EP0693334A1 - Transport system - Google Patents

Abstract

The transport system has the transposition device arranged between two work stations (10, 11) to carry out a multi-axis workpiece movement is a feeder mechanism (15). The feeder mechanism includes a transport arm (19) for the direct transfer of a workpiece (14) between two work stations without a rest interval. The feeder mechanism has a pivoting device (18) which executes the necessary alteration in the position of the workpiece as it is transferred to the next work station. The feeder mechanism can be a telescopic feeder, a linkage arm feeder or a parallelogram feeder. <IMAGE>

Description

The invention relates to a transport system for transporting workpieces through a press line, transfer press, large section press, forming machine or the like according to the preamble of claim 1.

State of the art:

If the production of a workpiece requires several punching and forming processes, the individual operations required for economical production can be carried out in a press line, transfer press or large-part stage press.

Such systems are usually provided with transport devices for automatic workpiece transport. These transport devices either have their own drives or are operated by the press drive. In any case, however, a forced synchronization, electrical or mechanical, must exist between the press movements and the transport system. This synchronization serves both to avoid collisions and to optimize the motion sequences.

If, in addition to the transport step, a change in the position of the workpiece is required, a clipboard or orientation station is required. This orientation station is equipped with the degrees of freedom required to manipulate the workpiece.

The basic structure of such a device is described in DE 32 33 428 using the example of a press with loading and unloading device and a parts storage.

This system carries out the following transport steps: Transport unit 1 (removal feeder) leads into the open press (horizontal movement), lowers down to the part to be transported (vertical movement), removes the part and leads on a suitably programmed path to the clipboard. The part is placed on the clipboard and, if necessary, receives a change in position that is adapted to the insertion situation of the next forming step.

Transport system 2 (insert feeder) takes the possibly changed part and transports it on a predetermined path to the next forming stage. After the part has been put down, the transport system moves into a parking position to enable a collision-free forming process. The specified transport path usually consists of an overlapping horizontal and vertical movement.

This automation device, which has been tried and tested in practice, has the major disadvantage that there must be a correspondingly large distance between the processing stages, which leads to correspondingly long systems. In the case of large section presses, larger press stand widths in the direction in which the parts pass through are required, since high press rigidity is required for the forming, however, the smallest possible column width is desirable. Due to the fact that there are 2 different transport devices (loading and unloading feeder), a large number of part-bound transport means such as feeder spiders, storage templates etc. are required.

Objects and advantages of the invention:

The invention has for its object to avoid the aforementioned disadvantages and in particular to obtain a low-mass, high-speed transport system in which no clipboard is required.

It is proposed according to the invention to solve this problem by means of a transport system with three different drive systems in accordance with the preamble and the characterizing features of the respective main claims.

Advantageous and expedient developments of the drive systems specified in the main claims are specified in the subclaims. The basic idea of the invention is to propose between two forming stations an in-house or driven by the press feeder, which works both as a removal and as a loading device, which additionally has one or more drives for a possibly necessary pivoting of the feeder spider or parts in and contains transverse to the direction of parts transport and also allows the parts to be rotated. The clipboard otherwise required can be omitted.

According to the invention, the degrees of freedom required to change the position of the parts are integrated in the actual transport head or transport carriage. Furthermore, with the transport system according to the invention it is possible to automate both transfer presses with smaller tool step spacings and press lines with large tool spacings.

Due to the central arrangement of only one feeder between the processing stations, a reduction in the number of mechanical components is achieved at the same time, in contrast to the separate loading and unloading feeder for linked press lines or mounting rails with suction cups or gripper systems for large-part presses.

With individual drives, the invention realizes the principle of a completely independent drive with the required degrees of freedom, i.e. that the workpiece transport from one to the next processing station is completely independent of a central drive by individually programmable drives. As a result, it is no longer absolutely necessary that the ram movement of all adjacent press stages takes place simultaneously. Rather, the transport movements of the workpieces and the machining processes in the individual stations can take place at different times, which means that a more favorable load spectrum is also achieved in relation to the press. Of course, the control of the press and in particular the movements of the feeder must be designed so that no collisions occur. The movements of the individual feeder axes are necessarily electrically synchronized with the press drive. With the degrees of freedom available on the feeder for changing the position of the workpieces, the freedom of movement of the feeder spider to the upper tool is guaranteed when inserting or removing. In particular, the possibility of inclined parts improves the freedom of movement.

The individual drives of the transfer for each transport step make it possible to compensate for larger distances between the tool stages, in particular through phase shifts, so that individual presses can also be loaded in press lines without there being a deterioration in the freedom of movement. Thanks to the flexibility of the separately swiveling feeder head, an optimal parts position in the tool is also possible.

• 1. Teleskopfeeder
  Dieses Antriebssystem hat im wesentlichen lineare Führungssysteme. Durch die Konstruktion wird eine unterschiedliche Geschwindigkeitsverteilung der einzelnen Antriebsstränge erreicht. Ein sehr vorteilhaftes Ergebnis ist dabei, daß der Antriebsteil mit der geringsten Masse die höchste Beschleunigung und Geschwindigkeit erhält. Das System verfügt über eine außerordentlich gut verteilte Dynamik und benötigt damit nur eine relativ geringe Antriebsleistung.
• 2. Gelenkarmfeeder
  Der Teiletransport ist durch einen rotatorischen Bewegungsablauf gekennzeichnet. Ohne großen konstruktiven Aufwand kann dabei das Teil auch um die vertikale Achse gedreht werden.
• 3. Parallellogrammfeeder
  Ein großer Vorteil ist die Überlagerung von Linear- und Schwenkbewegung. Große Wege zwischen den Bearbeitungsstationen können in kürzester Zeiteinheit zurückgelegt werden. Auch bei geringen Abständen der Bearbeitungsstationen ist durch das einfache Schwenken ohne Linearbewegung ein schneller Teiletransport möglich.

The three drive systems feature the following features:

• 1. Telescopic feeder
  This drive system has essentially linear guidance systems. The construction achieves a different speed distribution of the individual drive trains. A very advantageous result is that the drive part with the lowest mass receives the highest acceleration and speed. The system has an extremely well distributed dynamic range and therefore only requires a relatively low drive power.
• 2. Articulated arm feeder
  The parts transport is characterized by a rotary motion sequence. The part can also be rotated about the vertical axis without great design effort.
• 3. Parallelogram feeder
  A great advantage is the superposition of linear and swivel movements. Long distances between the processing stations can be covered in the shortest possible time. Even with small distances between the machining stations, the simple swiveling without linear movement enables fast parts transport.

Further details and advantages of the invention will become apparent from the description and the accompanying drawings. The features mentioned above and those yet to be explained below are arbitrary exemplary embodiments. In a different combination or alone, the loading and unloading device can also be used without departing from the scope of the present invention.

• 1. Eine horizontale Bewegung in und gegen die Teiletransportrichtung linear oder durch Schwenkbewegung.
• 2. Eine vertikale Hubbewegung als Linearbewegung.
• 3. Eine Linearbewegung quer zur Transportrichtung.

The 3 drive systems also have 3 degrees of freedom or movements in common:

• 1. A horizontal movement in and against the part transport direction linear or by swiveling movement.
• 2. A vertical stroke movement as a linear movement.
• 3. A linear movement transverse to the transport direction.

These 3 movements are each described once as examples and referred to in the further figures. The individual figures of the exemplary embodiments show

Telescopic feeder Fig. 1 to 13:

Fig. 1-3

a longitudinal section through a transfer press with a central feeder in the functions
- partial removal
- Insert part
- Waiting

4, 5

a representation in the transport direction with 2 presses linked by a central feeder as an example of a press line

6, 7

Representation transversely to the direction of transport in various tool insertion positions

Fig. 8

6 in an alternative embodiment of the vertical travel

9a, 9b

an individual representation with pivoting of the feeder spider according to FIG. 8

Fig. 10

an individual representation of the telescope system

Fig. 11

a section A-A of FIG. 10th

Fig. 12

an alternative embodiment of FIG. 10 for the pivotability of the feeder spider in or against the direction of transport

Fig. 13

a section B-B of FIG. 12th

Articulated arm feeder Fig. 14-33:

Fig. 14

Representation of 2 presses with articulated arm feeders in the transport direction

