EP0693334B1 - Système de transport - Google Patents

Système de transport Download PDF

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Publication number
EP0693334B1
EP0693334B1 EP95109314A EP95109314A EP0693334B1 EP 0693334 B1 EP0693334 B1 EP 0693334B1 EP 95109314 A EP95109314 A EP 95109314A EP 95109314 A EP95109314 A EP 95109314A EP 0693334 B1 EP0693334 B1 EP 0693334B1
Authority
EP
European Patent Office
Prior art keywords
feeder
conveying system
workpiece
drive
conveyor
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
EP95109314A
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German (de)
English (en)
Other versions
EP0693334A1 (fr
Inventor
Erich Harsch
Rainer Reichenbach
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mueller Weingarten AG
Original Assignee
Mueller Weingarten AG
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 Mueller Weingarten AG filed Critical Mueller Weingarten AG
Publication of EP0693334A1 publication Critical patent/EP0693334A1/fr
Application granted granted Critical
Publication of EP0693334B1 publication Critical patent/EP0693334B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • 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
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

Definitions

  • the invention relates to a transport system for transport of workpieces after the preamble of claim 1.
  • Such systems are usually with transport facilities for automatic workpiece transport.
  • This Transport devices either have their own drives or are operated by the press drive. In any case, however Forced synchronization, electrical or mechanical, between the Press movements and the transport system are available. This Synchronization serves to avoid collisions as well to optimize the motion sequences.
  • This orientation station is with the degrees of freedom required to manipulate the workpiece fitted.
  • the basic structure of such a facility is based on the example a press with loading and unloading device and one Parts storage described in DE 32 33 428.
  • the object of the present invention is to provide a transport system create, which a sensitive handling of the Pivotal movement for the workpiece allows, the Drives for the swiveling process are not highly dynamic Area of the device.
  • the basic idea of the invention is between two Forming stations own or driven by the press, feeder working both as a removal device and as a loading device to propose one or more drives for any necessary swiveling of the feeder spider or Contains parts in and across the parts transport direction and also a possible turning of the parts enables.
  • the otherwise required Clipboard can be omitted.
  • the invention realizes the principle of one completely independent drive with the required accordingly Degrees of freedom, i.e. that the workpiece transport from one to next machining station completely independent of one Central drive by individually programmable drives.
  • Degrees of freedom i.e. that the workpiece transport from one to next machining station completely independent of one Central drive by individually programmable drives.
  • the drive system according to the invention is a telescopic feeder trained and is characterized by the following features:
  • the drive system has essentially linear guidance systems.
  • the construction is different Speed distribution of the individual drive trains reached.
  • a very advantageous result is that the Drive part with the lowest mass has the highest acceleration and maintains speed.
  • the system has one extremely well distributed dynamics and therefore only needs one relatively low drive power.
  • FIGs 1 to 3 two forming stages are an example Transfer or large part step press 1 shown.
  • the main visible components of press 1 are: One or more Head pieces 2, stands 3,4,5, ram 6,7 and sliding tables 8.
  • Each Processing or forming stage 10, 11 contains a forming tool consisting of the upper tool 12 attached to the ram and the lower tool 13 located on the sliding table 8.
  • FIGS. 1 to 3 is for the transport of the respective part or workpiece 14 central, i.e. between two processing stations 10, 11 arranged telescopic feeder 15 is provided.
  • This telescopic feeder 15 consists of a part-bound Feeder spider 16, 16 'with suction cups 17, one in and across Transport direction 78 displaceable or pivotable Pick-up carriage 18 for the feeder spider 16, a triple Telescopic slide 19 with movement and drive means for one Horizontal movement and a vertically movable Lifting device 9 with ball screw system 21 by a programmable drive 22 is movable.
  • the lifting column is in a carriage 23 mounted, which can be moved crosswise Parts transport direction 78 is arranged in linear guides 24.
