WO2014023286A1 - Systèmes de changement rapide pour un dispositif manipulateur spécialement adapté aux pièces, dispositif de manutention spécialement adapté aux pièces comportant le dispositif, et ossature de dépose pour ces pièces - Google Patents

Systèmes de changement rapide pour un dispositif manipulateur spécialement adapté aux pièces, dispositif de manutention spécialement adapté aux pièces comportant le dispositif, et ossature de dépose pour ces pièces Download PDF

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Publication number
WO2014023286A1
WO2014023286A1 PCT/DE2013/000449 DE2013000449W WO2014023286A1 WO 2014023286 A1 WO2014023286 A1 WO 2014023286A1 DE 2013000449 W DE2013000449 W DE 2013000449W WO 2014023286 A1 WO2014023286 A1 WO 2014023286A1
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WO
WIPO (PCT)
Prior art keywords
locking
quick
carrier
change system
workpiece
Prior art date
Application number
PCT/DE2013/000449
Other languages
German (de)
English (en)
Inventor
Uwe Springer
Andreas Friesen
Original Assignee
Springer Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Springer Gmbh filed Critical Springer Gmbh
Publication of WO2014023286A1 publication Critical patent/WO2014023286A1/fr

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Classifications

    • 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
    • B21D43/057—Devices for exchanging transfer bars or grippers; Idle stages, e.g. exchangeable

Definitions

  • the present invention relates to quick-change systems for a workpiece-specific handling device with a plurality of workpiece grippers, in particular suction grippers or clamping grippers, on an elongated carrier element. Furthermore, the present invention relates to a workpiece-specific handling device with a plurality of workpiece grippers, in particular suction grippers or clamping grippers, on an elongated support member and a storage rack for selbige.
  • a press, press line or large-scale transfer press which is used for forming, such as deep drawing, bending, etc., or cutting, such as cutting, punching, etc., of components, are transfer devices for the transport or transfer of workpieces provided in the processing stages.
  • the transport or transfer process is often carried out by separate, associated with each press or press stage transfer devices. These individually controllable or controllable devices are used for removing the workpiece to be formed from a tool stage and for feeding into the subsequent tool stage.
  • Location and orientation can be adapted to the respective workpiece to be transported.
  • the transport and handling of the workpieces between the processing machines must be automatically carried out.
  • a faster and preferably also automatic change of the workpiece-specific handling devices should be possible.
  • quick change systems are provided. These should preferably allow automated operation and secure and accurate fixation of the respective handling device.
  • the workpiece-specific handling devices are received on a transfer bar of a transfer device.
  • orientation stations are located between the press stages.
  • the workpieces (components) are aligned for the subsequent press stage, e.g. offset, rotated or similar.
  • crossbar presses the workpiece-specific handling devices are picked up on a crossbar robot.
  • the flexibility of the crossbar robot eliminates the orientation stations in such presses.
  • a quick-change system for a workpiece-specific handling device with a plurality of workpiece grippers, in particular suction grippers or clamping grippers, on an elongate carrier element is known.
  • the quick-change system has a coupling part for a detachable connection of connection lines for supplying the workpiece gripper and a closure part, which is linear and along the support member for releasably fixing the same between a Opening and locking position is movable, wherein the coupling part and the closure part are arranged opposite each other and coaxial and the coupling part and the closure part each have a conical receptacle and at the ends of the support member correspondingly shaped, frustoconical centering pieces are provided, which in the locking position positively in Engage with the recordings.
  • the quick-change system does not allow an automatic purely mechanical change of the handling device, which is disadvantageous in the energy aspect.
  • a workpiece gripping device for automatic tooling change which is a carrier, which is movable by a drive device for carrying out a workpiece transport, a gripper means, which is adapted for the controlled detection and release of workpieces, in the form of a suction spider, and a coupling device having two coupling halves, one of which is connected to the carrier and the other with the gripper means, wherein the coupling device comprises a mechanical locking device with a button which is actuated by relative movement of the coupling device against a stop and the locking device in Release transferred when it is pressed.
  • the coupling device is based on several cylindrical pins and holes. As a result, the intake / storage is overdetermined. It is not possible to design such a connection without play and smooth and at the same time economically sound.
  • the present invention is therefore based on the object to enable a backlash-free recording and mechanical locking of handling devices for an automatic set-up of the same.
