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EP1320432A1 - Transfer device - Google Patents

Transfer device

Info

Publication number
EP1320432A1
EP1320432A1 EP00969365A EP00969365A EP1320432A1 EP 1320432 A1 EP1320432 A1 EP 1320432A1 EP 00969365 A EP00969365 A EP 00969365A EP 00969365 A EP00969365 A EP 00969365A EP 1320432 A1 EP1320432 A1 EP 1320432A1
Authority
EP
European Patent Office
Prior art keywords
drive wheel
transfer device
carriage
drive
slide
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.)
Granted
Application number
EP00969365A
Other languages
German (de)
French (fr)
Other versions
EP1320432B1 (en
Inventor
Hermann Hagel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1320432A1 publication Critical patent/EP1320432A1/en
Application granted granted Critical
Publication of EP1320432B1 publication Critical patent/EP1320432B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20323—Robotic arm including flaccid drive element

Definitions

  • the invention relates to a transfer device.
  • the removal of manufactured parts is carried out in a corresponding manner by suitable transfer devices.
  • the device picks up the finished part on the press, lifts it and transfers it in the horizontal direction to the next processing station or to an intermediate storage device on which the finished part is discontinued.
  • a typical application of transfer devices occurs in multi-stage presses, in which numerous workpieces, which are located at a respective processing station of the multi-stage press, are first gripped by a lateral movement of gripper rails and subsequently lifted by a vertical movement.
  • a feed device which is usually provided separately, provides the feed in the machining direction.
  • the transfer device for moving the so-called gripper rails has to implement two movements in mutually different directions.
  • Feed carriages are coupled firmly and transversely movable in the feed direction.
  • the gripper rails can be moved together in the feed direction by a feed drive.
  • the gripper rails are driven in opposite directions to the feed direction by means of a transverse drive.
  • a transverse drive By suitable guidance of a toothed belt, for example, the opposite transverse movement can be realized by a single drive.
  • this drive must be moved with the feed slide, so that the drive for the feed slide must be dimensioned comparatively large.
  • those cables that lead to the transverse drive have to move constantly during operation, which endangers the integrity of the cables or requires expensive protective measures.
  • DE 43 09 642 AI describes a transfer device in which gripping devices are driven by individual motors in the axes. The transmission of the movement is realized by toothed belts that are constantly engaged. In this case too, the drive motors have to be moved at least partially, which leads to the problems described above.
  • a transfer device in which a carriage is moved by a fixed motor via an endless belt fixedly attached to the carriage.
  • the lifting and lowering of a plunger in the carriage is carried out by a likewise fixed lifting drive, which is guided over the carriage and in particular over its plunger via a further belt.
  • the invention has for its object to provide a simply designed and easy-to-operate transfer device in which two movements with different directions can be realized independently of one another with fixed and particularly small-sized motors.
  • the transfer device has a guide on which a carriage can be moved.
  • the guide on which the carriage can be moved is usually designed to be stationary.
  • the leadership with respect to a fixed Frame or frame is movable in order to bring about a movement in a third direction by means of the movable guide, in addition to the two directions which are realized by means of the transfer device according to the invention.
  • a plunger can be moved on the slide in a direction that differs from the direction of movement of the slide.
  • the term “plunger” indicates that the plunger will usually move in the vertical direction with respect to the slide, while the slide usually moves in the horizontal direction.
  • the transfer device could be designed in such a way that the slide is moved horizontally, and the plunger is essentially perpendicular to the direction of travel of the slide, but is also horizontal. Even if the transfer device is designed in such a way that two independent, horizontal movements are realized, the device unfolds its advantages.
  • the so-called carriage could be vertically movable, and the plunger could be horizontal in any direction.
  • two movements can be realized by a particularly simple and less susceptible device in that two motors are provided which are at least fixed with respect to the slide.
  • the two motors drive a first and a second drive wheel section, which together with a third drive wheel section can be rotated together, but are non-rotatably provided on the carriage with respect to one another.
  • the drive wheel sections are preferably fixedly attached to a common shaft or rotatably provided together on an axis.
  • the three Drive wheel sections not movable with respect to each other. According to the invention, it is conceivable that all three drive wheel sections are provided on a common, comparatively wide drive wheel. However, it is preferred and therefore described accordingly below that the three drive wheel sections are provided on separate drive wheels.
  • Traction means in particular a belt or a chain, are engaged on opposite sides with the first and second drive wheel sections.
  • the first or second drive wheel section is driven on its upper side
  • the other drive wheel section is driven on its lower side.
  • all drive wheels can be rotated together by operating the two drive motors in opposite directions.
  • the two traction means are in engagement with the respective drive wheel section on the opposite sides and are held in engagement by suitable measures.
  • the traction means are wrapped around the respective drive wheel section at least in sections.
  • the traction means for example a toothed belt, can be guided around and around half of the circumference of a drive wheel section before and after the respective drive wheel.
  • the other traction means is correspondingly wrapped around a part of the drive wheel section on the opposite side.
  • flexible means such as B. timing belts or chains are particularly suitable. In principle, however, it is also conceivable to shift a toothed rack by means of a suitable drive, said rack being in engagement with the respective drive wheel section on a suitable side.
  • the first motor Due to the opposite engagement of the respective traction mechanism via the first or second drive wheel, the first motor must be driven in the opposite direction to the second motor in order to realize a rotation of the shaft in the slide by means of the engagement between the respective traction mechanism and the drive wheel , It is fundamentally conceivable here to provide a single motor with two drive wheels which can be driven in the same direction on the one hand and in opposite directions on the other hand by a suitable, switchable gear. With such an arrangement, the drive movements in the transfer device according to the invention can be realized by a single motor. Such an arrangement also corresponds to the basic idea of the invention, even if two separate motors are mentioned below.
  • the joint rotation of the first and second drive wheel sections described above also drives the third drive wheel section, which is drivingly connected to the plunger, so that the plunger is moved with respect to the slide by rotation of the third drive wheel can be.
  • the drive wheel will preferably be designed as a gearwheel which engages with a toothed rack or a toothed belt which are fixedly fastened in or on the tappet.
  • the movement of the ram with respect to the slide can be achieved according to the invention by suitable operation of the two motors.
  • the two drive motors are not driven in the opposite direction, but in such a way that the two in pull in the opposite direction around the two drive wheels traction means in the same direction on the two drive wheels. Since the traction means, as mentioned, are guided on opposite sides over the drive wheels, one traction means pulls "top” on the associated drive wheel, so to speak, while the other traction means pulls the drive wheel “bottom” in the same direction. However, this does not produce any rotation of the common shaft, rather the carriage is moved by the interaction of the two drive motors.
  • the last-mentioned aspect is a particular advantage of the transfer device according to the invention in addition to the fact that the two motors can be designed to be stationary.
  • the two motors work together in the realization of all movements.
  • both motors pull on the respective traction means on the respective drive wheel and thus on the slide as a whole in order to move it together.
  • the rotation of the third drive wheel, and thus the movements of the tappet with respect to the slide are achieved by the interaction of the two motors.
  • the motors can be designed to be particularly small, since neither of the two motors is provided "alone" for the movement of the slide or the plunger.
  • both motors can be fixed, at least with respect to the slide, so that neither of the two motors has to be designed to move the other motor together with the element actually to be moved, that is to say the slide.
  • the transfer device according to the invention does not require any cables that would have to be routed to a moving motor. This ensures the integrity of the cables and eliminates them elaborate protective measures for the cables subject to constant movement and in particular bending.
  • the drive wheel sections are preferably provided as separate drive wheels, which leads to the advantage that the respective traction means engage with the respective drive wheel at locations which are separated from one another and cannot come into conflict with one another.
  • the two drive motors are each assigned a device for controlling the path of the motor.
  • a path control of the respective motor is understood to mean that a precise assignment in a very fine grid is used to determine at what point in time the device moved by the motor is at which location. This technology enables the movements of the two motors to be controlled in such a way that their output deviates from one another to such a small extent that no undesired movements are to be feared.
