EP1513631B1 - Transferring device - Google Patents

Transferring device Download PDF

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Publication number
EP1513631B1
EP1513631B1 EP02735420A EP02735420A EP1513631B1 EP 1513631 B1 EP1513631 B1 EP 1513631B1 EP 02735420 A EP02735420 A EP 02735420A EP 02735420 A EP02735420 A EP 02735420A EP 1513631 B1 EP1513631 B1 EP 1513631B1
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EP
European Patent Office
Prior art keywords
arm
feed
gripper rail
gripper
transfer device
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EP02735420A
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German (de)
French (fr)
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EP1513631A1 (en
Inventor
Martin Hagel
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Individual
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Individual
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • 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
    • B21D43/055—Devices comprising a pair of longitudinally and laterally movable parallel transfer bars

Definitions

  • the invention relates to a transfer device according to the preamble of claim 1.
  • Transfer devices are used to transport several workpieces at the same time by a processing machine stepwise, so that at individual processing stations successively different operations on the workpieces can be performed. Frequent use of such transfer devices is associated with transfer presses. In such a step presses are simultaneously made to several, located in the press workpieces. A respective workpiece is located at a certain station of the transfer press and undergoes there a certain deformation. After further transport to the next station, the step-by-step transformation proceeds to the final product.
  • the transfer device ensures that the individual workpieces are first gripped, lifted and subsequently transported together in the machine direction. Subsequently, the workpieces are lowered to the respective next processing position, and the transfer device, in particular their so-called. Gripper rails are opened to bring them out of engagement with the tools. While the processing takes place on the workpieces, the gripper rails are moved back against the processing direction in the open position to close to initiate the next Umsetzvorganges again, and lift the workpieces. In essence, three such movements, ie lifting / lowering, opening / closing and advancing / retracting, are thus realized by such a transfer device. Alternatively, a so-called two-axis transfer can be formed in that only one closing and advancing movement or only one lifting and advancing movement is realized.
  • a transfer device in which the feed drive articulated an arm is mounted.
  • the arm is substantially pivotable about an axis parallel to the feed direction.
  • the arm In the feed direction of the type in such a way with a carriage in that the carriage can be moved in the feed direction.
  • the arm is movable with respect to the carriage, so that the carriage to which the gripper rails are mounted, can be raised, lowered, opened and closed, without these movements being obstructed by the arm of the feed drive.
  • a disadvantage of this known construction is that the arm of the feed drive acts on a carriage on which the gripper rail is mounted by a plurality of components connected therebetween. This construction is on the one hand relatively complicated and also requires a relatively strong feed drive, since in addition to the mass of the gripper rail, the mass of the carriage must be moved.
  • the invention has for its object to provide an improved transfer device.
  • the transfer device has at least one gripper rail.
  • the gripper rail is indirectly or directly engageable with at least one workpiece in order to realize the movements of the workpiece described above.
  • the gripper rail may include suitable fingers or blades, quivers or other protruding elements to grip and move the workpieces.
  • the gripper rail in a lifting and / or a closing and a feed direction, and in each case in the opposite direction, driven.
  • the transfer device has at least one lifting and / or at least one closing and at least one feed drive.
  • an arm is connected, which is pivotable about an axis substantially parallel to the feed direction.
  • this arm the feed motion is transmitted from the feed drive to the gripper rail.
  • this arm is directly in the feed direction with the gripper rail in engagement.
  • the arm does not drive any intervening elements or slides, but acts directly on the gripper rail itself.
  • the arm pushes the arm moves the gripper rail directly in the feed direction and thus ensures the necessary feed and Zuschbewegüng.
  • the gripper rail is displaceable in a direction perpendicular to the feed direction relative to the arm.
  • the additionally required degree of freedom is realized by the pivotable connection of the arm to an element of the feed drive.
  • the arrangement relationship may, for example, be such that during the raising or lowering of the gripper rail there is a displacement of the gripper rail with respect to the arm.
  • the lateral opening and closing movement is permitted at the connection between the arm and the gripper rail, on the one hand, in that the arm is articulated.
  • the transfer device according to the invention thus realized in a simple structure, the necessary movements, without disturbing other movements, obstruct or influence in any other way.
  • only the arm and the gripper rail must be moved by the feed drive.
  • these have a comparatively low mass, so that advantageously a comparatively weak and therefore inexpensive feed drive can be used.
  • By reducing the mass to be driven at the feed the start and braking characteristics of the transfer can be improved.
  • no associated with the gripper rail carriage and its mass has to be moved also offers the advantage that the carriage also in the opening and closing, as well as the lifting movement does not have to be moved.
  • a rotary / sliding unit is preferred for the in the feed direction in engagement, but perpendicular thereto movable connection of the gripper rail to the folding arm.
  • a rotary / sliding unit is preferred for the in the feed direction in engagement, but perpendicular thereto movable connection of the gripper rail to the folding arm.
  • Such a unit can be realized by simple means to ensure the required interventions and degrees of freedom. At the same time, such a unit does not have an unnecessarily high mass.
  • a structure is preferred in that it has a guide and a slide guided thereon.
  • the guide is advantageously connected to the folding arm.
  • the slider guided on it is rotatably connected to the gripper rail. The connection between the gripper rail and the slider, and between the slider and the guide is such that there is an engagement in the feed direction, and the required movement can be transmitted.
  • the folding arm on an overload protection can for example be designed in the form of a specific component having a defined breaking force / release force.
  • an overload protection is avoided that the feed drive permanently "tries" to move the gripper rail in the feed direction, although this movement is hindered in any way.
  • an overload breaks or triggers a component of the folding arm, and thus the power transmission ends on the gripper rail.
  • the breaking force / releasing force may be set at 1.5 times the force normally required to move the gripper rail and the workpieces engaged therewith, or other suitable value. In this way, the overload protection triggers reliably with a comparatively low force, without a dangerous situation, e.g. Collision, or an overload of the feed drive can take place.
  • the overload protection is currently preferred that this in the region of the pivotal attachment of the arm to an element of the feed drive or to a connecting element in the Surrounding the arm is provided.
  • the overload protection or the overload protection can be provided between the subsequently explained carriage (26) of the feed drive and the arm, and alternatively between the arm and the gripper rail.
  • the transfer device has two gripper rails, to each of which a feed drive is assigned.
  • the two feed drives can be controlled independently of each other.
  • the element to be moved thereby, in particular the gripper rails, are not mechanically connected to one another, which leads to an improved control behavior.
  • FIG. 1 the transfer device 10 according to the invention is shown in a perspective view.
  • This has two gripper rails 12 arranged parallel to one another, through which workpieces to be machined can be gripped, lifted, advanced in the feed direction A and lowered and positioned at a subsequent processing station.
  • the gripper rails are then opened in a lateral direction, and the gripper rails 12 are moved backward counter to the feed direction A.
  • the area in which the workpieces are machined, for example in a transfer press, and in which the workpieces have to be moved, is shown in FIG. 1 only schematically indicated by the reference number 14.
  • the lifting, lowering, opening and closing movements are produced by a respective lifting and closing drive which, as is not particularly relevant in the context of the present invention, in two so-called.
  • Lock boxes 16 are located, which are arranged at the front and back of the transfer device 10. These drives allow independently lifting of the two gripper rails 12 and a movement thereof in the lateral, in particular horizontal direction.
  • the control of the lifting and closing drives is in each case adjusted in such a way that no unintentional lifting and lowering takes place during the opening and closing, and vice versa.
  • the Gripper rail slidably mounted respectively in the feed direction on a plunger 36 which is moved by the lifting and closing drive in the lifting and closing direction.
  • the feed of the respective gripper rail 12 is effected by a respective feed drive 18.
  • this is arranged offset laterally above the gripper rail and slightly outwards, respectively.
  • the position of the feed drive in relation to the gripper rails depends on the position or the opening width of the gripper rails.
  • Fig. 2 shows in a perspective view a portion of the gripper rail 12 and its connection to the feed drive 18.
  • the feed drive 18 is designed in the form of a belt drive, which drives two belts 20.
  • a carriage 26 is attached by suitable terminals 24 to which an arm 28 is pivotally mounted.
  • the arm 28 is in particular pivotable about an axis substantially parallel to the feed direction A.
  • the arm 28 is substantially triangular in plan view, but it may have any other shape.
  • the gripper rail 12 is engaged such that movements in the feed direction A and opposite thereto can be transmitted to the gripper rail 12.
  • the arm 28 has a guide 30.
  • a slider 32 With the guide, a slider 32 is engaged such that it is displaceable in the extending direction (in the position shown in FIG. 2 identical to the lifting direction B) of the arm 28.
  • movements in the direction of the feed direction A can be transmitted from the arm to the slider.
  • the connection between the slider 32 and the gripper rail 12 is also such that a transmission of forces in said direction can take place.
  • the gripper rail is rotatably connected to the slider 32 about an axis parallel to the direction A.
  • This degree of freedom is required for that movements through the connection between the gripper rail 12 and the arm 28, for example, in the lateral direction, ie for opening or closing, are not hindered.
  • the gripper rail When the gripper rail is moved in this lateral direction, the gripper rail 12 remains in its orientation shown in FIG.
  • the slider 32 which is guided by the guide 30, twists slightly.
  • the arm 28 pivots a little about its axis 34.
  • the slider 32 moves a little along the guide 30 to the changed altitude of the arm 28 in a row its pivotal movement about the axis 34 to compensate.
  • the other movements of the gripper rail 12 are not hindered by the new connection of the gripper rail 12 to the arm 28 or influenced in any other way.
  • the transmission of the required feed and return movement to the gripper rail 12 can be done in a simple manner, without having to move high masses. Due to the direct connection of the gripper rail 12 to the arm 28 can be umwuzee carriage and the like. be avoided between these elements.
  • a position of the arm 28 is shown in Fig. 1, which is pivoted relative to the position shown in Fig. 2, for example, as a result of a closing movement of the gripper rail 12. Furthermore, it follows from FIG. 1 in addition that the connection between the other gripper rail and the feed drive associated therewith is correspondingly mirror-inverted to the arrangement shown in FIG. 2.