  • the closure member comprises a movable ball lock pin having at least one locking member such as a locking ball or the like at a free end and a manually and / or automatically operable actuating mechanism for linearly moving the ball lock pin in the longitudinal direction of the support member through a bore in FIG the receptacle between a preloaded starting position and an end position and locking the centering piece in the receptacle by means of the at least one locking element of the ball
  • a quick-change system for a workpiece-specific handling device with a plurality of workpiece grippers, in particular suction grippers or clamping grippers on an elongated support member, with a closure member which is connected to the carrier of a transfer device, linear and parallel to the carrier for releasably fixing the same is movable between an open position and a locking position and has a receptacle, a drive device for moving the closure part and a correspondingly shaped centering piece at one end of the support member which is positively in engagement with the receptacle in the locking position, wherein the closure part is a movable ball lock pin, the has at least one locking element, such as a blocking ball or the like, at its free end, and a manually and / or automatically operable actuating mechanism for linear movement of the Ball locking pin parallel to the carrier between a preloaded starting position and an end position and locking the centering in the receptacle by means of the at least one locking element of the ball locking pin
  • a workpiece-specific handling device with a plurality of workpiece grippers, in particular suction grippers or clamping grippers, on an elongate support member for a transfer of workpieces between different processing stations of a press plant, in particular large-scale press, with a carrier, the drive from a device Transfer of a workpiece is movable, and with a quick-change system according to one of the preceding claims, wherein the closure part is connected to the carrier.
  • the carrier may be a connecting element, a receiving section connecting section or the like of a transfer device, for example a robot.
  • the present invention provides a storage rack for a workpiece-specific handling device with a plurality of workpiece grippers, in particular suction grippers or clamping grippers, on an elongated support member comprising a mandrel for receiving and fixing an elongate support member of a tool-specific handling device according to claim 22 or 23, and an associated connection element a releasable snap connection, two guide plates for actuating the first and second lever in a relative movement between a stored by means of the mandrel on the storage rack handling device and the storage rack in the longitudinal direction of the support member such that unlocks the at least one locking element of the ball locking pin and the ball lock pin in the bore in the support element advanced until it reaches its end position, in which the at least one locking element of the ball locking pin in the bore is located, and in a subsequent relative movement between the handling device and the storage rack transversely to the carrier element such that the ball lock pin pushed back and the at least one locking element is locked before the ball lock pin can emerge from the bore again, so
  • the mandrel can also serve for centering.
  • it can be a linear bearing part, which is connected to the carrier of the transfer device, linear and parallel to the carrier for releasably fixing the same between an open position and a locking position movable and at least one, preferably spring-biased and preferably conical, centering mandrel which extends parallel to the carrier, a drive means for moving the anvil member and a counterpart having a corresponding bore which is connected to the carrier element, wherein the at least one centering pin is seated in the locking position in the bore of the counterpart.
  • an abutment member which is connected to the carrier of the transfer device, linear and parallel to the carrier for releasably fixing the same between an open position and a locking position is movable and at least one preferably conical bore, a drive means for moving the abutment member and a counterpart having at least one corresponding centering mandrel which is connected to the carrier element, wherein the at least one centering pin is seated in the locking position in the bore of the counter-bearing part.
  • the counterpart bearing part has at least one pneumatic and / or electrical connection and the counterpart has a corresponding connection for supplying the workpiece grippers.
  • a pneumatic coupling between the centering piece and the receptacle of the closure part may be provided.
  • electrical and / or pneumatic couplings can be attached to the closure part and / or on the abutment part. It is also conceivable a separate bearing for these couplings.
  • the counterpart has a through hole for a receiving mandrel and / or on its outer side a recess for engaging a connecting element of a releasable snap connection, in particular a snap hook on.
  • the centering piece has a central, extending in the longitudinal direction of the support member bore which tapers towards the end facing away from the carrier element.
  • the centering piece or the support element has a bore for this orthogonal through hole for a mandrel.
  • the centering piece or the carrier element on its outer side a recess for engaging a connecting element of a releasable snap connection, in particular a snap hook, on.
  • the actuating mechanism is designed as a mechanism with two levers, of which a first lever for actuating the at least one locking element and a second lever for moving the ball locking pin is used.
  • the first lever is preferably biased in its initial position by spring force so that the at least one locking element is locked.
  • the second lever is biased in its initial position, preferably by spring force so that the ball lock pin is in its initial position.
  • the at least one locking element is unlocked in the end position of the first lever.
  • the ball lock pin is in the end position of the second lever in its end position.