  • both motors must pull the movable carriage simultaneously with movements that are precisely coordinated with one another in order to move the carriage. If the Movement of one of the two motors deviates from that of the other motor, this leads, as explained above, to an at least slight rotation of the axis on which all drive wheels are located. Such a rotation would trigger an at least slight movement of the plunger with respect to the slide, which is undesirable and is particularly dangerous. This can be prevented and the reliable and trouble-free operation of the transfer device according to the invention ensured by the preferably provided path control and the precise movement control of the two drive motors achieved thereby.
  • Toothed belts can, however, be designed for the purpose according to the invention in such a way that their elongation is kept within reasonable limits under load.
  • the traction means in particular the toothed belts, must be guided over comparatively long distances, namely over the travel path of the carriage and back to the fixed motors.
  • a guide for the traction means This guide extends parallel to the direction of movement of the slide to a certain extent to the side of the respective traction device and guides at least one specific point on the traction device.
  • the guide is preferably designed so that it guides a lock, which is provided on the endless traction means, so preferably the endless toothed belt.
  • the lock which has a larger mass than the belt, so that it is susceptible to vibration, cannot move in a direction perpendicular to the guide. Vibrations that would endanger the movements are prevented. It should be noted that a guide is of course also conceivable in which an edge section of a traction device is guided over the entire length of free sections.
  • the driving connection between the third drive wheel and the tappet has proven to be particularly advantageous to design the third drive wheel as a toothed wheel which is located with a toothed rack fixedly attached to the tappet or with a toothed belt firmly attached to the tappet at its ends and guided around the third drive wheel.
  • FIG. 1 shows a side view of the transfer device according to the invention
  • FIG. 2 shows a side view of a section of the transfer device according to the invention
  • 3 shows a side view of part of the transfer device according to the invention in a first embodiment
  • Fig. 4 is a plan view of part of the transfer device according to the invention in a second embodiment.
  • Fig. 1 an embodiment of the transfer device 10 according to the invention is shown, which as
  • Board feeder or so-called feeder is designed. Specifically, the transfer device 10 first raises individual boards from a board stack 12 in the vertical direction and then moves them to the left in the horizontal direction, in accordance with FIG. 1, in order to be deposited at the entry region, for example of a hydraulic press, by a movement in the vertical direction .
  • the gripping of individual boards is essentially realized by suction devices. After placing a board on the insertion area of a press or a punch, the gripper with the suction devices is raised at least slightly, by a horizontal movement, to the right according to FIG. 1, brought back over the stack of boards, and by lowering in the vertical direction the next one Board gripped.
  • a slide 14 which can be moved in the horizontal direction and on the other hand by a slide in the slide 14 in the vertical direction Ram 16 realized, at the lower end of which the gripper is attached.
  • the plunger 14 moves in a horizontal guide over a plurality of rollers 18, which can have a tapered shape and run in a guide rail that has a complementary shape. Similar roles are indicated with the reference number 20 for the movement of the plunger 16 in the carriage 14.
  • Fig. 1 can also be seen the two drive motors 22 which drive a drive wheel via suitable gears, each of which moves a belt which is guided in a manner explained in more detail below via drive wheels which are provided in the carriage.
  • FIG. 1 the entire guidance of the drive belts, which will be explained in more detail below, is shown in FIG. 1.
  • the straps run essentially in the form of a "U" turned by 90 ° and opened to the left.
  • the two belts are, as it were, guided one behind the other on the outside.
  • the two belts are guided to different levels in order, as explained in detail below, to implement engagement with the respective drive wheel sections on opposite sides.
  • the section of the carriage 14 according to FIG. 2 shows the belt guide in connection with the transfer device according to the invention.
  • a first belt 24 is guided over a first deflection roller 26 and further on the underside of a first drive wheel 28.
  • On one side to the right of the deflection wheel 30, the first belt 24 is at the same level as to the left of the first deflection roller 26, namely an "upper" level.
  • a second belt 32 is located at a "lower” level and is guided from the underside of a further deflection roller, which according to the illustration in FIG. 2 is “behind” the deflection roller 26 shown, to the top of a second drive wheel which is located is also located “behind” the drive wheel 28 shown.
  • the second belt 32 engages with the second drive wheel by means of the teeth.
  • Another deflection roller on the right side ensures that the second belt 32 is in turn guided from the top of the second drive wheel to the “lower” level.
  • the respective traction means are not guided around the respective drive wheel, as provided in the preferred embodiment, but are only in engagement with the respective drive wheel on opposite sides and are held in engagement at this point by suitable measures.
  • the described, opposite looping of two drive wheels enables the carriage 14 to be moved in the horizontal direction in the following manner.
  • the belts 24 and 32 it should be noted that they are designed as endless belts, so that they can be driven in both directions by the respectively assigned drive motor 22. If the belt 24 is now driven in such a way that it moves in the direction of the arrow A at the point at which the arrow A is located in FIG.
  • the plunger 16 is to be moved in the vertical direction with respect to the carriage 14, then the two belts are driven in different directions in such a way that the two drive wheels rotate with respect to the carriage 14, and a third drive wheel which rotates on a common shaft the other two drive wheels, also rotates so that the plunger can be moved.
  • the "lower" belt 32 wrapped upward is moved such that it moves in the direction of arrow B at the point under consideration, while the upper belt 24, which is looped "below", moves in the opposite direction of arrow A. moves, then the two drive wheels turn in the direction clockwise.
  • the respective drive motors 22 can be driven in such a way that the movement of the two belts is exactly opposite to one another, so that the carriage 14 stands still, and only the shaft with the three drive wheels is in the carriage 14 turns.
  • a further toothed belt 36 is guided laterally over two deflection rollers 34 in such a way via the third drive wheel, which cannot be seen in FIG. 2, that rotation of the drive wheel causes a displacement of the belt 36, the ends of which are fixed in the tappet 16 are attached so that the plunger moves accordingly.
  • the plunger moves upward when the drive wheel rotates clockwise, while it moves downward when the drive wheel is driven counterclockwise by the first belt 24 in the direction of arrow A and the second belt 32 in the opposite direction Arrow B moves.
  • a lock 38 of a belt is shown therein, by means of which the two ends of the belt are connected to one another, so that there is an endless toothed belt. Since this lock has a comparatively high mass and therefore tends to vibrate in particular on longer free sections, it is preferably provided that a guide is provided in which at least one section of the lock is guided such that the lock cannot move in the vertical direction , and thus vibrations are prevented. It should also be noted that the movements of the two belts between the above-described modes of operation, sliding method on the one hand and moving the ram on the other, can be appropriately superimposed.
  • the gripper provided on the plunger moves to a certain extent with the formation of a corner point, namely initially horizontally and vertically after stopping the horizontal movement.
  • the vertical movement can be started earlier, provided that there are no obstacles with which the gripper could collide, so that the corner described is shortened or rounded to a certain extent. This can easily be achieved by suitable control of the two motors, in that the movements required for lowering are overlaid in sections with the movements for moving.
  • Fig. 3 it is shown how the three drive wheels 28, 40 and 42 are fixedly mounted on a common shaft 44 which is rotatably mounted in the carriage 14.
  • the trapezoidal guides 46 can be seen, on which the slide in the embodiment shown is guided over suitably designed rollers 48.
  • the three drive wheels 28, 40, 42 are arranged next to one another in such a way that the opposite guidance of the belts 24 and 32 indicated in FIG. 3 does not lead to any mutual interference.
  • the third drive wheel 40 which rotates with the shaft 44, which is then rotatably driven when the two drive wheels 28, 42 are actuated in opposite directions.
  • the third drive wheel 40 transmits a vertical movement to the tappet 16 via a belt 36 which is guided to the side (see FIG. 2).
  • An alternative embodiment for the transmission of the movement to the plunger 16 is shown in FIG. 4.
  • the two drive wheels 28 and 42 are located to a certain extent within the carriage 40.
  • the common shaft 44 which is rotatably mounted in the carriage 14, extends outside the carriage, where the third drive wheel 40 is provided.
  • This drive wheel 40 is in engagement with a toothed rack 50 which is fixedly provided on the plunger 16, which is guided via suitable trapezoidal guides in rollers 52 which are rotatably provided on the plunger 14.
  • the movement of the plunger 16 and in particular the gripping device provided thereon can be realized in two mutually perpendicular directions of movement by means of a simple and compact transfer device. It should also be noted that, as shown in FIG. 4, the plunger 16 is moved perpendicular to the plane of the drawing, and the carriage 14 is moved from top to bottom on the associated guide according to FIG. 4.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Friction Gearing (AREA)
  • Vending Machines For Individual Products (AREA)
  • Adjustment And Processing Of Grains (AREA)
  • Control Of Conveyors (AREA)