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  • Engineering & Computer Science (AREA)
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Abstract

A transferring device includes at least one gripper rail, which can be brought into engagement with at least one workpiece and which can be driven in a lifting direction, a closing direction and an advancing direction. The transferring device also includes at least one lifting drive and/or at least one closing drive, at least one advancing drive, and an arm that is connected to the advancing drive in a manner that enables it to pivot about a pin while moving, to a large extent, parallel to the advancing direction. The transferring device is characterized in that the gripper rail is directly engaged with the arm in the advancing direction and can be displaced in a direction perpendicular to the advancing direction.

Description

Die Erfindung betrifft eine Transfereinrichtung nach dem Oberbegriff des Anspruchs 1.The invention relates to a transfer device according to the preamble of claim 1.

Transfereinrichtungen werden verwendet, um üblicherweise mehrere Werkstücke gleichzeitig durch eine Bearbeitungsmaschine schrittweise zu transportieren, so dass an einzelnen Bearbeitungsstationen nacheinander verschiedene Bearbeitungen an den Werkstücken durchgeführt werden können. Eine häufige Verwendung derartiger Transfereinrichtungen besteht im Zusammenhang mit Stufenpressen. Bei einer derartigen Stufenpresse werden an mehreren, in der Presse befindlichen Werkstücken gleichzeitig Umformungen vorgenommen. Ein jeweiliges Werkstück befindet sich an einer bestimmten Station der Stufenpresse und erfährt dort eine bestimmte Umformung. Nach dem Weitertransport zu der nächsten Station setzt sich die stufenweise Umformung bis zu dem endgültigen Produkt fort.Transfer devices are used to transport several workpieces at the same time by a processing machine stepwise, so that at individual processing stations successively different operations on the workpieces can be performed. Frequent use of such transfer devices is associated with transfer presses. In such a step presses are simultaneously made to several, located in the press workpieces. A respective workpiece is located at a certain station of the transfer press and undergoes there a certain deformation. After further transport to the next station, the step-by-step transformation proceeds to the final product.