  • the axes of rotation of the first and second levers are parallel to each other and orthogonal to the longitudinal direction of the ball locking pin.
  • the second lever protrudes in its initial position orthogonal to the longitudinal direction further away from the ball lock pin as the first lever in its initial position.
  • this is not a prerequisite for the functionality. Equally, this is also possible by a suitable modification of the guide plates.
  • the closure part can have an unlocking element for unlocking one or the connecting element of a releasable snap-in connection, in particular a snap-action hook. It is also expedient if the counterpart has an unlocking element for unlocking one or the connecting element of the counterpart.
  • the closure part has a lateral guide element for guiding in a guide rail.
  • the closure part can be stationary with the carrier or movably connected in its longitudinal direction. If the closure part is fixedly connected to the carrier, then the, preferably axial, feed movement takes place, for example via a robot.
  • the guide plates are arranged and designed so that in the relative movement between the handling device and the storage rack in the longitudinal direction of the support member, the associated connecting element is released to solve the snap connection.
  • the relative movement may additionally comprise a relative movement in the transverse direction.
  • the guide plates are arranged and designed so that when a reversal of the Relativchichichisablaufs a support member of the workpiece-specific handling device by means of the receiving mandrel on the storage rack can be stored.
  • the storage rack at a distance from the Aufhahmedorn at least one other mandrel for receiving and fixing the support member with an associated or without associated connecting element of a releasable snap connection.
  • the storage rack on a guide rail for guiding the guide element of the closure part.
  • the storage rack has a receiving mandrel for receiving and fixing the counterpart and an associated connecting element of a releasable snap connection.
  • the invention is based on the surprising finding that a play-free recording of a support element of a tooling or a workpiece-specific handling device is achieved by the use of a ball locking pin and a special operating mechanism purely mechanical and automated or automated and in the simplest form the latter already sufficiently fixed on one side can be held.
  • the carrier element in the closure part (locking bearing) is pressed or pulled by means of the ball locking pin into the clearance-free receptacle and in the abutment part the centering pins / bolts press in the opposite direction.
  • the spring force must then be higher than in the abutment part, so that the tooling or the handling device sits securely in the receptacle of the closure part and is not pushed out by the spring force of the abutment part.
  • the spring forces of the two bearings (closure part and counterpart part) and their difference must be interpreted according to the forces occurring during operation.
  • Figures 1 to 4 show perspective and detail views of a storage rack according to a particular embodiment of the invention and a handling device according to a particular embodiment of the invention with a quick-change system according to a particular embodiment of the invention in different states of removal of the handling device from the storage rack by means of a carrier of a transfer device ;
  • Figures 5 to 9 are respectively a side view from the front (top), a top plan view partially in section (center) and sectional views A-A and B-B (bottom) of the major components of the quick-change system of Figures 1 to 4 in different states;
  • Figure 10 shows a perspective view of a transfer device with the carrier shown in the preceding figures
  • Figure 1 1 is a side view from the front of the carrier of Figure 10 with
  • Figures 12a-12e show various views of a closure member of the quick-change system shown in Figures 1-9;
  • Figures 13a - 13c show various views of an abutment part of a quick-change system according to a particular embodiment of the invention;
  • Figure 13d is a perspective view of a counterpart of a
  • Figure 13e is a perspective view partially in section of the
  • Figure 13f shows detail B of Figure 13e
  • Figures 14a-14c show the engagement process with respect to the abutment member and counterpart shown in Figures 13a-13f;
  • Figure 15a is a perspective view of a tooling with centering
  • Figures 15b - 15d show various views of the centering piece of Figure 15a;
  • Figures 16a-16c show various views of a centering piece and a receptacle in a closure part according to a further particular embodiment of the invention
  • Figure 17a shows a side view of a transfer device with a quick change system and tooling according to another particular embodiment of the invention.
  • FIG 17b shows detail A of Figure 17a.
  • FIG. 1 shows the handling device 10 after it has been deposited on the two storage racks 20 and 22 or before it is removed.
  • the storage racks 20 and 22 each have an angular frame 24, one leg of which is arranged horizontally, for example on the floor, and the other leg is arranged vertically.
  • On the front of the vertical leg of the frame 24 supports 26 are mounted for respective vertical mounting plates 28 and 30.
  • the two depositing racks 20 and 22 are fitted in mirror-inverted fashion on their mounting plates 28 and 30.