Abstract

The invention relates to a transfer device including a guiding mechanism, a slide which can move on the guiding mechanism, a plunger which can move on the slide, and first, second and third drive wheel sections which are provided on the slide in such a way that they can be rotated together, but not in relation to each other. The first and second drive wheel sections are respectively engaged with the drive wheel sections by means of traction mechanisms on opposite sides, and can be driven by a motor which is fixed in relation to the slide. The third drive wheel section is connected to the plunger in a driving manner.

Description

Transfereinrichtunα Transfereinrichtunα
Technisches GebietTechnical field
Die Erfindung betrifft eine Transfereinrichtung.The invention relates to a transfer device.
Insbesondere in Produktionsbetrieben, und hierbei insbesondere in Betrieben, die sich mit der Herstellung von Blechteilen befassen, ist regelmäßig eine Bewegung von Teilen in zwei unterschiedlichen Bewegungsrichtungen, die typischerweise zueinander senkrecht sind, erforderlich. Beispielsweise müssen Blechplatinen an Blechbearbeitungspressen und -stanzen von einem Platinenstapel in vertikaler Richtung aufgenommen und nachfolgend in horizontaler Richtung an die Presse zugeführt werden. An der Presse erfolgt üblicherweise in vertikaler Richtung das Absetzen der Platine. Die Zuführ- oder allgemein Transfereinrichtung kehrt dann durch eine Umkehrung der beschriebenen Bewegungen zu dem Platinenstapel zurück.In particular in production plants, and here in particular in plants dealing with the production of sheet metal parts, a movement of parts in two different directions of movement, which are typically mutually perpendicular, is regularly necessary. For example, sheet metal blanks on sheet metal processing presses and punches have to be picked up in a vertical direction from a blank stack and subsequently fed to the press in a horizontal direction. The board is usually set down on the press in the vertical direction. The feed or generally transfer device then returns to the stack of boards by reversing the movements described.
Das Entnehmen von gefertigten Teilen wird durch geeignete Transfereinrichtungen in entsprechender Weise durchgeführt . Insbesondere nimmt die Einrichtung das fertige Teil an der Presse auf, hebt es an und überführt es in horizontaler Richtung zu der nächsten Bearbeitungsstation oder einer Einrichtung zur Zwischenlagerung, an der das fertige Teil abgesetzt wird. Schließlich tritt ein typischer Anwendungsfall von Transfereinrichtungen in Mehrstufenpressen auf, in denen zahlreiche Werkstücke, die sich an einer jeweiligen Bearbeitungsstation der Mehrstufenpresse befinden, zunächst durch eine seitliche Bewegung von Greiferschienen ergriffen und nachfolgend durch eine vertikale Bewegung angehoben werden. Eine üblicherweise davon getrennt vorgesehene Vorschubeinrichtung sorgt für den Vorschub in Bearbeitungsrichtung. Auch in diesem Fall muss die Transfereinrichtung zur Bewegung der sogenannten Greiferschienen zwei Bewegungen in voneinander unterschiedlichen Richtungen realisieren.The removal of manufactured parts is carried out in a corresponding manner by suitable transfer devices. In particular, the device picks up the finished part on the press, lifts it and transfers it in the horizontal direction to the next processing station or to an intermediate storage device on which the finished part is discontinued. Finally, a typical application of transfer devices occurs in multi-stage presses, in which numerous workpieces, which are located at a respective processing station of the multi-stage press, are first gripped by a lateral movement of gripper rails and subsequently lifted by a vertical movement. A feed device, which is usually provided separately, provides the feed in the machining direction. In this case too, the transfer device for moving the so-called gripper rails has to implement two movements in mutually different directions.
Stand der TechnikState of the art
Aus der DE 34 01 703 AI ist eine Vorschubeinrichtung zum schrittweisen Transport insbesondere in Pressen bekannt, die zwei Greiferschienen aufweist, die mit einemFrom DE 34 01 703 AI a feed device for step-by-step transport, in particular in presses, is known, which has two gripper rails, which with one
Vorschubschlitten in Vorschubrichtung fest und quer beweglich gekuppelt sind. Durch einen Vorschubantrieb sind die Greiferschienen in Vorschubrichtung gemeinsam bewegbar. Quer zur Vorschubrichtung sind die Greiferschienen mittels eines Querantriebs gegenläufig angetrieben. Durch eine geeignete Führung beispielsweise eines Zahnriemens kann die gegenläufige Querbewegung durch einen einzigen Antrieb realisiert werden. Dieser Antrieb muss jedoch mit dem Vorschubschlitten mitbewegt werden, so dass der Antrieb für den Vorschubschlitten vergleichsweise groß dimensioniert werden muss. Ferner müssen sich diejenigen Kabel, die zu dem Querantrieb führen, während des Betriebs ständig bewegen, was die Unversehrtheit der Kabel gefährdet oder aufwendige Schutzmaßnahmen erforderlich macht. Die DE 43 09 642 AI beschreibt eine Transfereinrichtung, bei der sogenannte Greifzeuge durch Einzelmotoren in den Achsen angetrieben sind. Die Übertragung der Bewegung wird durch dauernd im Eingriff befindliche Zahnriemen realisiert. Auch in diesem Fall müssen die Antriebsmotoren zumindest teilweise mitbewegt werden, was zu den vorangehend beschriebenen Problemen führt .Feed carriages are coupled firmly and transversely movable in the feed direction. The gripper rails can be moved together in the feed direction by a feed drive. The gripper rails are driven in opposite directions to the feed direction by means of a transverse drive. By suitable guidance of a toothed belt, for example, the opposite transverse movement can be realized by a single drive. However, this drive must be moved with the feed slide, so that the drive for the feed slide must be dimensioned comparatively large. Furthermore, those cables that lead to the transverse drive have to move constantly during operation, which endangers the integrity of the cables or requires expensive protective measures. DE 43 09 642 AI describes a transfer device in which gripping devices are driven by individual motors in the axes. The transmission of the movement is realized by toothed belts that are constantly engaged. In this case too, the drive motors have to be moved at least partially, which leads to the problems described above.
Aus der DE 25 34 820 AI ist eine Transfereinrichtung bekannt, bei der ein Schlitten von einem feststehenden Motor über einen fest an den Schlitten angebrachten Endlosriemen verfahren wird. Das Anheben und Absenken eines Stößels in dem Schlitten erfolgt durch einen ebenfalls feststehenden Hubantrieb, der über einen weiteren Riemen über den Schlitten und insbesondere über dessen Stößel geführt ist.From DE 25 34 820 AI a transfer device is known in which a carriage is moved by a fixed motor via an endless belt fixedly attached to the carriage. The lifting and lowering of a plunger in the carriage is carried out by a likewise fixed lifting drive, which is guided over the carriage and in particular over its plunger via a further belt.
Darstellung der ErfindungPresentation of the invention
Der Erfindung liegt die Aufgabe zugrunde, eine einfach gestaltete und einfach zu betreibende Transfereinrichtung zu schaffen, bei der mit feststehenden und besonders klein dimensionierbaren Motoren zwei Bewegungen mit unterschiedlichen Richtungen unabhängig voneinander realisiert werden können.The invention has for its object to provide a simply designed and easy-to-operate transfer device in which two movements with different directions can be realized independently of one another with fixed and particularly small-sized motors.
Die Lösung dieser Aufgabe erfolgt durch die im Anspruch 1 beschriebene Transfereinrichtung.This object is achieved by the transfer device described in claim 1.
Demzufolge weist die erfindungsgemäße Transfereinrichtung eine Führung auf, an der ein Schlitten bewegbar ist. Üblicherweise wird die Führung, an der der Schlitten bewegbar ist, feststehend ausgebildet sein. Es ist jedoch ebenso denkbar, dass die Führung bezüglich eines feststehenden Gestells oder Rahmens bewegbar ist, um mittels der bewegbaren Führung eine Bewegung in einer dritten Richtung, zusätzlich zu den beiden Richtungen, die mittels der erfindungsgemäßen Transfereinrichtung realisiert werden, zu bewerkstelligen. An dem Schlitten ist ein Stößel in einer Richtung bewegbar, die sich von der Bewegungsrichtung des Schlittens unterscheidet. Hierbei deutet der Begriff "Stößel" an, dass der Stößel sich bezüglich des Schlittens üblicherweise in vertikaler Richtung bewegen wird, während sich der Schlitten üblicherweise in horizontaler Richtung bewegt. Es sei jedoch angemerkt, dass durch diese Begriffe in keiner Weise die Anwendung der erfindungsgemäßen Transfereinrichtung auf diesen Fall beschränkt wird. Beispielsweise könnte die Einrichtung so gestaltet sein, dass der Schlitten horizontal verfahren wird, und der Stößel zu der Verfahrrichtung des Schlittens im Wesentlichen senkrecht, jedoch ebenso horizontal. Auch bei einer Ausbildung der Transfereinrichtung derart, dass zwei voneinander unabhängige, horizontale Bewegungen realisiert werden, entfaltet die Vorrichtung ihre Vorteile. Ferner könnte der sogenannte Schlitten vertikal beweglich sein, und der Stößel in einer beliebigen Richtung horizontal.Accordingly, the transfer device according to the invention has a guide on which a carriage can be moved. The guide on which the carriage can be moved is usually designed to be stationary. However, it is also conceivable that the leadership with respect to a fixed Frame or frame is movable in order to bring about a movement in a third direction by means of the movable guide, in addition to the two directions which are realized by means of the transfer device according to the invention. A plunger can be moved on the slide in a direction that differs from the direction of movement of the slide. Here, the term “plunger” indicates that the plunger will usually move in the vertical direction with respect to the slide, while the slide usually moves in the horizontal direction. However, it should be noted that these terms in no way limit the use of the transfer device according to the invention in this case. For example, the device could be designed in such a way that the slide is moved horizontally, and the plunger is essentially perpendicular to the direction of travel of the slide, but is also horizontal. Even if the transfer device is designed in such a way that two independent, horizontal movements are realized, the device unfolds its advantages. Furthermore, the so-called carriage could be vertically movable, and the plunger could be horizontal in any direction.