Die Transfereinrichtung sorgt dafür, dass die einzelnen Werkstücke zunächst gegriffen, angehoben und nachfolgend zusammen in der Bearbeitungsrichtung transportiert werden. Anschließend werden die Werkstücke auf die jeweils nächste Bearbeitungsposition abgesenkt, und die Transfereinrichtung, insbesondere deren sog. Greiferschienen werden geöffnet, um diese außer Eingriff von den Werkzeugen zu bringen. Während die Bearbeitung an den Werkstücken erfolgt, werden die Greiferschienen entgegen der Bearbeitungsrichtung in geöffneter Stellung zurückbewegt, um sich zur Einleitung des nächsten Umsetzvorganges wieder schließen zu können, und die Werkstücke anzuheben. Im Wesentlichen werden durch eine derartige Transfereinrichtung somit drei unabhängig voneinander zu gewährleistende Bewegungen, nämlich Heben/Senken, Öffnen/Schließen und Vorschieben/Zurückbewegen realisiert. Alternativ kann ein sogenannter Zweiachstransfer dadurch gebildet werden, dass lediglich eine Schließ- und Vorschubbewegung oder lediglich eine Hebe- und Vorschubbewegung realisiert wird.The transfer device ensures that the individual workpieces are first gripped, lifted and subsequently transported together in the machine direction. Subsequently, the workpieces are lowered to the respective next processing position, and the transfer device, in particular their so-called. Gripper rails are opened to bring them out of engagement with the tools. While the processing takes place on the workpieces, the gripper rails are moved back against the processing direction in the open position to close to initiate the next Umsetzvorganges again, and lift the workpieces. In essence, three such movements, ie lifting / lowering, opening / closing and advancing / retracting, are thus realized by such a transfer device. Alternatively, a so-called two-axis transfer can be formed in that only one closing and advancing movement or only one lifting and advancing movement is realized.

Stand der TechnikState of the art

Aus der US 5,680,787 ist eine Transfereinrichtung bekannt, bei der an den Vorschubantrieb gelenkig ein Arm angebracht ist. Der Arm ist im Wesentlichen um eine Achse parallel zur Vorschubrichtung schwenkbar. In der Vorschubrichtung ist der Art derart mit einem Schlitten in Eingriff, dass der Schlitten in Vorschubrichtung bewegt werden kann. Im Übrigen ist der Arm bezüglich des Schlittens beweglich, so dass der Schlitten, an den die Greiferschienen angebracht sind, angehoben, abgesenkt, geöffnet und geschlossen werden kann, ohne dass diese Bewegungen durch den Arm des Vorschubantriebes behindert werden. Nachteilig an dieser bekannten Konstruktion ist, dass der Arm des Vorschubantriebs auf einen Schlitten wirkt, an dem durch mehrere dazwischengeschaltete Bauteile die Greiferschiene angebracht ist. Diese Konstruktion ist zum einen vergleichsweise aufwändig und erfordert darüber hinaus einen vergleichsweise starken Vorschubantrieb, da neben der Masse der Greiferschiene die Masse des Schlittens bewegt werden muss.From US 5,680,787 a transfer device is known in which the feed drive articulated an arm is mounted. The arm is substantially pivotable about an axis parallel to the feed direction. In the feed direction of the type in such a way with a carriage in that the carriage can be moved in the feed direction. Incidentally, the arm is movable with respect to the carriage, so that the carriage to which the gripper rails are mounted, can be raised, lowered, opened and closed, without these movements being obstructed by the arm of the feed drive. A disadvantage of this known construction is that the arm of the feed drive acts on a carriage on which the gripper rail is mounted by a plurality of components connected therebetween. This construction is on the one hand relatively complicated and also requires a relatively strong feed drive, since in addition to the mass of the gripper rail, the mass of the carriage must be moved.

Darstellung der ErfindungPresentation of the invention

Der Erfindung liegt die Aufgabe zugrunde, eine verbesserte Transfereinrichtung zu schaffen.The invention has for its object to provide an improved transfer device.

Die Lösung dieser Aufgabe erfolgt durch die im Anspruch 1 beschriebene Transfereinrichtung.The solution of this object is achieved by the transfer device described in claim 1.

Demzufolge weist die erfindungsgemäße Transfereinrichtung zumindest eine Greiferschiene auf. Bevorzugt sind zwei Greiferschienen vorgesehen. Die Greiferschiene ist mittelbar oder unmittelbar mit zumindest einem Werkstück in Eingriff bringbar, um die eingangs beschriebenen Bewegungen des Werkstücks zu realisieren. Beispielsweise kann die Greiferschiene geeignete Finger oder Schaufeln, Köcher oder sonstige vorstehende Elemente aufweisen, um die Werkstücke zu ergreifen und zu bewegen. Im Fall von zwei Greiferschienen sind diese parallel zueinander angeordnet und greifen die Werkstücke von beiden Seiten her. Zur Realisierung der beschriebenen Bewegungen ist die Greiferschiene in einer Hebe- und/oder einer Schließ- und einer Vorschubrichtung, sowie jeweils in der umgekehrten Richtung, antreibbar. Dementsprechend weist die Transfereinrichtung zumindest einen Hebe- und/oder zumindest einen Schließ- und zumindest einen Vorschubantrieb auf. Es sei betont, dass die erfindungsgemäßen Maßnahmen ihre Vorteile bei einer Transfereinrichtung entfalten, die entweder einen Hebe= oder einen Schließantrieb aufweist. Bevorzugt sind jedoch beide dieser Antriebe vorhanden. Insofern wird nachfolgend auf eine derartige Dreiachs=Tranfereinrichtung Bezug genommen, obwohl die Erfindung, wie erwähnt, auch auf die beschriebene Zweiachs-Transfereinrichtung anwendbar ist.As a result, the transfer device according to the invention has at least one gripper rail. Preferably, two gripper rails are provided. The gripper rail is indirectly or directly engageable with at least one workpiece in order to realize the movements of the workpiece described above. For example, the gripper rail may include suitable fingers or blades, quivers or other protruding elements to grip and move the workpieces. In the case of two gripper rails they are arranged parallel to each other and grip the workpieces from both sides. To realize the described movements, the gripper rail in a lifting and / or a closing and a feed direction, and in each case in the opposite direction, driven. Accordingly, the transfer device has at least one lifting and / or at least one closing and at least one feed drive. It should be emphasized that the measures according to the invention unfold their advantages in a transfer device which has either a lifting or a closing drive. However, both of these drives are preferably present. In this respect, reference is made below to such a three-axis = transfer device, although the invention, as mentioned, is also applicable to the described two-axis transfer device.

