• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a production plant (1) for producing an assembly from several parts (3), comprising a transport system (2) with a plurality of workstations (6) arranged one behind the other in the transport direction (5) at a grid spacing (18). Individual ones of the workstations (6) each have a storage frame module (13) and a handling device (16) mounted thereon, the handling device (16) having a working unit (19) relatively movable relative to a linear guide unit (20) and a pivot axis unit (21) the workstation (6) is adjustable. The bearing frame modules (13) in each case have a width (31) in the transport direction (5) and are arranged in the grid spacing (18) corresponding essentially to the width (31). The handling device (16) has a maximum working range with the working unit (19) in the transport direction (5), which corresponds to the width (31) of the bearing frame module (13).
    公开号:AT512775A4
    申请号:T504982012
    申请日:2012-11-08
    公开日:2013-11-15
    发明作者:
    申请人:Stiwa Holding Gmbh；
    IPC主号:
    专利说明:

    1 11-2012 .1 ί102012 / 50498
    The invention relates to a manufacturing plant for producing an assembly of several parts, as described in the preamble of claim 1.
    WO 2006/069410 A2 discloses a production plant for producing a laser-welded assembly of several parts, comprising a transport system for conveying the parts by means of parts carriers, a plurality of welding stations, which are arranged in the transport direction along independently operating transport sections in a grid spacing one behind the other. The welding stations have a bearing frame module and a bearing device mounted on the bearing frame module handling device for a welding head, wherein the welding head via a linear guide unit and a pivot axis unit relative to the welding station is adjustable. The linear guide unit comprises several own linear guides with electronically controlled drives for the respective adjustment of the welding head in one of the three different main axis directions. The pivot axis unit comprises several own pivot drives with pivot axes for each adjustment of the welding head to one of the three different main axis directions. The linear guides of the linear guide unit are arranged at a distance from the pivot axes of the pivot axis unit. The grid spacing between the welding stations is so large that a mutual obstruction of the positioning movements for the welding heads can not occur at all during the working processes. Moreover, such an operation is provided that in a first transport section, which is assigned to the first welding station, welded, while in a second transport section, which is associated with the second welding station, parts are transported. Simultaneous welding at both welding stations is not provided. N20121Λ 3400
    HO 2Q12 / 50498 2
    The present invention has for its object to provide a manufacturing plant, which allows a simultaneous, unhindered work even when arranging vielzähliger workstations in the transport direction of a transport section.
    This object of the invention is solved by the features of claim 1.
    The advantage resulting from the features of claim 1 lies in the fact that, by limiting the maximum working range of the handling device to the width of the respective storage frame module, each of the immediately adjacent handling devices can simultaneously and independently perform the movements or work processes to be performed in the respective workstation , It can be arranged next to each other in a small space, the individual workstations and even in immediately adjacent workstations without regard to the respective adjacent workstation adjustment operations for the movement of the working units are performed. Thus, software-based collision protection can be dispensed with in the control of the individual motion sequences. As a result, the individual motion sequences can also be carried out more quickly, since no security contour calculation has to be carried out for the planned sequence of movements. But computer power can also be saved or even made more affordable with a more cost-effective controller.
    Also advantageous is a further embodiment according to claim 2, since a clear separation of the linear and the rotational adjustment movements can be achieved. Thus, the rotational adjustment movements in the area can be laid, for example, by gripper fingers, which not only a smaller component mass but also smaller dimensions in the range of the working unit or gripper unit of the handling device can be achieved.
    It is also advantageous embodiment according to claim 3, as this is for each of the individual adjustment directions both in linear and in rotatory view, a separate adjustment axis is available, creating a six-Aehsen system
    N2012 / 13400 3 is created. As a result, a higher adjustment can be achieved with less space.
    Due to the embodiments according to claims 4 to 6, a functional division into respectively associated assemblies, namely the linear guide unit and the pivot axis unit is created by the support frame. Thus, on the one hand, the one structural unit is used exclusively for the translational adjustment movements and, on the other hand, the other structural unit is used exclusively for the rotary adjustment movements. As a result, the linear guide unit and the pivot axis unit can be made very compact or slim and require only a very small installation space on the bearing frame module and yet all necessary adjustment movements (preferably six axes) can be realized. It is also advantageous that the possibility alone is created by the support frame to pivot the two support frame elements against each other or to twist. This creates a further adjustment possibility for a further of the main axes in the smallest space.