Fig. 15

Representation of Fig. 14 transverse to the direction of transport

Fig. 16

Representation along section line K-K in FIG. 14

17, 18

Individual representations of the articulated arm according to FIG. 14

Fig. 19

Representation along section line C-C in FIG. 17

Fig. 20

Constructional variant of the embodiment according to FIG. 14

Fig. 21

Representation of Fig. 20 transverse to the direction of transport

Fig. 22

Representation along section line D-D in FIG. 20

23, 24

Individual representation of the articulated arm according to FIG. 20

Fig. 25

Representation along section line E-E in FIG. 24

Fig. 26

Individual representation of the articulated arm as a further design variant

Fig. 27

Representation along section line F-F in Fig. 26 without the second joint part

Fig. 28

Schematic sequence of parts transport with articulated arm according to Fig. 26

Fig. 29

Alternative feeder construction with modified articulated arm arrangement

Fig. 30

29 transversely to the direction of transport

Fig. 31

Feeder construction for short distances between the processing stations

Fig. 32

Representation of Fig. 31 transverse to the direction of transport

Fig. 33

Representation along section line G-G in FIG. 31

Parallelogram feeder Fig. 34-41

Fig. 34

Representation of 2 presses with parallelogram feeder in transport direction

Fig. 35

Representation of Fig. 34 transverse to the direction of transport

Fig. 36

Detail of the parallelogram feeder

Fig. 37

Detail according to section line H-H in Fig. 36

Fig. 38

Constructional variant of the embodiment according to FIG. 34

Fig. 39

Alternative embodiment according to FIG. 38

Fig. 40

Representation of Fig. 39 transverse to the direction of transport

Fig. 41

Representation along section line J-J in Fig. 39

Fig. 42

a longitudinal section through a transfer press with a telescopic feeder driven via the press and

Fig. 43

42 shows an enlarged illustration of two adjacent processing stages according to FIG. 42

Lever arm drive for telescopic feeder Fig. 44-49

Fig. 44

Representation of a lever arm drive for a telescopic feeder in longitudinal section through a press line

Fig. 45

the representation of Fig. 44, however, transversely to the transport direction

Fig. 46

a detail "X" according to Fig. 45 by the feed carriage for the feeder spider

Fig. 47

44 shows an alternative embodiment according to FIG. 44 in a longitudinal section through the press line

Fig. 48

47 transversely to the transport direction and

Fig. 49

a section according to A-A of FIG. 47.

Description of telescopic feeder Fig. 1-13

In the figures 1 to 3 2 forming stages of a transfer or large-part stage press 1 are shown as an example. The main visible components of the press 1 are: One or more head pieces 2, stands 3, 4, 5, ram 6, 7 and sliding tables 8. Each processing or forming step 10, 11 contains a forming tool consisting of the upper tool 12 attached to the ram and the lower tool 13 located on the sliding table 8.

In the illustrated embodiment according to FIGS. 1 to 3, a central, i.e. Telescopic feeder 15 arranged between two processing stations 10, 11 is provided.

This telescopic feeder 15 consists of a part-bound feeder spider 16, 16 'with suction cups 17, a receptacle carriage 18 for the feeder spider 16 which can be moved and pivoted in and transversely to the transport direction 78, a triple telescopic slide 19 with movement and drive means for horizontal movement and one vertically movable lifting device 9 with ball screw system 21, which can be moved by a programmable drive 22. The lifting column is mounted in a carriage 23, which is arranged in linear guides 24 so as to be movable transversely to the direction of parts transport 78. Thus, the telescopic feeder 15 has 5 degrees of freedom.

Figures 1 to 3 differ only in the position of the telescopic slide 19 and show different ones Sequences of work. In FIG. 1, the part 14 formed in processing stage 10 is removed and transported to processing stage 11. During this transport step, the position of the part 14 is changed in order to adapt it to the lower tool 13 of the following processing step.

Fig. 2 shows the change in position and the part 14 is located in front of the lower tool 13 in the machining stage 11. At the same time, the programmable drives ensure an optimal travel path for the parts transport. The freedom of movement, based on the position of the plunger 7 and any interfering edges by the upper tool 12, can also be ensured.

Fig. 3 shows the telescopic feeder 15 in the waiting position during the forming process. A phase-shifted ram position can also be seen. For a tool change, the feeder spider 16, 16 'can be pinned on the peg 25 attached to the sliding table 8. The stake holder 25 is provided with a lifting and swiveling device. 2 pegs 25 are attached to the end of the tool 12/13 on the sliding table and the feeder spider 16, 16 'can be pinned above the tool 12/13 when the sliding tables 8 are extended. Outside the press, the feeder spider 16, 16 'can be swiveled through 90 ° by the stake holder 25 for easier changing. Stakeout device 30 shows an alternative solution with spider change carriages.

Of course, the embodiment shown in FIGS. 1 to 3 is not limited to a transfer or large-part stage press, but can also be used on press lines with a relatively short distance from press to press.

For larger press distances, a version according to Fig. 4 and Fig. 5 is recommended.

In principle, the movement sequences are the same as in the previously described Figures 1-3. Since larger travels are possible when automating a press line, this design takes this task into account by special design features. A 2-fold mounting of the telescopic slide 19 is provided. This holder consists of 2 lifting devices 26 for the vertical movement of the telescopic spring 15. The vertical movement is effected by the drive 22 via a distribution gear 27 which is coupled to the shafts 28. The shafts 28 carry toothed belt pulleys 29 at their ends, which bring about a linear movement on toothed belts 34 fastened to the lifting columns 26 (FIG. 8). Instead of the toothed belt drive, it is also possible, for example, to use toothed wheels (not shown in more detail) with toothed racks connected to the lifting columns 26.

A mobile staking device 30 is proposed for the replacement of the part-bound accessories (feeder spider 16) required for the tool change. When changing the tool, after the feeder spider 16 has been unplugged, the staking device 30 and the sliding table 8 are moved out of the press space with the tool 12/13.

While FIG. 4 shows the removal of the part 14, the position-changed part 14 can be seen in FIG. 5 before being placed on the lower tool 13.

The presses can be driven mechanically synchronized with a continuous drive shaft or have an electrical synchronization.

• Verschwenkung der Feederspinne 16, 16' nähere Erläuterung Fig. 9
• horizontale Querverfahrung des Teleskopfeeders 15.

1 and 3 show FIGS. 6 and 7. The entire feeder system 15 is fastened to the stands 4 via a holder 33. 2 movements can be seen from these Figures 6 and 7:

• Swiveling of the feeder spider 16, 16 ', more detailed explanation in FIG. 9
• horizontal cross travel of the telescopic spring 15.

The programmable drive 31 effects the transverse travel of the carriage 23 by rotating a threaded or ball screw system 32. The carriage 23 moves in linear guides 24 and thus ultimately moves the feeder spider 16, 16 '. This procedure can be carried out both as a one-off setting in the sense of a set-up axis and as a production axis with every transport stroke. In contrast to the horizontally arranged feeder spider 16, 16 'in FIG. 6, FIG. 7 shows a pivoted feeder spider 16, 16'.

A possibly required vertical stroke would be made possible by drive 22 and threaded or ball screw spindle with nut 21 both as a set-up and as a production axis.

FIG. 8 shows an embodiment according to a press line according to FIG. 4 and FIG. 5 in a representation transverse to the transport direction. Here, too, the entire feeder system is fastened to the press stands 4 via a holder 33. However, the vertical movement of the lifting device 26 and the components connected to it takes place via a toothed belt 34 fastened with clamping pieces 35, which is connected to the toothed belt pulley 29 via deflection rollers 36. The stationary toothed belt pulley 29 is driven by the drive 22 rotated and the toothed belt 34 executes a linear movement and thus also the lifting movement of the lifting device 26.

9a and 9b show the receiving carriage 18 for the feeder spider 16, 16 'as an enlarged illustration of FIG. 8. The receiving carriage 18 is pivotably mounted on the lifting device 26. The swivel axis 37 lies within the part 14. The entire swivel device is supported in 2 segments 38 in the form of a circular arc with guide stones 39. The pivoting causes a pinion 40 in conjunction with a tooth segment 41, which is also in the form of a circular arc. The pivoting drive is arranged on the first telescopic slide 42 (FIG. 10).

9b shows a representation pivoted by the angle W1.

The attachment of the arcuate segment guide 38 and the toothed segment 41 to the lifting device 26 can be seen in FIG. 10. The guide stones 39 are connected to the support tube 44 of the first telescopic slide 42 via a holder 43. On the support tube 44 is the gear motor 45, which drives the pinion 40 via coupled and mounted shafts 46. In connection with the toothed segment 41, a rotation of the pinion 40 causes the entire telescopic slide 19 to pivot about the pivot axis 37 transversely to the part transport direction.

Furthermore, the belt guide of the 3 telescopic slides 42, 47, 48 is shown in FIG. 10. A driven toothed belt pulley 49 with deflection rollers 50 is mounted in the support tube 44 in the first horizontal, stationary telescopic slide 42. Linear guides 57 fastened to the support tube 44 also serve to guide the second telescopic slide 47. The toothed belt 51 is connected to the support tube 53 via clamping pieces 52 and thereby moves the second telescopic slide 47. Instead of a toothed belt drive, analog drive means could also be used, e.g. a pinion.

A toothed belt 54 with deflection pulleys 55 is mounted in the support tube 53 of the second telescopic slide 47. This toothed belt 54 has a fixed connection to the support tube 44 via the clamp 56. In addition, the toothed belt 54 is connected via clamp 56 'to the support tube 62 of the third telescopic slide 48.

