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EP0426707B1 - System zur übertragung von werkstücken durch eine reihe von arbeitsstationen - Google Patents

System zur übertragung von werkstücken durch eine reihe von arbeitsstationen Download PDF

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Publication number
EP0426707B1
EP0426707B1 EP89908117A EP89908117A EP0426707B1 EP 0426707 B1 EP0426707 B1 EP 0426707B1 EP 89908117 A EP89908117 A EP 89908117A EP 89908117 A EP89908117 A EP 89908117A EP 0426707 B1 EP0426707 B1 EP 0426707B1
Authority
EP
European Patent Office
Prior art keywords
transfer
cylinder
axis
rail
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP89908117A
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English (en)
French (fr)
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EP0426707A4 (en
EP0426707A1 (de
Inventor
John H. Maher
Albert P. Halluin
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MAHER, JOHN, H
Original Assignee
Individual
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Filing date
Publication date
Priority claimed from US07/210,368 external-priority patent/US4887446A/en
Priority claimed from US07/365,202 external-priority patent/US4969349A/en
Priority claimed from US07/365,201 external-priority patent/US5003808A/en
Application filed by Individual filed Critical Individual
Priority to AT89908117T priority Critical patent/ATE93171T1/de
Publication of EP0426707A1 publication Critical patent/EP0426707A1/de
Publication of EP0426707A4 publication Critical patent/EP0426707A4/en
Application granted granted Critical
Publication of EP0426707B1 publication Critical patent/EP0426707B1/de
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Expired - Lifetime legal-status Critical Current

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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
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—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

  • This invention relates generally to production systems wherein workpieces are transferred through a series of equally spaced, linearly aligned work stations which perform a predetermined sequence of operations on the workpieces and, more particularly, to such a system for automatically transferring the workpieces from one work station to an adjacent work station within the system.
  • One system for performing repetitive workpiece transfer and multiple realignment is a type of walking-beam system which provides transfer rails extending along both sides of a linear axis (x axis) through the work stations upon which the workpieces ride between each adjacent work station. Disposed on the transfer rails are finger grippers for gripping the workpieces.
  • each of the rails is designed for movement along both the X and the vertical axis (Z axis), that is, it both raises and lowers the workpiece and moves it linearly from one work station to another.
  • the finger grippers have associated actuators which permit them to move laterally (along the Y axis), toward and away from the workpieces for engagement therewith and disengagement therefrom.
  • this design permits the finger grippers to first engage the workpiece by operation of its actuator, then raise the workpiece to the transfer level by actuation of the transfer rails, linearly move the workpiece to the next work station by further actuation of the transfer rails, lower the workpiece, and finally disengage from the workpiece by retracting the finger grippers therefrom so that the press may be operated.
  • a standard transfer press supports the rails at each end of the x-axis, rather than in the middle, the rails are typically very heavy, and have a cross section designed to minimize sag. Moving the mass of these rails at production speeds requires large gears and cams, and a massive framework to support the mechanism and provide stability thereto.
  • Standard transfer presses typically have standardized rail positions and permit only two or three different spacings between the rails in the lifted position.
  • Standard transfer presses also have only a limited number of settings along the x-axis and no adjustment of distance of travel in either the up-down or back-forth directions. To exacerbate this problem, the standardized settings are peculiar to each manufacturer and not standardized industry wide. Hence, it would be virtually impossible for one shop to have transfer presses capable of testing or running the many possible combinations of available settings from various press manufacturers.
  • a further problem with standard transfer presses is the lack of provision for easy removal of the rails for access for purposes of changing the dies.
  • the transfer rails must be longer than the distance between the columns of the press since they also serve to load the workpiece into the press and unload it therefrom. Therefore, elaborate coupling mechanisms are necessary to allow removal of a portion of the rail when the tooling is removed. Die change capability is, therefore, an expensive option and permits rail change or removal only with great difficulty.
  • U.S. Patent 4,621,526 to Schafer et al discloses a system wherein the transfer rail does not travel in the linear direction from one station to another. Rather, a secondary rail is mounted thereon and the finger units are in turn mounted on the secondary rail.
  • the secondary rail is designed for reciprocal movement along the X axis between adjacent work spaces. This movement is actuated by a servomotor supported on the secondary rail.
  • the finger units themselves are designed for lateral movement toward and away from the workpiece and are actuated by additional servomotors.
  • lift columns are provided upon which the transfer rail is mounted. These lift columns are also actuated by electric servomotors.
  • U.S. Patent No. 4,653,311 to Tack, Jr. discloses an automatic feed mechanism for transferring pieces sequentially along multiple work stations associated with a transfer press.
  • the feed mechanism can be moved along any or all of the X, Y or Z axes by means of one or more independently controllable servo motors.
  • the feed mechanism includes transfer rails extending along opposite sides of the multiple work stations, each of which carries a set of finger units for gripping the workpieces.
  • the feed mechanism supports the rails on a pair of vertically movable columns. Since the feed mechanism is mounted below and supports the transfer rails, it represents a permanent, installation.
  • the finger units may be disposed on the rails in relation to the workpiece during die building and tryout, when a transfer press is typically not available.
  • Such a system should also allow greater accessibility to the dies during maintenance and repair by containing the actuator system for the transfer mechanism in separate modules which may be removed, leaving the rails in proper position in relation to the workpiece.
  • modules may be manufactured in a limited number of sizes and can be used with presses of a variety of sizes and of various configurations, regardless of the direction of feed or of the press design.
