FR2525147A1 - APPARATUS FOR LOADING AND DISCHARGING INDUSTRIAL PRESSES - Google Patents

Abstract

INVENTION RELATING TO PRESSES. PART HANDLING APPARATUS, AGENCY FOR PRINTING A BACK-AND-BACK MOVEMENT RECTILINE TO AN ATTACHMENT SYSTEM 106 USED FOR HANDLING. PART 106 IS SWIVEL MOUNTED ON AN ELBOW LEVER 16, ITSELF SWIVEL MOUNTED ON AN ELBOW ARM 12 ALSO SWIVEL MOUNTED ON A SUPPORT 10; THE PIVOT AXLES 14, 22 OF THE ELBOW ARM AND THE ATTACHMENT SYSTEM ARE SENSITIVELY EQUIDISTENT WITH THE 18 OF THE ELBOW LEVER. BY MEANS OF 24, 26 GEAR LINKS BETWEEN BRACKET AND ELBOW LEVER (WITH NEIGHBORHOOD RATIO OF 2: 1) AND BETWEEN ELBOW ARM AND ATTACHMENT SYSTEM (NEIGHBOR RATIO 1: 2), THE ATTACHMENT SYSTEM MAINTAINS SENSITIVE ORIENTATION CONSTANT DURING THE STRAIGHT MOVEMENT RESULTING FROM COORDINATED ROTATIONS OF THE LEVER AND ELBOW ARMS. APPLICATION TO AUTOMATIC LOADING AND / OR UNLOADING OF A PRESS FOR STAMPING METAL ARTICLES.

Description

The present invention, concerning presses, is more specifically

  relating to improvements in a gripping and / or handling device as

  can be used to enter, move and release

  these to work relative to different positions or stations, in a repetitive manufacturing process For example one can use such a device to load

  and / or unload a press used to manufacture

  metal ticks that are pressed or stamped.

  In particular the invention may relate to such an apparatus which is arranged to print, means of the apparatus for supporting parts, or to a workpiece that would be maintained,

  a movement back and forth in a straight line.

  Such an apparatus is described in the application for

  British Patent No. 1,395,058.

  takes a wheeled trolley able to move back and forth in a straight line, which is intended to support any of the attachment systems, taken from among various fastening means used for handling. The trolley is constrained by guide rails to remain in a constant orientation while reciprocating back and forth along a straight line path. The carriage is pivotally connected to a bent lever which is connected to its turn with pivoting to a bent arm, the three pivot axes being parallel and the effective lengths of the bent arm and the bent lever,

  measured between the axes of the pivots, being equal to

  yen of a gear connection in the ratio of 2: 1 in

  be a stationary gear mounted on the pivot axis of the

  bent arm and a gear that is integral with the lever

  which is located on the axis of the pivot of the crank lever, it is ensured that a movement in a straight line will be printed to the carriage during the rotation of the crank arm about its pivot axis, the straight-line path of the cart

  being cut by the pivot axis of the crank arm.

  One of the objects of the present invention is

  to provide a coin handling machine for

  industrial device, which comprises a fastening means and part support, arranged so as to be able to move back and forth without the need to have guide rails to determine its path of movement and which preferably also maintains

  constant orientation of the work attachment means.

  According to one of its aspects in a pre-form

  In accordance with the invention, a device for manuten-

  a workpiece assembly comprising a mounting means, a first arm pivotally mounted on said mounting means to move about a first pivot axis, a second arm pivotally mounted on said first arm to move about a second axis; pivot axis

  parallel to said first pivot axis and a means of attac-

  che and support part mounted with pivoting on the-

  said second arm for moving about a third pivot axis parallel to said first and second pivot axes, said first and third pivot axes;

  being preferably substantially equidistant from said

  x pivot axis and the apparatus comprising first coordinating means arranged to coordinate movements of the arms about the first and second pivot axes, so that said piece attaching means

  move substantially in a straight line, as well as preferably

  second means of coordination including a

  connection to meshing a desired relationship between said first

  arm and said work attachment means, whereby a desired orientation of said work attachment means

  is obtained, so that there is no change in

  angle despite a straight line motion.