Durch die erfindungsgemäße Transfereinrichtung können zwei Bewegungen durch eine besonders einfache und wenig störungsanfällige Einrichtung dadurch realisiert werden, dass zwei zumindest bezüglich des Schlittens feststehende Motoren vorgesehen sind. Die beiden Motoren treiben einen ersten und einen zweiten Antriebsrad-Abschnitt an, die zusammen mit einem dritten Antriebsrad-Abschnitt gemeinsam drehbar, jedoch bezüglich einander undrehbar an dem Schlitten vorgesehen sind. Bevorzugt sind die Antriebsrad-Abschnitte fest an einer gemeinsamen Welle angebracht oder zusammen an einer Achse drehbar vorgesehen. Mit anderen Worten sind die drei Antriebsrad-Abschnitte bezüglich einander nicht bewegbar. Erfindungsgemäß ist denkbar, dass sämtliche drei Antriebsrad- Abschnitte an einem gemeinsamen, vergleichsweise breiten Antriebsrad vorgesehen sind. Es wird jedoch bevorzugt und deshalb nachfolgend entsprechend beschrieben, dass die drei Antriebsrad-Abschnitte an getrennten Antriebsrädern vorgesehen sind. Mit dem ersten und zweiten Antriebsrad- Abschnitt sind Zugmittel, insbesondere ein Riemen oder eine Kette, an entgegengesetzten Seiten in Eingriff. Insbesondere wird der erste oder zweite Antriebsrad-Abschnitt an seiner Oberseite angetrieben, und der andere Antriebsrad-Abschnitt wird an seiner unteren Seite angetrieben. Dies bedeutet, dass eine gemeinsame Drehung sämtlicher Antriebsräder durch einen entgegengesetzten Betrieb der beiden Antriebsmotoren realisiert werden kann. Grundsätzlich ist es denkbar, dass die beiden Zugmittel an den entgegengesetzten Seiten mit dem jeweiligen Antriebsrad-Abschnitt in Eingriff sind und durch geeignete Maßnahmen in Eingriff gehalten werden. Es wird jedoch bevorzugt, dass die Zugmittel zumindest abschnittsweise um den jeweiligen Antriebsrad-Abschnitt geschlungen sind. Beispielsweise kann durch geeignete Umlenkrollen vor und nach dem jeweiligen Antriebsrad das Zugmittel, beispielsweise ein Zahnriemen, auf etwa dem halben Umfang eines Antriebsrad-Abschnitts um diesen geführt werden. Das andere Zugmittel wird entsprechend auf der entgegengesetzten Seite um einen Teil des Antriebsrad- Abschnitts geschlungen. Zu den Zugmitteln sei noch angemerkt, dass sich hierfür flexible Mittel, wie z. B. Zahnriemen oder Ketten besonders gut eignen. Grundsätzlich ist es jedoch ebenso denkbar, durch einen geeigneten Antrieb eine Zahnstange zu verschieben, die an einer geeigneten Seite mit dem jeweiligen Antriebsrad-Abschnitt in Eingriff ist. Aufgrund des entgegengesetzten Eingriffs des jeweiligen Zugmittels über das erste bzw. zweite Antriebsrad muss der erste Motor gerade in der anderen Richtung angetrieben werden als der zweite Motor, um mittels des Eingriffs zwischen dem jeweiligen Zugmittel und dem Antriebsrad eine Drehung der Welle in dem Schlitten zu realisieren. Hierbei ist es grundsätzlich denkbar, einen einzigen Motor mit zwei Antriebsrädern zu versehen, die durch ein geeignetes, umschaltbares Getriebe zum einen in der gleichen Richtung, und zum anderen in entgegengesetzten Richtungen antreibbar sind. Durch eine derartige Anordnung können die Antriebsbewegungen bei der erfindungsgemäßen Transfereinrichtung durch einen einzigen Motor realisiert werden. Eine derartige Anordnung entspricht ebenfalls dem erfindungsgemäßen Grundgedanken, auch wenn nachfolgend von zwei getrennten Motoren die Rede ist.By means of the transfer device according to the invention, two movements can be realized by a particularly simple and less susceptible device in that two motors are provided which are at least fixed with respect to the slide. The two motors drive a first and a second drive wheel section, which together with a third drive wheel section can be rotated together, but are non-rotatably provided on the carriage with respect to one another. The drive wheel sections are preferably fixedly attached to a common shaft or rotatably provided together on an axis. In other words, the three Drive wheel sections not movable with respect to each other. According to the invention, it is conceivable that all three drive wheel sections are provided on a common, comparatively wide drive wheel. However, it is preferred and therefore described accordingly below that the three drive wheel sections are provided on separate drive wheels. Traction means, in particular a belt or a chain, are engaged on opposite sides with the first and second drive wheel sections. In particular, the first or second drive wheel section is driven on its upper side, and the other drive wheel section is driven on its lower side. This means that all drive wheels can be rotated together by operating the two drive motors in opposite directions. In principle, it is conceivable that the two traction means are in engagement with the respective drive wheel section on the opposite sides and are held in engagement by suitable measures. However, it is preferred that the traction means are wrapped around the respective drive wheel section at least in sections. For example, by means of suitable deflection rollers, the traction means, for example a toothed belt, can be guided around and around half of the circumference of a drive wheel section before and after the respective drive wheel. The other traction means is correspondingly wrapped around a part of the drive wheel section on the opposite side. Regarding the traction means, it should also be noted that flexible means such as B. timing belts or chains are particularly suitable. In principle, however, it is also conceivable to shift a toothed rack by means of a suitable drive, said rack being in engagement with the respective drive wheel section on a suitable side. Due to the opposite engagement of the respective traction mechanism via the first or second drive wheel, the first motor must be driven in the opposite direction to the second motor in order to realize a rotation of the shaft in the slide by means of the engagement between the respective traction mechanism and the drive wheel , It is fundamentally conceivable here to provide a single motor with two drive wheels which can be driven in the same direction on the one hand and in opposite directions on the other hand by a suitable, switchable gear. With such an arrangement, the drive movements in the transfer device according to the invention can be realized by a single motor. Such an arrangement also corresponds to the basic idea of the invention, even if two separate motors are mentioned below.
Wie nachfolgend noch genauer erläutert wird, wird durch die oben beschriebene gemeinsame Drehung des ersten und zweiten Antriebsrad-Abschnitts auch der dritte Antriebsrad-Abschnitt angetrieben, der treibend mit dem Stößel verbunden ist, so dass durch Drehung des dritten Antriebsrades der Stößel bezüglich des Schlittens bewegt werden kann. Beispielsweise wird das Antriebsrad bevorzugt als Zahnrad ausgeführt werden, das mit einer Zahnstange oder einem Zahnriemen, die/der fest in oder an dem Stößel befestigt sind, in Eingriff ist. In der beschriebenen Weise kann erfindungsgemäß durch einen geeigneten Betrieb der beiden Motoren die Bewegung des Stößels bezüglich des Schlittens erreicht werden.As will be explained in more detail below, the joint rotation of the first and second drive wheel sections described above also drives the third drive wheel section, which is drivingly connected to the plunger, so that the plunger is moved with respect to the slide by rotation of the third drive wheel can be. For example, the drive wheel will preferably be designed as a gearwheel which engages with a toothed rack or a toothed belt which are fixedly fastened in or on the tappet. In the manner described, the movement of the ram with respect to the slide can be achieved according to the invention by suitable operation of the two motors.
Wenn nunmehr der Schlitten bewegt werden soll, werden die beiden Antriebsmotoren nicht in entgegengesetzter Richtung angetrieben, sondern derart, dass die beiden in entgegengesetzter Richtung um die beiden Antriebsräder geführten Zugmittel in der gleichen Richtung an den beiden Antriebsrädern ziehen. Da die Zugmittel, wie erwähnt, an entgegengesetzten Seiten über die Antriebsräder geführt sind, zieht das eine Zugmittel gewissermaßen "oben" an dem zugehörigen Antriebsrad, während das andere Zugmittel an dem Antriebsrad "unten" in der gleichen Richtung zieht. Hierdurch wird jedoch keine Drehung der gemeinsamen Welle erzeugt, vielmehr wird der Schlitten durch Zusammenwirkung der beiden Antriebsmotoren verfahren.If the carriage is now to be moved, the two drive motors are not driven in the opposite direction, but in such a way that the two in pull in the opposite direction around the two drive wheels traction means in the same direction on the two drive wheels. Since the traction means, as mentioned, are guided on opposite sides over the drive wheels, one traction means pulls "top" on the associated drive wheel, so to speak, while the other traction means pulls the drive wheel "bottom" in the same direction. However, this does not produce any rotation of the common shaft, rather the carriage is moved by the interaction of the two drive motors.