If toothed belt pulley 49 is now driven by drive 58 (FIG. 11), toothed belt 51 executes a horizontal movement at speed V1. As a result of this movement, the deflection roller 55 is rotated at the same time and the toothed belt 54 therefore also performs a horizontal movement at the speed V2. The speeds V1 and V2 overlap and thus add up. The toothed belt 59 of the third telescopic slide 48 is fixed via the clamp 60 connected to the support tube 53. Clamping piece 60 'connects the toothed belt 59 to the housing of the receiving carriage 18. Linear guides 61 fastened to the support tube 53 serve to guide the third telescopic slide 48. The movement sequence already described for the second telescopic slide 47 now continues and is added to the speed V1 and V2 now the speed V3 of the toothed belt 59 to the final speed V. With this final speed V the actual part 14 is now transported through the receiving carriage 18.

Due to the sequence of movements of the telescopic slides 47, 48 and the receiving carriage 18, the extremely favorable acceleration and deceleration behavior already described can now be clearly recognized. Because it is not the entire system that is accelerated or decelerated to the maximum, but the addition of the speeds also provides an extremely sensible division of the accelerations. The goal of high parts transport speed is achieved with a relatively low drive power. The equally favorable mass distributions also result in higher accelerations and decelerations and thus a very fast transport system.

10 shows a further toothed belt 63 with drive toothed belt pulley 64, deflection rollers 65 and toothed belt pulley 66, 67. This belt drive serves to pivot the feeder spider 16 about the pivot point 68.

Fig. 11 shows a sectional view corresponding to the section A-A in Fig. 10. The drive for the triple telescopic slides 19 described in Fig. 10 is marked with the number 58. This drive is connected to the toothed belt pulley 49, which starts with the toothed belt 51, as described, triggers the horizontal movement.

The program-controlled drive 69 effects a part-adapted pivoting of the suction spiders about the axis of rotation 68 in and against the transport direction. The following are used as means for this: toothed belt pulleys 64, which are connected to one another via a shaft 70 mounted in the support tube 53, toothed belt 63 and toothed belt pulleys 67. To increase the torque, a planetary gear 71 can be installed between toothed belt pulley 67 and feeder spider 16, 16 '. Linear guides 77 are provided for the horizontal movement of the receiving carriage 18.

FIGS. 12 and 13 show an alternative embodiment for pivoting the feeder spider 16, 16 'according to FIGS. 10 and 11. Due to the part geometry and freedom of movement during the transport step, it may be cheaper not around the pivot point 68 but about the pivot point 73 to pivot the feeder spider 16, 16 '. Since the fulcrum 73 lies in the workpiece 14, the change of position and adaptation of the other travel axes can thus be carried out more easily. In addition to the Drive elements 69, 64, 63 and 67, already described in detail, require pinion shaft 74 and toothed segment 75 for pivoting. When the drive pinion 74 rotates, the housing 72 pivots with the feeder spiders 16, 16 ′ about the center point or pivot point 73 of the toothed segment 75. The housing 72 is mounted and guided in the guide system 76.

Description of articulated arm feeder Fig. 14-33

14 to 16 shows the basic structure and the sequence of movements of the articulated arm feeder. In addition to the adjustment axis already described for the telescopic spring, transversely to the transport direction, the horizontal movement in and against the parts transport direction 78 is carried out by the drive 154, toothed belt pulley 155, toothed belt 156, to which the feeder carriage 23 is fastened, and toothed belt pulley 157. The vertical stroke is effected by drive 220, which drives toothed belt pulley 221, which acts on toothed belt 222, which is fastened with tensioning elements 225. Deflection rollers 223 and toothed belt pulleys 224 are located on the feeder carriage 23. The tensile forces which arise when the toothed belt 222 is driven inevitably cause the vertical movement of the feeder carriage 23. This drive for generating the vertical stroke corresponds to the applicant's patent DE 3233428, to which reference is expressly made here. At the lower end of the lifting device 26, an articulated arm 79 is arranged horizontally. The articulated arm consists of a first articulated part 80 and a second articulated part 81. A support joint 82 fastened to the second articulated part 81 holds the feeder spider 16, 16 'and has two degrees of freedom: 1. swiveling in and against the transport direction and 2. swiveling transversely to the transport plane , more detailed description of FIGS. 17 and 18. FIGS. 14 and 16 also show the possibility of rotating part 14 about the vertical axis.

A total of 6 movement options are thus available for changing the position of the part 14.

15, 17 and 18 show constructive details of the articulated arm 79. The rotation of the articulated arm 79 causes the drive 83 via the toothed belt pulley 84, toothed belt 85 and toothed belt pulley 86. For this purpose, the toothed belt pulley 86 is firmly connected to the housing 87 of the first joint part 80. This rotary movement is passed on to the second joint part 81 by a further toothed belt drive consisting of toothed belt pulleys 88 and 90 and toothed belt 89. For this purpose, the toothed belt pulley 88 is rotatably attached to a sleeve 91, which in turn is attached to the lower end of the lifting device 26. The toothed belt pulley 90 is fastened in a rotationally fixed manner to the sleeve 92 connecting the two joint parts 80, 81. The sleeve 92 is rotatable in the 1st joint part 80 stored and non-rotatably connected to the second joint part 81. Due to this construction, the rotation of the 1st joint part 80 inevitably causes a rotation of the sleeve 92 and thus a rotation of the 2nd joint part 81. By way of example, FIG. 18 shows a position after a 90 ° rotation of the 1st joint part 80. The 2 degrees of freedom already mentioned of the commercially available support joint 82 effect the two drives 93 and 94.

19, these drives 93 and 94 are connected to the support joint 82 via toothed belt drives 95 and 96. While drive 93 in conjunction with toothed belt drive 95 allows pivoting of the support joint 82 and thus the feeder spider 16, 16 'in and against the transport direction (arrow 97, FIG. 17), the support joint 82 can pivot transversely to the transport direction via drive 94 and toothed belt drive 96 . Appropriately programmed drives allow even the most difficult transport steps to be carried out by changing the position of the parts.

20 to 22, the rotation of the part or workpiece 14 around the vertical axis is not provided. Furthermore, the commercially available ball joint 82 is replaced by a design alternative with one degree of freedom.

FIGS. 23 to 25 show details of this articulated arm 98.

The rotary movement of the articulated arm 98 about the vertical axis produces a toothed belt 100 which is fixedly attached to the feeder crossbar 99 (FIG. 21). In a horizontal transport step 78 of the articulated arm feeder, the toothed belt pulley 101 is driven by the toothed belt 100. The rotational movement of the toothed belt pulley 101 is transmitted to a toothed pinion 103 via a spline shaft 102. Pinion 103 drives the gear 104, which is firmly connected to the housing 87 of the first joint part 80. The movement sequence of the pivoting movement of the 1st joint part 80 corresponds to the sequence described under FIG. 17. The second joint part 105 is fixedly connected to the sleeve 107 of the first joint part 80 via its housing 106. The toothed belt pulley 90 fastened on the sleeve 107 transmits a rotary movement to the second joint part 105 when the first joint part 80 is rotated. Figure 24 shows the position after a 90 ° rotary movement of the 1st joint part 80.

The toothed belt pulley 108 is fixedly connected to the housing 87 of the first joint part 80 via the sleeve 109. This toothed belt pulley 108 drives the toothed belt pulley 111, which is connected to the holder 112 of the feeder spider 16, 16 ′, via the toothed belt 110. The translation of the toothed belt drives of the 1st joint part and the 2nd joint part must be precisely defined and can be, for example, 1: 2 and 2: 1, this ensures that the holder 112 of the feeder spider 16, 16 'does not perform any rotational movement about the vertical axis during the rotational movement of the articulated arm. Thus, part 14 is also not rotated about its vertical axis. A pivoting movement in or against the horizontal transport direction 78 takes place via the drive 113, the angular gear 114, the shaft 115, the toothed belt drive or gear drive 116, the shaft 117 and the toothed belt drive 118. The toothed belt drive 118 drives the pinion shaft 40 and via the toothed segment 41 the pivoting movement takes place about the pivot axis 73.

A constructive variant for the execution of the pivoting movement is shown in FIGS. 23 and 27. The drive 113 is installed vertically and drives the known swivel mechanism via a toothed belt drive 118.

As a further degree of freedom, the rotation of the feeder spider 16, 16 'about the vertical axis is shown in FIGS. 26 and 27. For this purpose, the toothed belt pulley 108 is not firmly connected to the housing 87 of the first joint part 80, but has its own drive. This drive consists of motor 120, toothed belt drive 121 and the rotatably mounted sleeve 122. The rotational movement of the toothed belt pulley 108 is transmitted via the toothed belt 123 and the toothed belt pulley 124 to the holder 112 of the feeder spider 16, 16 ′ and can rotate this and thus the part 14 .

28 schematically shows the rotation of the articulated arm 79 with the part 14, the part 14 in this example rotating through 90 °.

