotable relative to a fixed part of the machine tool.

27. Processing unit according to one of the preceding claims, characterized in that the first arm part (2a) of the automation arm (1) is arranged at the upper end of a column (29) and in particular at a height which lies above the processing position (21) of the machine tool .