An den Vorschubantrieb ist ein Arm angebunden, der um eine Achse weitgehend parallel zur Vorschubrichtung schwenkbar ist. Durch diesen Arm wird die Vorschubbewegung von dem Vorschubantrieb auf die Greiferschiene übertragen. Erfindungsgemäß befindet sich dieser Arm in Vorschubrichtung unmittelbar mit der Greiferschiene in Eingriff. Mit anderen Worten treibt der Arm keine dazwischen geschalteten Elemente oder Schlitten an, sondern wirkt unmittelbar auf die Greiferschiene selbst. Insbesondere zieht öder schiebt der Arm die Greiferschiene unmittelbar in der Vorschubrichtung und gewährleistet somit die notwendige Vorschub- und Zurückbewegüng.To the feed drive, an arm is connected, which is pivotable about an axis substantially parallel to the feed direction. Through this arm, the feed motion is transmitted from the feed drive to the gripper rail. According to the invention, this arm is directly in the feed direction with the gripper rail in engagement. In other words, the arm does not drive any intervening elements or slides, but acts directly on the gripper rail itself. In particular, the arm pushes the arm moves the gripper rail directly in the feed direction and thus ensures the necessary feed and Zurückbewegüng.

Damit der Eingriff des Armes mit der Greiferschiene die sonstigen erforderlichen Bewegungen der Greiferschiene, nämlich das Heben/Senken und/oder das Öffnen/Schließen, nicht behindert, ist die Greiferschiene in einer Richtung senkrecht zu der Vorschubrichtung bezüglich des Arms verschiebbar. Der zusätzlich erforderliche Freiheitsgrad wird durch die schwenkbare Anbindung des Armes an ein Element des Vorschubantriebs realisiert. Die Anordnungsbeziehung kann beispielsweise derart sein, dass bei dem Anheben oder Absenken der Greiferschiene eine Verschiebung der Greiferschiene bezüglich des Armes erfolgt. Die in seitlicher Richtung erfolgende Öffnungs- und Schließbewegung wird an der Verbindung zwischen dem Arm und der Greiferschiene zum einen dadurch zugelassen, dass der Arm gelenkig angebunden ist. Zum anderen verändert sich durch das Verschwenken des Armes die Höhenlage derjenigen Stelle, an welcher die Greiferschiene mit dem Arm verbunden ist. Durch die verschiebbare Verbindung zwischen der Greiferschiene und dem Arm passt sich diese Lagebeziehung jedoch an, ohne dass eine nicht beabsichtigte Veränderung der Höhenlage der Greiferschiene erfolgt.Thus, the engagement of the arm with the gripper rail, the other required movements of the gripper rail, namely the lifting / lowering and / or the opening / closing, not hindered, the gripper rail is displaceable in a direction perpendicular to the feed direction relative to the arm. The additionally required degree of freedom is realized by the pivotable connection of the arm to an element of the feed drive. The arrangement relationship may, for example, be such that during the raising or lowering of the gripper rail there is a displacement of the gripper rail with respect to the arm. The lateral opening and closing movement is permitted at the connection between the arm and the gripper rail, on the one hand, in that the arm is articulated. On the other hand, changing the pivoting of the arm, the altitude of that point at which the gripper rail is connected to the arm. Due to the slidable connection between the gripper rail and the arm, this fits However, positional relationship, without any unintentional change in the height position of the gripper rail takes place.

Die erfindungsgemäße Transfereinrichtung realisiert somit bei einem einfachen Aufbau die erforderlichen Bewegungen, ohne hierbei andere Bewegungen zu stören, zu behindern oder in sonstiger Weise zu beeinflussen. In vorteilhafter Weise müssen durch den Vorschubantrieb lediglich der Arm und die Greiferschiene bewegt werden. Diese haben jedoch eine vergleichsweise geringe Masse, so dass in vorteilhafter Weise ein vergleichsweise schwacher und damit kostengünstiger Vorschubantrieb verwendet werden kann. Durch Verringerung der anzutreibenden Masse am Vorschub können die Start- und Bremseigenschaften des Transfers verbessert werden. Die Tatsache, dass bei der erfindungsgemäßen Transfereinrichtung kein mit der Greiferschiene verbundener Schlitten und dessen Masse bewegt werden muss, bietet darüber hinaus den Vorteil, dass der Schlitten auch bei der Öffnungs- und Schließ-, sowie der Anhebebewegung nicht bewegt werden muss. Ein weiteres Problem bei der bekannten Anordnung mit einer Vorschubbrücke besteht darin, dass aufgrund der Hebellänge zwischen Schließkasten, in dem der Hebe- und/oder Schließäntrieb ist, und dem Vorschubantrieb während der Schließ- und Öffnungsbewegung eine "dynamische" Beanspruchung der Greiferschiene, beispielsweise Biegung oder Vibration, während des Betriebs auftritt. Dieses Problem, dass die Anwesenheit des Schlittens in bestimmten Situationen zu einer dynamischen Verformung der Greiferschienen führen kann, kann ebenfalls behoben werden.The transfer device according to the invention thus realized in a simple structure, the necessary movements, without disturbing other movements, obstruct or influence in any other way. Advantageously, only the arm and the gripper rail must be moved by the feed drive. However, these have a comparatively low mass, so that advantageously a comparatively weak and therefore inexpensive feed drive can be used. By reducing the mass to be driven at the feed, the start and braking characteristics of the transfer can be improved. The fact that in the transfer device according to the invention no associated with the gripper rail carriage and its mass has to be moved, also offers the advantage that the carriage also in the opening and closing, as well as the lifting movement does not have to be moved. Another problem with the known arrangement with a feed bridge is that due to the lever length between the lock case, in which the lifting and / or Schließäntrieb, and the feed drive during the closing and opening movement is a "dynamic" stress on the gripper rail, such as bending or vibration occurs during operation. This problem, that the presence of the carriage in certain situations can lead to a dynamic deformation of the gripper rails, can also be eliminated.