  • the telescopic feeder 15 has 5 degrees of freedom.
  • FIG. 1 shows the part 14 formed in processing stage 10 removed and transported to processing stage 11. While this transport step involves changing the position of part 14 instead of an adjustment to the lower tool 13 of the following Achieve processing level.
  • Fig. 2 shows the change in position and the part 14 is located in front of the lower tool 13 in processing stage 11.
  • the programmable drives optimal trajectory for parts transport guaranteed. Also the freedom of movement, based on the position of the plunger 7 and possibly Interfering edges through the upper tool 12 can be ensured.
  • Fig. 3 shows the telescopic feeder 15 in the waiting position during the Forming process.
  • a phase-shifted ram position is also recognizable.
  • the feeder spider 16, 16 'on the peg 25 attached to the sliding table 8 to be staked out.
  • the stake 25 is with a lifting and Provide swivel device.
  • 2 pegs 25 are on the front from tool 12/13 attached to the sliding table and the Feeder spider 16, 16 'can extend the sliding tables 8 be staked above the tool 12/13. Outside the press can the feeder spider 16, 16 'through 90 ° for easier change the peg holder 25 can be pivoted out.
  • Stakeout device 30 shows an alternative solution with Spider change car.
  • FIGS. 1 to 3 is limited Embodiment not on a transfer or Large section press, but can also be used on press lines a relatively short distance from press to press become.
  • part-bound accessories feeder spider 16
  • part-bound accessories feeder spider 16
  • the pinning device 30 As well as the sliding table 8 with the tool 12/13 from the Press room driven.
  • FIG. 4 shows the removal of the part 14, in FIG. 5 the position-changed part 14 before placing on the Lower tool 13 can be seen.
  • the presses can move mechanically with one another Drive shaft synchronized or driven have electrical synchronization.
  • FIG. 6 shows FIG. 7 a pivoted feeder spider 16, 16 '.
  • a possibly required vertical stroke would be achieved by drive 22 and threaded or ball screw with nut 21 both as a setup and production axis.
  • FIG. 8 shows an embodiment according to a press line 4 and 5 in a representation transverse to the direction of transport.
  • the entire feeder system is on via a holder 33 the press stands 4 attached.
  • the vertical movement of the Lifting device 26 and the components connected thereto however via a toothed belt 34 fastened with clamping pieces 35, which is connected to the toothed belt pulley 29 via deflection rollers 36 is.
  • the stationary toothed belt pulley 29 is driven by the drive 22 rotated and the toothed belt 34 performs a linear movement and thus also the lifting movement of the lifting device 26.
  • Fig. 9a and Fig. 9b show the receiving carriage 18 for the Feeder spider 16, 16 'as an enlarged view of Fig. 8.
  • the Pickup carriage 18 is pivotable on the lifting device 26 stored.
  • the pivot axis 37 lies within the part 14.
  • Die The entire swivel device is in 2 segments 38 in the shape of a circular arc stored with guide stones 39.
  • the pivoting causes Pinion 40 in conjunction with a circular arc Tooth segment 41.
  • the pivot drive is arranged on the first telescopic slide 42 (FIG. 10).
  • Fig. 10 is the attachment of the arcuate segment guide 38 and the toothed segment 41 can be seen on the lifting device 26.
  • the guide stones 39 are via holder 43 with the support tube 44 of the first telescopic carriage 42 connected.
  • On the support tube 44 is the geared motor 45, which is coupled and mounted shafts 46 drives the pinion 40.
  • the toothed segment 41 causes the pinion 40 to rotate Swiveling the entire telescopic slide 19 transversely to Part transport direction about the pivot axis 37.
  • FIG. 10 the belt guide in FIG. 10 is shown in FIG Telescopic slide, 42, 47, 48 shown.
  • the first horizontal stationary telescopic carriage 42 is a in the support tube 44 driven toothed belt pulley 49 mounted with deflection rollers 50.
  • Also serve to guide the second telescopic slide 47 Support tube 44 attached linear guides 57.
  • the toothed belt 51 is connected and moved via clamping pieces 52 with the support tube 53 thereby the second telescopic slide 47.
  • Toothed belt drives could also use analog drive means such as a pinion.
  • a Toothed belt 54 is mounted with pulleys 55.
  • This Toothed belt 54 has a fixed connection to the support tube 44 via the Clamping 56.
  • the toothed belt 54 is also via clamping 56 ' connected to the support tube 62 of the third telescopic slide 48.