Der zuletzt genannte Aspekt ist ein besonderer Vorteil der erfindungsgemäßen Transfereinrichtung neben der Tatsache, dass die beiden Motoren feststehend ausgebildet werden können. Die beiden Motoren wirken nämlich bei der Realisierung sämtlicher Bewegungen zusammen. Wie zuletzt beschrieben, ziehen beide Motoren über das jeweilige Zugmittel an dem jeweiligen Antriebsrad und damit insgesamt an dem Schlitten, um diesen gemeinsam zu verfahren. Ferner wird, wie oben beschrieben, die Drehung des dritten Antriebsrades, und damit die Bewegungen des Stößels bezüglich des Schlittens durch Zusammenwirkung der beiden Motoren erreicht . Hierdurch können die Motoren besonders klein ausgelegt werden, da keiner der beiden Motoren "alleine" für die Bewegung des Schlittens oder des Stößels vorgesehen ist. Ferner können, wie erwähnt, beide Motoren zumindest bezüglich des Schlittens feststehend angebracht werden, so dass keiner der beiden Motoren dafür ausgelegt werden muss, den anderen Motor zusammen mit dem eigentlich zu bewegenden Element, also dem Schlitten zu bewegen. Ferner benötigt die erfindungsgemäße Transfereinrichtung keine Kabel, die zu einem bewegten Motor geführt werden müssten. Hierdurch ist die Unversehrtheit der Kabel sichergestellt, und es entfallen aufwendige Schutzmaßnahmen für die einer ständigen Bewegung und insbesondere Biegung unterworfenen Kabel .The last-mentioned aspect is a particular advantage of the transfer device according to the invention in addition to the fact that the two motors can be designed to be stationary. The two motors work together in the realization of all movements. As described last, both motors pull on the respective traction means on the respective drive wheel and thus on the slide as a whole in order to move it together. Furthermore, as described above, the rotation of the third drive wheel, and thus the movements of the tappet with respect to the slide, are achieved by the interaction of the two motors. As a result, the motors can be designed to be particularly small, since neither of the two motors is provided "alone" for the movement of the slide or the plunger. Furthermore, as mentioned, both motors can be fixed, at least with respect to the slide, so that neither of the two motors has to be designed to move the other motor together with the element actually to be moved, that is to say the slide. Furthermore, the transfer device according to the invention does not require any cables that would have to be routed to a moving motor. This ensures the integrity of the cables and eliminates them elaborate protective measures for the cables subject to constant movement and in particular bending.
Bevorzugte Weiterbildungen der erfindungsgemäßen Transfereinrichtung sind in den weiteren Ansprüchen beschrieben.Preferred developments of the transfer device according to the invention are described in the further claims.
Wie vorangehend erwähnt, sind die Antriebsrad-Abschnitte bevorzugt als getrennte Antriebsräder vorgesehen, was zu dem Vorteil führt, dass die jeweiligen Zugmittel an voneinander abgegrenzten Stellen mit dem jeweiligen Antriebsrad in Eingriff sind und nicht miteinander in Konflikt kommen können.As mentioned above, the drive wheel sections are preferably provided as separate drive wheels, which leads to the advantage that the respective traction means engage with the respective drive wheel at locations which are separated from one another and cannot come into conflict with one another.
Für die Bewegung der genannten Komponenten und insbesondere für eine besonders präzise und genaue Steuerung der Bewegungen hat sich eine Bahnsteuerung für die beiden Antriebsmotoren als vorteilhaft erwiesen. Demzufolge sind bei der erfindungsgemäßen Transfereinrichtung den beiden Antriebsmotoren jeweils eine Einrichtung zur Bahnsteuerung des Motors zugeordnet. Hierbei ist den Fachleuten geläufig, dass unter einer Bahnsteuerung des jeweiligen Motors verstanden wird, dass mittels einer genauen Zuordnung in einem sehr feinen Raster festgelegt wird, zu welchem Zeitpunkt sich die von dem Motor bewegte Einrichtung an welchem Ort befindet. Durch diese Technik können die Bewegungen der beiden Motoren derart gesteuert werden, dass ihr Ausgang in so geringem Umfang voneinander abweicht, dass keine unerwünschten Bewegungen zu befürchten sind. Im Zusammenhang mit der erfindungsgemäßen Transfereinrichtung ist hierbei zu beachten, dass beide Motoren gleichzeitig mit exakt aufeinander abgestimmten Bewegungen an dem verfahrbaren Schlitten ziehen müssen, um diesen zu bewegen. Wenn die Bewegung eines der beiden Motoren von derjenigen des anderen Motors abweicht, führt dies, wie oben erläutert, zu einer zumindest geringfügigen Drehung der Achse, auf der sich sämtliche Antriebsräder befinden. Eine derartige Drehung würde eine zumindest geringfügige Bewegung des Stößels bezüglich des Schlittens auslösen, was nicht erwünscht und insbesondere gefährlich ist. Durch die bevorzugt vorgesehene Bahnsteuerung und die dadurch erreichte präzise Bewegungsführung der beiden Antriebsmotoren kann dies verhindert und ein zuverlässiger und störungsfreier Betrieb der erfindungsgemäßen Transfereinrichtung gewährleistet werden.For the movement of the components mentioned and in particular for a particularly precise and precise control of the movements, a path control for the two drive motors has proven to be advantageous. Accordingly, in the transfer device according to the invention, the two drive motors are each assigned a device for controlling the path of the motor. It is known to those skilled in the art that a path control of the respective motor is understood to mean that a precise assignment in a very fine grid is used to determine at what point in time the device moved by the motor is at which location. This technology enables the movements of the two motors to be controlled in such a way that their output deviates from one another to such a small extent that no undesired movements are to be feared. In connection with the transfer device according to the invention, it should be noted here that both motors must pull the movable carriage simultaneously with movements that are precisely coordinated with one another in order to move the carriage. If the Movement of one of the two motors deviates from that of the other motor, this leads, as explained above, to an at least slight rotation of the axis on which all drive wheels are located. Such a rotation would trigger an at least slight movement of the plunger with respect to the slide, which is undesirable and is particularly dangerous. This can be prevented and the reliable and trouble-free operation of the transfer device according to the invention ensured by the preferably provided path control and the precise movement control of the two drive motors achieved thereby.
Wie vorangehend erwähnt, hat sich für die Zugmittel die Verwendung von Zahnriemen als besonders vorteilhaft herausgestellt. Es sei angemerkt, dass grundsätzlich auch Ketten oder beliebige vergleichbare Einrichtungen denkbar sind. Zahnriemen können jedoch für den erfindungsgemäßen Zweck derart ausgelegt werden, dass sich ihre Dehnung bei Belastung in vertretbaren Grenzen hält .As mentioned above, the use of toothed belts has proven to be particularly advantageous for the traction means. It should be noted that chains or any comparable devices are also conceivable in principle. Toothed belts can, however, be designed for the purpose according to the invention in such a way that their elongation is kept within reasonable limits under load.
An der erfindungsgemäßen Transfereinrichtung müssen die Zugmittel, also insbesondere die Zahnriemen, über vergleichsweise lange Strecken, nämlich über den Verfahrweg des Schlittens und zurück zu den feststehenden Motoren geführt werden. Um in vorteilhafter Weise zu verhindern, dass die Zugmittel dazu neigen, zwischen Umlenkpunkten, also auf den vergleichsweise langen, freien Stücken, zu schwingen, wird erfindungsgemäß bevorzugt, für die Zugmittel eine Führung vorzusehen. Diese Führung erstreckt sich parallel zu der Bewegungsrichtung des Schlittens gewissermaßen seitlich von dem jeweiligen Zugmittel und führt zumindest eine bestimmte Stelle des Zugmittels . Vorzugsweise ist die Führung so gestaltet, dass sie ein Schloss führt, das an dem Endlos- Zugmittel, also vorzugsweise dem Endlos-Zahnriemen vorgesehen ist. Hierdurch kann das Schloss, das eine verglichen mit dem Riemen größere Masse aufweist, so dass es schwingungsanfällig ist, sich nicht in einer Richtung senkrecht zu der Führung bewegen. Schwingungen, welche die Bewegungsabläufe gefährden würden, werden verhindert. Es sei angemerkt, dass selbstverständlich auch eine Führung denkbar ist, in der ein Randabschnitt eines Zugmittels auf der gesamten Länge freier Abschnitte geführt wird.On the transfer device according to the invention, the traction means, in particular the toothed belts, must be guided over comparatively long distances, namely over the travel path of the carriage and back to the fixed motors. In order to prevent in an advantageous manner that the traction means tend to oscillate between deflection points, ie on the comparatively long, free pieces, it is preferred according to the invention to provide a guide for the traction means. This guide extends parallel to the direction of movement of the slide to a certain extent to the side of the respective traction device and guides at least one specific point on the traction device. The guide is preferably designed so that it guides a lock, which is provided on the endless traction means, so preferably the endless toothed belt. As a result, the lock, which has a larger mass than the belt, so that it is susceptible to vibration, cannot move in a direction perpendicular to the guide. Vibrations that would endanger the movements are prevented. It should be noted that a guide is of course also conceivable in which an edge section of a traction device is guided over the entire length of free sections.
Für die treibende Verbindung zwischen dem dritten Antriebsrad und dem Stößel sind verschiedene Alternativen denkbar. Im Rahmen der Erfindung hat sich als besonders vorteilhaft erwiesen, das dritte Antriebsrad als Zahnrad auszubilden, das sich mit einer fest an dem Stößel angebrachten Zahnstange oder mit einem an seinen Enden fest an dem Stößel angebrachten und um das dritte Antriebsrad geführten Zahnriemen befindet.Various alternatives are conceivable for the driving connection between the third drive wheel and the tappet. In the context of the invention, it has proven to be particularly advantageous to design the third drive wheel as a toothed wheel which is located with a toothed rack fixedly attached to the tappet or with a toothed belt firmly attached to the tappet at its ends and guided around the third drive wheel.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Nachfolgend werden beispielhaft in den Zeichnungen dargestellte Ausführungsformen der Erfindung näher erläutert. Es zeigen:Embodiments of the invention illustrated in the drawings are explained in more detail below. Show it:
Fig. 1 eine Seitenansicht der erfindungsgemäßen Transfereinrichtung;1 shows a side view of the transfer device according to the invention;
Fig. 2 eine Seitenansicht eines Abschnitts der erfindungsgemäßen Transfereinrichtung; Fig. 3 eine Seitenansicht eines Teils der erfindungsgemäßen Transfereinrichtung in einer ersten Ausführungsform; und2 shows a side view of a section of the transfer device according to the invention; 3 shows a side view of part of the transfer device according to the invention in a first embodiment; and
Fig. 4 eine Draufsicht auf einen Teil der erfindungsgemäßen Transfereinrichtung in einer zweiten Ausführungsform.Fig. 4 is a plan view of part of the transfer device according to the invention in a second embodiment.
Ausführliche Beschreibung bevorzugter Ausführungsformen der ErfindungDetailed description of preferred embodiments of the invention
