SE443942B - Linear module assembly, flexible automatic handling machine. - Google Patents

Linear module assembly, flexible automatic handling machine.

Info

Publication number
SE443942B
SE443942B SE8205268A SE8205268A SE443942B SE 443942 B SE443942 B SE 443942B SE 8205268 A SE8205268 A SE 8205268A SE 8205268 A SE8205268 A SE 8205268A SE 443942 B SE443942 B SE 443942B
Authority
SE
Sweden
Prior art keywords
carrier
drive element
belt
platform
partly
Prior art date
Application number
SE8205268A
Other languages
Swedish (sv)
Other versions
SE8205268L (en
SE8205268D0 (en
Inventor
K Abbestam
Original Assignee
Inst Verkstadstek Forsk Ivf
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 Inst Verkstadstek Forsk Ivf filed Critical Inst Verkstadstek Forsk Ivf
Priority to SE8205268A priority Critical patent/SE443942B/en
Publication of SE8205268D0 publication Critical patent/SE8205268D0/en
Publication of SE8205268L publication Critical patent/SE8205268L/en
Publication of SE443942B publication Critical patent/SE443942B/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/601—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair followed parallelly by a single sliding pair
    • B23Q1/608—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair followed parallelly by a single sliding pair followed parallelly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Manipulator (AREA)

Abstract

The invention in question concerns a linear, module assembled, flexible automatic handling machine with pick up and/or placing capability, especially for the handling of work pieces between process stations and involving a number of line tools (15), each equipped with at least one movable carrier (16) between two end points. The line tools (15) are, with the exception of the first and the last, connected to each other via their respective carriers (16), whereby each carrier (16) is movable in a linear direction from a mutual point centred between the end points to the maximal end position on each side of the middle point. The aim of the invention in question is to produce a handling machine which can work in narrow spaces between two manufacturing machines which leave almost no swing room, and with a high positioning and repetition exactitude. It should be able to cover relatively large distances between the machines. It should be simple to adjust for other production units and other moving parts, and it should comprise of simple standard modules. These demands have been solved by the line tools (15), designed as mechanical drive elements, each comprising a continuous belt, chain or the like (22) supported by a platform (24) arranged on a belt wheel (23). The first drive element's (15a) belt (22 a), via a primary carrier (16a), is fastened to another drive element's (15b) platform (24b) whose belt (22b), partly via other carriers (16b), is fastened to the first drive element's (15a) platform (24a), and partly via a third carrier (16e), to a third drive element's (15c) platform (24c) whose belt (22c), in its turn, via a fourth carrier (16d) is connected partly by the second drive element's (15b) platform (24b), and/or via a fifth carrier (16e), to a grip tool (17), or similar tool, for the next belt if further drive element's are to hand.<IMAGE>

Description

tiszoszss-9 1 vakuumkopp. elektromagnet eller tånglikande gripdon och kan utföra vertikal rörelse samt cirkulär horisontell rörelse. tiszoszss-9 1 vacuum cup. electromagnet or pliers-like grippers and can perform vertical movement as well as circular horizontal movement.

Cirkulärrórelsen kan hos vissa typer av utrustning ersättas av linjärrörelser. På grund av plockarmens relativt enkla rörelsemönster har den ett begränsat användningsområde, men ställer sig avsevärt billigare än roboten. som utan manuell övervakning eller styrning kan förändra läget av ett föremål i en tredimensionell rymd, till en stor mängd alternativa punkter. Även en robotarms räckvidd i sidled ïr begränsad och svårigheten att komma in i bearbetningsmaskinerna förbi hinder av olika slag, är densamma som för plockarmen. Andra viktiga krav som ställs på dylika automater är hög positionerings- noggrannhet, repeternoggrannhet samt korta omställningstider.The circular motion of certain types of equipment can be replaced by linear motions. Due to the relatively simple movement pattern of the picker arm, it has a limited area of use, but is considerably cheaper than the robot. which without manual monitoring or control can change the position of an object in a three-dimensional space, to a large number of alternative points. The lateral reach of a robot arm is also limited and the difficulty of entering the processing machines past obstacles of various kinds is the same as for the picking arm. Other important requirements placed on such machines are high positioning accuracy, repetition accuracy and short changeover times.