  • the toothed belt pulley 49 If the toothed belt pulley 49 is now driven by the drive 58 (FIG. 11) driven, the toothed belt 51 performs a horizontal movement at speed V1. Through this movement at the same time the guide roller 55 rotated and thus also leads Timing belt 54 horizontal movement at speed V2 off. The speeds V1 and V2 overlap and thus add up.
  • the timing belt 59 of the 3rd telescopic slide 48 is firmly connected to the support tube 53 via the clamp 60. Clamping piece 60 'connects the toothed belt 59 to the housing of the Pick-up carriage 18.
  • Linear guides 61 attached to support tube 53 serve to guide the third telescopic slide 48.
  • the already for the second telescopic slide 47 movement described now continues and added to the speed V1 and V2 now the speed V3 of the toothed belt 59 to the Final speed V. With this final speed V is now the actual part 14 transported by the receiving carriage 18.
  • 10 is another toothed belt 63, with a drive toothed belt pulley 64, deflection rollers 65 and toothed belt pulley 66, 67 shown.
  • This belt drive is used to pivot the Feeder spider 16 around pivot point 68.
  • Fig. 11 shows a sectional view corresponding to the Section A-A in Fig. 10.
  • the drive for the in Fig. 10th The triple telescopic slide 19 described is number 58 featured. This drive is connected to the Timing belt pulley 49, starting with timing belt 51, like described triggers the horizontal movement.
  • the program-controlled drive 69 effects a part-adapted Swiveling of the suction spiders about the axis of rotation 68 in and against Direction of transport.
  • the following are used as means: toothed belt pulleys 64, the one another via a shaft 70 mounted in the support tube 53 are connected, toothed belt 63 and toothed belt pulleys 67. Zur The torque can increase between the toothed belt pulley 67 and A feeder spider 16, 16 'a planetary gear 71 can be installed.
  • Linear guides 77 are for the horizontal movement of the Recording carriage 18 provided.
  • FIGS. 12 and 13 show an alternative embodiment for the Swiveling the feeder spider 16, 16 'according to FIGS. 10 and 11.
  • it can be cheaper, not around the pivot point 68, but around the Pivot 73 to pivot the feeder spider 16, 16 '.
  • the Pivot 73 in the workpiece 14 Since the Pivot 73 in the workpiece 14, the change in position and Adaptation of the other travel axes, thus easier to carry out become.
  • Drive elements 69, 64, 63 and 67 is the for pivoting Pinion shaft 74 and the toothed segment 75 required.
  • the housing 72 is in the guide system 76 stored and managed.
  • FIG. 14 15 is a press linkage with a common press drive shown.
  • the embodiment 14 shows a telescopic spring 15, the stroke and Stepper drive via a cam mechanism 200 mechanically from the Forming machine 1 takes place.
  • the press drive 201 in A feeder drive 202 branches off from the head piece 2 of the forming machine and via a drive shaft 203 to the cam mechanism 200 Feeder mechanism 15 performed.
  • the cam mechanism 200 includes one Feed curve 204 and a stroke curve 205 via the feed lever 206 and lifting lever 207 can be tapped. So that's the Feed stroke as well as the lifting stroke in its movement sequence coupled the drive of the forming machine.
  • a toothed segment 213 is firmly connected to the feed lever 206 and stored in the common pivot. This tooth segment 213 drives with the swivel movement, caused by the movement the feed curve 204, a gear 214.
  • Gear 214 is on a common shaft with the 1st bevel gear of a bevel gear 215 and drives it.
  • the second bevel gear of the bevel gear 215 is located in Active connection with a spline shaft 216.
  • This spline shaft 216 is connected to the superposition gear 208 so that a Rotary movement of the spline shaft 216 as the drive of the Superposition gear 208 acts.
  • Via the bevel gear 211 the toothed belt of the telescopic spring 15 is then driven and thus the horizontal transport step.
  • a superposition gear 208 with associated drive 209 in the area of the transport device 19 can be Transport step change between cam gear and Transport unit can be carried out.
  • the drive 209 is as Programmable servo motor.
  • This change in transport step serves to adapt to different tool distances.
  • the lifting lever 207 is one Tab 217 connected. This tab transmits the vertical stroke the bar 218 on which the telescopic feeder is mounted.
  • the one already described Height adjustment of the feeder with program-controlled motor 22 and ball roller spindle system 21, also as a production axis be used.
  • the stroke movement can be done with the Overlay feeder height adjustment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Press Drives And Press Lines (AREA)