    In the embodiment according to claim 7 it is advantageous that an additional adjustment possibility for the gripper fingers in one of the other main axis directions is realized on the further support frame element of the support frame. Thus, a gripper unit can be created in which rotatory Verstellmögiichkeiten be created in all the three different main axis directions in the narrowest space.
    Also advantageous is still an embodiment according to claim 8, since thus for the gripping fingers in a confined space both a pivoting about the common pivot axis and a longitudinal adjustment in the same direction can be performed. Thus, a gripper assembly is provided in which, despite the small amount of space in a confined space a high freedom of movement for the duchzuführenden adjustment operations and gripping operations is created. This not only saves additional components, but also reduces the moving masses. N2012 / 13400 4 iPrinted: 09 ^ 11 -2012 1 N02Q12 / 50498
    Due to the development according to claim 9, despite the provision of pivoting possibilities about the three main axis directions, a compact pivot axis unit is created and also maintained a high flexibility for the individual adjustment movements.
    By virtue of the embodiment according to claim 10, a superimposed adjusting movement of the gripper fingers can be achieved, insofar as that the common Z axis not only serves for the rotational mounting and adjustment of the gripper fingers, but also for the slight gripping movement in the axial direction. This can be created with a small additional effort, a very compact unit in which the gripping fingers can perform not only a pivoting movement, but also a linear movement to carry out the gripping or release movement. By implementing the Verstellhubes in an extending perpendicular thereto adjustment of the gripper fingers a compact adjustment mechanism is thus created in the narrowest space. If the transmission element is designed as a hollow-cylindrical component, the adjustment stroke of the actuating arrangement can take place independently of the relative position of the lower support frame element.
    By means of the development according to claim 11 can be transmitted to the transmission element through the arrangement and the interaction of the engagement device with the transmission element of the actuating stroke of the actuating assembly. Thus, with the actuator of the actuating arrangement, the rectilinear adjustment movement can be forwarded to the mounted on the further supporting frame element transmission element.
    In the embodiment according to claim 12, it is advantageous that an exact joining of the transmission element to the further support frame element can be achieved. Furthermore, this can also make the guide rod join the lifting movement of the transmission element, which also for the transmission element a very precise guidance accuracy can be achieved.
    Another advantage is also an embodiment according to claim 13, since so by the adjustment movement of the guide rod made the relative displacement with respect to the further support frame member to the respective formed on the control part or
    Ν2012Ί3400 .Imported by 1 [1000112/50498 5 arranged slide track. By the corresponding inclination of the slide tracks with respect to the Verstellhubes so the transverse movement of the gripping fingers can be achieved on the pivot axis.
    Also advantageous is an embodiment according to claim 14, since thus a very slim design of the handling device can be achieved. As a result, adjustment possibilities of the entire handling device can be created in all of the three main axis directions both in a linear and rotational view.
    According to one embodiment, as described in claim 15, a production plant is provided in which a small amount of space required a high degree or a high number of manufacturing steps can be performed directly next to each other.
    In this case, an embodiment according to claim 16 proves advantageous because a stable structural unit is created, which serves to accommodate the individual handling device. Furthermore, this creates the opportunity to form a modular system, can be used in a variety of common parts. As a result, the production plant can also be quickly converted to different production processes.
    According to an advantageous embodiment according to claim 17, a very stable basic structure is achieved for the composite according to the modular system frame construction.
    Finally, however, a training, as described in claim 18, possible, as this, depending on the needs, the individual workstations each required there parts can be supplied.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    Each shows in a highly schematically simplified representation:
    N2012 / 13400 6 1 (Ι0φ12 / 5049δ 1
    1 shows a Ferligungsanlage with a transport system for the transport of parts by Teileträgem and in the transport direction successively arranged workstations and parts delivery stations, perspective view;
    2 shows a partial section of the production plant according to FIG. 1 in a view, but without parts delivery stations and transport system, and a stylized base frame;
    3 shows a part of a workstation with its storage frame module as well as the handling device detachably attached thereto, in a perspective view;
    4 shows a partial section of the handling device with a gripper unit, in perspective view;
    5 shows the gripper unit and pivot axis unit for the handling device, in perspective view;
    6 shows the gripper unit and pivot axis unit for the handling device, in perspective view;
    7 shows a detail of the gripper unit in the region of the pivot axis for the gripper fingers, cut in plan view according to the lines VII-VII in FIG. 6;
    8 shows the mounting of a gripper finger on the pivot axis according to FIGS. 6 and 7, in a view according to arrow VIII in FIG. 7 and in an enlarged view.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as up, down, sideways, etc. on
    N2012 / 13400 iPrjnted: 09-11-2012
    } 2012/50498 referred to the immediately described and illustrated figure and are mutatis mutandis transferred to the new situation in a change in position.