  • the mounting plate 28 of the storage rack 20 is a mirror image of the mounting plate 28 of the storage rack 22 and the mounting plate 30 of the storage rack 20 is a mirror image of the mounting plate of the storage rack 22 stocked. More specifically, each of the two mounting plates 30 has a receiving mandrel 32 for receiving and fixing one of the four elongate support elements 34 of the handling device 10 and a snap hook 36.
  • the mandrel 32 extends at right angles to the mounting plate 30, that is horizontal in the present example, and the snap hook 36 extends above the mandrel 32 in the same direction, where it rotated by 90 °, ie in this example also horizontal axis of rotation 38th is pivotable.
  • each mounting plate 30 is provided with two spaced, parallel, in the present case horizontal guide plates 40 and 42 for actuating first and second levers (see below) during a relative movement between the handling device 10 and one of the toolings 12, 14, 16 and 18 and the shelves 20 and 22 in the longitudinal direction of the (respective) carrier element 34 (see detail A of Figure 1 and Figure 4).
  • first and second levers see below
  • one (40) of the two guide plates 40 and 42 projects from the mounting plate further into the space than the other (42) guide plate.
  • the two guide plates 40 and 42 have different edge profiles (guide profiles / curve profiles).
  • the mounting plates 28 each have a receiving mandrel 46 for receiving and fixing a respective carrier element 34 with an associated snap hook 48.
  • the snap hook 48 extends as well as the associated mandrel 46 substantially at right angles (normal) of the mounting plate 28 to the front. It is arranged at a vertical distance to the mandrel 46 and its axis of rotation 38 extends in the present example at right angles to the mandrel 46 and in a horizontal plane.
  • the combinations of mandrel 46 and snap hook 48 are arranged on each of the mounting plates 28 in mirror image to a horizontal center line.
  • the Toolings 12-18 are mirrored in both horizontal and vertical directions.
  • each carrier element 34 has at one end a through hole 50 extending orthogonally to the longitudinal direction of the carrier element 34 for the respective receiving mandrel 32 and on its outside a recess 52 for latching the snap hook 36 (see FIGS.
  • FIG. 15a shows, by way of example, the tooling 12, wherein this is identical with the tooling 16.
  • gripper rod 58 with suction grippers 60 is fastened to the carrier element (base tube) 34.
  • a carrier 62 in the form of a crossbar which consists of two parts, which are connected by a connection 64 with each other and with a transfer device in the form of a robot (crossbar robot / crossbar feeder) 69 (See Figures 10 and 11).
  • the carrier 62 consists in principle of two partial profile rails (right and left rail).
  • On this symmetrically to the connection 64 each (inside) a closure member 68 and the outside at a distance to an abutment member 70 in the longitudinal direction of the carrier 62 on corresponding slide 72 and 74 arranged movable.
  • one or more drive means (s) (not shown) are provided.
  • FIG. 1 To move the carriages 72 and 74, one or more drive means (s) (not shown) are provided.
  • FIGS. 12a to 12e show different views of the closure part 68.
  • FIG. 12a shows the closure part from the same perspective as FIG. 5 in the middle.
  • FIG. 12b shows the closure part from the coupling side (front);
  • FIG. 12b shows the view from the right with respect to FIG.
  • FIG. 12a shows the closure part from the support side (62) and is the rear view with respect to Figure 12a;
  • Figure 12d shows the same perspective as Figure 5 above and is the bottom view with respect to Figure 12a;
  • FIG. 12e shows the perspective view of the closure part 68.
  • the closure parts 68 are movable by means of a slide 72 on the carrier 62 between an opening and a locking position and have an in present example truncated pyramidal receptacle 76 (see Figures 12b, 12e and 16a).
  • closure parts 68 have a movable ball lock pin 78, which has two locking balls 82 arranged opposite each other at its free end 80, and a manually and / or automatically operable lever mechanism for linear movement of the ball locking pin 78 in the longitudinal direction of the support element 34 through a bore 102 in the receptacle 76 between a preloaded starting position (see detail C of Figure 1, detail A of Figure 4, Figure 5, Figure 9 and Figures 12a to 12e) and locking a centering piece 84 (see in particular Figures 15a to 15d and 16a to 16c) in the receptacle 76 by means of the locking balls 82 of the ball locking pin 78 in the locking position.