Claims (20)

  1. Système de transport pour transporter des pièces à travers des postes de traitement de machines de déformation (1), comme une presse, un train de presses ou une presse à étages pour grandes pièces, comportant au moins un dispositif de déplacement (15) recevant la pièce (14) et effectuant un transport dans un mouvement à plusieurs axes dans le cycle de la machine de déformation (1), dispositif qui est agencé au-dessus du plan du transport des pièces de la machine de déformation (1) entre les postes de traitement, le dispositif de déplacement (15) prélevant la pièce (14) d'un étage de traitement (10,11) et la transportant suivant un mouvement de levage ainsi qu'un mouvement longitudinal sans dépose intermédiaire vers le poste de traitement suivant le plus proche, et présentant, dans sa zone avant de réception des pièces, un dispositif de pivotement (38-41 ; 63-69 ; 72-76), qui, pendant le processus de transport de la pièce, permet une modification de position adaptée à la position nécessaire de la pièce (14) dans le poste de traitement suivant,
    caractérisé en ce que le dispositif de déplacement (15) présente, sur sa zone avant de réception des pièces, par ailleurs, un dispositif de transport (19) en plusieurs parties, constitué d'un chariot télescopique (42,47,48) au moins en deux parties, et en ce que le mouvement de pivotement pour la pièce (14) est effectué, par l'intermédiaire d'un entraínement à courroie (63-69) ou par l'intermédiaire d'un entraínement à segment denté (38-41), le moteur d'entraínement respectif (69,45) pour le mouvement de pivotement respectif étant agencé de façon fixe par rapport au chariot télescopique (48) portant le dispositif de pivotement ou la pièce.
  2. Système de transport selon la revendication 1,
    caractérisé en ce que le mécanisme d'alimentation (15) est réalisé comme dispositif d'alimentation télescopique (15) ayant un dispositif de transport (19) réalisé comme chariot multitélescopique.
  3. Système de transport selon la revendication 1 ou 2,
    caractérisé en ce que le récepteur de pièces est réalisé comme un moyen d'alimentation (16) qui est relié, par l'intermédiaire d'un chariot de réception (18), de façon pivotante au dispositif de transport (19).
  4. Système de transport selon une des revendications 1, 2 ou 3,
    caractérisé en ce que le dispositif de transport (19) présente au moins un, avantageusement deux dispositifs de pivotement (38-41 ; 18, 63-68 ; 73-76), qui effectue un mouvement de pivotement dans la direction de transport des pièces (78) et à l'encontre de celle-ci et/ou transversalement à celle-ci, le dispositif de pivotement effectuant avantageusement un mouvement de pivotement arqué autour d'un axe longitudinal horizontal (37) et/ou autour d'un axe transversal horizontal (68,73).
  5. Système de transport selon une des revendications précédentes,
    caractérisé en ce que le dispositif de transport (19) est réglable en hauteur au moyen d'un dispositif de levage (9,26 ; 21,22).
  6. Système de transport selon une des revendications précédentes,
    caractérisé en ce que le mécanisme d'alimentation (15) est monté de façon transversalement déplaçable dans un support (33) orienté transversalement à la direction de transport des pièces (78) ayant un entraínement transversal (31,32).
  7. Système de transport selon une des revendications précédentes,
    caractérisé en ce que le mécanisme d'alimentation (15) comporte un chariot d'alimentation (23) qui permet, sur des guides (24), un déplacement transversal du dispositif de transport (19) et/ou du dispositif de levage (9,26).
  8. Système de transport selon une des revendications précédentes,
    caractérisé en ce que le dispositif de levage (26) comporte de préférence une colonne de levage qui est réglable en hauteur par l'intermédiaire d'une transmission à courroie (34) ayant un disque (29) pour courroie et des rouleaux de renvoi (36).
  9. Système de transport selon la revendication 2,
    caractérisé en ce que le dispositif d'alimentation télescopique (15) est réalisé comme dispositif de transport longitudinal (19) ayant un chariot trois fois télescopique (42,47,48).
  10. Système de transport selon la revendication 9,
    caractérisé en ce que le dispositif de transport longitudinal (19) comporte un premier chariot télescopique (42), lequel est fixé, relativement au mouvement longitudinal des pièces (78), en place sur un dispositif de levage (9,26), en ce que le premier chariot télescopique (42) est relié, par l'intermédiaire de guides longitudinaux (57) ou analogues, à un deuxième chariot télescopique (47) et celui-ci, par l'intermédiaire d'autres guides longitudinaux (61), à un troisième chariot télescopique (48), et en ce que le déplacement longitudinal du deuxième (47) et du troisième (48) chariot télescopique a lieu avantageusement au moyen d'entraínements à courroie (49-52) ou (54-56).