Darüber hinaus besteht ein deutlicher Vorteil gegenüber den herkömmlich für den Vorschub verwendeten Mitnehmerbrücken. In herkömmlicher Weise wären denn über eine derartige Mitnehmerbrücke die Greiferschienen derart an den Vorschubantrieb angebunden, dass der Vorschub bewirkt werden kann, jedoch die Hebe/Senk- und Schließ/Öffnungsbewegung nicht behindert werden. Eine derartige Mitnehmerbrücke erstreckt sich üblicherweise an der Ausgangsseite einer Stufenpresse quer zur Bearbeitungsrichtung und kann dort das Entnehmen der Werkstücke erheblich behindern. Im Gegensatz dazu ist bei der erfindungsgemäßen Transfereinrichtung jede Greiferschiene individuell über den schwenk- oder klappbaren Arm mit einem zugeordneten Vorschubantrieb verbunden. Hierbei sind in vorteilhafter Weise keine Bauteile erforderlich, die sich quer über den Ausgang der Presse erstrecken, so dass eine Behinderung des weiteren Werkstücktransports ausbleibt. Schließlich können in dem üblichen Fall, dass zwei parallele Greiferschienen vorhanden sind, die jeweiligen Vorschubantriebe unabhängig voneinander geregelt werden. Dadurch, dass die zu bewegenden Elemente nicht mechanisch miteinander verbunden sind, ergibt sich ein besseres Regelungsverhalten.In addition, there is a clear advantage over the conventional driving bridges used for the feed. In a conventional way would be about such a Mitnehmerbrücke the gripper rails connected to the feed drive so that the feed can be effected, however, the lifting / lowering and closing / opening movement are not hindered. Such a driver bridge usually extends on the output side of a transfer press transversely to the processing direction and can significantly hinder the removal of the workpieces there. In contrast, in the transfer device according to the invention each gripper rail is individually connected via the pivotable or folding arm with an associated feed drive. In this case, advantageously no components are required, which extend transversely across the exit of the press, so that there is no impediment to further workpiece transport. Finally, in the usual case that two parallel gripper rails are present, the respective feed drives can be controlled independently. The fact that the elements to be moved are not mechanically connected to each other, results in a better control behavior.

Vorteilhafte Weiterbildungen der erfindungsgemäßen Transfereinrichtung sind in den weiteren Ansprüchen beschrieben.Advantageous developments of the transfer device according to the invention are described in the further claims.

Für die in Vorschubrichtung in Eingriff befindliche, jedoch senkrecht hierzu verschiebbare Anbindung der Greiferschiene an den klappbaren Arm wird eine Dreh/Schiebeeinheit bevorzugt. Eine.derartige Einheit kann mit einfachen Mitteln realisiert werden, um die erforderlichen Eingriffe und Freiheitsgrade zu gewährleisten. Gleichzeitig weist eine derartige Einheit keine unnötig hohe Masse auf.For the in the feed direction in engagement, but perpendicular thereto movable connection of the gripper rail to the folding arm, a rotary / sliding unit is preferred. Such a unit can be realized by simple means to ensure the required interventions and degrees of freedom. At the same time, such a unit does not have an unnecessarily high mass.

Für die Dreh/Schiebeeinheit wird ein Aufbau dahingehend bevorzugt, dass diese eine Führung sowie ein daran geführtes Gleitstück aufweist. Die Führung ist in vorteilhafter Weise mit dem klappbaren Arm verbunden. Das daran geführte Gleitstück ist drehbar mit der Greiferschiene verbunden. Die Verbindung zwischen der Greiferschiene und dem Gleitstück, sowie zwischen dem Gleitstück und der Führung ist der Art, dass ein Eingriff in Vorschubrichtung vorliegt, und die erforderliche Bewegung übertragen werden kann.For the rotary / sliding unit, a structure is preferred in that it has a guide and a slide guided thereon. The guide is advantageously connected to the folding arm. The slider guided on it is rotatably connected to the gripper rail. The connection between the gripper rail and the slider, and between the slider and the guide is such that there is an engagement in the feed direction, and the required movement can be transmitted.

Bevorzugt weist der klappbare Arm einen Überlastschutz auf. Dieser kann beispielsweise in Form eines bestimmten Bauteils ausgeführt sein, das eine definierte Bruchkraft/Auslösekraft aufweist. Durch einen derartigen Überlastschutz wird vermieden, dass der Vorschubantrieb dauerhaft "versucht", die Greiferschiene in Vorschubrichtung zu bewegen, wenngleich diese Bewegung in irgendeiner Weise behindert wird. Aus Sicherheitsgründen bietet es Vorteile, wenn in einem derartigen Fall einer Überlast ein Bauteil des klappbaren Arms bricht oder auslöst, und damit die Kraftübertragung auf die Greiferschiene endet. Die Bruchkraft/Auslösekraft kann beispielsweise auf das 1,5-fache der üblicherweise zum Bewegen der Greiferschiene und der daran in Eingriff befindlichen Werkstücke erforderlichen Kraft oder einen anderen geeigneten Wert eingestellt werden. Hierdurch löst der Überlastschutz bei einer vergleichsweise geringen Kraft zuverlässig aus, ohne dass eine gefährliche Situation, z.B. Kollision, oder eine Überlastung des Vorschubantriebs erfolgen kann.Preferably, the folding arm on an overload protection. This can for example be designed in the form of a specific component having a defined breaking force / release force. By such an overload protection is avoided that the feed drive permanently "tries" to move the gripper rail in the feed direction, although this movement is hindered in any way. For safety reasons, it offers advantages if, in such a case, an overload breaks or triggers a component of the folding arm, and thus the power transmission ends on the gripper rail. For example, the breaking force / releasing force may be set at 1.5 times the force normally required to move the gripper rail and the workpieces engaged therewith, or other suitable value. In this way, the overload protection triggers reliably with a comparatively low force, without a dangerous situation, e.g. Collision, or an overload of the feed drive can take place.