  • a preloaded starting position see detail C of Figure 1, detail A of Figure 4, Figure 5, Figure 9 and Figures 12a to 12e
  • locking a centering piece 84 see in particular Figures 15a to 15d and 16a to 16c
  • Said centering piece 84 is attached to one end of a respective support member 34 in one piece or as a separate part. It is correspondingly shaped for receiving in the receptacle 76, ie in the present case with three substantially triangular inclined surfaces 86. In addition, it has a central, in the longitudinal direction of the support member 34 extending bore 88 (see, for example. Figure 5), which tapers towards the end remote from the carrier element 34. Alternatively or additionally, it may have an undercut.
  • FIGS. 16a to 16c show a variant in which a pneumatic coupling takes place via the centering piece 84 and the receptacle 76.
  • bores 90th or 91 attached can be passed through the example. Compressed air.
  • O-rings 92 which are, for example.
  • the O-rings 92 may also be secured by an adhesive bond or in a trapezoidal groove (not shown).
  • the O-rings 92 and countersinks 94 can be arranged either on the centering piece or on the receptacle.
  • the lever mechanism has two levers, of which a first lever 96 for actuating the locking balls 82 and a second lever 98 for moving the ball locking pin 78 is used.
  • rollers 100 are provided at the ends of the first and second levers 96 and 98, respectively.
  • the first lever 96 is biased in its initial position preferably by spring force so that the locking balls 82 are locked.
  • the second lever 98 is preferably biased in its initial position by spring force so that the ball locking pin 78 is in its initial position in which extends normal to the receptacle 76 and extends through the bore 102 in the receptacle 76 and only slightly on the recording after protrudes forward (see, for example, Figures 5 and 12a).
  • the end position of the first lever 96 the locking balls 82 are unlocked.
  • the ball lock pin 78 is in its end position.
  • the axes of rotation 104 and 106 of the first and second levers 96 and 98 parallel to each other and orthogonal to the longitudinal direction of the ball locking bolt 78.
  • the second lever 98th in its initial position orthogonal to the longitudinal direction of the ball locking pin further protrudes away from the ball lock pin as the first lever 96 in its initial position.
  • the lever ratio of the second lever 98 is preferably greater than 3: 1 to achieve greater forces, while the lever ratio in the first lever 96 is preferably in the range of approximately 1: 1 (lower forces).
  • the closure part 68 further has a base plate 108 (see FIG. 12b) for connection to the carrier 62 and a reinforcing plate 110 (see FIG. 12d).
  • a bracket 112 for unlocking a snap-action hook 36 is particularly easy to recognize. From the same figure, there is also a guide element 114 in the form of a sword for guiding in the guide rail 44 and a spring 1 16 for biasing the ball locking pin 78th
  • Figures 13a to 13c show details of an abutment part 70 according to a particular embodiment of the present invention.
  • the abutment portion is shown from the "coupling side” (front), from the side in Fig. 13b and from the front in Fig.
  • the abutment member 70 has two conical centering mandrels 118 and 120 which extend parallel to the carrier 62 when the abutment member is in use to apply the conical surfaces of the centering mandrels to conical bores 122 (see Figures 13d, 13f and 13b) 14a to 14c) in a counterpart 124, the centering mandrels 1 18 and 120 are spring-mounted longitudinally (see spring 126 in Figure 13e)
  • the counterpart 124 is connected to the carrier element 34 (see for example Details B of Figures 1 and 2) It is designed as a two-piece clamp.
  • the resilient mounting of the centering mandrels 118 and 120 causes the centering mandrels to be pressed into the conical bores 122, thereby removing play in the joint.
  • manufacturing tolerances can be compensated, i. For example, that the tolerance of the distance measure between the closure part and the abutment part of a respective Toolings can be kept large.
  • the centering pins 1 18 and 120 are movable longitudinally in their seat and biased by said spring 126.
  • a linear ball bearing 129 also called ball bushing or ball bushing. It is possible, by tight tolerances of the bore diameter of the receiving housing 128 and the diameter of the centering pins 1 18 and 120 interpret this storage and / or guide clearance, with a closed linear ball bearing 129 can be used.
  • an adjustable linear ball bearing 129 is used in the present example, in which the radial clearance can be adjusted. In such linear ball bearings, the housing is slotted. By compressing the housing, the radial clearance is adjusted.
  • the adjustment of the play of the centering mandrels 1 18 and 120 can be realized in that a receiving bore 130 has a slot 132. With a laterally disposed adjusting screw 134, the receptacle bore 130 of the linear ball bearing 129 is radially compressed, whereby at the same time the clearance between the linear ball bearing 129 and the receiving bore 130 and the game between the linear ball bearing 129 and the centering pins 1 18 and 120 is taken out. Subsequently, the adjusting screw 134 is countered with a lock nut 136.