29 and FIG. 30. This arrangement is proposed as an example for larger distances between the press or processing stations 10 and 11 and with feeder spiders 16, 16 '. To the known traversing axes: the articulated arm is arranged rotated 90 ° horizontally and transversely to the transport direction. Thus, the articulated arm 79 carries out a pivoting movement about the horizontal axis and the vertical movement axis previously present is eliminated. The two articulated 1st joint parts 80 are rotatably mounted in the feeder carriage 23 proper. The swivel movement is achieved by the following drive chain: drive 125, angular or distribution gear 126, toothed belt pulley 127, toothed belt 128 and toothed belt pulley 129.

The second joint part 81 is rotatably mounted at the end of the first joint part 80. The drive for this rotary or swivel movement consists of: drive 130, toothed belt pulley 131, toothed belt 132 and toothed belt pulley 133.

As a further possibility of movement, the feeder spider 16, 16 'can pivot about its horizontal axis 68. About this axis 68 pivots the part 14 in or against the transport direction 78. This swivel drive consists of: drive 134, toothed belt pulley 135, toothed belt 136, toothed belt pulley 137 and 138, toothed belt 139 and toothed belt pulley 140.

31 to 33. The arrangement according to these figures is preferably suitable for smaller distances between the press or processing stages 10, 11. The following movement options are provided: vertical stroke, travel transversely to the direction of transport, rotation of the articulated arm 79 about the vertical axis and pivoting of the feeder spider 16, 16 'about the pivot point 73 Share a safe and stable transport option guaranteed. The drive with angular gear 141, splined shaft 142, distribution gear 143, toothed belt pulley 144, toothed belt 145 and toothed belt pulley 146 serves to rotate about the vertical axis of the first joint part 80.

The second joint part 81 is driven by the toothed belt pulley 147, the toothed belt 148 and the toothed belt pulley 149, which are fastened in a rotationally fixed manner to the lifting device 26. The pivoting movement of the part 14 in or against the transport direction 78 about the pivot point 73 causes the drive with angular gear 150, which Toothed belt pulley 151, the toothed belt 152 and the toothed belt pulley 153. This toothed belt pulley 153 drives the swivel system shown and described in greater detail in FIG. 23 via the pinion 40. 33 shows the parts transport which is linear despite the rotation or pivoting of the articulated arms 79. Depending on the tool distance, the articulated arms 79 move more or less far in the direction of the extended position. A possibly required crossing "S" can be done by turning to the extended position.

Description of parallelogram feeder Fig. 34-41

34 and 35 and details Figs. 36 and 37 show an articulated arm feeder which is driven by a parallelogram system. The embodiment shown is particularly suitable for larger distances from presses 10, 11. In addition to the known drives 154 for the horizontal movement and drive 31 and for a method transverse to the transport plane, there is a vertical movement of the feeder carriage 23 by the drive 158, toothed belt pulley 159, toothed belt 160 to which the feeder carriage 23 is fastened and toothed belt pulley 161. The pivoting movement of the parallelogram causes the drive 162 with the bevel gear 163 to which two cranks 164 are attached. These cranks 164 act on a cross lever 165 which is connected to a rotatably mounted parallelogram linkage 166. At the upper end, the parallelogram linkage 166 is rotatable on a vertically displaceable carriage 167 attached. 36 and 37, two bearing plates 168 are fastened to the lower end of the parallelogram linkage 166, in which planet pinion 169, sun gear 170 and a ring gear 171 with a drive lever 172 are mounted. This drive lever 172 is connected to the parallelogram linkage 166 via the rotatably mounted cross lever 173.

When the lever 164 is pivoted by the drive 162, the drive lever 172 makes the same pivoting angle as the parallelogram linkage 166. Due to the intermediate wheels 169, 170 and 171, the pivoting movement is transmitted in opposite directions to the first joint part 80 of the pivot arm 79. At the end of the two first joint parts 80, a second joint part 81 is rotatably supported, which is driven by a toothed belt pulley 174 fixedly attached to the bearing plates 168 via a toothed belt 175 and a toothed belt pulley 176. The toothed belt pulley 176 is non-rotatably connected to the collar bolt 177, which is firmly connected to the second joint part 81.

The pivoting of the feeder spider 16, 16 'about its pivot point 68 is shown as a further possibility of movement. The following drive chain is provided for this: swivel drive 178, toothed belt pulley 179, toothed belt 180, toothed belt pulley 181, shaft 182, toothed belt pulley 183, toothed belt 184 and toothed belt pulley 185.

Fig. 38. This parallelogram feeder is suitable for shorter press distances. The basic construction corresponds to the parallelogram feeder described in Fig. 34 to Fig. 37. The drive for the horizontal and vertical movement was changed to a version with drive 192, 22 and ball screw spindle 193, 21, which are operatively connected to a cross-locking system 190, 191. The swivel drive 162 rotates the crank 164 via a pinion 186, which acts on a toothed segment 187.

39 to 41 shows a parallelogram feeder which is particularly suitable for medium distances between the presses or processing stages. At the lower end of a lifting device 26 vertically displaceable by drive 22 and ball screw system 21, an angular gear 189 driven by drive 188 is fastened. A crank 164 is attached to each of the two shaft ends of the angular gear, and is connected to the parallelogram linkage 166 in the manner already described. The carriage 167 is supported in vertical guides 190, which in turn are supported in horizontal guides 191. The drive 192 causes a horizontal displacement via ball screw system 193 and at the same time also a change in the vertical position of the feeder spider 16, 16 'and thus a height adjustment of the workpiece 14 for insertion in the following machining step.

At the lower end of the parallelogram linkage 166, angular gears 194 are fastened to bearing plates 168, which are driven by the drive lever 172 in connection with the cross lever 173 by the pivoting movement of the parallelogram linkage 166. Two horizontally arranged articulated arms 79 are rotatably attached to the vertical output shafts of the angular gear 194. The rotary movement of the first joint part 80 thus takes place through the rotation of the angular gear 194, while the version with toothed belt drive is again proposed for the rotation of the second joint part 81. The drive 195 attached to the second articulated arm 81 pivots the feeder spider 16, 16 ′ about the pivot point 37.

41 shows the movement sequence of the articulated arms 79 in the parts transport direction 78.

A press linkage with a common press drive is shown in FIGS. 42, 43. The press arrangement or arrangement of the forming machine corresponds to the previously described exemplary embodiments. The exemplary embodiment according to FIG. 42 shows a telescopic feeder 15 whose stroke and stepping drive takes place mechanically from the forming machine 1 via a cam mechanism 200. For this purpose, a feeder drive 202 is branched off from the press drive 201 in the head piece 2 of the forming machine and guided via a drive shaft 203 to the cam mechanism 200 on the feeder mechanism 15. The cam mechanism 200 comprises a feed curve 204 and a lift curve 205 which are tapped via feed lever 206 and lift lever 207. The movement of the feed stroke and the lifting stroke are thus firmly coupled to the drive of the forming machine.

A toothed segment 213 is firmly connected to the feed lever 206 and is mounted in the common pivot point. This toothed segment 213 drives a toothed wheel 214 during the swiveling movement, caused by the movement of the feed curve 204. The gear 214 is located on a common shaft with the first bevel gear of a bevel gear 215 and drives it.

The second bevel gear of the bevel gear 215 is in operative connection with a spline shaft 216. This spline shaft 216 is connected to the superposition gear 208 so that a rotary movement of the spline shaft 216 acts as a drive for the superposition gear 208. The toothed belt of the telescopic spring 15 is then driven via the angular gear 211 and thus the horizontal transport step.

By means of a superposition gear 208 with associated drive 209 in the area of the transport device 19, a change in the transport step between the cam mechanism and the transport unit can be carried out. The drive 209 is designed as a programmable servo motor.

This transport step change serves to adapt to different tool distances. A tab 217 is connected to the lifting lever 207. This tab transmits the vertical stroke to the beam 218 on which the telescopic feeder is mounted.

To change the lifting stroke compared to the constant stroke given by the stroke curve 205, the above-described height adjustment of the feeder, with program-controlled motor 22 and ball roller spindle system 21, can also be used as a production axis. The lifting movement can be overlaid with the feeder height adjustment.

43 also shows a drive 210 for pivoting the feeder spider 16 about a vertical axis and a drive 219 for pivoting the feeder spider 16 in or against the direction of transport.

Otherwise, the exemplary embodiment according to FIGS. 42, 43 corresponds to the exemplary embodiment described for FIGS. 1 to 13 and thus also includes the possibility of a movement transverse to the transport direction, both as a set-up and as a production axis.

44 to 49 show an alternative embodiment of the invention with a lever drive for a telescopic feeder. The transport system according to FIGS. 44 to 46 differs from that according to FIGS. 47 to 49 essentially by an alternative design of the receiving carriage for a feeder spider.

