EP2872268A2 - Holding and transporting device - Google Patents
Holding and transporting deviceInfo
- Publication number
- EP2872268A2 EP2872268A2 EP13744963.3A EP13744963A EP2872268A2 EP 2872268 A2 EP2872268 A2 EP 2872268A2 EP 13744963 A EP13744963 A EP 13744963A EP 2872268 A2 EP2872268 A2 EP 2872268A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- holding
- transporting device
- temperature measuring
- measuring sensor
- tactile
- 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.)
- Withdrawn
Links
- 239000013067 intermediate product Substances 0.000 claims abstract description 17
- 238000011156 evaluation Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000000295 complement effect Effects 0.000 claims 1
- 238000005242 forging Methods 0.000 claims 1
- 230000036316 preload Effects 0.000 abstract 1
- 230000032258 transport Effects 0.000 description 17
- 238000000034 method Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 7
- 238000009529 body temperature measurement Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000543 intermediate Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
-
- 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
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/0006—Details, accessories not peculiar to any of the following furnaces
- C21D9/0018—Details, accessories not peculiar to any of the following furnaces for charging, discharging or manipulation of charge
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/0014—Devices for monitoring temperature
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D5/00—Supports, screens, or the like for the charge within the furnace
- F27D5/0006—Composite supporting structures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/14—Supports; Fastening devices; Arrangements for mounting thermometers in particular locations
- G01K1/143—Supports; Fastening devices; Arrangements for mounting thermometers in particular locations for measuring surface temperatures
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/62—Quenching devices
- C21D1/673—Quenching devices for die quenching
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50333—Temperature
Definitions
- the invention relates to a holding and transporting device according to the preamble of claim 1. These are used in particular in production lines of Presshärtvon and transport intermediates that are heated, in particular were austenitized between the furnace outlet and a forming tool, in which they are inserted.
- the intermediate products are, in particular, sheet metal plates or already partially preformed molded components and the semi-finished products formed after the forming prior to finishing.
- CONFIRMATION COPY prevail, which must be determined only by previously carrying out drag measurements and then adjusted with the optical temperature detection system. This is very expensive.
- the invention is therefore based on the object to enable an improved and / or simplified temperature measurement of the intermediates. This object is achieved by means of a holding and transport device with the features of claim 1.
- the tactile temperature measuring sensor for contacting the intermediate product is displaceably held in or on the holding and transporting device against a resilient bias, in particular spring-biased but yielding. As a result, it can be ensured that the temperature measuring sensor is always in contact with the workpiece even in the event of surface and shape deviations.
- Retaining and holding devices of the above-described type are often formed on a robot arm as a gripper with a movable gripper element or a movable gripping tongs and a rigid abutment on the other hand.
- a gripper with a movable gripper element or a movable gripping tongs and a rigid abutment on the other hand.
- the temperature measuring sensor is preferably provided with a separate evaluation unit integrated into or connected to the holding and transport device. which can serve, for example, the recording of the temperature values, the determination of border areas, the warning when border areas are exceeded, etc.
- At least one non-contact measuring temperature measuring sensor can additionally be integrated into the holding and transport device. In comparison with the values of the tactile temperature measuring sensor, this information can then be used to obtain information about the emission factor of the workpiece, without the need for complicated drag measurements.
- the determination of the emission factor can be fully automatic if both the tactile and non-contact temperature measuring sensor are connected to an evaluation unit as described above.
- the evaluation unit is supplied with data from a temperature measuring sensor or a plurality of temperature measuring sensors, it is particularly advantageous if the evaluation unit is connected to a control or regulating device via which the transport of the intermediate product or of the circuit board can be influenced.
- a control or regulating device via which the transport of the intermediate product or of the circuit board can be influenced.
- the transport may also be slowed down so that the components are loaded into the forming tool at a constant temperature.
- the holding and transport device according to the invention is inexpensive to produce.