  • the present invention provides a modular system particularly useful for transferring work pieces along a series of equally spaced, aligned work stations. While the preferred embodiment of the invention is used with a transfer feed press, the system is useful for transferring workpieces in any system having a series of equally spaced work stations aligned linearly along an axis whereon a predetermined sequence of operations is performed on the workpieces.
  • a pair of spaced and parallel transfer rails extend longitudinally- along both sides of the aligned work stations.
  • the pair of rails is side mounted in order to allow access to the press.
  • a plurality of workpiece gripping finger operators which are adapted to grip the workpiece and transfer it between adjacent work stations are mounted on an individually controllable finger operator rail which, in turn, is mounted on each transfer rail.
  • Each of the finger operators extends laterally toward its associated work station and terminates in a free end having a workpiece engaging mechanism mounted thereon.
  • the workpiece engaging mechanism is adapted to grip or support the workpieces and transfer them between adjacent work stations.
  • the workpiece engaging mechanism comprises horizontally extended fingers which are adapted to lift the workpiece from underneath. With the horizontally extending finger type of workpiece engaging mechanism which lifts the workpieces up, two parallel transfer rails and associated finger operator rails are provided which lift the workpieces on both sides.
  • Such a system is suitable for transferring relatively large and heavy workpieces such as are commonly subject to stamping operations in a transfer press.
  • Individually controllable means are provided for imparting reciprocal linear motion to the finger operator rails along the direction of travel of the workpieces as they pass through the series of aligned work stations.
  • the finger operator rail is slidably mounted on the transfer rail.
  • At least one actuator unit is provided which is supported independently from the transfer rail and is disposed at a location displaced laterally therefrom on a side thereof opposite the work stations. If a pair of transfer rails are provided, then at least one pair of actuators will be provided, with one disposed beside each transfer rail.
  • Each actuator unit has a laterally extending arm or carriage which supports the transfer rail and is adapted to impart both lateral and up and down motion thereto.
  • the lateral motion is along the Y axis in a direction corresponding to movement of the finger operators into and out of engagement with the workpieces.
  • the up and down motion is along the Z axis and corresponds to movement of the finger operators for raising and lowering the workpieces.
  • the actuator unit comprises a dual axis hydraulic actuator operating the arm in the Y and Z axes to engage and lift a workpiece, then lower and retract once the workpiece has been translated to the next work station by the finger operator rail.
  • the hydraulic actuator comprises a pair of hydraulic fluid cylinders connected in parallel to a single fluid source driven by an independent motor. As the source outputs fluid, the arm will first be moved along the axis providing the least resistance until the arm reaches a stop. The arm then begins movement along the second axis, since that axis then provides the least resistance to movement. In this manner, the actuator unit automatically achieves sequencing of its driving forces without the need for additional timing apparatus.
  • the actuator unit and its motor are supported independently of and remains stationary with respect to the motion of the transfer rail.
  • the actuator units comprise modular units which may easily be moved into and out of operating relationship with the transfer rails.
  • the transfer system of the instant invention possesses the advantages of providing movement of the finger operators in all three directions necessary to effect transfer of the workpieces and realignment thereof.
  • none of the actuators or motors which provide movement in the three directions are disposed on the transfer or finger operator rail itself.
  • the transfer rail may be made smaller and lighter.
  • actuator units are independently supported from the transfer rail, resulting in an efficient, modular system.
  • the transfer system further comprises at least one sensor means for detecting the state of operation of the associated production system for purposes of synchronizing the operation of the transfer mechanism to the system.
  • a sensor means will be mounted on the press ram in order to sense the position of the ram during each stroke of the press.
  • the sensor is operatively connected to a means for centrally controlling movement of the transfer rail and finger operator rail to synchronize travel of the workpieces through the successive work stations in timed relation with performance of the sequence of operations.
  • a linear actuator for imparting reciprocal motion to the finger operator rail is associated to move with, but supported independently from, the transfer rail.
  • a motor for powering the linear actuator is supported independently of the transfer rail and remains stationary with respect to the movement of the transfer rail.
  • the linear actuator is a belt drive system supported independently from the transfer rail and associated to move therewith and supplies the reciprocal motion to the finger operator rail.
  • the belt drive system is powered by an independent motor which remains stationary during the operation of the transfer and finger operator rails.
  • the belt drive system essentially comprises a belt mounted with the transfer rail for reciprocal rotation in the direction of travel of the workpieces.
  • the belt is driven by a transverse spline shaft which can move with the lateral displacement of the transfer rail toward the workstations.
  • the transverse spline shaft is driven by a vertical spline shaft marked for vertical movement with the transfer rail when a workpiece is lifted.
  • the vertical spline shaft is powered by an independent motor which remains stationary with respect to the transfer and finger operator rails.
  • the actuator units and motors for the transfer and finger operator rails are mounted on the crown of the transfer press itself to provide unobstructed access to the dies and work stations.
  • each side is preferably mechanically independent of the other, but electronically synchronized to the press ram sensor. In this manner, both of the transfer rails and the finger operator rails function independently but cooperatingly to transfer workpieces between work stations.
  • Transfer press 12 has a plurality of work stations 14 wherein a series of stamping operations are performed on a succession of workpieces W.
  • a ram 16 supports a plurality of upper die halves 20a and each stroke of ram 16 causes the workpieces W to be stamped between an upper die 20a and an associated lower die 20b to form the workpieces W.
  • the lower dies 20b are mounted on bolsters 22 and the upper dies 20a are mounted on the ram 16.
  • the upper stationary part of the transfer press 12 is referred to as the crown 18.