The present invention relates generally to a feeder mechanism which is suitable for bridging the processing stages, in particular a transfer or large-part stage press, but also for automatic part transfer in press lines. Here, for. B. in the transport system according to FIGS. 1 to 5 of the transport route accomplished via a multiple telescopic slide 19. The suspension of the telescopic slide remains essentially stationary between the processing stages. This principle can also be retained in the exemplary embodiment according to FIGS. 14 and the following, in which a multiple articulated arm which can be pivoted about a vertical axis of rotation is used instead of a linearly movable telescopic slide. However, if larger distances between the processing stages are to be bridged, both the telescopic slide and the articulated arm can be fastened to an additional horizontal transport device 196 as shown in FIG. 14 (see FIGS. 14, 20, 29).

As shown in FIGS. 38, 39, the transport step can alternatively also be bridged with a parallelogram lever system 166, at the end of which again a longitudinally movable telescopic slide or in pivotable articulated arms can be arranged in a vertical plane or horizontal plane. If larger distances between the processing stages have to be bridged, a horizontal transport device 196 can in turn be provided for a corresponding parallelogram suspension according to the embodiment according to FIG. 34.

44 to 49 represents an alternative solution to the systems described.

FIG. 44 shows a feeder mechanism 15 ″ ″ with an associated end view in FIG. 45 in a side view of two successive processing stages. Similarly to the arrangement according to FIG. 39, the feeder mechanism 15 '' 'comprises a lever linkage 226 which is arranged in a stationary manner between two processing stages 10, 11 and which is mounted in a bearing housing 227. 38, 39, the lever linkage 226 is used to convert a feeder spider 16 from processing stage 10 to processing stage 11. This transport step is shown in dashed lines in FIG. 44 in the middle and the right position. The lever linkage 226 operates in a similar manner to the parallelogram linkage 166 from FIG. 39, this lever linkage always carrying out an essentially unchangeable basic stroke or transport step from one processing station to another. The necessary step compensation or the compensation and the adaptation of the workpiece to the particular circumstances in the individual stages is again done by a longitudinal boom 228, which can be designed as a single or multiple telescopic boom according to FIGS. 1 to 5. An articulated arm arrangement, such as that shown in FIG. 38 or in FIG. 39, could also be attached to the lever linkage 226.

The lever linkage 226, as shown in FIGS. 44, 45, consists of a first double lever 229, to the lower end 230 of which the longitudinal boom 228 is attached. An upper, free end 231 of the double lever 229 is guided in a guide link 232, an upper guide roller 233 executing an initially obliquely upward or arched upward movement in a vertical guide channel, while a lower guide roller 235 is supported on an opposite wall section 236 . This lifting movement, which is initially directed obliquely upwards and then vertical, is reversed in mirror image, so that the position of the double lever 229 shown in dashed lines in FIG. 44 is assumed. The guide link 232 consequently brings about a lifting, a longitudinal transport and a lowering of the workpiece located on the longitudinal boom 228 for the transfer from one processing station 10, 11 to the other.

The double lever 229 is driven via two main drive rockers 237, 237 'arranged laterally therefrom a hinge pin 238 in the central region of the double lever 229 are hinged to this. The double lever 229 can consequently swing through between the drive rockers 237, 237 'arranged on the side thereof. At the lower end, the two main drive rockers 237, 237 'are mounted in a fixed position in a lower bearing point 239 in the bearing housing 227. In the area of this lower bearing point 239 there is a first angle 240, to each of which two essentially vertically oriented push rods 241, 242 are articulated. These push rods end in their upper region at a second angle lever 243, which is arranged in the upper region of the bearing housing 227 so as to be rotatable about an upper bearing point 239 'and whose pivoting movement is brought about by a drive motor 244. The arrangement of two angle levers 240, 243 serves to bridge a dead center position, ie if one of the two angle levers 240, 243 with associated push rods 241, 242 is arranged in an upper dead center position, the adjacent push rod can nevertheless exert a torque.

In order to ensure a defined suspension or attachment of the longitudinal boom 228 on the lever linkage 226 and in particular on the double lever 229, a parallel stabilizer lever 245, 246 is provided parallel to the double lever 229 or to the main drive arm 237, which form a kind of parallelogram guide. The lower end of the stabilizer 245, like the lower end of the double lever 229, is fastened to the guide housing 44 ′ for the longitudinal boom 228. Likewise, the lower end of the stabilizer lever 246 is arranged in the lower region of the housing 227 next to the hinge point 239. The two upper ends of the stabilizer levers 245, 246 meet in an upper hinge point 247 from which a cross strut 248 leads to the hinge point 238.

The housing 227, in which the guide link 232 is also mounted in a stationary manner, can vary in height via a vertical guide 249 via a corresponding lifting drive 250, in particular as a set-up axis or as a height compensation. A transverse movement can additionally be carried out via a cross slide arrangement 251, for which purpose a transverse drive 252 with corresponding guides 253 is used. This lifting and transverse movement has already been described in previous exemplary embodiments.

The entire movement of the lever linkage 226 takes place via the drive of the drive motor 244 via the upper, second eccentric lever 243, which is mounted in an upper bearing point 239 'and transmits the forces to the lower eccentric lever 240 via the two vertical push rods 241, 242. This lower eccentric lever acts on the main drive rocker 237, 237 'and this in turn on the double lever 229. The double lever 229 is guided in the upper region in the link guide 232 The sequence of movements is shown in FIG. 44 by the process shown in broken lines.

The connection of the longitudinal boom 228 to the lever linkage 226 is additionally shown in FIG. 46. 46 shows the detail X drawn in dashed lines in FIG. 45 in an enlarged representation.

The structure and the mode of operation of the connection of the longitudinal boom 228 to the lever linkage 226 as shown in FIG. 46 basically corresponds to the structure of a corresponding arrangement in FIG. 11. Reference is hereby expressly made to the corresponding description. The same reference numbers are drawn for the same parts.

The longitudinal boom 228 consequently consists of a guide housing or support tube 62 with linear guides 77 arranged laterally therefrom for executing a longitudinal movement of the housing 72, which is a component of the receiving carriage 18 for fastening the feeder spiders. Reference is made to the corresponding additional description and illustration in FIG. 11. Likewise, FIG. 46 expressly serves to represent the system.

According to the illustration in FIG. 44, the workpiece 14 is to perform a swiveling movement from a horizontal to a slightly oblique position when changing from the processing station 10 to the processing station 11. For this, the feeder spider must be rotated about a horizontal axis of rotation 68, i. H. by a rotational movement along arrow 68 '. 46, this rotary movement about the axis of rotation 68 is carried out by means of the drive motor 69, the shaft 70 of which leads to a drive toothed belt pulley 64, the toothed belt of which carries out a corresponding rotary movement about the axis of rotation 68. The belt deflection drive from the drive motor 69 for carrying out the pivoting movement is designed analogously to the illustration in FIGS. 10, 11.

The longitudinal displacement of the longitudinal boom 228 on the associated support tube 44 takes place via the further drive motor 58 '. For this purpose, the support tube 62 is mounted on the support tube 44 'so as to be longitudinally displaceable via guides 61, a second toothed belt drive 54' working analogously to the embodiment according to FIGS. 10, 11.

The exemplary embodiment according to FIGS. 47 to 49 differs in principle from the already described exemplary embodiment according to FIGS. 44 to 46 in that the feeder spider 16 in addition to the rotary movement about the horizontal axis of rotation 68 by means of the drive motor for the pivoting movement 69, a further rotary movement about a vertical axis of rotation 254 can perform, according to arrow 254 '. The feeder spider can therefore according to the 47 during transport from the processing station 10 to the processing station 11 can be pivoted about the vertical axis of rotation 254. This is shown in dashed lines in FIG. 47, right side. This rotary movement about the vertical axis of rotation 254 'is accomplished by means of a further rotary drive motor 255.

The force flow from the swivel drive motor 69 to the axis of rotation 68 according to FIG. 46 is shown in dash-dot lines in FIG. 49 via a corresponding gear arrangement (reference numeral 256), as is the force flow 257 from the drive motor 255 to the axis of rotation 254.

Another motor 58 'in turn serves for longitudinal displacement of the longitudinal boom 228. For further disclosure of the power flow or the gear arrangement, reference is made explicitly to FIG. 49.