UPPFINNINGENS ÅNDAMÅL OCH VIKTIGASTE KÄNNETECKEN Ändamålet med foreliggande uppfinning är att åstadkomma en hanteringsautomat. som kan arbeta i trånga utrymmen mellan tva tillverkningsmaskiner praktiskt taget utan svangningsutrymme och med hög positionerings- och repeternoggrannhet. Den skall kunna overbrygga relativt stora avstånd mellan maskinerna. Den skall vara enkel att omatalla till andra arbetsstycken och andra rörelseforlopp och den skall vara uppbyggd av enkla standardmoouler. Dessa uppgifter har lösts genom att de som mekaniska drivelement utformade linjärdonen utgöras vardera av en ändlös rem, kedja eller liknande, uppburen av vid ett stativ anordnade remhjul, att det första drivelementets rem via en första medbringare är fäst till ett andra drivelements stativ, vars rem dels via andra medbringare är fäst till det första drivelementets stativ och dels via tredje medbringare till ett tredje drivelementets stativ. vars rem i sin tur via fjärde medbringare är förbunden dels med det andra driv- elementets stativ och/eller via femte medbringare med ett gripdon eller liknande resp. nästa rem om ytterligare driv- element är för handen.OBJECTS AND MOST IMPORTANT CHARACTERISTICS OF THE INVENTION The object of the present invention is to provide a handling machine. which can work in tight spaces between two manufacturing machines with virtually no turning space and with high positioning and repeating accuracy. It must be able to bridge relatively large distances between the machines. It must be easy to reassemble to other workpieces and other movements and it must be made up of simple standard molds. These tasks have been solved in that the linear devices designed as mechanical drive elements each consist of an endless belt, chain or the like, supported by a pulley arranged at a stand, that the belt of the first drive element is attached via a first carrier to a second drive element stand, whose belt partly via second carriers is attached to the stand of the first drive element and partly via third carriers to a stand of a third drive element. whose belt is in turn connected via a fourth carrier and partly to the frame of the second drive element and / or via a fifth carrier with a gripper or the like resp. the next belt if additional drive elements are at hand.

BESKRIVNING AV RITNINGARNA Fig. 1 visar schematiskt hanteringsautomater enligt uppfinn- 3 82052168-9 ingen tillämpade att betjäna två pelarpressar.DESCRIPTION OF THE DRAWINGS Fig. 1 schematically shows automatic dispensers according to the invention applied to operate two pillar presses.

Fig. 2 visar en schematiserad vy framifrån på en utföringsform av hanteringsautomaten enligt uppfinningen.Fig. 2 shows a schematic front view of an embodiment of the handling machine according to the invention.

Fig. 3 visar samma hanteringsautomat som i fig. 2. med gripanordningen i sina båda yttre ändlägen.Fig. 3 shows the same handling machine as in Fig. 2. with the gripping device in its two outer end positions.

Fig. 4 visar i större skala ett snitt genom hanteringsautomaten enligt fig. 2 och 3.Fig. 4 shows on a larger scale a section through the handling machine according to Figs. 2 and 3.

BESKRIVNING Av UTFÖRINGSEXEMPEL Fig. 1 visar schematiskt hur hanteringsautomaten, generellt betecknad med 11, kan betjäna två bearbetningsmaskiner 12 och 13, som i det visade utföringsexemplet utgöres av fyra pelarpressar. Hanteringsautomaterna 11 som kan finnas såväl för hanteringen av arbetstycket mellan tillverkningsenheterna som för inmatning och utmatning av de bearbetade arbets- styckena, uppbares av hållare 1k. vilka kan vara konsoler fästade till bearbetningsmaskinen. men även kan vara fristående stativ eller liknande.DESCRIPTION OF EMBODIMENT EXAMPLE Fig. 1 schematically shows how the handling machine, generally designated 11, can operate two processing machines 12 and 13, which in the embodiment shown consist of four column presses. The handling machines 11 which can be present both for the handling of the workpiece between the manufacturing units and for the input and output of the machined workpieces are supported by holder 1k. which may be brackets attached to the processing machine. but can also be free-standing stands or the like.