  Preferably the first arm is mounted with

  votively on a trolley, capable of a movement of va-and-

  comes in a straight line> from the mounting

  to move back and forth in relation to a medium of

  yen mounting in a direction perpendicular to that in which the piece attaching means is arranged to move The piece attaching means is preferably

  arranged so as to move: in the horizontal

  when the two arms are moving) and the carriage is arranged to move substantially vertically on the support. The carriage and the support can be telescopically arranged and, in a preferred arrangement,

  the carriage is suspended from the support by means

  a multiplicity of pneumatic balance cylinders

  guided and guided in their movements by rollers

  on one of the two parts (carriage or support) and

  placed so as to roll against the other of these parts.

  The piece attachment means can be arranged

  in order to wear any of the devices

  a variety of tools that can support workpieces for grasping, moving and releasing workpieces, such as vacuum cups, jaws,

  seizure, magnets etc. An electrical control system

  that and / or fluid (not shown) can be used for

  synchronize the operation of the device and a device

  positive attachment now the room, with the function-

  of a press, for example, that the apparatus must

  automatically and / or automatically unload The mounting device of the work handling device can be fixed

  in any of a variety of positions, such as di-

  right on a ch Press sitting, on a cart of

  transfer by motor through a press, or on a system

  transfer system or conveyor The absence of a guide rail for the work attachment means provides more floor space around the press and promotes

  so efficient operation at high speed.

  Below is a description

  given as a non-limitative example of a model

  Embodiment of the presently preferred invention, with reference to the accompanying drawings. In these drawings: FIG. 1 is a sectional view of the apparatus, taken along a median vertical plane, the machine being in position 'extension; FIG. 2, a partial view similar to that

  of Figure 1, which shows the mounting means of the

  on a larger scale and Figure 3, a partial plan view, cut off

  along the line III-III of Figure 2.

  The apparatus, illustrating a preferred form of the invention, comprises a mounting means 10 which can be attached for example to the frame of a large industrial press which is used to manufacture shaped pieces of

  steel, for example roofs of

  The first arm 12 (which will be called

  later bent arm or upper) is mounted with

  on the mounting medium to be able to turn

  turn of a first axis of vertical pivot 14 A second arm 16 (which will be called later bent lever or

  lower arm) is pivotally mounted on the arm

  12 to rotate about a second vertical pivot axis 18 A fastening and workpiece support means 20 is pivotally mounted on the elbow lever 16 to be rotatable about a third vertical pivot axis 22. and third pivot pins, 14 and 22, are equidistant from the second pivot axis 18 L '

  apparatus 1 also comprises first means of coordinating

  dination, comprising a first meshing link 24, arranged to coordinate the movements of the arm

  bent 12 and the bent lever 16 around the first and second

  x pivot axes, 14 and 18, so that the means of

  Part spot 20 moves in a straight line along a horizontal path. The apparatus 1 also includes second coordinating means including a second meshing link 26, whereby the orientation of the work attachment means 20 is kept constant despite swinging movements of the crank arm and

angled lever.

  The mounting means 10 (see FIGS. 2 and 3)

  comprises a carriage 28, capable of a movement of

  and come in a straight line, on which the crank arm 12 is

  mounted with pivoting, the carriage being able to take

  back and forth in the vertical direction with respect to

  a support 30 of the mounting means The carriage and the support

  port are telescopically arranged, the carriage 28

  being mounted inside the support 30

  takes a straight tubular frame 32, oriented vertically,

  which has a substantially octagonal cross-section

  gonale, and which carries an inner cross plate 34 was attached to the bottom end of the tubular b 9 ti 32, with

  coaxial alignment with the frame, a first

  lie 36 and an inner raceway of prime mn

  pivot bearing or rotation 38 of the machine.

  The support 30 also comprises a frame

  bular 40 of octagonal general shape, disposed coaxially

  The cylindrical skirt 44 hangs from the outer periphery and is integrally formed by an annular and horizontal top plate 42.

  from the top plate to hide the chassis 40 of the

Harbor.

  The carriage 28 is guided to execute movements

  vertically within the support 30 by means of sixteen rollers 46 mounted on the ch ssis support 40 and arranged to roll against straight tracks 48

  attached to the outer surfaces of the carriage frame 32.

  Four sets 50, 52, 54, 56 of four rollers are provided, each of which extends along the carriage, the games being

  arranged in two pairs of opposing games, the line of

  a pair of games 50 and 54 being perpendicular

  to the line of action of the other pair of games 52 and 56.