Für den Überlastschutz wird derzeit bevorzugt, dass dieser im Bereich der schwenkbaren Anbringung des Arms an ein Element des Vorschubantriebs bzw. an einem Verbindungselement in der Umgebung des Arms vorgesehen ist. Insbesondere kann der Überlastschutz oder die Überlastsicherung zwischen dem nachfolgend erläuterten Schlitten (26) des Vorschubantriebs und dem Arm, sowie alternativ zwischen dem Arm und der Greiferschiene vorgesehen sein. Beispielsweise kann hier ein Bauteil eingesetzt werden, bei dem beim Überschreiten einer bestimmten Kraft ein Bolzen außer Eingriff kommt, so dass die Kraftübertragung endet. Dies kann mit einem Endschalter kombiniert werden, der beim Auslösen des Überlastschutzes für ein Anhalten des Vorschubantriebs sorgt.For the overload protection is currently preferred that this in the region of the pivotal attachment of the arm to an element of the feed drive or to a connecting element in the Surrounding the arm is provided. In particular, the overload protection or the overload protection can be provided between the subsequently explained carriage (26) of the feed drive and the arm, and alternatively between the arm and the gripper rail. For example, here can be used a component in which when a certain force is exceeded, a bolt is disengaged, so that the power transmission ends. This can be combined with a limit switch that stops the feed drive when the overload protection triggers.

Schließlich wird für die erfindungsgemäße Transfereinrichtung bevorzugt, dass diese zwei Greiferschienen aufweist, denen jeweils ein Vorschubantrieb zugeordnet ist. Die beiden Vorschubantriebe sind unabhängig voneinander regelbar. Darüber hinaus sind die dadurch zu bewegenden Element, insbesondere die Greiferschienen, nicht mechanisch miteinander verbunden, was zu einem verbesserten Regelungsverhalten führt.Finally, it is preferred for the transfer device according to the invention that it has two gripper rails, to each of which a feed drive is assigned. The two feed drives can be controlled independently of each other. In addition, the element to be moved thereby, in particular the gripper rails, are not mechanically connected to one another, which leads to an improved control behavior.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Nachfolgend wird die Erfindung anhand,einer beispielhaft in den Zeichnungen dargestellten Ausführungsform näher erläutert. Es zeigen:

Fig. 1
eine perspektivische Ansicht der erfindungsgemäßen Transfereinrichtung, und
Fig. 2
eine perspektivische Ansicht eines Teils der erfindungsgemäßen Transfereinrichtung.
The invention will be explained in more detail below with reference to an exemplary embodiment shown by way of example in the drawings. Show it:
Fig. 1
a perspective view of the transfer device according to the invention, and
Fig. 2
a perspective view of part of the transfer device according to the invention.

Ausführliche Beschreibung einer bevorzugten Ausführungsform der ErfindungDetailed description of a preferred embodiment of the invention

In Fig. 1 ist in einer perspektivischen Ansicht die erfindungsgemäße Transfereinrichtung 10 dargestellt. Diese weist zwei parallel zueinander angeordnete Greiferschienen 12 auf, durch welche zu bearbeitende Werkstücke gegriffen, angehoben, in der Vorschubrichtung A voranbewegt und an einer nachfolgenden Beärbeitungsstation abgesenkt und positioniert werden können. Anschließend erfolgt in einer seitlichen Richtung das Öffnen der Greiferschienen und entgegen der Vorschubrichtung A das Zurückbewegen der Greiferschienen 12. Der Bereich, in dem eine Bearbeitung der Werkstücke, beispielsweise in einer Stufenpresse erfolgt, und in welchem die Werkstücke bewegt werden müssen, ist in Fig. 1 lediglich schematisch durch die Referenznummer 14 angedeutet.In Fig. 1, the transfer device 10 according to the invention is shown in a perspective view. This has two gripper rails 12 arranged parallel to one another, through which workpieces to be machined can be gripped, lifted, advanced in the feed direction A and lowered and positioned at a subsequent processing station. The gripper rails are then opened in a lateral direction, and the gripper rails 12 are moved backward counter to the feed direction A. The area in which the workpieces are machined, for example in a transfer press, and in which the workpieces have to be moved, is shown in FIG. 1 only schematically indicated by the reference number 14.

Zu den Bewegungen der Greiferschienen 12 ist zu sagen, dass die Hebe-, Absenk-, Öffnungs- und Schließbewegungen durch einen jeweiligen Hebe- und Schließantrieb erzeugt werden, die sich, wie im Zusammenhang mir der vorliegenden Erfindung nicht im Einzelnen von Bedeutung, in zwei sog. Schließkästen 16 befinden, die an der Vorder- bzw. Rückseite der Transfereinrichtung 10 angeordnet sind. Diese Antriebe ermöglichen unabhängig voneinander ein Anheben der beiden Greiferschienen 12 sowie eine Bewegung derselben in seitlicher, insbesondere horizontaler Richtung. Die Steuerung der Hebe- und Schließantriebe ist hierbei jeweils derart abgestimmt, dass im Rahmen des Öffnens und Schließens kein unbeabsichtigtes Anheben und Absenken erfolgt und umgekehrt. Um zusätzlich zu den vorangehend beschriebenen Bewegungen die Bewegung in vorschubrichtung A zu ermöglichen, ist die Greiferschiene jeweils in der Vorschubrichtung verschiebbar auf einem Stößel 36 gelagert, der durch den Hebe- und Schließantrieb in der Hebe- und Schließrichtung bewegt wird.Regarding the movements of the gripper rails 12, it should be noted that the lifting, lowering, opening and closing movements are produced by a respective lifting and closing drive which, as is not particularly relevant in the context of the present invention, in two so-called. Lock boxes 16 are located, which are arranged at the front and back of the transfer device 10. These drives allow independently lifting of the two gripper rails 12 and a movement thereof in the lateral, in particular horizontal direction. In this case, the control of the lifting and closing drives is in each case adjusted in such a way that no unintentional lifting and lowering takes place during the opening and closing, and vice versa. In order to allow the movement in the feed direction A in addition to the movements described above, the Gripper rail slidably mounted respectively in the feed direction on a plunger 36 which is moved by the lifting and closing drive in the lifting and closing direction.