- tactile temperature measuring sensors can be easily integrated into the hand- integrate ling or gripper system. This is even possible by attachment to existing holding and transport devices, making them retrofitted.
- FIG. 1 shows the holding element of a holding and transporting device according to the invention, in perspective and in section,
- Fig. 2 shows another embodiment of a holding element of a holding
- Fig. 3 shows the object of Fig. 2 with a recorded board, in perspective and in section and
- Fig. 4 shows the subject matter of Figs. 2 and 3 in the recording of a board.
- Fig. 1 shows the gripper or one of the gripper designed as a conventional robot holding and transporting device with a gripper receptacle 1 with integrated pneumatic cylinder, a contrast rigid upper gripping pliers 2 and a pivotable here lower gripping tongs 3.
- a holder 4 for the tactile temperature measuring 5 is attached to the upper gripping tongs 2, which is connected via a thermal line 7 (preferably of the type K) to the robot arm.
- the tactile temperature measuring technique 5 has a tactile temperature measuring sensor 6, the protrudes downwards over the underside of the upper gripper 2 and thereby comes into contact with it when receiving a board.
- Figs. 2 and 3 show another embodiment of a gripper, wherein the same reference numerals are used for corresponding components.
- a gripper receptacle with integrated hydraulic cylinder is here one with the upper gripper
- FIG. 3a shows that these and their thermal line 8 may be covered with a housing part 11. As shown in FIG. 3b, the upper and lower tongs 2,
- the temperature measuring sensor 6 of this embodiment is spring-biased and slidably mounted in the vertical direction, which will be illustrated below with reference to the process flow of board engagement with reference to FIG.
- the entire gripper moves linearly in the Z direction towards the blank 10, the lower gripper 3 is opened.
- the tactile temperature measuring technique 5 comes with its sensor 6 in contact with the circuit board 10 and begins with the temperature recording.
- the gripper system with the upper gripping tongs 2 on the board 10 and has reached its lowest approach point in the Z direction. In this case, the tactile temperature measurement technology 5 with its sensor 6 has been displaced against suspension in the upper gripper tongs 2, but still lies completely against the circuit board 10.
- the device according to the invention can also advantageously be used for temperature monitoring not only between the furnace and the mold but also for already formed intermediate products after leaving the shaping device. There they can monitor the limit temperature of the component as a removal robot, which must not be exceeded when removed from the mold, for example, later to produce any unacceptably high shrinkages.
- the boundary removal temperature is set to 200 ° C and is determined by the sensors of the device according to the invention, a temperature above, it can already be reacted directly in the subsequent component by leaving it for further cooling in the mold a little longer. Thus, the production quality can be further increased.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Metallurgy (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Automation & Control Theory (AREA)
- Quality & Reliability (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- Forging (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202012006529U DE202012006529U1 (en) | 2012-07-09 | 2012-07-09 | Holding and transport device |
PCT/EP2013/002006 WO2014009002A2 (en) | 2012-07-09 | 2013-07-08 | Holding and transporting device |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2872268A2 true EP2872268A2 (en) | 2015-05-20 |
Family
ID=47321613
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13744963.3A Withdrawn EP2872268A2 (en) | 2012-07-09 | 2013-07-08 | Holding and transporting device |
Country Status (6)
Country | Link |
---|---|
US (1) | US20150142155A1 (en) |
EP (1) | EP2872268A2 (en) |
CN (1) | CN104602840A (en) |
CA (1) | CA2887650A1 (en) |
DE (1) | DE202012006529U1 (en) |