  Each set comprises two pairs, upper and lower, of rollers, the two pairs being spaced in the longitudinal direction of the carriage and the rollers, in each pair

  of pebbles, being spaced and spaced in the transverse direction

  As shown in Figure 3, the rollers 46 of each pair of rollers are pivotally mounted on the side walls of a radially inwardly directed channel-shaped portion of the carrier frame 40. , the two rollers being placed between the side walls. The carriage 28 is suspended from the support by means of two pneumatic balance cylinders 58 and 60, which act between the support and the carriage for

  cash the weight of the trolley and its load

  Pressurized cylinder air pressures are adjusted by suitable means to maintain the constant pressure inside the cylinder when the

  carriage moves The cylinders are arranged vertically-

  in opposite sides of the carriage axis, between top links 62 and 64 attached to the top plate 42 of the carrier and bottom links 66 and 68 attached to the carriage body 32 in the vicinity. its bottom end The cylinders 58 and 60 are arranged to be equidistant from the axis carriage / support and share and

  on the other, an axis of which it is understood that it is equally

  the first pivot axis 14, each cylinder extends

  down from the top plate 42 between the upper rollers and between the lower rollers of the

  two pairs of pebbles from a Pebble Game.

  The apparatus 1 includes a screw and nut combination which determines the vertical position of the carriage 28 relative to the support 30, one of the two elements (screw or nut) being fixed without being able to rotate to one of the two parts (carriage or support) and the other of the two elements being rotatably disposed by a vertical movement actuating means comprising a motor 70 mounted on the other of said parts (carriage or support) The lift motor 70 is shown mounted on the support 30, housed in a well 72 of the support

  and comprises an output shaft 74 arranged so as to

  see rotating about the first pivot axis 14 By means of a coupling 76, a screw 78 is fixed to the shaft 74, the screw being screwed into a circulating spherical nut 80

  mounted on the transverse plate 34 of the carriage

  tif encoder and tachometer 82 and a brake 84 are as-

Engineers 70.

  The bent arm 12 is fixed (for example by bolts not shown) to the outer race or track of the first table or turntable bearing 38 below the carriage frame 32 (FIG. 2).

  arm 12 is made of a hollow sheet metal structure

  tubular steel merchant In the vicinity of one end

  In the outer bent arm 12, the bent lever 16 is pivotally mounted to rotate under the bent arm 12 about the second pivot axis 18. Lever

  16 is mounted on the arm 12 by means of a second arm.

  Pivoting or rotating table 86 of the apparatus An outer bearing race of the bearing 86 is fixed, for example by bolts, (not shown) to the bent arm 12 and the inner race is attached to the lever

angled 16.

  Actuating means for horizontal movement

  zontal is coupled to the lever elbow 16 to do it

  turn around the second pivot axis 18 on the second

  86 is rotatably mounted and comprises a second motor 88 of the apparatus. The motor 88 is mounted on the bent arm 12 (housed inside the arm) in association with a gear reducer 89 integrally attached to the

  arm 12 It comprises a vertical output shaft 90 arranged

  to rotate around the second pivot axis

  The angled lever 16 is also a structure of

  hollow tubular merchant steel The gear reducer

  89 and the output shaft 90 protrude from the bent arm into the inside of the bent lever The shaft 90 is fixed to the lever 16 by means of a sleeve 92 fixed by

  example by welding, to an inner face of the bottom of the

  An encoder and tachometer device 94 and a brake 96 are associated with the motor 88 so as to provide precise control of the angular positions of the two arms and therefore of the straight line position of the driver.

room support 20.

  The first coordination means, including the first meshing link 24, includes, in addition to the

  pulley 36 of the carriage 28, a second pulley 98 The second

  Pulley 98, coaxial with axis 18, is secured integrally as a part of bent lever 16 and protrudes upwardly into space within bent arm 12.

  meshing link 24 comprises a synchro-

  The pulleys have a dimension which makes it possible to achieve a meshing connection in the ratio 2: 1 between the toothed pulley 100 which passes around the two toothed pulleys 36 and 98 and through the bent arm 12 between them.

carriage 28 and the elbow lever 16.