Der Vorschub der jeweiligen Greiferschiene 12 erfolgt durch einen jeweiligen Vorschubantrieb 18. Dieser ist bei der gezeigten Ausführungsform jeweils oberhalb der Greiferschiene und ein wenig nach Außen seitlich versetzt angeordnet. Im Übrigen hängt die Position des Vorschubantriebs in Relation zu den Greiferschienen von der Position bzw. der Öffnungsweite der Greiferschienen ab. Die erfindungsgemäße Anbindung der Greiferschiene 12 an den Vorschubantrieb 18 wird nachfolgend unter Bezugnahme auf Fig. 2 erläutert.The feed of the respective gripper rail 12 is effected by a respective feed drive 18. In the embodiment shown, this is arranged offset laterally above the gripper rail and slightly outwards, respectively. Incidentally, the position of the feed drive in relation to the gripper rails depends on the position or the opening width of the gripper rails. The connection according to the invention of the gripper rail 12 to the feed drive 18 will be explained below with reference to FIG.

Fig. 2 zeigt in einer perspektivischen Ansicht einen Abschnitt der Greiferschiene 12 sowie dessen Anbindung an den Vorschubantrieb 18. Bei dem gezeigten Beispiel ist der Vorschubantrieb 18 in Form eines Riemenantriebs ausgeführt, der zwei Riemen 20 antreibt. An diese Riemen 20 ist durch geeignete Klemmen 24 ein Schlitten 26 angebracht, an dem ein Arm 28 schwenkbar gelagert ist. Der Arm 28 ist insbesondere um eine Achse weitgehend parallel zu der Vorschubrichtung A schwenkbar. In dem gezeigten Fall ist der Arm 28 in der Draufsicht weitgehend dreieckig ausgebildet, er kann jedoch eine beliebig andere Form aufweisen. An dem Arm 28 ist die Greiferschiene 12 derart in Eingriff, dass Bewegungen in der Vorschubrichtung A und entgegengesetzt hierzu auf die Greiferschiene 12 übertragen werden können. Bei dem gezeigten Ausführungsbeispiel weist der Arm 28 eine Führung 30 auf. Mit der Führung ist ein Gleitstück 32 derart in Eingriff, dass es in der Erstreckungsrichtung (in der in Fig. 2 gezeigten Stellung identisch zu der Heberichtung B) des Armes 28 verschiebbar ist. Mittels zumindest einer Hinterschneidung an der Führung 30 und zumindest einem entsprechend gestalteten Vorsprung an dem Gleitstück 32 können Bewegungen in Richtung der Vorschubrichtung A von dem Arm auf das Gleitstück übertragen werden. Die Verbindung zwischen dem Gleitstück 32 und der Greiferschiene 12 ist ebenfalls derart, dass eine Übertragung von Kräften in der genannten Richtung erfolgen kann. Im Übrigen ist die Greiferschiene jedoch um eine Achse parallel zur Richtung A drehbar mit dem Gleitstück 32 verbunden.Fig. 2 shows in a perspective view a portion of the gripper rail 12 and its connection to the feed drive 18. In the example shown, the feed drive 18 is designed in the form of a belt drive, which drives two belts 20. To these belts 20, a carriage 26 is attached by suitable terminals 24 to which an arm 28 is pivotally mounted. The arm 28 is in particular pivotable about an axis substantially parallel to the feed direction A. In the case shown, the arm 28 is substantially triangular in plan view, but it may have any other shape. On the arm 28, the gripper rail 12 is engaged such that movements in the feed direction A and opposite thereto can be transmitted to the gripper rail 12. In the embodiment shown, the arm 28 has a guide 30. With the guide, a slider 32 is engaged such that it is displaceable in the extending direction (in the position shown in FIG. 2 identical to the lifting direction B) of the arm 28. By means of at least one undercut the guide 30 and at least one correspondingly shaped projection on the slider 32, movements in the direction of the feed direction A can be transmitted from the arm to the slider. The connection between the slider 32 and the gripper rail 12 is also such that a transmission of forces in said direction can take place. Incidentally, however, the gripper rail is rotatably connected to the slider 32 about an axis parallel to the direction A.