1

Transfer- oder Großteil-Stufenpresse

2

Kopfstück

3, 4, 5

Ständer

6, 7

Stößel

8

Schiebetische

9

Hubeinrichtung

10, 11

Bearbeitungs- / Umformstufe, Presse

12

Oberwerkzeug

13

Unterwerkzeug

14

Teil- oder Werkstück

15

Teleskopfeeder

16, 16'

Feederspinne

17

Saugnäpfe

18

Aufnahmewagen für Feederspinne

19

3-fach Teleskopschlitten

20

21

Kugelrollspindelsystem

22

Antrieb

23

Feeder- oder Querschlitten

24

Linearführung fr Querschlitten

25

Absteckhalter

26

Hubeinrichtung

27

Getriebe

28

Welle

29

Zahnriemenscheiben

30

Absteckeinrichtung

31

(Quer)antrieb

32

Spindel (Gewinde- oder Kugelrolle)

33

Halterung

34

Zahnriemen

35

Klemmstücke

36

Umlenkrollen

37

Schwenkachse

38

Segmente, Segmentführungen

39

Führungen, Fhrungssteine

40

Ritzel

41

Zahnsegment

42

1. Teleskopschlitten

43

Halter

44

Tragrohr (1)

45

Getriebemotor

46

Welle

47

2. Teleskopschlitten

48

3. Teleskopschlitten

49

Zahnriemenscheibe

50

Umlenkrollen

51

Zahnriemen (1. Riemen)

52

Klemmstücke

53

Tragrohr (2)

54

Zahnriemen

55

Umlenkriemenscheiben

56, 56'

Klemmung

57

Führung

58

Antrieb

59

Zahnriemen

60, 60'

Klemmung

61

Führung

62

Tragrohr (3)

63

Zahnriemen (Schwenken Spinne)

64

Antriebs-Zahnriemensch.

65

Umlenkrollen

66, 67

Zahnriemenscheibe

68

Drehpunkt

69

Antrieb

70

Welle

71

Planetengetriebe

72

Gehäuse

73

Drehpunkt

74

Ritzelwelle

75

Zahnsegment

76

Führungssystem

77

Linearführung

78

Teiletransportrichtung

79

Gelenkarm

80

1. Gelenkteil

81

2. Gelenkteil

82

Traggelenk

83

Antrieb (Gelenkarm drehen)

84

Zahnriemenscheibe

85

Zahnriemen

86

Zahnriemenscheibe

87

Gehäuse 1. Gelenkteil

88

Zahnriemenscheibe

89

Zahnriemen

90

Zahnriemenscheibe

91

Hülse

92

Hülse

93

Antrieb Schwenken Transportrichtung

94

Antrieb Schwenken quer zur Transportichtung

95

Zahnriementrieb

96

Zahnriementrieb

97

Pfeil

98

Gelenkarm

99

Feedertraverse

100

Zahnriemen

101

Zahnriemenscheibe

102

Keilwelle

103

Zahnritzel

104

Zahnrad

105

2. Gelenkteil

106

Gehäuse 2. Gelenkteil

107

Hülse

108

Zahnriemenscheibe

109

Hülse

110

Zahnriemen

111

Zahnriemenscheibe

112

Halterung Feederspinne

113

Antrieb

114

Winkelgetriebe

115

Welle

116

Zahnriemen oder Zahnradtrieb

117

Welle

118

Zahnriementrieb

119

Zahnriementrieb

120

Motor

121

Zahnriementrieb

122

Hülse

123

Zahnriemen

124

Zahnriemenscheibe

125

Antrieb

126

Winkel- oder Verteilgetriebe

127

Zahnriemenscheibe

128

Zahnriemen

129

Zahnriemenscheibe

130

Antrieb

131

Zahnriemenscheibe

132

Zahnriemen

133

Zahnriemenscheibe

134

Antrieb

135

Zahnriemenscheibe

136

Zahnriemen

137

Zahnriemenscheibe

138

Zahnriemenscheibe

139

Zahnriemen

140

Zahnriemenscheibe

141

Antrieb mit Winkelgetriebe

142

Keilwelle

143

Verteilergetriebe

144

Zahnriemenscheibe

145

Zahnriemen

146

Zahnriemenscheibe

147

Zahnriemenscheibe

148

Zahnriemen

149

Zahnriemenscheibe

150

Antrieb mit Winkelgetriebe

151

Zahnriemenscheibe

152

Zahnriemen

153

Zahnriemenenscheibe

154

Antrieb

155

Zahnriemenscheibe

156

Zahnriemen

157

Zahnriemenscheibe

158

Antrieb

159

Zahnriemenscheibe

160

Zahnriemen

161

Zahnriemenscheibe

162

Antrieb

163

Winkelgetriebe

164

Kurbel

165

Querhebel

166

Parallelogrammgestðnge

167

Schlitten

168

Lagerplatten

169

Planetenritzel

170

Sonnenrad

171

Hohlrad

172

Antriebshebel

173

Querhebel

174

Zahnriemenscheibe

175

Zahnriemen

176

Zahnriemenscheibe

177

Bundbolzen

178

Schwenkantrieb

179

Zahnrimemenscheibe

180

Zahnriemen

181

Zahnriemenscheibe

182

Welle

183

Zahnriemenscheibe

184

Zahnriemen

185

Zahnriemenscheibe

186

Ritzel

187

Zahnsegment

188

Antrieb

189

Winkelgetriebe

190

Vertikale Führungen

191

Horizontale Führungen

192

Antrieb

193

Kugelrollspindelsystem

194

Winkelgetriebe

195

Antrieb

196

Längsarm

197

198

Verschwenkeinrichtung

199

200

Kurvengetriebe

201

Pressenantrieb

202

Feederantrieb

203

Antriebswelle

204

Vorschubkurve

205

Hubkurve

206

Verschubhebel

207

Hubhebel

208

Überlagerungsgetriebe

209

Antrieb

210

Kippantrieb

211

Winkelgetriebener Schrittantrieb

212

Spinnenwechselwagen

213

Zahnsegment

214

Zahnrad

215

Kegelgetriebe

216

Keilwelle

217

Lasche

218

Balken

219

Antrieb Schwenken Transportrichtung

220

Antrieb

221

Zahnriemenscheibe

222

Zahnriemen

223

Umlenkrollen

224

Zahnriemenscheiben

225

Spannelemente

226

Hebelgestänge

227

Lagergehäuse

228

Längsausleger

229

Doppelhebel

230

unteres Ende von 229

231

oberes Ende 229

232

Führungskulisse

233

obere Führungsrolle

234

vertikaler Führungskanal

235

untere Führungsrolle

236

Wandungsabschnitt

237,237'

Hauptantriebsschwingen

238

Gelenkbolzen

239'

oberer Lagerpunkt

239

unterer Lagerpunkt

240

erster Winkelhebel

241

Schubstange

242

Schubstange

243

zweiter Winkelhebel

244

Antriebsmotor

245

Stabilisatorhebel

246

Stabilisatorhebel

247

Gelenkpunkt

248

Querstrebe

249

Vertikalführung

250

Hubantrieb

251

Kreuzschlittenanordnung

252

Querantrieb

253

Führung

254

vertikale Drehachse

255

Drehantrieb

256

Kraftfluß

257

Kraftfluß

Further details of the invention result from the more detailed illustration of the drawings, to which express reference is hereby made. Otherwise, however, the invention is not restricted to the exemplary embodiment shown and described. Rather, it also encompasses all professional further training within the framework of intellectual property rights claims.

1

Transfer or large part step press

2nd

Headpiece

3, 4, 5

Stand

6, 7

Pestle

8th

Sliding tables

9

Lifting device

10, 11

Processing / forming stage, press

12th

Upper tool

13

Lower tool

14

Part or workpiece

15

Telescopic feeder

16, 16 '

Feeder spider

17th

Suction cups

18th

Pick-up carriage for feeder spider

19th

3-way telescopic slide

20th

21

Ball screw system

22

drive

23

Feeder or cross slide

24th

Linear guide for cross slides

25th

Stake holder

26

Lifting device

27

transmission

28

wave

29

Timing belt pulleys

30th

Stakeout device

31

(Cross) drive

32

Spindle (thread or ball roller)

33

bracket

34

Timing belt

35

Clamps

36

Pulleys

37

Swivel axis

38

Segments, segment guides

39

Guided tours, guide stones

40

pinion

41

Tooth segment

42

1. Telescopic slide

43

holder

44

Support tube (1)

45

Gear motor

46

wave

47

2. Telescopic slide

48

3. Telescopic slide

49

Timing belt pulley

50

Pulleys

51

Timing belt (1st belt)

52

Clamps

53

Support tube (2)

54

Timing belt

55

Deflection pulleys

56, 56 '

Clamping

57

guide

58

drive

59

Timing belt

60, 60 '

Clamping

61

guide

62

Support tube (3)

63

Timing belt (swiveling spider)

64

Belt drive belt.