    FIGS. 1 to 8 show a production plant 1 and details thereof, which comprise at least one transport installation 2 for transporting individual or several identical and / or different parts 3 by means of part carriers 4 and work stations 6 and parts delivery stations arranged one behind the other in the transport direction 5 7 includes.
    The transport system 2 comprises a base frame 8 and can be constructed on this on a support housing 9. For this purpose, the support housing 9 forms on its upper side facing away from a bottom 10 a connection plane 11 on which the transport system 2 can be supported with the base frame 8 and detachably fastened to the support housing 9 via connecting elements, for example screws, not shown.
    On the other hand, however, the transport system 2 could also be set up directly on the ground 10 by means of the base frame 8.
    The number of workstations 6 and / or parts delivery stations 7 may vary depending on the complexity of the product being manufactured. Thus, the manufacturing plant 1 may also comprise only a workstation 6 or a workstation 6 and a parts supply station 7. The workstations 6 and / or the parts delivery stations 7 are preferably operated automatically. In most cases, a parts supply station 7 serves to provide one of the workstations 6 with the parts 3 required there in a predetermined position or orientation for the removal. In the area of the parts carrier 4 is then carried out in a stepwise order along the transport direction 5 of the assembly or joining process of mostly different parts 3 to one and / or more parts assemblies.
    For reasons of better clarity, only two workstations 6 and only two parts delivery stations 7 are shown in FIG. Typically, such manufacturing equipment 1 per transport system 2 include up to twenty, mostly mutually different activities exporting workstations 6. These are
    N2012 / 13400 8 09-11-2012 IE014.1 '102012/50498 here in a narrow grid, preferably arranged directly next to each other. This arrangement is indicated by a dash-dotted line simplified.
    The workstations 6 and parts supply stations 7 are arranged on a specially designed frame structure 12, wherein own receiving frame or bearing frame modules 13 can also be constructed on the support housing 9. The bearing frame modules 13 are supported on the connection level 11 and are fastened via non-illustrated fasteners, such as screws, releasably secured to the support housing 9.
    In addition, the bearing frame modules 13 can be connected to one another via parallel to the transport direction 5 and guided through receiving openings 14 longitudinal bars 15, as indicated in dash-dotted lines. The longitudinal bars 15 are preferably held against rotation in the receiving openings 14.
    As a result, the individual bearing frame modules 13 can be connected to the self-supporting frame structure 12 with each other or with each other, which is characterized by its modular structure. Each storage frame module 13 forms a receiving module.
    As entered in FIG. 1, two of the three illustrated bearing frame modules 13 are each equipped with a work station 6 and / or a parts supply station 7. The third storage frame module 13, however, for the sake of clarity, not equipped with a workstation 6 and / or a parts delivery station 7, but is provided for this purpose.
    The workstations 6 comprise, according to the embodiment shown, a handling device 16 with a gripper with which a part 3 provided at the parts preparation station 7 can be taken over and transferred to the part carrier 4 provided for this purpose by the transport system 2.
    The transport system 2 shown here forms a transport section 17, which simplifies between unspecified deflecting the Λ 9 10 2012/50498
    Transport system 2 is provided with a dimension. The transport direction 5 extends along this transport section 17, for example in one of the directions indicated by a double arrow to indicate the transport direction 5.
    The workstations 6 with their bearing frame modules 13 are thus arranged one behind the other in the transport direction 5 of the transport section 17 in a grid spacing 18. The handling devices 16 are each mounted or attached to one of the bearing frame modules 13. The grid spacing 18 is chosen to be relatively small here in the direction of the transport direction 5 and is approximately 90 mm.
    However, the grid spacing 18 can also amount to a multiple of this previously specified value, but with smaller portions 3, the smaller grid spacing 18 is selected in the case of parts having a smaller dimension. Maximum should be the grid spacing 18 in about 360 mm. This makes it possible, with a small footprint per workstation 6 to provide a compact design manufacturing plant 1 ready. By "approximately" also a deviation of ± 10% of the grid spacing 18 is understood.