  In the vicinity of an outer end of the

  bent 16, the work attachment means 20 is mounted

  with pivoting on the elbow lever 16 to be able to

  around the third pivot axis 22 The means of attack

  piece includes a third pulley 102 of the

  China, fastened for example by bolts (not shown

  The outer bearing race of the bearing 104 is secured integrally to an inner face of the hollow elbow lever 16, so that a bearing race of a third rotational bearing or turntable

  that the pulley is housed almost entirely in the

  the angle lever An attachment holding means

  106, adapted to be connected to a remote sensing device

  sie of a suitable and specific work piece (not shown), fixed integrally to the pulley 102 so

  to be supported under the angle lever 16.

  The second coordination means, comprising the second meshing link 26, includes, in addition to

  the pulley 102 of the work attachment means 20, a quadruple

  third pulley 108 of the apparatus 1 The fourth pulley

  108 is integrally secured as part of the arm

  from 12, being fixed overall below the

  88, coaxially with the second pivot axis 18 and

  The second meshing link 26 includes a toothed timing belt 110 which passes around it.

  two toothed pulleys 108 and 102 and through the

  The pulleys 108 and 102 and the timing belt provide a 1: 2 meshing connection between the crank arm 12 and the crank arm 12.

piece attachment means 20.

  Preferably, idle pulleys 112 for each

  range of each of the belts 110 and 100, are used

  to achieve a balanced pressure on the 8-

  opposite sides of the respective belts and absorb the Game

of each of them.

  During the operation of the apparatus 1, the power

  required for horizontal movement is

  The engine 88 is fixed by the engine 88

  reducer 89, with the cranked arm 12 to move

  The rotating output shaft of the engine is

  This is when the motor 88 is energized, the arm 12 and the lever 16 move angularly with respect to each other about the axis 18 The magnitude of this relative movement

  is equal to the amplitude of the rotation of the output shaft

  If, for example, the shaft rotates 90, the angle

  between the two arms changes by 90.

  When the motor 88 is excited, we also obtain

  the pivoting of the cranked arm 12 about the axis 14.

  This happens because the pulley 98 is spinning around

  the axis 18 with the arm 16 The magnitude of the movement is de-

  ended by the ratio 1: 2 of the diameters of the pulley 98

  and pulley 36 Pulley 98 is stationary, out of

  that the movement of the belt 100 under the effect of the pulley 98 can not move it Instead all

  arm 12 will pivot about the axis 14 and the size of the

  angle of rotation will be half the amplitude of the rotation of the shaft 90 If, for example, the shaft 90 rotates by 90, the

  arm 12 will pivot 450 about axis 14.

  If we consider the device 1 in the state of Figure 1, the axes 14, 18 and 22 are all three in the same vertical plane If the shaft 90 rotates, the axis

  18 will be moved out of this vertical plane Axis 14 is

  xed in the vertical plane and does not move the axis 22

  remains in the vertical plane, but moves to the left

  che, that is to say that it is retracted with respect to its po-

  completely extended stroke

  re 1 It remains in the same vertical plane because (a) the axis 18 is always halfway between the axes 14

  and 22, since the distance 14 18 is equal to that 18 -

  22 and (b) the ratio 1: 2 of the pulleys 98 and 36 ensures that the angle of movement of the axis 18 out of the vertical plane

  (ie the angle made by the arm 12 between its posi-

  1 and its spaced apart position) is half the angle included between the arm 12 and the lever 16 If the distance 14 18 is not equal to the distance 18 22 (and especially if the inequality is small ) the difference in distance can be counterbalanced by a corresponding change in the ratio of the diameters of the pulleys 98 and 36, in order to maintain the movement of the axis 22 in the

  same vertical plane, that is to say with a horizontal movement

  in a straight line Or if a modification is de-

  in relation to the movement in a straight line, she can

  be obtained within certain limits by variation of

  14 18 and 18 22, accompanied by a

  The isosceles relationship in which 14 18 is substantially equal to 18 22 is usually preferable because it provides the maximum straight line travel (i.e. four times the distance 18 or 18 22) and implies simpler relationships

  between the lengths and the diameters of the pulleys.