  • Transfer system 10 comprises a transfer rail 24 disposed laterally outboard of work station 14 and dies 20, running essentially parallel thereto. Mounted on each of the pair of transfer rails 24 is a finger operator rail 26 laterally inboard of transfer rail 24 adjacent work stations 14. Mounted in turn on the finger operator rails 26 are a plurality of fingers 28 which extend laterally toward the workpieces W. Each of the plurality of fingers 28 terminates in a workpiece engaging section 30.
  • each of the workpiece engaging sections 30 provides a resting place for a corner of each of the plurality of workpieces W as they are successively transferred from one adjacent work station 14 to another work station 14. It is to be understood that the plurality of workpiece transfer mechanisms 30 may take a variety of other conventional designs and configurations, such as, for example, grasping fingers.
  • the plurality of finger operators 28 are equally spaced longitudinally along the transfer rail 24. In the case of the workpieces W shown in the drawing, the finger operators 28 are arrayed in pairs so that the workpiece transfer mechanisms 30 may support each corner of a workpiece W. The spacing between adjacent pairs of finger operators 28 corresponds to the spacing between adjacent work stations.
  • Finger operator rail 26 is slidably mounted on raceway 25 of transfer rail 24 in order to permit reciprocal, linear motion of the finger operator rail 26 with respect to transfer rail 24 along the X-axis, i.e. the direction of travel of workpieces W down the line of work stations 14.
  • Such reciprocal, linear movement of finger operator rail 26 is created by means of a belt 56 mounted within housing 52 on transfer rail 24 and powered by a belt drive system generally shown in FIGURE 3. When powered by appropriately controlled electrical current, the belt drive system and belt will provide reciprocal linear motion of rail 26 with respect to rail 24.
  • the linear reciprocal movement of finger operator rail 26 along transfer rail 24 causes the finger units 28 also to move reciprocally in a linear direction along the X axis as is shown by the arrow in FIGURE 2.
  • at least one actuator unit 30 is provided generally shown at FIGURE 6.
  • Actuator unit 30 is supported independently of transfer rail 24.
  • actuator unit 30 is floor mounted by means of a longitudinal support frame 32 running parallel along-side the transfer press.
  • Actuator unit 30 could, alternatively, be mounted on or within its own modular housing equipped, for example, with rollers or casters to permit the actuator unit to be easily moved into and out of operating relationship with the transfer press.
  • Actuator unit 30 includes a laterally extending arm or transfer carriage 34 which extends toward the direction of the workpiece and which supports transfer rail 24.
  • a pair of actuator units 30 and associated transfer carriages 34 are provided in order to adequately support the transfer rail 24. It is contemplated that at least one actuator unit 30 will be needed for each transfer rail 24, and typically, at least one pair of actuator units 30 will be needed to support each transfer rail 24.
  • the belt drive system is powered by a reciprocal rotary motor 36 connected by belt 38 to a drive wheel 40 slidably engaging vertical spline shaft 42. Reciprocal rotary motion given to spline shaft 42 by motor 36 is transferred via gear box 44, belt 44 and drive wheels 48 to transverse spline shaft 50. Transverse spline shaft 50 is connected through the wall of housing 52 on transfer rail 24 to a drive wheel 54 positioned therein as shown in FIGURE 5.
  • Drive wheel 54 has an unpowered counterpart longitudinally spaced therefrom in housing 52 and a drive belt 56 is mounted between the two wheels. It can be seen that reciprocal rotary motion of motor 36 will be transferred through the drive belt system to the drive belt mounted in housing 52 on transfer rail 24.
  • finger operator rail 26 is shown slidably mounted laterally inward of transfer rail 24 along the Y-axis by way of bearing blocks 58 having a plurality of bearings or rollers 60 engaging raceway block 25 mounted on transfer rail 24.
  • a support bracket arm 62 fastened to a portion of drive belt 56 by suitable mounting structure 64 extends over and across transfer rail 24 and is fixedly attached to finger operator rail 26.
  • bracket arm 62 connected to the drive belt will reciprocate finger operator rail 26 with respect to the transfer rail in the direction of motion of the drive belt, i.e. along the X-axis.
  • the drive belt system motor apparatus comprising motor 36, drive wheel 40, and belt 38 are supported on surface 33 of longitudinal support 32 independently of and stationary with respect to the transfer rail.
  • Vertical spline shaft 42, gear box 44, belt and wheels 46 and 48 and transverse spline shaft 50 comprising the drive belt system are connected through system housing 49 to a carriage support 68 of transfer carriage 34 on actuator 30 for movement therewith along the Z-axis.
  • transverse spline shaft 50 mounted to slide within upper drive wheel 48 and connected by link assembly 51, connected to the drive belt in housing 52 will be pulled along therewith due to its sliding engagement with upper geared wheel 48.
  • the transfer rail is lifted by actuator unit 30 along the Z-axis, for example to lift an engaged workpiece from a work station, the drive belt system will be lifted therewith by the actuator unit as vertical spline shaft 42 slides through drive wheel 40.
  • stationary drive belt motor 36 is activated to reciprocate finger operator rail 26 and the workpiece along the X-axis between adjacent work. stations.
  • the independent support and mounting of the drive belt motor and drive belt system with respect to transfer rail 24 and finger operator rail 26 greatly reduces the weight supported thereby, permitting reduction in the size and weight of the rails and accordingly a higher rate of operation.
  • an actuator unit 30 for importing motion along the Y and Z axes to the transfer rail is shown in section.
  • a transfer carriage 34 supporting transfer rail 24 is slidably mounted along the Y-axis to a carriage support 68, which in turn is slidable along the Z-axis with respect to the base 70 of the actuator unit.