65

Pulleys

66, 67

Timing belt pulley

68

pivot point

69

drive

70

wave

71

Planetary gear

72

casing

73

pivot point

74

Pinion shaft

75

Tooth segment

76

Management system

77

Linear guide

78

Part transport direction

79

Articulated arm

80

1. joint part

81

2. Joint part

82

Ball joint

83

Drive (turn articulated arm)

84

Timing belt pulley

85

Timing belt

86

Timing belt pulley

87

Housing 1. Joint part

88

Timing belt pulley

89

Timing belt

90

Timing belt pulley

91

Sleeve

92

Sleeve

93

Drive swiveling transport direction

94

Drive swivels transversely to the direction of transport

95

Timing belt drive

96

Timing belt drive

97

arrow

98

Articulated arm

99

Feeder traverse

100

Timing belt

101

Timing belt pulley

102

Spline

103

Pinion

104

gear

105

2. Joint part

106

Housing 2nd joint part

107

Sleeve

108

Timing belt pulley

109

Sleeve

110

Timing belt

111

Timing belt pulley

112

Feeder spider bracket

113

drive

114

Angular gear

115

wave

116

Toothed belt or gear drive

117

wave

118

Timing belt drive

119

Timing belt drive

120

engine

121

Timing belt drive

122

Sleeve

123

Timing belt

124

Timing belt pulley

125

drive

126

Angular or distribution gear

127

Timing belt pulley

128

Timing belt

129

Timing belt pulley

130

drive

131

Timing belt pulley

132

Timing belt

133

Timing belt pulley

134

drive

135

Timing belt pulley

136

Timing belt

137

Timing belt pulley

138

Timing belt pulley

139

Timing belt

140

Timing belt pulley

141

Drive with angular gear

142

Spline

143

Transfer case

144

Timing belt pulley

145

Timing belt

146

Timing belt pulley

147

Timing belt pulley

148

Timing belt

149

Timing belt pulley

150

Drive with angular gear

151

Timing belt pulley

152

Timing belt

153

Timing belt pulley

154

drive

155

Timing belt pulley

156

Timing belt

157

Timing belt pulley

158

drive

159

Timing belt pulley

160

Timing belt

161

Timing belt pulley

162

drive

163

Angular gear

164

crank

165

Cross lever

166

Parallelogram linkages

167

carriage

168

Bearing plates

169

Planet pinion

170

Sun gear

171

Ring gear

172

Drive lever

173

Cross lever

174

Timing belt pulley

175

Timing belt

176

Timing belt pulley

177

Collar bolts

178

Swivel drive

179

Timing gear pulley

180

Timing belt

181

Timing belt pulley

182

wave

183

Timing belt pulley

184

Timing belt

185

Timing belt pulley

186

pinion

187

Tooth segment

188

drive

189

Angular gear

190

Vertical guides

191

Horizontal guides

192

drive

193

Ball screw system

194

Angular gear

195

drive

196

Longitudinal arm

197

198

Swiveling device

199

200

Cam gear

201

Press drive

202

Feeder drive

203

drive shaft

204

Feed curve

205

Stroke curve

206

Sliding lever

207

Lifting lever

208

Superposition gear

209

drive

210

Tilt drive

211

Angle-driven step drive

212

Spider change car

213

Tooth segment

214

gear

215

Bevel gear

216

Spline

217

Tab

218

bar

219

Drive swiveling transport direction

220

drive

221

Timing belt pulley

222

Timing belt

223

Pulleys

224

Timing belt pulleys

225

Clamping elements

226

Lever linkage

227

Bearing housing

228

Longitudinal boom

229

Double lever

230

lower end of 229

231

upper end 229

232

Leadership backdrop

233

upper guide roller

234

vertical guide channel

235

lower guide roller

236

Wall section

237.237 '

Main drive swing

238

Hinge pin

239 '

upper bearing point

239

lower bearing point

240

first angle lever

241

Push rod

242

Push rod

243

second angle lever

244

Drive motor

245

Stabilizer lever

246

Stabilizer lever

247

Hinge point

248

Cross strut

249

Vertical guidance

250

Linear actuator

251

Cross slide arrangement

252

Transverse drive

253

guide

254

vertical axis of rotation

255

Rotary drive

256

Power flow

257

Power flow

Claims (43)