  • the abutment member may also include pneumatic ports 138 and electrical connections (not shown).
  • centering mandrels 118 and 120 are located on the side of the carrier 62 (fixed side) and the conical bores 122 on the side of the tooling (loose side). A reverse arrangement is also possible.
  • FIG. 14a the centering mandrels, of which only the centering mandrel 118 can be seen, are arranged protruding in the abutment part 70.
  • the conical part of the centering mandrels 118 and 120 also serves for pre-centering during engagement.
  • FIG. 14b it is shown that the centering mandrels, of which only the centering mandrel 118 can be seen, center in the respective bores 122 before the pneumatic couplings have reached the counterpart of the tooling.
  • Both the center pins and the holes have cylindrical surfaces. The clearance between the cylindrical part of the holes and the cylindrical part of the centering pins can be large. Nevertheless, it should allow a proper centering of the pneumatic and electrical couplings.
  • FIGS. Figures 1 to 4 and Figures 5 to 9 show the removal process again; the filing process happens in exactly the reverse order.
  • the handling device 10 is deposited on the depositing racks 20 and 22 such that two of the toolings (12 and 18) are deposited on the depositing frame 20 and two of the toolings (14 and 16) on the depositing frame 22 are.
  • the carrier 62 in the form of the crossbar described above comes to picking up the four toolings.
  • the carrier 62 has already traveled at the height of the toolings 12 to 18. More precisely, it extends horizontally and vertically in the middle between the toolings.
  • the connection 64 is located exactly in the middle between the storage racks 20 and 22 and vertically in the center between each opposing toolings.
  • the first and second levers 96 and 98 of the closure member 68 are already in contact with the guide plates 40 and 42 of the storage racks 20 and 22 via rollers 100, since both the closure member 68 and the abutment member 70 already in the same through the respective slide Direction - in the present example to the outside -, ie have been moved to the centering piece 84 and the counterpart 124.
  • FIG. 5 shows the details A and B of Figure 2 from the front (see Figure 5 above) and from above (see Figure 5 center).
  • the rollers 100 then roll on the inclined guide surfaces of the guide plates 40 and 42 and the first and second levers 96 and 98 are actuated.
  • the first lever 96 the locking balls 82 are unlocked and the second lever 98 pushes the ball lock pin 78 forward.
  • the loading of the "spreading axis" from the slides 72 and 74) can be changed.
  • FIG. 5 also shows on the right the centering mandrels 1 18 and 120 of the counter bearing part 70 and the bores 122 of the counterpart 124.
  • the centering mandrels are already aligned with the bores.
  • the centering pins move toward the holes.
  • Figures 3 and 7 show the state in which the closure member 68 and the abutment member 70 have reached their end position in the longitudinal direction of the carrier 62 (in Figure 3 horizontally to the right for Toolings 14 and 16 and horizontally to the left for Toolings 12 and 18).
  • the straight surfaces of the guide plates 40 and 42 in the longitudinal direction of the carrier 62 (in Figure 3 horizontal direction to the right-left) cause the same operation of the lever as the straight surfaces of the guide plates 40 and 42 in the transverse direction of the carrier 62 (in Figure 3, the horizontal direction front-rear). That is, in the next step, when the carrier 62 moves away from the shelves 20 and 22, the levers 96 and 98 are actuated and remain in their final position.
  • Both the snap hook 36 and the snap hook 48 is unlocked by the bracket 112 and by a block 144.
  • the block 144 with bevel is located on the abutment portion 70 and actuates a mounted on a spring-loaded vertical push rod 142 further block 140 with bevel attached via the rotation axis 38 snap hook 48.
  • Both the block 140 and the block 144 have a slope in space on, which is inclined both in the longitudinal direction and in the transverse direction, for the purpose of unlocking the snap hook 48, on the one hand during longitudinal movement during the removal process and on the other during transverse movement during the storage process.
  • the block 144 on this side has the same task as the bracket 1 12 on the other side.
  • the bracket 1 12 is designed so that he entrieget the snap hook 36 also on the one hand in the longitudinal movement during the removal process and the other in transverse movement during storage. Block 144 and stirrups 1 12 move as soon as the "straddle axis" makes their movement, and thus can actuate the "fixed” snap hooks 36 and 48 relative thereto.