  • the actuator unit comprises a dual axis actuator for driving each workpiece transferring unit and essentially consists of a lifting fluid cylinder 72 and a translating fluid cylinder 74.
  • the lifting fluid cylinder is attached to the actuator unit base and its cylinder rod 73 is connected to the carriage support.
  • the translating fluid cylinder is attached to the carriage support and its cylinder rod 75 is connected to the transfer carriage.
  • FIGURES 7 and 8 the operation of a dual axis actuator for driving an actuator unit will be described.
  • transfer carriage 34 By extending rod 75 of the translating fluid cylinder 74, transfer carriage 34 is moved in the Y direction with respect to support 68.
  • the solid lines of FIGURE 7 show the transfer carriage 30 in the workpiece engaging position, with the retracted position shown in phantom.
  • the action of the lifting fluid cylinder 72 and its rod 73 in moving the transfer carriage 34 and carriage support 68 in the Z direction is shown in FIGURE 8.
  • the solid lines show transfer carriage 34 in its highest, workpiece lifting position with the lower position shown in phantom. Movement of the transfer carriage 34 in the Y and Z directions causes the transfer rail 24, finger operator rail 26, and the plurality of fingers 28 to move correspondingly.
  • These translations provide the required movements for engaging and lifting workpieces W, before translation in the X direction to the next work station 14, followed by lowering and retracting from the workpieces W, to enable clearance for the next stroke of the press.
  • Synchronization of all the actuator units 30 supporting a transfer rail is achieved by utilizing a centralized control unit to provide pressurized fluid through fluid conduit to drive each individual lifting fluid cylinder 72 and translating fluid cylinder 74 in the workpiece transfer system 10.
  • FIGURE 9 Schematically shown in FIGURE 9 are the lifting fluid cylinders 72 and translating fluid cylinders 74 for driving two different actuator units described previously. Also shown is a source fluid cylinder 76 with cylinder rod 77 attached to a rack 78 and pinion gear 80. A rotary motor 82 operating through a rack 78 and pinion gear 80 provides reciprocal motion to cylinder rod 77 of source fluid cylinder 76. Source fluid cylinder 76, motor 82 and the rack and pinion connecting the two are shown in detail in FIGURES 10-12. In the illustrated embodiment, the structure of FIGURES 10-11 is mounted to longitudinal support 32 adjacent the floor as shown in FIGURE 2a.
  • the lifting fluid cylinder 72 and translating fluid cylinder 74 have fluid ports A and B disposed on opposite sides of their pistons 71 each of which are connected to similarly denoted ports on each side of source cylinder 76.
  • a single source cylinder 76 is used to supply fluid to all sets of lifting fluid cylinders 72 and translating fluid cylinders 74 located in the different actuator units 30. This results in an automatic synchronization of all actuator units of the transfer press without gears, cams, complicated mechanical timing devices, or complex electronic servomechanisms.
  • a series of smaller diameter source cylinders can be used, each one driving a transferring fluid cylinder and a lifting fluid cylinder 78. Synchronization can be achieved by simultaneously driving all source cylinder rods 52 with rack 56.
  • all fluid cylinders are single rod ended.
  • all single rod ended fluid cylinders can be replaced with double rod ended cylinders which have rods extending out of each cylinder end.
  • Such single and double ended rod cylinders are commercially available and well known to those skilled in the art.
  • the herein workpiece transfer system permits the plurality of workpieces W to be moved along all three axes of movement.
  • the movement of a single workpiece W during a typical cycle of transfer press 12 will now be described.
  • the pair of finger operator rails 26 are made longer than the rest of the system. Assume that such loading is performed when the workpiece finger operators are in the raised, engaged position shown in solid lines in FIGURE 12. That is, lift cylinders 72 are in their extended position and translating cylinders 74 and transfer carriages 66 are also extended.
  • workpiece W is made to travel along the X axis toward the first work station 14.
  • the belt drive system may reciprocate finger operator rail 26 along the X axis in an opposite direction, thus causing a new set of finger operators 28 to be in position for engagement with workpiece W.
  • Transfer carriage 34 will then move along the Y axis into its extended position, causing engagement of finger operators 28 with the workpiece W.
  • Lift cylinder 72 will move rod 73 along the Z axis into its extended position to lift the workpiece back into the position shown in FIGURE 12.
  • the belt drive system After engagement of finger operators 28 with workpiece W and the lifting of the workpiece, as described above, the belt drive system will then displace workpiece W along the X axis for a sufficient distance to cause it to be aligned with the next work station 14. The cycle is then repeated. At each cycling of the transfer system 10, a plurality of workpieces are transferred between each adjacent work station 14. In order for a single workpiece W to travel through all of the plurality of work stations 14, it will be necessary for the system to cycle as many times as there are work stations 14.
  • each transfer rail, and accordingly the plurality of actuators 30 and belt drive systems associated therewith be independently controllable.
  • the independent control means (not shown) for each side of the transfer system is connected to a central controller 60, shown in FIGURE 1.
  • Sensor means such as an absolute position transducer (not shown) are associated with the press ram in a well-known manner are used to sense the position of the rams 16.
  • each mechanically independent side of system 10 may be electronically coordinated so that transfer and alignment of the plurality of workpieces W is synchronized with one another and with the operation of transfer press 12. This can be accomplished by simultaneously actuating, in the proper sequence, the various motor means for the actuator units 30 and the drive belt systems for each transfer system 10 on each side of the press.
  • each transfer system 10 on each side of transfer press 12 is independently controllable, the system 10 may be used to realign and reposition the plurality of workpieces W as required by each stamping operation.