WO (1) | WO2014009002A2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW202010584A (en) * | 2018-09-11 | 2020-03-16 | 財團法人金屬工業研究發展中心 | Pre-processing system and pre-processing method for a heat formation operation |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201163217Y (en) * | 2007-12-29 | 2008-12-10 | 中冶南方工程技术有限公司 | Strip steel temperature measuring equipment in stove |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1137957A (en) * | 1995-06-12 | 1996-12-18 | 许勒压力机两合公司 | Feed device for make-up machine |
JPH11188570A (en) * | 1997-12-24 | 1999-07-13 | Toyoda Mach Works Ltd | Device and method for machining using cool air cooling |
DE19929343A1 (en) * | 1999-06-26 | 2000-12-28 | Abb Research Ltd | Arrangement for wireless supply of electrical energy to number of sensors and/or actuators mounted on machine comprises micro-fuel cell with attached fuel tank integrated into sensors and/or actuators |
US7080940B2 (en) * | 2001-04-20 | 2006-07-25 | Luxtron Corporation | In situ optical surface temperature measuring techniques and devices |
JP3857623B2 (en) * | 2001-08-07 | 2006-12-13 | 株式会社日立国際電気 | Temperature control method and semiconductor device manufacturing method |
US6642486B1 (en) * | 2002-11-07 | 2003-11-04 | Illinois Tool Works, Inc. | Method and apparatus for replicating heat profile of infrared oven |
JP2006527088A (en) * | 2003-06-13 | 2006-11-30 | アドヴァル テク ホールディング アーゲー | Transfer device in press |
DE102005018974B4 (en) * | 2004-04-29 | 2015-04-09 | Kuka Systems Gmbh | Method and device for heating electrically conductive uncoated or coated circuit boards |
DE102006019395A1 (en) * | 2006-04-24 | 2007-10-25 | Thyssenkrupp Steel Ag | Apparatus and method for forming blanks of higher and highest strength steels |
JP5155646B2 (en) * | 2007-12-13 | 2013-03-06 | アイシン高丘株式会社 | Hot press molding apparatus and hot press molding method |
JP2011506147A (en) * | 2007-12-21 | 2011-03-03 | オスカー フレッヒ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディトゲゼルシャフト | Casting system and process for producing metal / plastic composite articles |
DE102010027179B3 (en) * | 2010-07-14 | 2011-11-10 | Benteler Automobiltechnik Gmbh | Production of automotive components e.g. structural/body parts of a car, comprises heating metal part in fluidized bed and subjecting metal part to forming, hardening or aging process, and forming metal part in warm state |
ES2635765T5 (en) * | 2011-03-10 | 2020-09-28 | Schwartz Gmbh | Furnace system and procedure for partial heating of sheet steel parts |
CN203091588U (en) * | 2013-02-19 | 2013-07-31 | 武汉钢铁(集团)公司 | Robot clamping jaw used for conveying hot blanks and having temperature detection function |
-
2012
- 2012-07-09 DE DE202012006529U patent/DE202012006529U1/en not_active Expired - Lifetime
-
2013
- 2013-07-08 CA CA2887650A patent/CA2887650A1/en not_active Abandoned
- 2013-07-08 US US14/413,719 patent/US20150142155A1/en not_active Abandoned
- 2013-07-08 WO PCT/EP2013/002006 patent/WO2014009002A2/en active Application Filing
- 2013-07-08 CN CN201380036943.3A patent/CN104602840A/en active Pending
- 2013-07-08 EP EP13744963.3A patent/EP2872268A2/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201163217Y (en) * | 2007-12-29 | 2008-12-10 | 中冶南方工程技术有限公司 | Strip steel temperature measuring equipment in stove |
Also Published As
Publication number | Publication date |
---|---|
US20150142155A1 (en) | 2015-05-21 |
WO2014009002A2 (en) | 2014-01-16 |
CN104602840A (en) | 2015-05-06 |
WO2014009002A3 (en) | 2014-04-03 |
CA2887650A1 (en) | 2014-01-16 |
DE202012006529U1 (en) | 2012-11-07 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20150114 |
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AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
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AX | Request for extension of the european patent |
Extension state: BA ME |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: BRAUN, MANUELA |
|
DAX | Request for extension of the european patent (deleted) | ||
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: ADEMAJ, AGIM |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20170609 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20171020 |