Dieser Freiheitsgrad ist dafür erforderlich, dass durch die Anbindung zwischen der Greiferschiene 12 und dem Arm 28 Bewegungen beispielsweise in seitlicher Richtung, d.h. zum Öffnen oder Schließen, nicht behindert werden. Wenn die Greiferschiene in dieser seitlichen Richtung bewegt wird, bleibt die Greiferschiene 12 in ihrer in Fig. 2 gezeigten Ausrichtung. Das Gleitstück 32, das durch die Führung 30 geführt ist, verdreht sich etwas. Ebenso verschwenkt der Arm 28 ein wenig um seine Achse 34. Solange seitens der Greiferschiene 12 keine Bewegung in vertikaler Richtung, d.h. in der Richtung B erfolgt, verschiebt sich das Gleitstück 32 ein wenig entlang der Führung 30 um die geänderte Höhenlage des Armes 28 in Folge seiner Schwenkbewegung um die Achse 34 zu kompensieren. In jedem Fall werden durch die neuartige Anbindung der Greiferschiene 12 an den Arm 28 die übrigen Bewegungen der Greiferschiene 12 nicht behindert oder in sonstiger Weise beeinflusst. Gleichzeitig kann die Übertragung der erforderlichen Vorschub- und Rückführbewegung auf die Greiferschiene 12 in einfacher Weise erfolgen, ohne dass hohe Massen bewegt werden müssen. Durch die unmittelbare Anbindung der Greiferschiene 12 an den Arm 28 können augwändige Schlitten u.dgl. zwischen diesen Elementen vermieden werden.This degree of freedom is required for that movements through the connection between the gripper rail 12 and the arm 28, for example, in the lateral direction, ie for opening or closing, are not hindered. When the gripper rail is moved in this lateral direction, the gripper rail 12 remains in its orientation shown in FIG. The slider 32, which is guided by the guide 30, twists slightly. Similarly, the arm 28 pivots a little about its axis 34. As long as the gripper rail 12 no movement in the vertical direction, ie in the direction B, the slider 32 moves a little along the guide 30 to the changed altitude of the arm 28 in a row its pivotal movement about the axis 34 to compensate. In any case, the other movements of the gripper rail 12 are not hindered by the new connection of the gripper rail 12 to the arm 28 or influenced in any other way. At the same time, the transmission of the required feed and return movement to the gripper rail 12 can be done in a simple manner, without having to move high masses. Due to the direct connection of the gripper rail 12 to the arm 28 can be umwändige carriage and the like. be avoided between these elements.

Im Übrigen sei darauf hingewiesen, dass in Fig. 1 eine Position des Armes 28 gezeigt ist, die gegenüber der in Fig. 2 gezeigten Position, beispielsweise in Folge einer Schließbewegung der Greiferschiene 12, verschwenkt ist. Ferner ergibt sich aus Fig. 1 ergänzend, dass die Anbindung zwischen der anderen Greiferschiene und dem dieser zugeordneten Vorschubantrieb entsprechend spiegelverkehrt zu der in Fig. 2 gezeigten Anordnung ausgeführt ist.Incidentally, it should be noted that a position of the arm 28 is shown in Fig. 1, which is pivoted relative to the position shown in Fig. 2, for example, as a result of a closing movement of the gripper rail 12. Furthermore, it follows from FIG. 1 in addition that the connection between the other gripper rail and the feed drive associated therewith is correspondingly mirror-inverted to the arrangement shown in FIG. 2.

Claims (6)

  1. Transfer device (10) having:
    - at least one gripper rail (12) which can be brought into engagement with at least one workpiece and can be driven in a lifting (B), a locking and a feed direction (A);
    - at least one lifting and/or at least one locking drive;
    - at least one feed drive (18); and
    - an arm (28) connected pivotably to the feed drive (18) about an axis (34) largely parallel to the feed direction (A),
    characterised in that
    the gripper rail (12) is directly in engagement with the arm (28) in the feed direction (A) and is displaceable in a direction perpendicular thereto.
  2. Transfer device according to claim 1, characterised in that the arm (28) possesses a turning/pushing unit (30, 32).
  3. Transfer device according to claim 2, characterised in that the turning/pushing unit has a guide (30) and a sliding piece (30) guided thereon and fitted rotatably on the gripper rail (12).
  4. Transfer device according to any of the preceding claims, characterised in that the arm (28) has an overload safety device in the form of a structural part having a defined breaking or triggering force.
  5. Transfer device according to claim 4, characterised in that the overload safety device is provided in the region of the pivotable mounting of the arm.
  6. Transfer device according to any of the preceding claims, characterised in that the latter possesses two gripper rails (12) and two feed drives (18) which are each associated with the gripper rails and controllable independently of one another.
EP02735420A 2002-06-17 2002-06-17 Transferring device Expired - Lifetime EP1513631B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2002/006651 WO2003106069A1 (en) 2002-06-17 2002-06-17 Transferring device

Publications (2)

Publication Number Publication Date
EP1513631A1 EP1513631A1 (en) 2005-03-16
EP1513631B1 true EP1513631B1 (en) 2006-06-07

Family

ID=29724370

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02735420A Expired - Lifetime EP1513631B1 (en) 2002-06-17 2002-06-17 Transferring device

Country Status (8)

Country Link
US (1) US7290430B2 (en)
EP (1) EP1513631B1 (en)
AT (1) ATE328683T1 (en)
AU (1) AU2002310767A1 (en)
CA (1) CA2489574A1 (en)
DE (1) DE50207144D1 (en)
ES (1) ES2266505T3 (en)
WO (1) WO2003106069A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007009747B4 (en) 2007-02-28 2009-01-29 Siemens Ag transfer system

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4785657A (en) * 1985-05-17 1988-11-22 Connell Limited Partnership Transfer feed mechanism for power presses
DE3706160A1 (en) * 1987-02-26 1988-09-08 Eumuco Ag Fuer Maschinenbau LIFTING BAR AUTOMATIC FOR DIE FORGING PRESSES AND THE LIKE
JPH0785819B2 (en) * 1991-09-30 1995-09-20 株式会社栗本鐵工所 Automatic transport device for forging press
US5307666A (en) * 1992-12-21 1994-05-03 Livernois Automation Company Transfer system
JP2790267B2 (en) * 1993-06-30 1998-08-27 住友重機械工業株式会社 Transfer feeder for hot forging press
US5390525A (en) * 1993-12-02 1995-02-21 Rapindex Incorporated Indexing conveyor for a die transfer system
DE19506078A1 (en) * 1995-02-22 1996-08-29 Schuler Pressen Gmbh & Co Device for transferring workpieces through a series of processing stations
US5680787A (en) * 1995-10-27 1997-10-28 Rapindex Incorporated Indexing conveyor for a die transfer system

Also Published As

Publication number Publication date
WO2003106069A1 (en) 2003-12-24
EP1513631A1 (en) 2005-03-16
DE50207144D1 (en) 2006-07-20
AU2002310767A1 (en) 2003-12-31
US20060104796A1 (en) 2006-05-18
CA2489574A1 (en) 2003-12-24
ES2266505T3 (en) 2007-03-01
US7290430B2 (en) 2007-11-06
ATE328683T1 (en) 2006-06-15

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