In Fig. 1 ist eine Ausführungsform der erfindungsgemäßen Transfereinrichtung 10 gezeigt, die alsIn Fig. 1 an embodiment of the transfer device 10 according to the invention is shown, which as
Platinenzuführeinrichtung oder sogenannter Feeder gestaltet ist. Im Einzelnen werden durch die Transfereinrichtung 10 von einem Platinenstapel 12 einzelne Platinen zunächst in vertikaler Richtung angehoben und dann in horizontaler Richtung, gemäß Fig. 1 nach links, verfahren, um an dem Eintrittsbereich beispielsweise einer hydraulischen Presse durch eine Bewegung in vertikaler Richtung abgelegt zu werden. Das Ergreifen einzelner Platinen wird im Wesentlichen durch Saugeinrichtungen realisiert. Nach dem Ablegen einer Platine an dem Einführbereich einer Presse oder einer Stanze wird der Greifer mit den Saugeinrichtungen zumindest geringfügig angehoben, durch eine horizontale Bewegung, gemäß Fig. 1 nach rechts, wieder über den Platinenstapel gebracht, und durch Absenken in vertikaler Richtung wird die nächste Platine ergriffen.Board feeder or so-called feeder is designed. Specifically, the transfer device 10 first raises individual boards from a board stack 12 in the vertical direction and then moves them to the left in the horizontal direction, in accordance with FIG. 1, in order to be deposited at the entry region, for example of a hydraulic press, by a movement in the vertical direction , The gripping of individual boards is essentially realized by suction devices. After placing a board on the insertion area of a press or a punch, the gripper with the suction devices is raised at least slightly, by a horizontal movement, to the right according to FIG. 1, brought back over the stack of boards, and by lowering in the vertical direction the next one Board gripped.
Diese Bewegungen werden bei der erfindungsgemäßen Transfereinrichtung 10 zum einen durch einen in horizontaler Richtung verfahrbaren Schlitten 14 und zum anderen durch einen in dem Schlitten 14 in vertikaler Richtung geführten Stößel 16 realisiert, an dessen unterem Ende der Greifer angebracht ist. Der Stößel 14 bewegt sich in einer horizontalen Führung über mehrere Rollen 18, die eine spitz zulaufende Form aufweisen können und in einer Führungsschiene laufen, die eine dazu komplementäre Form aufweist. Ähnliche Rollen sind mit der Referenznummer 20 für die Bewegung des Stößels 16 in dem Schlitten 14 angedeutet. In Fig. 1 sind ferner die beiden Antriebsmotoren 22 zu erkennen, die über geeignete Getriebe ein Antriebsrad antreiben, das jeweils einen Riemen bewegt, der in nachfolgend noch genauer erläuterter Art und Weise über Antriebsräder geführt ist, die in dem Schlitten vorgesehen sind. Zu Fig. 1 sei noch angemerkt, dass darin drei verschiedene Stellungen des Schlittens 14 und der daran vorgesehenen Einrichtungen eingezeichnet sind. Es versteht sich jedoch, dass an dem in Fig. 1 gezeigten Abschnitt der erfindungsgemäßen Transfereinrichtung 10 lediglich ein einziger derartiger Schlitten 14 vorhanden ist. Schließlich ist in Fig. 1 die gesamte Führung der nachfolgend noch genauer erläuterten Antriebsriemen gezeigt. Die Riemen verlaufen im Wesentlichen in der Form eines um 90° gedrehten und nach links geöffneten "U" . An drei Seiten, nämlich gemäß der Darstellung in Fig. 1 oben, unten und an der rechten Seite, sind die beiden Riemen gewissermaßen hintereinander jeweils an der Außenseite geführt. An der linken unteren Ecke werden die beiden Riemen auf unterschiedliche Niveaus geführt, um, wie nachfolgend im Einzelnen erläutert, den Eingriff mit den jeweiligen Antriebsrad-Abschnitten an entgegengesetzten Seiten zu realisieren. Durch zwei Umlenkrollen im rechten Bereich der Riemenführung werden die beiden Riemen wieder, insbesondere bis zu ihrem Verlauf bis zu der Rolle in der linken oberen Ecke, auf dasselbe Niveau gebracht. In der Ausschnittsdarstellung des Schlittens 14 gemäß Fig. 2 ist die Riemenführung im Zusammenhang mit der erfindungsgemäßen Transfereinrichtung gezeigt. Ein erster Riemen 24 ist über eine erste Umlenkrolle 26 und im weiteren Verlauf an der Unterseite eines ersten Antriebsrades 28 geführt. Auf der rechten Seite des Antriebsrades 28 befindet sich eine weitere Umlenkrolle 30, so dass der Riemen sicher über die Unterseite des ersten Antriebsrades 28 geführt ist und sich mit den Zähnen dieses Rades zuverlässig im Eingriff befindet. Auf einer Seite rechts von dem Umlenkrad 30 befindet sich der erste Riemen 24 auf dem gleichen Niveau wie links von der ersten Umlenkrolle 26, nämlich einem "oberen" Niveau .In the transfer device 10 according to the invention, these movements are guided on the one hand by a slide 14 which can be moved in the horizontal direction and on the other hand by a slide in the slide 14 in the vertical direction Ram 16 realized, at the lower end of which the gripper is attached. The plunger 14 moves in a horizontal guide over a plurality of rollers 18, which can have a tapered shape and run in a guide rail that has a complementary shape. Similar roles are indicated with the reference number 20 for the movement of the plunger 16 in the carriage 14. In Fig. 1 can also be seen the two drive motors 22 which drive a drive wheel via suitable gears, each of which moves a belt which is guided in a manner explained in more detail below via drive wheels which are provided in the carriage. Regarding FIG. 1, it should also be noted that three different positions of the slide 14 and the devices provided thereon are shown. However, it goes without saying that only a single carriage 14 of this type is present on the section of the transfer device 10 according to the invention shown in FIG. 1. Finally, the entire guidance of the drive belts, which will be explained in more detail below, is shown in FIG. 1. The straps run essentially in the form of a "U" turned by 90 ° and opened to the left. On three sides, namely according to the illustration in FIG. 1 above, below and on the right side, the two belts are, as it were, guided one behind the other on the outside. At the lower left corner, the two belts are guided to different levels in order, as explained in detail below, to implement engagement with the respective drive wheel sections on opposite sides. Two deflection rollers in the right area of the belt guide bring the two belts back to the same level, in particular up to their course up to the roller in the upper left corner. The section of the carriage 14 according to FIG. 2 shows the belt guide in connection with the transfer device according to the invention. A first belt 24 is guided over a first deflection roller 26 and further on the underside of a first drive wheel 28. On the right side of the drive wheel 28 there is a further deflection roller 30, so that the belt is securely guided over the underside of the first drive wheel 28 and is reliably engaged with the teeth of this wheel. On one side to the right of the deflection wheel 30, the first belt 24 is at the same level as to the left of the first deflection roller 26, namely an "upper" level.
Ein zweiter Riemen 32 befindet sich demgegenüber auf einem "unteren" Niveau und ist von der Unterseite einer weiteren Umlenkrolle, die sich gemäß der Darstellung von Fig. 2 "hinter" der gezeigten Umlenkrolle 26 befindet, an die Oberseite eines zweiten Antriebsrades geführt, das sich ebenfalls "hinter" dem gezeigten Antriebsrad 28 befindet. An dieser Oberseite steht der zweite Riemen 32 mit dem zweiten Antriebsrad mittels der Zähne in Eingriff . Eine weitere Umlenkrolle an der rechten Seite sorgt dafür, dass der zweite Riemen 32 wiederum von der Oberseite des zweiten Antriebsrades auf das "untere" Niveau geführt wird. Ebenso ist es denkbar, dass die jeweiligen Zugmittel nicht, wie bei der bevorzugten Ausführungsform vorgesehen, um das jeweilige Antriebsrad geführt sind, sondern sich lediglich an entgegengesetzten Seiten mit dem jeweiligen Antriebsrad in Eingriff befinden und durch geeignete Maßnahmen an dieser Stelle in Eingriff gehalten werden. Durch die beschriebene, entgegengesetzte Umschlingung zweier Antriebsräder kann in folgender Weise ein Verfahren des Schlittens 14 in horizontaler Richtung realisiert werden. Zu den Riemen 24 und 32 ist anzumerken, dass sie als Endlosriemen gestaltet sind, so dass sie durch den jeweils zugeordneten Antriebsmotor 22 in beiden Richtungen angetrieben werden können. Wenn nunmehr der Riemen 24 derart angetrieben wird, dass er sich an der Stelle, an der sich in Fig. 2 der Pfeil A befindet, in Richtung des Pfeils A bewegt, und der Riemen 32 derart angetrieben wird, dass er sich an der Stelle, an der sich der Pfeil B befindet, ebenfalls in diese Richtung bewegt, dann drehen sich die beiden Antriebsräder, die sich auf einer gemeinsamen Welle oder Achse befinden, nicht, da sich die beiden Bewegungen der Riemen 24, 32 gegenseitig hemmen. Vielmehr wird der Schlitten 14 insgesamt in Richtung der Pfeile A, B bewegt, wobei jeder der beiden Antriebsmotoren 24 das halbe Antriebsmoment aufbringen muss, was für die Dimensionierung der beiden Motoren äußerst vorteilhaft ist .In contrast, a second belt 32 is located at a "lower" level and is guided from the underside of a further deflection roller, which according to the illustration in FIG. 2 is "behind" the deflection roller 26 shown, to the top of a second drive wheel which is located is also located "behind" the drive wheel 28 shown. On this upper side, the second belt 32 engages with the second drive wheel by means of the teeth. Another deflection roller on the right side ensures that the second belt 32 is in turn guided from the top of the second drive wheel to the “lower” level. It is also conceivable that the respective traction means are not guided around the respective drive wheel, as provided in the preferred embodiment, but are only in engagement with the respective drive wheel on opposite sides and are held in engagement at this point by suitable measures. The described, opposite looping of two drive wheels enables the carriage 14 to be moved in the horizontal direction in the following manner. Regarding the belts 24 and 32, it should be noted that they are designed as endless belts, so that they can be driven in both directions by the respectively assigned drive motor 22. If the belt 24 is now driven in such a way that it moves in the direction of the arrow A at the point at which the arrow A is located in FIG. 2, and the belt 32 is driven in such a way that it is in the position where the arrow B is located, also moves in this direction, then the two drive wheels, which are located on a common shaft or axis, do not turn, since the two movements of the belts 24, 32 are mutually inhibited. Rather, the carriage 14 as a whole is moved in the direction of the arrows A, B, each of the two drive motors 24 having to exert half the drive torque, which is extremely advantageous for the dimensioning of the two motors.