  11. Système de transport selon la revendication 1 ou 4,
    caractérisé en ce qu'un premier mécanisme de pivotement pour effectuer un mouvement arqué autour d'un axe de pivotement horizontal (37) orienté dans la direction de transport des pièces (78) est agencé entre le dispositif de transport longitudinal (19) et le dispositif de levage (26), le dispositif de transport longitudinal (19) étant monté dans un guide segmenté (38,39) arqué et pouvant pivoter au moyen d'un entraínement à segment denté/arbre de pignon (40,41,45,46) transversalement par rapport à la direction de transport des pièces (78).
  12. Système de transport selon une des revendications 1, 4 ou 11,
    caractérisé en ce qu'un second mécanisme de pivotement pour effectuer un mouvement arqué autour d'un axe de pivotement horizontal (73) agencé transversalement à la direction de transport des pièces (78) est prévu sur un chariot de réception (18) pour un moyen d'alimentation (16), le moyen d'alimentation (16) étant monté dans un système de guidage arqué (76) et pouvant pivoter longitudinalement au moyen d'un entraínement à segment denté/arbre de pignon (74,75) dans la direction de transport des pièces (78).
  13. Système de transport selon la revendication 1, 4 ou 11,
    caractérisé en ce qu'un autre mécanisme de pivotement pour effecteur un mouvement de pivotement autour d'un axe de pivotement horizontal (68) agencé transversalement à la direction de transport des pièces (78) est prévu pour un moyen d'alimentation (16), l'axe de pivotement (68) correspondant au pivot du moyen d'alimentation (16) et le pivotement ayant lieu de préférence au moyen d'un entraínement à courroie (63-67) et, entre l'entraínement à courroie (63-67) et le moyen d'alimentation (16), il est avantageusement agencé un engrenage et, en particulier, un engrenage planétaire (71).
  14. Système de transport selon une des revendications 4, 11 à 13,
    caractérisé en ce que le mouvement de pivotement des mécanismes de pivotement est effectué au moyen d'entraínements (45,69) commandés de façon programmée.
  15. Système de transport selon la revendication 10,
    caractérisé en ce que des entraínements à courroie (59,60,60') sont prévus pour les chariots télescopiques (42,47,48), qui sont en particulier reliés les uns aux autres de sorte que les vitesses v1, v2, et v3 s'ajoutent lors du transport des pièces.
  16. Système de transport selon une des revendications précédentes,
    caractérisé en ce que l'entraínement du mécanisme d'alimentation (15) est effectué par l'intermédiaire d'une commande à came (200), laquelle peut être mécaniquement entraínée dans le cycle de la machine de déformation.
  17. Système de transport selon la revendication 16,
    caractérisé en ce que la came d'avance (204) est en liaison active avec un lever d'avance (206) monté de façon rotative, qui est solidaire d'un segment denté (213), qui entraíne une roue dentée (214) qui agit sur un engrenage conique (215), lequel entraíne, par l'intermédiaire d'un arbre cannelé (216), l'engrenage de superposition (208), qui entraíne le dispositif de transport (19) par l'intermédiaire d'un engrenage angulaire (211).
  18. Système de transport selon la revendication 16 ou 17,
    caractérisé en ce qu'un entraínement de levage est effectué sur le mécanisme d'alimentation (15) par l'intermédiaire d'une commande à came (200) entraínée par la machine de déformation, qui effectue une course prédéfinie, et en ce que, avantageusement, pour modifier et/ou superposer la course de levage, le réglage en hauteur de l'alimentation (21,22) est réalisé comme axe de production variable.
  19. Système de transport selon une des revendications 16 à 18,
    caractérisé en ce que, pour modifier le pas de transport du mécanisme d'alimentation (15), un engrenage de superposition (208) est prévu dans la liaison par adhérence entre la commande à came (200) et le dispositif de transport (19), qui peut être avantageusement entraíné, pour la compensation de pas, par un servomoteur programmable (209).
  20. Système de transport selon une des revendications précédentes,
    caractérisé en ce que la modification de position des pièces est effectuée par des servomoteurs programmables (210,219).
EP95109314A 1994-06-16 1995-06-16 Système de transport Expired - Lifetime EP0693334B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4420933 1994-06-16
DE4420933 1994-06-16