  • the centering pins 1 18 and 120 are now at least substantially completely pressed into the correspondingly formed holes 122.
  • the ball lock pin 78 then biases spring loaded the tooling on the locking balls 82. As a result, the centering piece 84 is pulled into the receptacle 76 until axial backlash is reached. If the receptacle 76, for example truncated pyramid and the centering piece 84 is designed accordingly (see above), then a backlash-free security against rotation can be achieved. Upon further movement of the carrier 62 at right angles to the mounting plates 28 and 30, the tooling of the receiving mandrels 32 and 46 dissolves.
  • FIG. 9 shows how the carrier 62 together with the toolings 12 to 18 continues to approach the depositing racks 20 and 22, after which first the second lever 98 is actuated by the guide plate 40 in order to tension the ball locking pin 78 towards the front.
  • the locking balls 82 are no longer in contact with the tooling in the bore 88.
  • the carrier 62 along with the toolings 12 to 18 continues, and, as shown in FIGS. 3 and 7, the first lever 96 is actuated by the guide plate 42 to unlock the locking balls 82.
  • the snap hooks 36 and 48 are opened by the bracket 1 12 and block 144.
  • the closure member 68 and the abutment member 70 move inward in the longitudinal direction of the carrier 62 as shown in FIG.
  • the snap hooks 36 and 48 fold back and thus secure the toolings to the shelf.
  • the closure member 68 and the abutment member 70 continue inward in the longitudinal direction of the carrier 62, as shown in Figures 2 and 5.
  • FIGS. 17a and 17b now show a transfer device with a quick-change system and tooling or a handling device according to a further particular embodiment of the invention.
  • the transfer device comprises a robot 146 with a receiving portion 148, on or in which a closure part 68 is provided. Unlike the closure parts described above, however, this is not movable relative to the receiving portion 148, but firmly connected thereto. Otherwise, it is in principle the same structure as the closure parts described above. Furthermore, the receiving portion 148 is only for one-sided recording of a single tooling 150.
  • the quick-change system has said closure member 68 and a centering piece 84 similar to the centering piece described above. It may even be identical to that.

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Abstract

L'invention concerne un système de changement rapide pour un dispositif manipulateur (10) spécialement adapté aux pièces, comprenant une pluralité d'organes de préhension de pièces, en particulier de pinces aspirantes (60) ou de pinces à serrage, montées sur un élément porteur (34) allongé, comprenant une partie de fermeture (68) pouvant se déplacer linéairement et dans la direction longitudinale de l'élément porteur (34) pour assurer la fixation démontable de cet élément, entre une position d'ouverture et une position de verrouillage, et un logement (76), et une pièce de centrage (84) de forme correspondante à une extrémité (80) de l'élément porteur (34), qui est en complémentarité de forme avec le logement (76) dans la position de verrouillage. Ce système est caractérisé en ce que la partie de fermeture (68) présente une goupille d'arrêt autobloquante (78) qui présente, à une extrémité libre, au moins un élément de verrouillage, tel qu'une bille de blocage (82) ou analogue, et une mécanique d'actionnement commandée, manuellement et/ou automatiquement, pour déplacer linéairement la goupille d'arrêt autobloquante (78) dans la direction longitudinale de l'élément porteur (34) à travers un perçage (102) ménagé dans le logement (76), entre une position de sortie précontrainte et une position finale et pour verrouiller la pièce de centrage (84) dans le logement (76), au moyen du ou des éléments de verrouillage (82) de la cheville de blocage à bille (78) dans la position de verrouillage.