Wenn demgegenüber der Stößel 16 in vertikaler Richtung bezüglich des Schlittens 14 bewegt werden soll, dann werden die beiden Riemen derart in unterschiedlicher Richtung angetrieben, dass sich die beiden Antriebsräder bezüglich des Schlittens 14 drehen, und ein drittes Antriebsrad, das sich auf einer gemeinsamen Welle mit den beiden anderen Antriebsrädern befindet, sich ebenfalls dreht, so dass der Stößel bewegt werden kann. Wenn beispielsweise der "untere", nach oben umschlungene Riemen 32 derart bewegt wird, dass er sich an der betrachteten Stelle in Richtung des Pfeils B bewegt, während sich der obere Riemen 24, der "unten herum" umschlungen ist, entgegengesetzt zu dem Pfeil A bewegt, dann drehen sich die beiden Antriebsräder insgesamt in Richtung des Uhrzeigersinns. Hierbei ist zu beachten, dass insbesondere bei Verwendung einer Bahnsteuerung die jeweiligen Antriebsmotoren 22 derart angetrieben werden können, dass die Bewegung der beiden Riemen exakt entgegengesetzt zueinander ist, so dass der Schlitten 14 stillsteht, und sich lediglich die Welle mit den drei Antriebsrädern in dem Schlitten 14 dreht. Wie in Fig. 2 angedeutet ist, ist über zwei Umlenkrollen 34 ein weiterer Zahnriemen 36 derart seitlich über das in Fig. 2 nicht zu erkennende dritte Antriebsrad geführt, dass eine Drehung des Antriebsrads eine Verschiebung des Riemens 36 bewirkt, dessen Enden fest in dem Stößel 16 angebracht sind, so dass sich der Stößel entsprechend bewegt. Insbesondere bewegt sich der Stößel bei Drehung des Antriebsrades im Uhrzeigersinn nach oben, während er sich nach unten bewegt, wenn das Antriebsrad entgegen dem Uhrzeigersinn angetrieben wird, indem sich der erste Riemen 24 in Richtung des Pfeils A, und der zweite Riemen 32 entgegengesetzt zu dem Pfeil B bewegt.On the other hand, if the plunger 16 is to be moved in the vertical direction with respect to the carriage 14, then the two belts are driven in different directions in such a way that the two drive wheels rotate with respect to the carriage 14, and a third drive wheel which rotates on a common shaft the other two drive wheels, also rotates so that the plunger can be moved. For example, if the "lower" belt 32 wrapped upward is moved such that it moves in the direction of arrow B at the point under consideration, while the upper belt 24, which is looped "below", moves in the opposite direction of arrow A. moves, then the two drive wheels turn in the direction clockwise. It should be noted here that, in particular when using a path control, the respective drive motors 22 can be driven in such a way that the movement of the two belts is exactly opposite to one another, so that the carriage 14 stands still, and only the shaft with the three drive wheels is in the carriage 14 turns. As indicated in FIG. 2, a further toothed belt 36 is guided laterally over two deflection rollers 34 in such a way via the third drive wheel, which cannot be seen in FIG. 2, that rotation of the drive wheel causes a displacement of the belt 36, the ends of which are fixed in the tappet 16 are attached so that the plunger moves accordingly. In particular, the plunger moves upward when the drive wheel rotates clockwise, while it moves downward when the drive wheel is driven counterclockwise by the first belt 24 in the direction of arrow A and the second belt 32 in the opposite direction Arrow B moves.
Zu Fig. 2 ist noch anzumerken, dass darin ein Schloss 38 eines Riemens gezeigt ist, durch das die beiden Enden des Riemens miteinander verbunden werden, so dass ein Endlos- Zahnriemen besteht. Da dieses Schloss eine vergleichsweise hohe Masse aufweist und deshalb insbesondere auf längeren freien Abschnitten zu Schwingungen neigt, ist bevorzugt vorgesehen, dass eine Führung vorhanden ist, in der zumindest ein Abschnitt des Schlosses derart geführt ist, dass das Schloss sich nicht in vertikaler Richtung bewegen kann, und damit Schwingungen verhindert werden. Es sei ferner angemerkt, dass die Bewegungen der beiden Riemen zwischen den vorangehend beschriebenen Betriebsarten, Verfahren des Schlittens einerseits und Bewegen des Stößels andererseits, in geeigneter Weise überlagert werden können. Wenn die beiden Riemen bis zu einer Stelle, an der der Stößel abgesenkt werden soll, in Richtung der Pfeile A bzw. B angetrieben werden, und nachfolgend der entgegengesetzte Betrieb der beiden Riemen erfolgt, um den Stößel zu bewegen, so bewegt sich der an dem Stößel vorgesehene Greifer gewissermaßen unter Ausbildung eines Eckpunktes, nämlich zunächst horizontal und nach Anhalten der horizontalen Bewegung vertikal. Grundsätzlich kann die vertikale Bewegung, sofern dem keine Hindernisse entgegenstehen, mit denen der Greifer kollidieren könnte, bereits früher begonnen werden, so dass die beschriebene Ecke gewissermaßen abgekürzt oder abgerundet wird. Dies lässt sich ohne weiteres durch geeignete Steuerung der beiden Motoren erreichen, indem die erforderlichen Bewegungen zum Absenken mit den Bewegungen zum Verschieben abschnittsweise überlagert werden.2 it should also be noted that a lock 38 of a belt is shown therein, by means of which the two ends of the belt are connected to one another, so that there is an endless toothed belt. Since this lock has a comparatively high mass and therefore tends to vibrate in particular on longer free sections, it is preferably provided that a guide is provided in which at least one section of the lock is guided such that the lock cannot move in the vertical direction , and thus vibrations are prevented. It should also be noted that the movements of the two belts between the above-described modes of operation, sliding method on the one hand and moving the ram on the other, can be appropriately superimposed. If the two Belts to a point where the plunger is to be lowered are driven in the direction of arrows A and B, and then the opposite operation of the two belts takes place to move the plunger, the gripper provided on the plunger moves to a certain extent with the formation of a corner point, namely initially horizontally and vertically after stopping the horizontal movement. In principle, the vertical movement can be started earlier, provided that there are no obstacles with which the gripper could collide, so that the corner described is shortened or rounded to a certain extent. This can easily be achieved by suitable control of the two motors, in that the movements required for lowering are overlaid in sections with the movements for moving.
In Fig. 3 ist gezeigt, wie die drei Antriebsräder 28, 40 und 42 fest auf einer gemeinsamen Welle 44 angebracht sind, die drehbar in dem Schlitten 14 gelagert ist. Seitlich des Schlittens 14 sind die Trapezführungen 46 zu erkennen, an denen der Schlitten bei der gezeigten Ausführungsform über geeignet gestaltete Rollen 48 geführt ist. Aus Fig. 3 wird deutlich, dass die drei Antriebsräder 28, 40, 42 derart nebeneinander angeordnet sind, dass die entgegengesetzte Führung der in Fig. 3 angedeuteten Riemen 24 und 32 zu keinen gegenseitigen Beeinflussungen führt. Zwischen den beiden Antriebsrädern 28, 42 befindet sich bei der gezeigten Ausführungsform das dritte Antriebsrad 40, das sich mit der Welle 44 dreht, die dann drehend angetrieben wird, wenn die beiden Antriebsräder 28, 42 entgegengesetzt betätigt werden. Bei einer Drehung überträgt das dritte Antriebsrad 40 über einen gewissermaßen seitlich (vgl. Fig. 2) geführten Riemen 36 eine vertikale Bewegung auf den Stößel 16. In Fig. 4 ist eine alternative Ausführungsform für die Übertragung der Bewegung auf den Stößel 16 gezeigt. Gewissermaßen innerhalb des Schlittens 40 befinden sich nebeneinander die beiden Antriebsräder 28 und 42. Die gemeinsame Welle 44, die drehbar in dem Schlitten 14 gelagert ist, erstreckt sich außerhalb des Schlittens, wo das dritte Antriebsrad 40 vorgesehen ist. Dieses Antriebsrad 40 befindet sich in Eingriff mit einer Zahnstange 50, die fest an dem Stößel 16 vorgesehen ist, der über geeignete Trapezführungen in Rollen 52 geführt ist, die drehbar an dem Stößel 14 vorgesehen sind. Auch in dieser Ausführungsform lässt sich durch eine einfach und kompakt gestaltete Transfereinrichtung die Bewegung des Stößels 16 und insbesondere der daran vorgesehenen Greifeinrichtung in zwei zueinander senkrechten Bewegungsrichtungen realisieren. Es sei noch angemerkt, dass gemäß der Darstellung von Fig. 4 der Stößel 16 senkrecht zur Zeichenebene bewegt wird, und das Verfahren des Schlittens 14 auf der zugehörigen Führung gemäß Fig. 4 von oben nach unten erfolgt. In Fig. 3 it is shown how the three drive wheels 28, 40 and 42 are fixedly mounted on a common shaft 44 which is rotatably mounted in the carriage 14. On the side of the slide 14, the trapezoidal guides 46 can be seen, on which the slide in the embodiment shown is guided over suitably designed rollers 48. It is clear from FIG. 3 that the three drive wheels 28, 40, 42 are arranged next to one another in such a way that the opposite guidance of the belts 24 and 32 indicated in FIG. 3 does not lead to any mutual interference. In the embodiment shown, between the two drive wheels 28, 42 there is the third drive wheel 40, which rotates with the shaft 44, which is then rotatably driven when the two drive wheels 28, 42 are actuated in opposite directions. When it rotates, the third drive wheel 40 transmits a vertical movement to the tappet 16 via a belt 36 which is guided to the side (see FIG. 2). An alternative embodiment for the transmission of the movement to the plunger 16 is shown in FIG. 4. The two drive wheels 28 and 42 are located to a certain extent within the carriage 40. The common shaft 44, which is rotatably mounted in the carriage 14, extends outside the carriage, where the third drive wheel 40 is provided. This drive wheel 40 is in engagement with a toothed rack 50 which is fixedly provided on the plunger 16, which is guided via suitable trapezoidal guides in rollers 52 which are rotatably provided on the plunger 14. In this embodiment too, the movement of the plunger 16 and in particular the gripping device provided thereon can be realized in two mutually perpendicular directions of movement by means of a simple and compact transfer device. It should also be noted that, as shown in FIG. 4, the plunger 16 is moved perpendicular to the plane of the drawing, and the carriage 14 is moved from top to bottom on the associated guide according to FIG. 4.