Som närmare framgår av fig. 2-4 består nanteringsautomaten av ett antal exempelvis fyra linjärdon 15. vilka vardera är försedda med en medbringare 16. som är förflyttbar längs resp. linjärdon. Dessa ar seriekopplade med varandra. dvs. det första linjardonet 15a är fäst till någon stationär konstruktionsdetalj. medan dess medbringare 16a är fast förbunden med det andra linjärdonet 15b. Dess medbringare 16b är i sin tur fast förbunden med det tredje linjärdonet 15d.As can be seen in more detail in Figs. 2-4, the nantering machine consists of a number of, for example, four linear devices 15. each of which is provided with a carrier 16. which is movable along resp. linear devices. These are connected in series with each other. i.e. the first linear device 15a is attached to some stationary structural member. while its carrier 16a is fixedly connected to the second linear device 15b. Its carrier 16b is in turn fixedly connected to the third linear device 15d.

Beroende på hur stor total slaglängd hanteringsautomaten måste kunna utföra, kan flera eller också ett mindre antal linjårdon vara förbundna med varandra. Det sista linjärdonets 15d med- bringare 16d uppbär ett hanteringsverktyg 17, exempelvis ett gripdon, en vakumkopp. en elektromagnet eller liknande.Depending on how large the total stroke the handling machine must be able to perform, several or also a smaller number of linear devices may be connected to each other. The carrier 16d of the last linear device 15d carries a handling tool 17, for example a gripper, a vacuum cup. an electromagnet or the like.

Det föredragna utföringsexemplet enligt fig. 2-4 visar en hanteringsautomat, där vardera linjärdonet består av ett mekaniskt drivelement i form av en ändlös kedja 22, som uppbäres av ett med remhjul 23 försett stativ 24. Som framgår av fig. 4 är stativen 24a.b.c och d utformade som gejdrar för 8205268-9 H inbördes styrning. Första drivelementets 15a rem 22a är med sin ena rempart via en första medbringare 16a förbunden med det andra drivelementets 15b stativ 2kb, vars remmar 22b med sin ena rempart via andra medbringare 16b är förbundna med det första drivelementets 15a stativ 24a och med sin andra rempart via tredje medbringare 16c med det tredje drivelementets 15c stativ 24:. Det tredje drivelementets 15b stativ Zkb samt dels via en femte medbringare 16e med ett linjärstyrelement 25, som \ uppbär ett gripdon 17 eller liknande.The preferred embodiment according to Figs. 2-4 shows a handling machine, where each linear device consists of a mechanical drive element in the form of an endless chain 22, which is supported by a frame 24 provided with pulleys 23. As shown in Fig. 4, the frames 24a. bc and d designed as guides for 8205268-9 H mutual control. The belt 22a of the first drive element 15a is connected with its one belt part via a first carrier 16a to the frame 2kb of the second drive element 15b, the belts 22b of which are connected with their one belt part via second carriers 16b to the frame 24a of the first drive element 15a and to its second belt part via third carrier 16c with the third drive element 15c stand 24 :. Stand Zkb of the third drive element 15b and partly via a fifth carrier 16e with a linear guide element 25, which carries a gripper 17 or the like.

Drivningen av linjärdonen 15a-d sker medelst en gemensam drivkälla, som antingen kan verka direkt på någon av kedjehjulens 23 axel eller också genom att verka direkt på det första drivelementets 15a övre rempart 22. En rörelse i endera riktning hos den första remmen 22a resulterar således i att även de övriga drivelementen förflyttas i motsvarande grad men i motsatt riktning.The driving of the linear devices 15a-d takes place by means of a common drive source, which can either act directly on one of the shafts of the sprocket 23 or also by acting directly on the upper belt portion 22 of the first drive element 15a. A movement in either direction of the first belt 22a thus results in that the other drive elements are also moved to a corresponding degree but in the opposite direction.

Uppfinningen är icke begränsad till det beskrivna och visade utföringsexemplet utan ett antal variationer är tänkbara inom ramen för patentkraven. Således kan även andra drivelement än de åskådliggjorda komma till användning för åstadkommande av den rätlinjiga rörelsen.The invention is not limited to the described and shown exemplary embodiment, but a number of variations are conceivable within the scope of the claims. Thus, drive elements other than those illustrated can also be used to effect the rectilinear movement.