  • the right member of an opposed pair of finger operator rails 26 may be made to move at a fastened rate than the left member. Such movement would cause the workpiece W to rotate somewhat.
  • movement of the actuator units 30 may be varied as necessary to adjust to required operating conditions.
  • actuator units 30 are dual axis hydraulic actuators as described above. Again however the invention contemplated herein is not limited to this type of actuator, but may include other suitable means of imparting linear motion.
  • the therein system is adaptable for operation with a wide variety of different transfer press designs of varying sizes.
  • the transfer system is modular, and as many components may be added as are necessary to accommodate the size of the press and the number of work stations therein.
  • the actuator units 30 may be used with existing systems having die mounted transfer rails which utilize a cross slide bracket. Hence, retrofitting of existing systems is inexpensive and easy. Furthermore, when die change operations are necessary, it is much easier to disassemble the system of the present invention than is the case with prior art systems.
  • the actuators, motors and drives of the present system are deployed outboard of the press itself and supported independently from the transfer and finger operator rails, thus resulting in easier operation, as well as in a reduction of the bulk of the rail necessary to support the system.
  • the transfer system of the present invention is mounted or depends from the upper stationary press crown shown in FIGURE 1 via a support frame 29.
  • This transfer system arrangement functions in the same manner as previously described, but greatly increases available floor space adjacent the transfer press and provides unobstructed access thereto.
  • support frame 29 may take various forms, and the dimensions of the actuator units may vary to accommodate such overhead mounting.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)
  • Manipulator (AREA)
  • General Factory Administration (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Specific Conveyance Elements (AREA)

Claims (20)

  1. Ein Transfersystem zum Umsetzen von Werkstücken (W) zwischen Arbeitsstationen (14), die linear entlang einer senkrecht zu einer Z-Achse stehenden zentralen X-Achse ausgerichtet sind, um eine vorbestimmte Abfolge von Arbeiten an den Werkstücken auszuführen, zur Verwendung in Verbindung mit einer Umformpresse (12), welche einen Stößel (16) mit einem zugehörigen oberen Stempel (20a) aufweist, die entlang einer Bewegungsbahn in der Z-Achse bewegbar und in Eingriff mit einem von einer Grundplatte (22) gehaltenen unteren Stempel (20b) bringbar ist, um ein dazwischen eingeschobenes Werkstück zu verformen, wobei das System aufweist:
    - eine sich der Länge nach parallel und im Abstand zur X-Achse erstreckende Transferschiene (24) mit einer auf dieser, für eine Bewegung bezüglich dieser in einer Richtung parallel zu der X-Achse, angeordneten Fingergreifer-Schiene (26),
    - mehrere mit gleichem Abstand, entsprechend dem Abstand der Arbeitsstationen (14), auf der Fingergreifer-Schiene (26) angeordnete Fingergreifer (28), die sich von der Transferschiene (24) seitlich nach innen gerichtet entlang einer Y-Achse senkrecht zu und in Richtung auf die zentrale X-Achse und Z-Achse erstrecken, und die jeder in einem freien Ende enden, das einen zum Greifen und Umsetzen der Werkstücke (W) zwischen den nebeneinander liegenden Arbeitsstationen angepafften Werkstückerfassungsabschnitt aufweist,
    - mindestens eine unabhängig von der Transferschiene (24) angeordnete Betätigungseinheit (30), die einen Transferschlitten (34) aufweist, mit dem die Transferschiene (24) sowohl entlang der Y-Achse als auch entlang der Z-Achse bewegbar ist, und
    - unabhängig von der Transferschiene (24) angeordnete Antriebsmittel (38, 40, 42, 44, 46, 48, 50, 51) für die Fingergreifer-Schiene (26), wobei die Antriebsmittel und die Betätigungseinheit (30) mit Motormitteln (36, 82) angetrieben sind,
    dadurch gekennzeichnet, daß
    die Fingergreifer-Schiene (26) vollständig zwischen der Transferschiene (24) und der zentralen X-Achse angeordnet ist,
    die zumindest eine Betätigungseinheit (30) an einem seitlich entlang der Y-Achse der Umformpresse (12) versetzten Ort angeordnet ist und sich der Transferschlitten (34) von diesem in Y-Richtung erstreckt,
    ein Teil der Antriebsmittel (42, 44, 46, 48, 50, 51) für eine Bewegung mit der Transferschiene (24) verbunden sind,
    und daß die Motormittel (36) für die Antriebsmittel bezüglich der Bewegung der Fingergreifer- und Transferschienen (26, 24) stationär bleiben.
  2. System nach Anspruch 1, weiter aufweisend Mittel (60) zur zentral gesteuerten Bewegung der Transferschiene und der Fingergeifer-Schiene , um die Bewegung der Werkstücke durch die aufeinanderfolgenden Arbeitsstationen in zeitlich abgestimmtem Verhältnis mit der Ausführung der Folge der Arbeiten zu synchronisieren.
  3. System nach Anspruch 1, worin ein Transfersystem seitlich entlang der Y-Achse auf jeder Seite der Umformpresse positioniert ist und im wesentlichen parallel dazu läuft, um gemeinsam die Werkstücke zwischen den Arbeitsstationen entlang der X-Achse umzusetzen.
  4. System nach Anspruch 3, worin jedes seitlich auf jeder Seite der Presse positionierte Transfersystem mechanisch unabhängig von dem anderen ist, und zur simultanen Übergabe der Arbeitsstücke zwischen den Arbeitsstationen elektronisch synchronisiert mit dem anderen ist.
