DE2702974A1 - Workpiece handling system using parallel arm linkage - has cranks driving parallel arms and has clamp which moves without rotation - Google Patents

Abstract

A workpiece handling system can remove workpieces from a store and offer them up to a machine. After performance of the machine operation they may be returned to the store. The system includes a rotating crankshaft with several cranks. Several crankshafts with cranks in parallel may be used. The system includes a parallel arm linkage (10) which supports a clamping or gripping device (25). It can move in an arc of a circle from a machine (49) to a store (47). The linkage ensures that the clamping device does not tilt in the course of its motion.

Description

Device for moving objects,

in particular from workpieces to a machine tool, and Arrangement of the device The invention relates to a device for displacing of objects, in particular of workpieces, to a machine tool out of a memory and back, which is preferably through a circulating Multiple parallel cranks, through the coupling of which carriers for the workpieces are held or are formed.

The object according to the invention is to design the device in such a way that that a relocation (transfer) of the objects to a different height, but also to the same height is possible, and this training with as little construction effort as possible to reach.

This object is achieved according to the invention in that the device a single parallel crank that can be swiveled over and over is, a gripping device is carried directly or indirectly by the coupling.

This setup is simple, e.g. B. under construction, and has few parts. The gripping device, that is to say the device for picking up and releasing or transferring of objects, sets a simple when pivoting the single parallel crank Pivot way back, which is inexpensive and inexpensive. Furthermore, this Pivot a gripper carrier of the gripping device, which is directly or indirectly connected to the Coupling is provided at a fixed angle, its position relative to the horizontal - in particular a hanging position - retained unchanged, because the angular position remains when swiveling the paddock to the horizontal unchanged. This is for the accuracy of the above Relocating.

The single parallel crank or simple parallel crank is when you can looks in the direction of their crank axles and coupling axles, practically in all positions of parallelogram-like shape.

The device according to the invention can be mounted on a stationary stand be provided. The gripping device has at least one gripper, in particular two grippers.

All of this - including the stated advantages of the invention - applies especially in the case with the accumulator, primarily multiple parallel crank accumulators, and the machine tool.

This multiple parallel crank store mentioned at the beginning, this rotary magazine, is proposed according to the patent application P 25 47 819.7-22. An unedited one Workpiece is from the memory by means of the device according to the invention in front of a Machine chuck, chuck, three-jaw chuck or the like of the machine tool pivoted, to be handed over to this for processing. After that, the inventive Device, generally with a machined one, from the gripping device the machine chuck or the like. Gripped workpiece, pivoted back to the memory. This machined workpiece is then stored in the memory by the gripping device. The gripping device here generally has two grippers. In particular in Case with the memory and the machine tool can be used in the case of the invention Installation of loading, loading, inserting or handling devices or devices or talk to manipulator. The machine tool is in particular a half or Fully automatic. It can also be an automatic balancing or measuring machine. In all In some cases it can be a numerically controlled machine. - Preferably is at least one of the two crank sets (crank stars) of the Merkfach parallel crank to a z. B. circular disc formed or filled. - The memory can also a circulating memory or rotating magazine of another type or one without circulation.

- On a named workpiece carrier, which is usually plate-shaped or cuboid is and in particular is horizontal often a pallet; only this then carries the workpiece or

the workpieces. Mostly it is a rectangular, horizontal one Pallet that goes to the axis of the machine chuck or the work spindle of the machine tool is in particular aligned or positioned so that two mutually parallel Sides of the rectangle are parallel to this axis, with the; Verk3t: icke up the horizontal pallet, preferably side by side in axially parallel lines and columns are perpendicular to the axis.

The workpiece or the object can also be composed of several parts or be an assembly; it can be B.

be a roller bearing or an internal combustion engine starter.

In particular, the single parallel crank is directly or at the coupling indirectly fixed a guide rail parallel to their crank axes and coupling axes provided, which carries the gripping device and along which the gripping device can be moved is. It is thus possible to place the objects on successive axes parallel to each other Accepting and / or submitting jobs.

This is particularly important with multiple parallel crank accumulators, if workpieces or deposit points on the workpiece carrier or pallet are axially parallel successive. Furthermore, there are axially parallel insertion and extension movements of the workpieces in or out of the machine chuck.