  The orientation of the work attachment 106 about the axis 22 is controlled by the coordinating means 26 With a 1: 2 ratio between the pulleys 108 and 102 as that which has been exposed, the rotation of the fastener of

  piece 106 will be equal to the angular movement of arm 12

  turn of the axis 14, so that it stays straight, am 4 e if it is moved horizontally Or different

  orientations can be automatically obtained by

  vary the pulley ratios; or iame the coordination means can be eliminated and the attachment of the part

  106 can simply be allowed to rotate freely and

  naked on the landing 104 or not at all by eliminating

the landing.

  In cooperation with the horizontal movement or separately, the vertical movement of the work attachment 106 can be obtained by suitably exciting the

  lift motor 70 Although this motor has been re-

  presented aligned on the axis 14, it could be placed, as well as the mechanism of support and actuation of the vertical movement, somewhere else; for example, on the axis 18 Similarly, although the horizontal rotating drive motor is shown on the axis 18, it could also be mounted somewhere else,

  on axis 14 for example, because the two coordination systems

  24 and 26 will maintain the desired relationship in

the various parts.

  While toothed pulleys and timing belts are currently preferred

  in meshes 24 and 26, in other embodiments

  other suitable forms of

  meshing links (for example by using cat-

  such as V-belts, wire belts or gear trains).

  use, instead of electric motors 70 and 88,

  hydraulic or fluid systems depending on the application

wise, etc.

  If we consider using the team-

  a certain manufacture, we can order and coordinate

  give the operation of the two motors 70 and 88 by any suitable control system, with possibly

  programming using a neat control system

  by computer to fix a sequence or combination of

  its desire for horizontal and vertical movements and a desired path, automatically repeatable, of the displacement

  of the piece fastener 106 Part holding fasteners

  such as moire are represented in the

  United States of America No. 3,975,992, for example, or

  many adjustable magnets or vacuum cups can

  be attached to the attachment device 106 and

* born in harmony with the device 1 to grab, move,

  load and / or unload and release work pieces

  (not shown) compared to industrial presses

trielles, conveyors, etc.

  Thus, the invention provides a device for

  handling of heavy parts which, thanks to the use

  bearings with a large table or turntable (in

  particularly the bearing 38) and other features described above, eliminates the need for a guideway (such as that used in

  British Patent No. 1,395,085) and makes use of a

  articulated cantilever fetcher and controlled to print a

  desired movement to a workpiece.

  Changes can be made to the specific structure described without going outside the scope of the 1 '

invention.

Claims (18)