  5. System nach Anspruch 4, worin die Transfersysteme elektronisch zu einem gemeinsamen Eingangssignal synchronisiert sind, welches der Position des Stößels entlang der Z-Achse bezüglich der Arbeitsstationen zugeordnet ist.
  6. System nach Anspruch 1, worin die Betätigungseinheit (30) einen zweiachsigen hydraulischen Stellantrieb zum Antreiben des Transferschlittens (34) über die Y- und Z-Achse enthält,
    der Transferschlitten (34) verschiedene Bewegungswiderstände entlang jeder Achse erfährt, wobei der hydraulische Stellantrieb einen ersten Flüssigkeitszylinder (72) mit einer einzelnen Flüssigkeitseingangsöffnung (A) und, antreibend mit dem Transferschlitten verbundenen, einen inneren Kolben (71) und eine Zylinderstange (73) aufweist, um diesen entlang einer der Achsen zu bewegen,
    einen zweiten Flüssigkeitszylinder (74) mit einer parallel mit der ersten Zylindereinlafföffnung geschalteten einzelnen Flüssigkeitseinlaßöffnung (A) und, antreibend mit dem Transferschlitten (34) verbundenen, einen inneren Kolben (71) und eine Zylinderstange (75) um diesen entlang der zweiten Achse zu bewegen, wobei der erste Zylinderkolben und die erste Zylinderstange (71, 73) gestaltet sind, um anfänglich mit weniger Widerstand gegen Bewegung zu arbeiten als der zweite Zylinderkolben und die zweite Zylinderstange (71, 75),
    eine mit den Eingangsöffnungen des ersten und zweiten Flüssigkeitszylinders (71, 74) verbundene Flüssigkeitsquelle, welche die Flüssigkeit beiden Zylindern mit demselben Druck zur Verfügung stellt, wobei die Zylinderstange, welche den geringsten Widerstand gegen Bewegung erfährt, ausfährt, bis ihr Widerstand gegen Bewegung über den der anderen Zylinderstange ansteigt, gefolgt durch das Ausfahren der anderen Zylinderstange,
    und wobei der erste und zweite Zylinder (72, 74) unabhängig betriebsfähig sind, so daß die Betätigung des Kolbens (71) und der Zylinderstange (73) des ersten Zylinders nicht die Bewegungsachse des Kolbens (71) und der Zylinderstange (74) des zweiten Zylinders verändert.
  7. System nach Anspruch 6, worin die Flüssigkeitsquelle weiterhin einen dritten Flüssigkeitszylinder (76) mit einem inneren Kolben und einer Kolbenstange (71, 72) aufweist mit einer Flüssigkeitsauslaßöffnung (A), welche mit der parallelen Verbindung der Flüssigkeitseinlässe (A) des ersten und zweiten Zylinders (72, 74) verbunden ist.
  8. System nach Anspruch 7, worin die Motormittel zum Antreiben der Antriebseinheit (30) aufweisen:
    eine mit dem Stabende (77) des dritten Flüssigkeitszylinders (76) gekoppelte Zahnstange (78),
    ein in die Zahnstange (78) eingreifendes Zahntriebwerk (80),
    und einen Drehmotor (82) mit einer Welle zum Drehen des Zahntriebwerkes, wobei die Stange und der Kolben (71, 77) des dritten Zylinders (76) gegen dessen Auslaßöffnung (A) bewegt werden können, um Flüssigkeit durch die Auslaßöffnung des Flüssigkeitszylinders zu drücken.
  9. System nach Anspruch 1, worin das Transfersystem auf einem beweglichen modularen Träger montiert ist, so daß das Transfersystem einfach bezüglich der Stufenpresse bewegt werden kann.
  10. System nach Anspruch 1, bei dem die Umformpresse (12) ein oberhalb des Stößels (16) angeordnetes feststehendes Querhaupt (18) aufweist, und bei dem das Transfersystem vom Querhaupt herabhängt und von diesem getragen wird.
  11. Ein Stufenpressen-Automationssystem zum Umsetzen von Werkstücken (W) entlang einer Reihe von im gleichen Abstand entlang einer zentralen Achse eines Transfer-Stanzautomaten mit einem zugehörigen Stößel (16) axial ausgerichteten Arbeitsstationen (14), wobei das System aufweist:
    eine sich entlang und im Abstand zur zentralen X-Achse und der Länge nach entlang einer Seite der Arbeitsstationen erstreckende Transferschiene (24),
    eine einzel steuerbare Fingergeifer-Schiene (26), welche auf der Transferschiene (24) für eine wechselseitige Bewegung bezüglich dieser, über eine Distanz gleich dem Abstand zwischen nebeneinanderliegenden Arbeitsstationen, und in einer mit der X-Achse übereinstimmenden und die Richtung der Werkstückbewegung durch die Arbeitsstationen festlegenden Richtung, angeordnet ist,
    lineare Antriebsmittel (38, 40), der Transferschiene (24) und der dieser zugehörigen Fingerschiene (26) zugeordnet, wobei die linearen Antriebsmittel im Betrieb die Bewegung der Fingerschiene bewirken,
    eine Anzahl von mit gleichem Abstand, entsprechend dem Abstand der Reihe der Arbeitsstationen, auf der Fingerschiene (26) angeordneten Fingergreifern (28), wobei sich jeder Finger seitlich von der Transferschiene (24) weg entlang der Y-Achse senkrecht zu und zur X-Achse hin erstreckt und in einem freien Ende mit einem zum Ergreifen der Werkstücke angepafften Werkstückaufnahmemechanismus endet, der auf diesen angeordnet ist,
    und eine der Transferschiene (24) zugeordnete und entlang der Y-Achse angeordnete Betätigungseinheit (30), wobei die Betätigungseinheit zum Tragen der zugeordneten Transferschiene und zum Erteilen einer wechselseitigen Bewegung dieser in Richtung entsprechend sowohl der Y-Achse als auch einer Z-Achse, welche senkrecht zu der X- und Y-Achse ist, angepaßt ist, und die Richtung der Fingergreiferbewegung zum Eingriff- und zum Aussereingriffbringen mit den Werkstücken bzw. die Bewegung der Fingergreifer (28) zum Anheben und Absenken der Werkstücke festlegt,
    wobei die Betätigungseinheit (30) und die linearen Antriebsmittel (38, 40) mittels unabhängig von dem Fingergeifer und den Transferschienen (26, 24) montierten Motormitteln (36, 82) angetrieben werden,
    gekennzeichnet dadurch,
    daß die Fingergreifer-Schiene (26) auf der Innenseite der Transferschiene (24) vollständig zwischen der Transferschiene (24) und der zentralen Achse angeordnet ist,
    wobei die Betätigungseinheit (30) auf einer der Reihe der Arbeitsstationen abgewandten Seite der Transferschiene (24) angeordnet ist,
    und wobei die Motormittel (36) für die linearen Antriebsmittel (38, 40, 42, 44, 46, 48, 50, 51) stationär bezüglich der Bewegung der Fingergreif- und Transferschiene (26, 24) bleiben.