The crank axles of this accumulator and the charger and the axle of the machine chuck or the work spindle of the machine tool are parallel arranged to each other.

The device according to the invention is generally automatic (automatically) controlled, d. H. the single parallel crank is swiveled automatically, the gripping device is automatically moved along the guide rail, and the Grippers are controlled automatically. The charger or the like can then be used as an automatic charger or the like.

Preferably the device or charger is as follows built: The single parallel crank is designed in a double version of the type that two single parallel cranks are axially congruent and in one axial Distance from each other are provided, the guide rail directly or indirectly is firmly provided on the two coupling of the two single parallel cranks. Swiveled up the device or the charger is thus portal-like. This training is great stable, and the guide rail remains axially parallel and horizontal with great certainty.

In particular, the two individual cranks of the invention coincide Facility, e.g. B. the two single cranks of each of the two mentioned single parallel cranks, seen in the pivoting direction. This is structurally simple. A pivoting of the invention Facility, z. B. the charger, over almost i800 or over at least 1800, so up to about the two dead centers or beyond them is generally not necessary.

Sometimes the single parallel crank can be used in a single version be of the type that the two single cranks in an axial Distance from each other are provided.

It is very advantageous to use the device according to the invention or

the charger on the storage tank or on a fixed part or fixed To arrange or provide parts of the memory.

In the case of multiple parallel crank accumulators, the arrangement is in particular of the type that the device on the two end faces of the rotor of the multiple parallel crank store is pivotally mounted on fixed parts of this memory and over and over swung up a kind of portal with the gripping device above this rotor; sometimes can replace this double single parallel crank with the single version step with the axial distance between the two single cranks.

The charger is therefore placed on the memory.

The union of the memory and the charger makes a right little complex unit. There is also a good use of space, a low one Floor space requirement, and it remains the accessibility to the machine tool received from all sides. Furthermore, it is quick and easy to set up and alignment to the machine tool possible, because the memory and the charger are already aligned with each other when the unit is built, so that only the alignment is required the unit to the machine tool is to be carried out. Furthermore, the control of the Charger and storage easier. The charger meets the requirements are given by the properties of the multiple parallel crank accumulator, good customized.

The gripper carrier with the two grippers, i.e. the entire double gripper system, can be rotatable or pivotable about a vertical axis. Thus, for. B. rotating body-like Workpieces arranged on the carrier not parallel to the axis of the machine chuck be. Furthermore, by rotating or pivoting the gripper carrier around the vertical axis a turning of a workpiece for machining the same on both Ends or the like. Possible. By turning or swiveling around the vertical axis by 900 is in connection with a special double gripper design or

-Kinematik an erecting of lying, z. B. disc-shaped objects or workpieces before entering into the chuck or the like. Possible.

The structural union of the memory and the charger, if applicable together with that special double gripper Design or kinematics, leads to a not unnecessarily oversized design or construction of the charger and to the best possible values in terms of path and workpiece change times, and it the number of required axes of movement is low due to multiple utilization the axes of motion for various functions. So one can then think of a match The following three movements and functions speak: a) Provision of a new pallet and line-by-line relative movement between pallet and gripper or this relative movement and the pivoting movement of the gripping device from the pallet to the machine tool; b) column-wise relative movement between pallet and gripper and insertion movement in the machine chuck; c) Gripper feed (in vertical planes) for picking up and Depositing the workpieces (including several on top of each other) over the pallet and in front of the machine chuck, change from one gripper to another and erect movement horizontal workpieces.

It is advantageous, especially when it is provided on the memory device according to the invention if its coupling or

whose two coupling points are axially adjustable at different angles is or are. This is generally a small deviation from the parallelogram shape tied together. In particular, one of the four axes or one of the four joints is the Single parallel crank, preferably a crank axle or a crank joint, movable, e.g. B. by means of an eccentric. Due to this adjustability, the machine tool need and the said unit is not precisely adjusted to one another when it is set up or can the position of the workpiece in front of the machine or. Chuck light and can be precisely adjusted without having to move the memory, for example. Furthermore, this can lead to a possible offset when changing grippers the same are compensated.

Exemplary embodiments of the invention are shown in the drawing.