Publications (2)

Publication Number Publication Date
EP0693334A1 EP0693334A1 (fr) 1996-01-24
EP0693334B1 true EP0693334B1 (fr) 1999-11-10

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EP95109314A Expired - Lifetime EP0693334B1 (fr) 1994-06-16 1995-06-16 Système de transport

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EP (1) EP0693334B1 (fr)
DE (2) DE19521976A1 (fr)
ES (1) ES2139777T3 (fr)

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DE19801731A1 (de) * 1998-01-19 1999-07-22 Mueller Weingarten Maschf Transporteinrichtung
DE19814385C1 (de) 1998-03-31 1999-10-07 Siemens Ag Verfahren und Vorrichtung zur Prozeßführung und zur Prozeßoptimierung der Chemikalienrückgewinnung bei der Herstellung von Zellstoff
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DE10064930A1 (de) 2000-02-10 2001-08-16 Mueller Weingarten Maschf Horizontales Transportsystem
DE10009574A1 (de) * 2000-02-29 2001-08-30 Mueller Weingarten Maschf Flexible Transporteinrichtung für Pressen
DE20020855U1 (de) * 2000-12-08 2001-03-08 Blechformwerke Bernsbach GmbH, 08315 Bernsbach Transfervorrichtung für Großpressensystem
DE10328447B4 (de) 2003-06-25 2006-06-08 Schuler Pressen Gmbh & Co. Kg Transferpresse mit verbesserter Raumausnutzung
DE10352982B4 (de) 2003-11-13 2007-06-21 Müller Weingarten AG Gelenkarmtransportvorrichtung
DE102004013825B4 (de) * 2003-11-13 2011-01-20 Müller Weingarten AG Gelenkarmtransportvorrichtung
DE102004006085B4 (de) * 2004-02-07 2007-01-04 Müller Weingarten AG Transportvorrichtung für Werkstücke durch Pressenanlagen
DE102004018059B4 (de) * 2004-04-08 2008-01-24 Schuler Pressen Gmbh & Co. Kg Transfereinrichtung und Transferverfahren
DE102006003522A1 (de) * 2006-01-24 2007-08-02 Müller Weingarten AG Transfersystem mit Wendevorrichtung
DE202007005525U1 (de) * 2007-04-17 2007-06-21 Wilfried Strothmann Gmbh Maschinenbau- Und Handhabungstechnik Roboter
DE102008050125A1 (de) * 2008-04-29 2009-11-05 Müller Weingarten AG Transporteinrichtung mit Positionieranschlag
CN103567316B (zh) * 2013-11-21 2015-04-22 济南昊中自动化有限公司 一种冲压专用穿梭板料输送机
CN104325461A (zh) * 2014-10-17 2015-02-04 济南奥图自动化工程有限公司 一种单臂机械手
EP3718659B1 (fr) * 2019-04-05 2022-11-23 Horstkemper Maschinenbau GmbH Appareil d'automatisation
DE102019119228B4 (de) * 2019-07-16 2024-07-18 Strothmann Machines & Handling GmbH Linearförderer zum Umsetzen von Werkstücken zwischen zwei in einer Durchlaufrichtung aufeinanderfolgenden Positionen
CN112828657A (zh) * 2021-02-09 2021-05-25 永康市勤亿工贸有限公司 一种用于直通、三通接头自动供料加工的送料机构

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DE3233428C1 (de) * 1982-09-09 1993-04-29 Maschinenfabrik Müller-Weingarten AG, 7987 Weingarten Beschickungs- und Entnahmevorrichtung insbesondere an Pressen

Also Published As

Publication number Publication date
EP0693334A1 (fr) 1996-01-24
DE19521976A1 (de) 1995-12-21
DE59507211D1 (de) 1999-12-16
ES2139777T3 (es) 2000-02-16

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