  12. System nach Anspruch 11, weiter Mittel (60) aufweisend für eine zentral gesteuerte Bewegung der Transferschienen und der Fingergreifer-Schiene, um die Bewegung der Werkstücke durch die aufeinanderfolgenden Arbeitsstationen in zeitlich abgestimmten Verhältnis mit der Ausuhrung der Reihenfolge der Arbeiten zu synchronisieren.
  13. System nach Anspruch 12, worin ein Transfersystem seitlich entlang der Y-Achse auf jeder Seite der Stufenpresse angeordnet ist und im wesentlichen parallel zu dieser läuft, um gemeinsam die Werkstücke zwischen den Arbeitsstationen entlang der X-Achse umzusetzen.
  14. System nach Anspruch 13, worin jedes seitlich auf jeder Seite der Presse positionierte Transfersystem mechanisch unabhängig von dem anderen ist und zur simultanen Übergabe von Werkstücken zwischen den Arbeitsstationen elektronisch synchronisiert mit dem anderen ist.
  15. System nach Anspruch 14, worin die mechanisch unabhängigen Transfersysteme elektronisch zu einem Eingangssignalgeber synchronisiert sind, welcher die Position des Stößels entlang der Z-Achse meldet.
  16. System nach Anspruch 11, bei dem das lineare Antriebsmittel unabhängig gelagert und angeordnet ist, um sich mit der Transferschiene zu bewegen.
  17. System nach Anspruch 11, worin das lineare Antriebsmittel ein Riemenantriebssystem (36, 38, 50) enthält.
  18. System nach Anspruch 11, worin die Betätigungseinheit (30) einen zweiachsigen hydraulischen Stellantrieb enthält, aufweisend:
    einen ersten Flüssigkeitszylinder (72) mit einem Kolben (71) und einer angeschlossenen Stange (73), mit an gegenüberliegenden Seiten des Kolbens angeordneten ersten (A) und zweiten (B) Flüssigkeitsöffnungen,
    einen zweiten Zylinder (74) mit einem Kolben (71) und einer angeschlossener Stange (73), mit an gegenüberliegenden Seiten des Kolbens angeordneten ersten (A) und zweiten (B) Flüssigkeitsöffnungen,
    wobei der erste Zylinder (72), der erste Kolben (71) und die erste Stange (73) konstruiert sind, um anfänglich mit weniger Widerstand gegen Bewegung zu arbeiten als der zweite Zylinder (74), der zweite Kolben (71) und die zweite Stange (73),
    ein dritter Flüssigkeitszylinder (76) mit einem Kolben (71) und einem angeschlossenen Stab (77), mit an gegenüberliegenden Seiten des Kolbens angeordneten ersten (A) und zweiten (B) Flüssigkeitsöffnungen,
    Rohrleitungsmittel zur Verbindung der ersten Flüssigkeitsöffnungen (A) des ersten (72), zweiten (74) und dritten (76) Zylinders und der zweiten Flüssigkeitsöffnungen (B) des ersten, zweiten und dritten Zylinders,
    und Mittel zum hin- und hergehenden Bewegen des Stabendes (73) des dritten Zylinders (76) in einem Vorwärts- und Rückwärtshub, wobei während des Vorwärtshubes derselbe Flüssigkeitsdruck den ersten Flüssigkeitsöffnungen (A) des ersten (72) und zweiten (74) Zylinders zur Verfügung gestellt wird, und während die Stange (75) des zweiten Zylinders gegen einen größeren Bewegungswiderstand relativ zur Stange (73) des ersten Zylinders wirkt, fährt die Stange des ersten Zylinders aus bis sie einen Stop erreicht, gefolgt von dem Ausfahren der Stange des zweiten Zylinders, und während des Rückwärtshubes wird den zweiten Flüssigkeitsöffnungen (B) des ersten und zweiten Zylinders derselbe Flüssigkeitsdruck zur Verfügung gestellt, und die Stange des zweiten Zylinders wird aufgrund einer größeren Vorspannkraft relativ zu der Stange des ersten Zylinders, welche die Bewegung dieser in die Einzugsrichtung unterstützt, eingezogen, gefolgt durch das Einziehen der Stange des ersten Zylinders,
    und wobei der erste (72) und zweite (74) Zylinder unabhängig betriebsfähig sind, so daß die Betätigung des Kolbens (71) und der Stange (73) des ersten Zylinders nicht die Bewegungsachse des Kolbens (71) und der Stange (73) des zweiten Zylinders verändert.