Fig. 1 shows the unit consisting of the charger and the multiple parallel crank storage consists, in front view.

Fig. 2 shows this unit in side view from direction A together with a lathe; in Fig. 1 the lathe is omitted.

Fig. 3 shows the displacement device in another embodiment namely schematically and in perspective.

Fig. 4 shows a detail of the displacement device schematically.

According to FIGS. 1 and 2, the multiple parallel crank accumulator is through the Connected to it arranged charger with the lathe 49.

According to FIGS. 1 and 2, the charger has two single parallel cranks 10, 22 and 11, 23, with their individual cranks 31, 32 and 33, 34 on their horizontal Crank axles 12 to 15 on the two end faces 55 and 56 of the rotor 36 to 42 this memory on vertical end walls 16 and 17 one on the horizontal Floor 44 attached stand 16, 17, 57 of the memory are pivotably mounted and which, viewed axially, are congruent (FIG. 2) and in each of which the cover two single cranks seen in the pivoting direction (Fig. 1). The charger points also a guide rail 17 which is parallel to the crank axes 12 to 15 and Coupling axes 18 to 21 and runs directly on the two coupling 22 and 23 of the two Single parallel cranks 10 and 11 are firmly provided. Furthermore, the charger a gripper head 24, which with its sliding part 35 on the guide rail 17 hangs and can be moved along this.

The sliding part 35, on which a gripper carrier 27 is located, comprises the guide rail 17 in Fig. 2 from the right and sits, apart from the longitudinal displaceability, immovably tight to her; the guide rail 17 and the sliding part 35 have upper ones and lower, in FIG. 2 each inclined to one another and to the horizontal floor 44 Seat guide surfaces 50 (prismatic surfaces). The gripper carrier 27 carries two grippers 25 and 26, each of which has two levers 28 and 29 and a gripper 30. On the lever 29, a pin 53 is fixedly provided in a weak curved groove 54 of the gripper carrier 27 is performed. The grippers 25 and 26 or its parts 28 to 30 are pivotable in planes that are perpendicular to the guide rail 17 stand.

The coupling 22 and 23 are relative to the individual cranks 31 to 34 short. Furthermore, the crank axles 12 and 14 are closer to the lathe 49 and lower than the crank axles 13 and 15.

The crank axes 12 to 15 of the charger are parallel to the crank axes 36 and 37 of the memory and viewed relative to these on FIG. 2 to the top right offset.

The crank axes 36 and 37 of the memory are in one to the horizontal Bottom 44 parallel, ie horizontal plane 45, and it rotates around the crank axis 36 a disk 38 and around the crank axis 37 a disk 39. So it is everyone of the two crank sets (star rays) of the multiple parallel crank to a hexagonal Disc formed or filled with the same side lengths. So this can Storage are referred to as turntable storage or turntable magazine.

The coupling axles 40 are fixed to the window corners the disk 39 and the coupling axes 41 fixed in the disk 38. The levels in which the six pairs of coupling axes 40, 41 are parallel to the plane 45, that is, likewise horizontal.

On each coupling axle pair 40, 41 is not about two supports 43 through Rolling bearing shown is mounted a coupling through which a carrier for workpieces 48 is formed. This carrier coupling is plate-shaped or cuboid and is also located horizontal. It is referred to as pallet 42 in the following. The disks 38 and 39 circulate intermittently. All six pallets 42 remain horizontal. on of the full pallet 42, twenty-five cylindrical workpieces 48 are parallel to the axis 51 of the work spindle or the three-jaw chuck 52 of the lathe 49 arranged in terms of coordinates, namely in five lines - see arrow 46 - and in five columns - see arrow 47.

This axis 51 is parallel to all of the crank axes mentioned and coupling axes. The charger is swiveled over to the memory in FIGS. 1 and 2 shown, and it is in this position swung up and portal-like, wherein - see Fig. 2 - the pivot angle to the vertical is approximately 270. The charger is shown in phantom in this position in FIG.

In FIG. 2 it is swiveled over to the lathe 49 in addition shown, and in this position it is pivoted almost down to the horizontal position. The pivot angle between the two positions shown in FIG. 2 is less than 1800, namely about 1050. When the charger is swiveled over, it is located the gripper head 24 is located above a full, about in the highest position located pallet 42, with the loading device swung over in front of the chuck 52; however, the vertical hanging position of the gripper head 24 is always retained.