Claims (1)

PATENTKRAVPATENT REQUIREMENTS 1. Linjär, moduluppbyggd. flexibel hanteringsautomat med plock- och/eller placeringsanordning, i synnerhet för hanter- ing av arbetsstycken mellan bearbetningsstationer. och innefattande ett antal linjärdon (15), vardera försett med minst en mellan två ändlägen rörlig medbringare (16). vilka linjärdon (15) är med undantag av de sista eller första förbundna med varandra via resp. medbringare (16), varvid vardera medbringare (16) är linjärt rörlig från ett gemensamt centralt mellan ändlägena beläget mittläge till maximal ändlägesposition på vardera sidan om mittläget. k ä n n e t e c k n a d d ä r a v , att de som mekaniska drivelement utformade linjärdonen (15) utgöras vardera av en ändlös rem, kedja eller liknande (22). uppburen av vid ett stativ (24) anordnade remhjul (23). att det första drivelementets (15a) rem (22a) via en första medbringare (16a) är fäst till ett andra drivelements (15b) stativ (24b), vars rem (22b) dels via andra medbringare (16b) är fäst till det första drivelementets (15a) stativ (24a) och dels via tredje medbringare (169) till ett tredje driv- elementets (15c) stativ (24c). vars rem (22c) i sin tur via fjärde medbringare (16d) är förbunden dels med det andra drivelementets (15b) stativ (2kb) och/eller via femte medbringare (16e) med ett gripdon (17) eller liknande resp. nästa rem om ytterligare drivelement är för handen.1. Linear, modular. flexible handling machine with picking and / or placing device, in particular for handling workpieces between processing stations. and comprising a number of linear devices (15), each provided with at least one carrier (16) movable between two end positions. which linear devices (15) are with the exception of the last or first connected to each other via resp. carrier (16), each carrier (16) being linearly movable from a common central position centrally located between the end positions to the maximum end position position on each side of the center position. It is known from this that the linear devices (15) designed as mechanical drive elements each consist of an endless belt, chain or the like (22). supported by pulleys (23) arranged at a stand (24). that the belt (22a) of the first drive element (15a) is attached via a first carrier (16a) to a frame (24b) of a second drive element (15b), the belt (22b) of which is partly attached to the first drive element via second carrier (16b) (15a) stand (24a) and partly via third carrier (169) to a stand (24c) of a third drive element (15c). whose belt (22c) is in turn connected via a fourth carrier (16d) partly to the frame (2kb) of the second drive element (15b) and / or via a fifth carrier (16e) to a gripper (17) or the like resp. the next belt if additional drive elements are at hand.
SE8205268A 1982-09-15 1982-09-15 Linear module assembly, flexible automatic handling machine. SE443942B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE8205268A SE443942B (en) 1982-09-15 1982-09-15 Linear module assembly, flexible automatic handling machine.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8205268A SE443942B (en) 1982-09-15 1982-09-15 Linear module assembly, flexible automatic handling machine.

Publications (3)

Publication Number Publication Date
SE8205268D0 SE8205268D0 (en) 1982-09-15
SE8205268L SE8205268L (en) 1984-06-18
SE443942B true SE443942B (en) 1986-03-17

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Family Applications (1)

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SE8205268A SE443942B (en) 1982-09-15 1982-09-15 Linear module assembly, flexible automatic handling machine.

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989004744A1 (en) * 1987-11-23 1989-06-01 Mannerfelt Maans G Th Mechanical handling or tool holding apparatus
EP0745453A2 (en) † 1995-05-31 1996-12-04 Fibro GmbH Loaders and unloaders
US5909997A (en) * 1990-12-14 1999-06-08 Ab Volvo Device for transferring a work piece from a first machine to a second machine
US20200238506A1 (en) * 2019-01-24 2020-07-30 Kindred Systems Inc. Nested linear stroke multipliers for robot manipulators

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989004744A1 (en) * 1987-11-23 1989-06-01 Mannerfelt Maans G Th Mechanical handling or tool holding apparatus
US5909997A (en) * 1990-12-14 1999-06-08 Ab Volvo Device for transferring a work piece from a first machine to a second machine
EP0745453A2 (en) † 1995-05-31 1996-12-04 Fibro GmbH Loaders and unloaders
US20200238506A1 (en) * 2019-01-24 2020-07-30 Kindred Systems Inc. Nested linear stroke multipliers for robot manipulators
US12042933B2 (en) * 2019-01-24 2024-07-23 Ocado Innovation Limited Nested linear stroke multipliers for robot manipulators

Also Published As

Publication number Publication date
SE8205268L (en) 1984-06-18
SE8205268D0 (en) 1982-09-15

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