  19. System nach Anspruch 18, worin die hin- und hergehende Stangenbewegung des dritten Zylinders (76) die Betätigungseinheit (30) steuert, in der Reihenfolge des Ergreifens des Werkstückes gefolgt vom Anheben des Werkstückes, als nächstes gefolgt vom Senken des Werkstückes, und schließlich gefolgt vom Lösen des Werkstückes.
  20. System nach Anspruch 18, worin die Mittel zum hin- und hergehenden Antreiben des Stangenendes (77) des dritten Zylinders (76) einen Drehmotor (82) aufweisen, eine mit dem Stangenende des dritten Zylinders gekuppelte Zahnstange (78), und ein Zahntriebwerk (80), welches in die Zahnstange eingreift und auf die Welle des Drehmotors montiert ist, wobei die Translationsbewegung der Stange des dritten Zylinders durch den Drehmotor kontrolliert werden kann.
EP89908117A 1988-06-23 1989-06-23 System zur übertragung von werkstücken durch eine reihe von arbeitsstationen Expired - Lifetime EP0426707B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89908117T ATE93171T1 (de) 1988-06-23 1989-06-23 System zur uebertragung von werkstuecken durch eine reihe von arbeitsstationen.

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US210368 1988-06-23
US07/210,368 US4887446A (en) 1988-06-23 1988-06-23 System for transferring workpieces through a series of work stations
US07/365,202 US4969349A (en) 1988-06-23 1989-06-15 Synchronized dual axis actuator
US365201 1989-06-15
US365202 1989-06-15
US07/365,201 US5003808A (en) 1988-06-23 1989-06-15 System for transferring workpieces through a series of work stations

Publications (3)

Publication Number Publication Date
EP0426707A1 EP0426707A1 (de) 1991-05-15
EP0426707A4 EP0426707A4 (en) 1991-08-21
EP0426707B1 true EP0426707B1 (de) 1993-08-18

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EP (1) EP0426707B1 (de)
JP (1) JP2708918B2 (de)
KR (1) KR0143896B1 (de)
AU (1) AU3963489A (de)
CA (1) CA1311438C (de)
DE (1) DE68908562T2 (de)
ES (1) ES2016894A6 (de)
IL (1) IL90716A0 (de)
WO (1) WO1990000099A1 (de)

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* Cited by examiner, † Cited by third party
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US5228607A (en) * 1991-06-07 1993-07-20 Tvp, Inc. Rack mountable on a trailer hitch ball
DE20020855U1 (de) * 2000-12-08 2001-03-08 Blechformwerke Bernsbach GmbH, 08315 Bernsbach Transfervorrichtung für Großpressensystem
KR100458201B1 (ko) * 2001-08-09 2004-11-26 대명전기주식회사 프레스성형제품의 파지이동장치
KR100761434B1 (ko) * 2005-11-01 2007-09-27 한국생산기술연구원 가스용기 스커트 복원장치
CN102173097B (zh) * 2011-02-12 2014-07-30 中国农业大学 一种多工位自动送料方法及送料装置
CN103191978B (zh) * 2013-04-03 2015-04-22 舟山市上舟柴油机厂 冲压机

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US3757961A (en) * 1972-01-10 1973-09-11 East Dayton Tool & Die Co Article transfer apparatus
JPS53136775A (en) * 1977-05-02 1978-11-29 Honda Motor Co Ltd Transfer apparatus for press machine
DE2746161A1 (de) * 1977-10-14 1979-04-19 Pressen Automation Ges Fuer Verfahren zum steuern des antriebs einer werkstueckfoerdereinrichtung
JPS55106546U (de) * 1979-01-22 1980-07-25
US4540087A (en) * 1982-08-19 1985-09-10 Kabushiki Kaisha Komatsu Seisakusho Three-dimensional work transfer apparatus
US4607516A (en) * 1982-09-03 1986-08-26 Danly Machine Corporation Transfer feed press with improved transfer feed system
DE3245317A1 (de) * 1982-12-08 1984-06-14 Eumuco Aktiengesellschaft für Maschinenbau, 5090 Leverkusen Hubbalkenmanipulator fuer gesenkschmiedepressen u. dgl.
CA1246313A (en) * 1984-01-20 1988-12-13 Honda Motor Co Ltd CONVEYOR FOR PLASTIC WORKING MACHINE
JPS61283426A (ja) * 1985-06-10 1986-12-13 Intetsuku:Kk プレス機械用トランスフア装置
US4653311A (en) * 1986-01-31 1987-03-31 Avondale Industries, Inc. Short stroke press with automated feed mechanism

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KR0143896B1 (ko) 1998-08-17
IL90716A0 (en) 1990-01-18
DE68908562D1 (de) 1993-09-23
EP0426707A4 (en) 1991-08-21
ES2016894A6 (es) 1990-12-01
JPH03505847A (ja) 1991-12-19
AU3963489A (en) 1990-01-23
DE68908562T2 (de) 1994-03-10
WO1990000099A1 (en) 1990-01-11
CA1311438C (en) 1992-12-15
KR900701430A (ko) 1990-12-03
EP0426707A1 (de) 1991-05-15
JP2708918B2 (ja) 1998-02-04

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