  1 Apparatus for loading and / or unloading a   press or the like, comprising a mounting means   sensing a substantially vertical axis and including a first   first pivot axis, a first cantilever arm,   with pivoting on said mounting means to disengage   placing on the first pivot axis a second cantilever arm pivotally mounted on said first arm to move about a second pivot axis substantially parallel to said first pivot axis and a   means of attachment and support of the room adjoining the former   the second arm of the second arm and aligned on a third axis substantially parallel to said first axis (14) and said second pivot axis, said first and third axes being at predetermined predetermined distances from said second axis, said apparatus including coordination means   comprising a structure supported on at least one of   said arms and able to move with him and disposed of   to coordinate the movements of the arms around the first   first pivot axis and the second pivot axis, so   said work attachment means moves in a   predetermined horizontal jet in perpendicular directions   to said axes and a motor-actuated actuating means coupled to said coordinating means for rotating said arms relative to each other about the second pivot axis and for pivoting said first arm on said first pivot means; assembly, whereby said work attachment means moves the   along said predetermined path, said apparatus being   characterized in that it comprises means (70, 78, 80) for   vertically moving said arms (12, 16) simultaneously   in a direction perpendicular to the said path determined.   Apparatus according to claim 1, characterized   in that it comprises a turntable bearing means (38) defining said first pivot axis (14) and   pivotally mounting said first arm (12) on said motor 14 -   mounting yen (10) and substantially supporting the totali-   the load of said two arms cantilevered (12,16)   and transferring it into said mounting means.   Apparatus according to claim 1, characterized   characterized in that it comprises a carriage (28) reciprocating in a straight line on said mounting means   (10), a carrier (30) of said mounting means, said carrier   riot can take a back-and-forth motion relative to   said support in a direction perpendicular to said predetermined path, said first arm (12) being   pivotally mounted on said carriage.   4 Apparatus for loading and unloading parts   these to work or the like including a means of   a first arm pivotally mounted on said mounting means to move about a first axis of   pivot, a second arm pivotally mounted on said first   arm for moving about a second pivot axis parallel to said first pivot axis and pivotally mounted attachment and support means   on said second arm to move around a third   sth pivot axis parallel to said first and second   pivot axes, said first and third axes of   one being substantially equidistant from said second pivot axis and the apparatus comprising first coordinating means arranged to coordinate movements of the arms about the first and second pivot axes, such that said work attachment means moves next a substantially straight path, characterized in that   that it also includes second means of coordina-   comprising an intermeshing link (26) between   said first arm (12) and said work attachment means (20), whereby the orientation of said attachment means   piece of work is predetermined throughout the said work. jet.   Apparatus according to claim 4, characterized   in that it comprises an actuating means (88)   on said first arm (12) and coupled to said second arm (16) to rotate said second arm about said second pivot axis (18) to produce rotation of said first arm and movement in line   straight resulting from said work attachment means (20).   Apparatus according to claim 4, characterized in that it comprises a carriage (28) reciprocating in a straight line on said mounting means (10), said mounting means including a support (30). )   said carriage being able to perform a movement of va-and-   comes relative to said medium in a direction per-   pendicular to the direction in which the means of   piece stain (20) is arranged to move and   bearing means (38) with pivoting turntable   said first arm (12) on said carriage.   Apparatus according to claim 6, characterized   in that said carriage (28) and said support (30)   are mounted with telescopic engagement.   Apparatus according to claim 7, characterized   characterized in that it comprises rollers (46) mounted on one   two pieces, namely said carriage (28) or said   port (30), and arranged to roll against the other part and used to guide the telescopic movement of the carriage.   Apparatus according to claim 8, characterized   in that said carriage (28) is guided in its movements.   four games (50, 52, 54, 56) of said rollers (46), each play being in the longitudinal direction of the carriage and the games being arranged in two pairs of opposing games, the lines of action of the two pairs of games   3 o being mutually perpendicular.   Apparatus according to claim 8, characterized   in that each game, in at least one of the pairs of games, comprises two pairs of rollers (46), the two pairs of rollers being spaced in the longitudinal direction   of the carriage (28) and the rollers, in each pair of   let, being transversely separated from the cha- riot.   Apparatus according to claim 8, characterized   characterized in that said carriage (28) is mounted in said   support (30) and said rollers (46) are mounted on the says support.   Apparatus according to claim 6, characterized in that it comprises a screw and nut arrangement (80, 78) which determines the position of said carriage (28) relative to said support (30), one of the elements,   to know the nut or the screw, being fixed without being able to   one of the parts, namely the carriage or the support, and the other of said elements being arranged so as to be able to turn under the effeel a motor (70) mounted on the other of the said pieces.   Apparatus according to claim 12, characterized   characterized in that said carriage (28) and said support (30) are telescopically arranged with said carriage mounted within said support, and said motor (70) is mounted on said support.   Apparatus according to claim 6, characterized   in that the work attachment means (20) is   positioned to move substantially horizontally during the pivotal movement of said first (12) and second (16) arms and the carriage (28) is arranged to move substantially vertically on said support ( 30).   Apparatus according to claim 14, characterized   in that said carriage (28) is suspended from   said support (30) by means comprising a   plicity of pneumatic rocker cylinders (58, 60).   Apparatus according to claim 4, characterized   in that the first means of coordination   take a meshing connection (24) substantially in the ratio of 2: 1 between said mounting means (10) and said   second arm (16) and said second means for coordinating   nation include a meshing link (26) sensi-   1: 2 ratio between said first arm (12) and said attachment means (20).   Apparatus according to claim 16, characterized   characterized in that said first (12) and second (16) arms are hollow and said first link meshing   (24) passes through said first arm until said   twelfth arm and said second meshing link (26) passes through said second arm to said part (20).   Apparatus according to claim 17, characterized   characterized in that said meshing links (24, 26) comprise timing belts (100, 110) passing through said arms (12, 16) and pulleys (36, 98, 108, 102) disposed around each of said three   said axes (14, 18, 22), said synchronizing belts   passing around said pulleys.   Apparatus according to claim 18, characterized   characterized in that it comprises pulley means (112)   a fool applying against said synchromesh belts   (100, 110) to absorb the set of these.