Transport system for transporting workpieces through processing stations of a forming machine (1) such as press, press line, large-part step press or the like, with at least one transfer device (15) that receives the workpiece and transports it in time with the forming machine (1), which is above the level of the Workpiece transport of the forming machine (1) is attached, the transfer device (15) removing the workpiece (14) from a processing stage (10, 11) and transporting it in a lifting movement and a longitudinal movement to the subsequent processing station, characterized in that the between two processing stations ( 10, 11) provided transfer device (15) is designed as a feeder mechanism (15) for carrying out a multi-axis workpiece transport movement, which comprises a transport device (19) for the workpieces (14) which connects the machining stations (10, 11) directly without intermediate storage, the feeder mechanism (15) at least a pivoting device (198; 38-41; 18, 63-68; 73-76; 82, 93-96; 112; 134-140; 178 - 185, 195, 210, 219), which performs a change in position of the workpiece (14) adapted to the required position of the workpiece (14) in the subsequent processing station during the transport process. Transport system according to Claim 1, characterized in that the feeder mechanism (15) as a telescopic feeder (15) with a transport device (19) designed as a multiple telescopic slide or as an articulated arm feeder (15 ') with one which rotates in a horizontal or vertical plane Articulated arm arrangement (79, 98) designed transport device (19) or as a parallelogram feeder (15 '') with a transport device (19) having a parallelogram linkage (166). Transport system according to claim 1 or 2, characterized in that the workpiece holder is designed as a feeder spider (16) which can be pivoted with the transport device via a holder carriage (18), a support joint (82) or a feeder spider holder (112) or the like (19) is connected. Transport system according to one of Claims 1, 2 or 3, characterized in that the transport device (19) has at least one, preferably two pivoting devices (198; 38-41; 18, 63-68; 73-76; 82, 93-96; 112 ; 134 - 140; 178 - 185, 195, 210, 219), which has a pivoting movement in and against and / or transverse to the workpiece transport direction (78), the pivoting device preferably carrying out an arcuate pivoting device about a horizontal longitudinal axis (37) and / or about a horizontal transverse axis (68, 73). Transport system according to one of the preceding claims, characterized in that the transport device (19) can be adjusted in height by means of a lifting device (9, 26; 21, 22, 190; 158-161). Transport system according to one of the preceding claims, characterized in that the feeder mechanism (15) is mounted transversely displaceably in a holder (33, 99) with a transverse drive (31, 32) which is oriented transversely to the workpiece transport direction (78). Transport system according to one of the preceding claims, characterized in that the feeder mechanism (15) comprises a feeder carriage (23) which on a longitudinal arm (196) causes a longitudinal displacement of the transport device (19) and / or the lifting device (9, 26, 158-161 , 158-161) in the workpiece transport direction (78) between the processing stations (10, 11). Transport system according to claim 7, characterized in that the longitudinal arm (196) has a horizontal drive (154-157) for the feeder carriage (23) and that a vertical drive is provided for a lifting device (26, 158-161, 220-225), wherein the drives are preferably designed as belt drives. Transport system according to claim 7 or 8, characterized in that the lifting device (26) preferably comprises a lifting column which can be adjusted in height via a belt drive (34) with toothed belt pulley (29) and deflection rollers (36). Transport system according to one of the preceding claims, characterized in that the transport of the workpieces (14) between two processing stations (10, 11) solely by a pivoting movement of the transport unit (19) with shorter transport routes or by a superimposed longitudinal displacement of the transport device (19) on the longitudinal arm (196) with longer transport routes. Transport system according to claim 2, characterized in that the telescopic feeder (15) is designed as a longitudinal transport device (19) with a triple telescopic slide (42, 47, 48). Transport system according to claim 11, characterized in that the longitudinal transport device (19) comprises a first telescopic slide (42) which is arranged with respect to the Longitudinal workpiece movement (78) is fixed in place on a lifting device (26) that the first telescopic slide (42) via longitudinal guides (57) or the like with a second telescopic slide (47) and this via further longitudinal guides (61) or the like with a third Telescopic carriage (48) is connected and that the longitudinal displacement of the second (47) and third (48) telescopic carriage is preferably carried out by means of belt drives (49-52) or (54-56) or the like. Transport system according to claim 1 or 4, characterized in that a first pivot mechanism for carrying out an arcuate transverse movement about a horizontal pivot axis (37) oriented in the workpiece transport direction (78) is arranged between the longitudinal transport device (19) and the lifting device (26), the Longitudinal transport device (19) is mounted in an arcuate segment guide (38, 39) and can be pivoted transversely to the workpiece transport direction (78) by means of a toothed segment / pinion shaft drive (40, 41, 45, 46). Transport system according to one of Claims 1, 4 or 13, characterized in that a second swivel mechanism for carrying out an arcuate longitudinal movement about a horizontal swivel axis (73) arranged transversely to the workpiece transport direction (78) on a receiving carriage (18) for a feeder spider (16 ) is provided, the feeder spider (16) being mounted in an arcuate guide system (76) and being longitudinally pivotable in the workpiece transport direction (78) by means of a toothed segment / pinion shaft drive (74, 75). Transport system according to claim 1, 4 or 13, characterized in that a further swivel mechanism for carrying out a swivel movement about a horizontal swivel axis (68) arranged transversely to the workpiece transport direction (78) is provided for a feeder spider (16), the swivel axis (68 ) corresponds to the pivot point of the feeder spider (16) and the pivoting is preferably carried out by means of a belt drive (63-67) and preferably a gear and in particular a planetary gear (71) is arranged between the belt drive (63-67) and feeder spider (16). Transport system according to one of claims 4, 13 to 15, characterized in that the pivoting movement of the pivoting mechanisms (198) takes place by means of program-controlled drives (45, 69, 93, 94, 219). Transport system according to claim 12, characterized in that belt drives (59, 60, 60 ') are provided for the telescopic slides (42, 47, 48), which are in particular connected to one another in such a way that the Add speeds v₁, v₂, and v₃ during workpiece transport. Transport system according to one of Claims 1 to 10, characterized in that the articulated arm feeder (15 ') comprises an articulated arm (79) which can be pivoted in a horizontal plane as the transport device (19) and which comprises a first (80) and a second (81) articulated part at the end of which there is a support joint (82, 112) for a feeder spider (16) for performing a pivoting movement in two degrees of freedom, an additional rotational movement of the workpiece (14) being provided about a vertical axis of rotation. Transport system according to claim 18, characterized in that the articulated arm (79) has a toothed belt drive (83 - 90) which brings about an inevitable rotational movement of the first and second articulated parts (80, 81 and 80, 105). Transport system according to one of claims 4, 18 or 19, characterized in that the second joint part (81) comprises two drives (93, 94) which are connected to the supporting joint (82) via toothed belt drives (95, 96) and deflection gears, wherein the drive (93) pivots the support member (82) and thus the feeder spider (16) in and against the workpiece transport direction (78) and the drive (94) pivots the support member (82) transversely to the workpiece transport direction (78). Transport system according to one of claims 1 to 10, 18 to 20, characterized in that the articulated arm feeder (15 ') comprises a horizontally oriented articulated arm (98) which has a holder (112) in the front region of the second articulated part (105) an arcuate tooth segment (41) for performing a pivoting movement of the workpiece (14). Transport system according to one of claims 1 to 10, 18 to 21, characterized in that a stationary toothed belt (100) is provided between two processing stations (10, 11), which along a horizontal workpiece transport step (78) of the articulated arm (98) of the longitudinal arm (196) is operatively connected to a toothed belt pulley (101) with spline shaft (102), the spline shaft (102) driving the belt drive of the first and second joint parts (80, 105) via toothed pinion (103) and toothed wheel (104) and wherein a predetermined translation of the toothed belt drive determines the sequence of movements of the first and second joint parts (80, 105). Transport system according to claim 22, characterized in that a belt drive (121, 120) is provided on the first articulated part (80), which via a further belt drive (108, 123, 124) causes a rotation of the holder (112) about a vertical axis of rotation. Transport system according to claim 22 or 23, characterized in that a belt drive (113, 119), a second belt drive (116) and a further belt drive (118) are provided on the joint part (80, 81) for driving the toothed pinion (40) with toothed segment (41), for pivoting the pivoting device (198) about a horizontal axis of rotation (73). Transport system according to one of Claims 1 to 10, characterized in that the articulated arm feeder (15 ') comprises an articulated arm (79') which can be pivoted in a vertical plane as the transport device (19), preferably two parallel first articulated parts (80) rotatable in one , are preferably mounted on a longitudinal arm (196) and / or on a lifting device height adjustable carriage (23) and wherein the second joint part (81) is rotatably mounted between the two first joint parts (80). Transport system according to claim 25, characterized in that the joint parts (80, 81) are driven by belt drives, preferably a swivel drive (134-140) for pivoting the feeder spider (16) about a horizontal axis of rotation (68). Transport system according to one of claims 1 to 10, characterized in that an articulated arm feeder (15 ') is arranged in a stationary manner in the workpiece transport direction (78) between two processing stations (10, 11), a drive (141) with spline shaft (142) for the belt drive of the first and second articulated part (80, 81) of the articulated arm (79) is provided, wherein preferably a lifting mechanism (26) for the transport device (19) and / or a swivel mechanism (150 - 153) for the feeder spider (16) are provided. Transport system according to one of claims 1 to 10, characterized in that the parallelogram feeder (15 '') is arranged in a stationary manner or on a longitudinal arm (196) so that it can be moved longitudinally and / or transversely between two processing stations (10, 11), in particular a lifting drive (158 - 160) is provided for a vertical movement of the parallelogram feeder (15 '') on a feeder carriage (23). Transport system according to claim 26, characterized in that a drive (162, 188) with a gear (163, 189, 186) is provided which, via at least one crank (164) on a transverse lever (165) in a rotatably mounted parallelogram linkage (166) intervenes, the Parallelogram linkage (166) is articulated in its upper region on a vertically displaceable carriage (167). Transport system according to claim 29, characterized in that the parallelogram linkage (166) interacts with a gear (169-171, 194) which, by means of the drive (162) via a transverse lever (173) and a drive lever (172), performs an opposing, forced movement of the first and second joint parts (80, 81) at the lower end of the parallelogram linkage (166). Transport system according to one of the preceding claims 28 to 30, characterized in that a further swivel drive (178) is provided for carrying out a swivel movement about a swivel axis (68) of the feeder spider (16). Transport system according to claim 28, characterized in that a parallelogram feeder (15 '') arranged stationary between two processing stations (10, 11) has a drive in a horizontal (191) and vertical (190) guide for the slide (167) for the parallelogram linkage ( 166), a transverse drive (192) being provided for a lateral slide movement, which preferably brings about a lifting movement of the suction spider (16). Transport system according to one of the preceding claims, characterized in that the feeder mechanism (15) is driven by a cam mechanism (200) which can be driven mechanically in the forming cycle of the forming machine. Transport system according to claim 33, characterized in that the feed curve (204) is operatively connected to a rotatably mounted feed lever (206) on which a toothed segment (213) is fixedly connected, which drives a gear wheel (214) which drives a bevel gear (215 ) acts, which drives the superposition gear (208) via a spline shaft (216), which drives the transport device (19) via angular gear (211). Transport system according to claim 33 or 34, characterized in that a stroke drive on the feeder mechanism (15) takes place via a cam mechanism (200) driven by the forming machine, which executes a predetermined stroke and that the feeder height adjustment (for changing and or superimposing the lifting stroke) 21, 22) is designed as a variable production axis. Transport system according to one of claims 33 to 35, characterized in that for changing the transport step of the feeder mechanism (15) into the force fit between Cam gear (200) and transport device (19), a superposition gear (208) is interposed, which is preferably driven by a programmable servo motor (209) for step compensation. Transport system according to one of the preceding claims, characterized in that the position of the workpieces is changed via programmable servo motors (210, 219). Transport system according to claim 1, 2 or 28, characterized in that a feeder mechanism (15, 15 '' ') consisting of a lever linkage (226) is arranged between two processing stations and has a substantially horizontal longitudinal boom (228 ) or the like is connected, the longitudinal boom (228) being arranged telescopically and / or longitudinally displaceably on the lever linkage (226) and in turn having a receptacle carriage (18) which can be displaced thereon for fastening a feeder spider (16). Transport system according to claim 38, characterized in that the lever linkage (226) is fastened to a cross slide (251) or an associated bearing housing (227) which is adjustable in height and / or can be moved transversely between the processing stations. Transport system according to claim 38, characterized in that the lever linkage (226) consists of a first double lever (229), at the lower end (230) of which the longitudinal boom (228) is guided and the upper free end (231) in a guide link (232 ) performs an oblique or arcuate upward and mirror-inverted downward movement which, in the central region, acts on the side of the double lever (229) in its central region, two parallel main drive rockers (237, 237 ') which engage in a lower bearing point (239) in a bearing housing (227) are fixed in position with respect to this and that the main drive rocker (237, 237 ') by means of a swivel drive (241 to 244) perform a swivel movement for converting the double lever (229) from one tool stage (10) to the next tool stage (11), preferably the double lever (229) and / or the main drive rocker arm (237, 237 ') is assigned a stabilizer lever (245, 246) arranged parallel thereto are that form a parallelogram. Transport system according to claim 40, characterized in that the swivel drive (244) for the main drive rocker (237, 237 ') takes place by means of at least two essentially vertically arranged push rods (241, 242), the ends of which are mounted in angle levers (240, 243) are, wherein the upper angle lever (243) can be rotated by means of a swivel drive motor (244). Transport system according to one of claims 38 to 41, characterized in that the longitudinal boom (228) is mounted in a linear guide (77) so as to be longitudinally displaceable on the lever linkage (226) or an associated support tube (44 '), a first toothed belt drive for the passage the longitudinal movement of the longitudinal boom (228) in relation to the lever linkage (226) or support tube (44 '), a second toothed belt drive for carrying out a longitudinal movement of a receiving carriage (18) for a feeder spider (16) in relation to the longitudinal arm (228) and a third toothed belt drive for Carrying out a rotating or swiveling movement of the feeder spider (16) attached to the receiving carriage (18) about a horizontal axis of rotation (68). Transport system according to claim 42, characterized in that, in addition to the drive for a rotary movement of the feeder spider (16) about a horizontal axis of rotation (68), a further drive with deflecting gear is provided on the longitudinal boom (228) for a rotary movement of the feeder spider (16) vertical axis of rotation (254).

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