Claims

Patentansprüche claims
1. Transfereinrichtung (10) mit:1. Transfer device (10) with:
einer Führung,a tour,
einem an der Führung beweglichen Schlitten (14) ,a carriage (14) movable on the guide,
einem an dem Schlitten (14) beweglichen Stößel (16),a plunger (16) movable on the carriage (14),
einem ersten (28) , zweiten (42) und dritten (40) Antriebsrad-Abschnitt, die gemeinsam drehbar und bezüglich einander undrehbar an dem Schlitten (14) vorgesehen sind,a first (28), a second (42) and a third (40) drive wheel section which are rotatable together and rotatably provided on the carriage (14) with respect to one another,
wobei der erste (28) und zweite (42) Antriebsrad- Abschnitt jeweils mit Zugmitteln (24, 32) an entgegengesetzten Seiten mit den Antriebsrad- Abschnitten (28, 42) in Eingriff sind und von einem jeweils bezüglich des Schlittens feststehenden ersten und zweiten Motor (22, 22) antreibbar sind, undwherein the first (28) and second (42) drive wheel sections each engage traction means (24, 32) on opposite sides with the drive wheel sections (28, 42) and a respective first and second motor fixed with respect to the carriage (22, 22) can be driven, and
wobei der dritte Antriebsrad-Abschnitt (40) treibend mit dem Stößel (16) verbunden ist.wherein the third drive wheel section (40) is drivingly connected to the tappet (16).
2. Transfereinrichtung nach Anspruch 1, dadurch gekennzeichnet, dass zumindest einer der Antriebsrad-Abschnitte (28, 42, 40) als getrenntes Antriebsrad vorgesehen ist. 2. Transfer device according to claim 1, characterized in that at least one of the drive wheel sections (28, 42, 40) is provided as a separate drive wheel.
3. Transfereinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass den Antriebsmotoren (22) jeweils eine Einrichtung zur Bahnsteuerung des Motors (22) zugeordnet ist.3. Transfer device according to claim 1 or 2, characterized in that the drive motors (22) are each assigned a device for controlling the path of the motor (22).
4. Transfereinrichtung nach zumindest einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Zugmittel jeweils Zahnriemen (24, 32) sind.4. Transfer device according to at least one of the preceding claims, characterized in that the traction means are each toothed belts (24, 32).
5. Transfereinrichtung nach zumindest einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Zugmittel vorzugsweise an einem Schloss (38) in einer Führung geführt sind.5. Transfer device according to at least one of the preceding claims, characterized in that the traction means are preferably guided in a guide on a lock (38).
6. Transfereinrichtung nach zumindest einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass der dritte Antriebsrad-Abschnitt (40) mit einem Zahnriemen (36) oder einer Zahnstange (50) in Eingriff ist . 6. Transfer device according to at least one of the preceding claims, characterized in that the third drive wheel section (40) with a toothed belt (36) or a rack (50) is engaged.
EP00969365A 2000-09-29 2000-09-29 Transfer device Expired - Lifetime EP1320432B1 (en)

Applications Claiming Priority (1)

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PCT/EP2000/009595 WO2002026415A1 (en) 2000-09-29 2000-09-29 Transfer device

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US10987889B2 (en) * 2015-09-21 2021-04-27 Westrock Shared Services, Llc Methods and machine for forming a shipping container with an article retaining web
US10899101B2 (en) 2018-04-10 2021-01-26 Westrock Shared Services, Llc Machine and methods for attaching retaining web to container blank
US12134492B2 (en) 2020-10-09 2024-11-05 Westrock Shared Services, Llc Systems and methods for packaging stacked products
CN115383004B (en) * 2022-08-29 2024-10-25 中重科技(天津)股份有限公司 Bundling steel belt conveying device

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FR2267199B1 (en) 1974-04-09 1982-10-15 Schuler Gmbh L
DE3401703A1 (en) 1984-01-19 1985-08-01 Günter 7500 Karlsruhe Zierpka FEED DEVICE FOR STEP BY STEP MATERIAL AND / OR WORKPIECE TRANSPORT, IN PARTICULAR IN PRESSES
DE4309642B4 (en) 1993-03-25 2004-03-25 Schuler Pressen Gmbh & Co. Kg Transfer device for workpiece transport
DE4408447A1 (en) 1994-03-12 1995-09-14 Mueller Weingarten Maschf Transport system
DE19506520A1 (en) 1995-02-24 1996-08-29 Schuler Pressen Gmbh & Co Device for transferring workpieces between presses
DE19515994A1 (en) 1995-05-02 1996-11-14 Werdich Karl Heinz Transport device for workpieces, in particular car pressed parts, as well as arrangement and method
US6151981A (en) * 1997-07-24 2000-11-28 Costa; Larry J. Two-axis cartesian robot
DE19801731A1 (en) * 1998-01-19 1999-07-22 Mueller Weingarten Maschf Transport device

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See references of WO0226415A1 *

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WO2002026415A1 (en) 2002-04-04
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CA2424071C (en) 2009-01-13
CA2424071A1 (en) 2002-04-04
US6955518B1 (en) 2005-10-18

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