PCT/DE2013/000449 2012-08-09 2013-08-08 Systèmes de changement rapide pour un dispositif manipulateur spécialement adapté aux pièces, dispositif de manutention spécialement adapté aux pièces comportant le dispositif, et ossature de dépose pour ces pièces WO2014023286A1 (fr)

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DE102012016721.0A DE102012016721A1 (de) 2012-08-09 2012-08-09 Schnellwechselsysteme für eine werkstückspezifische Handhabungsvorrichtung. werkstückspezifische Handhabungsvorrichtung mit denselben sowie Ablagegestell für selbige
DE102012016721.0 2012-08-09

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CN105252519A (zh) * 2015-11-12 2016-01-20 中国船舶重工集团公司第七一六研究所 一种抓取系统
USD781122S1 (en) 2015-09-15 2017-03-14 Delaware Capital Formation, Inc. Upper gripper jaw
USD811189S1 (en) 2015-09-15 2018-02-27 Delaware Capital Formation, Inc. Gripper
USD811188S1 (en) 2015-09-15 2018-02-27 Delaware Capital Formation, Inc. Gripper body
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USD827677S1 (en) 2015-09-15 2018-09-04 Delaware Capital Formation, Inc. Lower gripper jaw
EP3486058A1 (fr) * 2017-11-16 2019-05-22 HÄNDLE GmbH Maschinen und Anlagenbau Tête aspirante d'une presse à tuiles et procédé de montage d'une tête aspirante
CN110394404A (zh) * 2019-07-30 2019-11-01 赵旭锋 一种上料机构
CN110625020A (zh) * 2019-10-24 2019-12-31 济南二机床集团有限公司 一种提高直线七轴生产节拍的快换系统及自动更换方法
US10549431B2 (en) 2018-06-15 2020-02-04 Delaware Capital Formation, Inc. Gripper with a trident body section
CN111590932A (zh) * 2020-06-03 2020-08-28 河南泰田重工机械制造有限公司 一种玻璃钢模压上料装置
US10994423B2 (en) 2018-06-15 2021-05-04 Delaware Capital Formation, Inc. Gripper with a trident body section
CN113752620A (zh) * 2021-09-29 2021-12-07 苏州威达智电子科技有限公司 一种上模快速换模结构及相关设备和方法

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JP5575063B2 (ja) 2011-06-22 2014-08-20 アイダエンジニアリング株式会社 ワーク保持装置交換支持装置
JP6185104B1 (ja) 2016-03-14 2017-08-23 アイダエンジニアリング株式会社 プレス機械のワーク搬送装置
US11660761B2 (en) 2020-09-24 2023-05-30 Gm Global Technology Operations, Llc Flexible robotic system using end-effector with pass-through suction modules
CN113443428B (zh) * 2021-07-15 2023-03-21 苏州得尔达国际物流有限公司 一种采用空货箱搬运机器人的搬运系统及其搬运方法

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9975252B2 (en) 2014-09-19 2018-05-22 Delaware Capital Formation, Inc. Gripper
USD781122S1 (en) 2015-09-15 2017-03-14 Delaware Capital Formation, Inc. Upper gripper jaw
USD811189S1 (en) 2015-09-15 2018-02-27 Delaware Capital Formation, Inc. Gripper
USD811188S1 (en) 2015-09-15 2018-02-27 Delaware Capital Formation, Inc. Gripper body
USD827677S1 (en) 2015-09-15 2018-09-04 Delaware Capital Formation, Inc. Lower gripper jaw
CN105252519A (zh) * 2015-11-12 2016-01-20 中国船舶重工集团公司第七一六研究所 一种抓取系统
EP3486058A1 (fr) * 2017-11-16 2019-05-22 HÄNDLE GmbH Maschinen und Anlagenbau Tête aspirante d'une presse à tuiles et procédé de montage d'une tête aspirante
US10994423B2 (en) 2018-06-15 2021-05-04 Delaware Capital Formation, Inc. Gripper with a trident body section
US10549431B2 (en) 2018-06-15 2020-02-04 Delaware Capital Formation, Inc. Gripper with a trident body section
US11167427B2 (en) 2018-06-15 2021-11-09 Delaware Capital Formation, Inc. Gripper with a trident body section
CN110394404A (zh) * 2019-07-30 2019-11-01 赵旭锋 一种上料机构
CN110625020A (zh) * 2019-10-24 2019-12-31 济南二机床集团有限公司 一种提高直线七轴生产节拍的快换系统及自动更换方法
CN110625020B (zh) * 2019-10-24 2024-04-30 济南二机床集团有限公司 一种提高直线七轴生产节拍的快换系统及自动更换方法
CN111590932B (zh) * 2020-06-03 2021-10-12 河南泰田重工机械制造有限公司 一种玻璃钢模压上料装置
CN111590932A (zh) * 2020-06-03 2020-08-28 河南泰田重工机械制造有限公司 一种玻璃钢模压上料装置
CN113752620A (zh) * 2021-09-29 2021-12-07 苏州威达智电子科技有限公司 一种上模快速换模结构及相关设备和方法
CN113752620B (zh) * 2021-09-29 2024-04-05 苏州威达智科技股份有限公司 一种上模快速换模结构及相关设备和方法

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