The gripper 25 is used to pick up an unprocessed workpiece 48 from the pallet 42 and after swiveling the charger over to handing over the Workpiece 48 to the chuck 52 after receiving a machined workpiece 48 'from the chuck 52 by the gripper 26, from which then after pivoting over of the loading device, the machined workpiece 48 'is placed on a pallet 42. In this way the time falls for this swiveling over to the storage facility, the one there Changing the workpiece and swiveling over to the lathe 49 is usually full in the workpiece machining time. For processing and filling a column (47) Workpieces 48, the relative movement between the charger and the memory is used, and the processing of a line (46) and the axial insertion and removal of the Workpiece into or out of the chuck 52, the longitudinal movement of the gripper head is used 24 on the guide rail 17. When processing and filling a column under the fixed The gripper head 24 can detect the small change in the height of the pallet 42 as it continues to rotate of the disks 38 and 39 by pushbuttons or sensors or pickups (not shown) be balanced on the grippers 25 and 26.

The displacement device or the charger according to FIG. 3, in which or which the gripping device is omitted for the sake of simplicity, has only three individual cranks 60, 61 and 62. The individual cranks 60 and 61 coincide as seen in the pivoting direction and with a coupling 63 form a single parallel crank 64 in a single design. The single crank 62 is provided at an axial distance from the single parallel crank 64.

Viewed axially, the individual cranks 60 and 62 coincide; you also have a common ideal crank axis 65. The guide rail 66 for the gripping device forms with the coupling 63 and the joint axes 67 to 69 receiving the joint or bearing members 70 to 72 a fixed unit.

According to FIG. 4, the crank joint or the crank axis 13 is in the pivot plane (Drawing plane) can be moved. Will it or

So if it is moved from position a to position b, it goes the parallelogram shape of the single parallel crank is lost a little and becomes the Coupling 22 and thus the guide rail 17, which is fixedly provided on it, with the gripper head 24 at a new angle to the horizontal plane (44) (see the dash-dotted Lines 73 and 74).

Should the displacement device according to the invention in the designs where single parallel cranks or single cranks have an axial distance from each other have, possibly a very small one can be less skewed, this can be compensated for or prevented with a counterweight or a counter spring will.

Claims (7)

Claims 4. Device for moving objects, in particular of workpieces over to a machine tool from a memory and back, which is preferably carried out by a rotating multiple parallel crank the coupling of which carriers are held or formed for the workpieces, characterized in that the device is pivotable over and over Single parallel crank is from the coupling a gripping device directly or indirectly is worn. 2. Device according to claim 1, characterized in that on the Coupling the single parallel crank directly or indirectly to its crank axes and coupling axes parallel guide rail is fixedly provided that the gripping device (24) and along which the gripping device (24) can be moved. 3. Device according to claim 1 and 2, characterized in that the single parallel crank is designed in a double version of the type that two single parallel cranks (10, 11) seen axially congruent and in one axial distance from each other are provided, the guide rail (17) directly or indirectly on the two couplings (22, 23) of the two single parallel cranks (10, 11) is fixed. 4. Device according to claim 1 and 2, characterized in that it has a total of three individual cranks (60, 61, 62), one of which (62) at an axial distance from the other two (60, 61), the one with the coupling (63) Form single parallel crank in a single design, is provided and axially seen coincides with one (60) of these (60, 61) and with it (60) a common one ideal crank axis (65), the guide rail (66) directly or indirectly is firmly provided on the coupling (63) and at the end of the first-mentioned single crank (62) is attached. 5. Device according to claim 1, 2, 3 or 4, characterized in that that it is provided on the memory. 6. Device according to claim 3 and 5 or 3 and 4, characterized in that that they are on both ends of the Rotors (36 to 42) of the multiple parallel crank accumulator is pivotally mounted on fixed parts (16, 17) of this memory and over- and swiveled up a kind of portal with the gripping device (24) above this rotor (36 to 42) is. 7. Device according to one of claims 1 to 6, characterized in that that their coupling or their two coupling (22, 23) viewed axially under slightly different Angles is or are adjustable.