    Furthermore, the handling device 16 is equipped with a working unit 19, which working unit 19 is adjustable relative to the work station 6 or its storage frame module 13 via a linear guide unit 20 and a pivot axis unit 21. The working unit 19 is formed according to the embodiment shown by a gripper unit 19a shown in simplified form, to which reference is made in the following. Just as well, the working unit 19 may also be a welding head, in particular a beam welding head, a pressing die, or the like.
    According to FIG. 3, the linear guide unit 20 has a plurality of its own linear guides 22, 23, 24 with preferably own (preferably electronically controlled) drives for respectively adjusting the gripper unit 19a in each case one of the three different main axis directions X, Y and Z, wherein combined Adjustments can also be done simultaneously. The individual main axes X, Y and Z are denoted by the reference numerals 25, 26 and 27.
    N2012 / 1340I 10 [Prtessted: 0 ^ 11 ^ 012 114.1 (102012 ^ 0498 net) The first linear guide 22 serves to adjust in the direction of the X-axis 25, the second linear guide 23 serves to adjust in the direction of the Y-axis 26 and finally is the third linear guide 24 for adjustment in the direction of the Z-axis 27th
    In general, the axis direction 25, which extends in the transport direction 5 and thus along the transport section 17, is referred to as X-axis 25. The Y-axis 26 is determined by the vertical direction or aligned in the vertical direction with respect to the connection plane 11, wherein the Z-axis 27 extends in the direction of the depth of the manufacturing plant 1 and in the direction parallel to the connection plane 11.
    4, the pivot axis unit 21 in turn comprises a plurality of own pivot axes 28, 29, 30 with preferably own (preferably electronically controlled) pivot drives for respective adjustment of the gripper unit 19a by one of the three different main axis directions X, Y and Z by the reference numeral 25, 26 and 27. Thus, the handling device 16 each comprises three linear axes with the linear guides 22 to 24 and in each case three own pivot axes 28 to 30 and thus forms a 6-axis adjustment for the gripper unit 19a.
    Furthermore, the linear guides 22, 23, 24 of the linear guide unit 20 are arranged at a distance from the pivot axes 28, 29, 30 of the pivot axis unit 21. Thus, here the pivot axis unit 21 is arranged in the region of the gripper unit 19a and thus forms the working unit 19. The linear guide unit 20 is arranged in the vertical direction above the gripper unit 19a and forms a related assembly, which is attached to the bearing frame module 13.
    The bearing frame modules 13 each have a width 31 in the transport direction 5 of the transport section 17 and are arranged in the substantially corresponding to the width 31 grid spacing 18. -11-2012 E014.1: 102012/50498 11
    The handling device 16 with its working unit 19 forming gripper unit 19a has in the transport direction 5 of the transport section 17 on a working area 32, which corresponds to the width 31 of the bearing frame module 13 and a maximum of the grid spacing 18. Thus, within this narrow working area 32, the workstation 6 to be carried out by the handling device 16 is unwound, without a mutual obstruction of directly adjacent handling devices 16 occurring. This is especially true when adjustment processes are carried out by means of the linear guide unit 20 and / or pivot axis unit 21 at the same time by directly adjacent handling devices 16 in order to move the gripper units 19a.
    The bearing frame modules 13 are arranged adjacent to one another in the transport direction 5 of the transport section 17 and form a longitudinal row. Furthermore, the bearing frame module 13 in the transport direction 5 of the transport section 17 spaced from each other arranged side walls 33 and the side walls 33 interconnecting connecting members 34. As can be seen from a combination of Figs. 2 and 3, the bearing frame modules 13 can each face each other side walls 33 abut each other. However, it would also be possible for end faces of individual one of the connecting components 34 to protrude slightly laterally beyond the side walls, in which case these end faces can be machined precisely for mutual contact or support. Thus, the processing cost can be reduced and possible welding distortion or unevenness of the side walls 33 are better compensated.
    However, it would still be possible for a workstation 6 to include a process module, such as a press apparatus, a connection station, or the like. In this case, a part 3 may already have been transferred to the parts carrier 4 at a workstation 6 preceding in the transport direction 5 and transported to the workstations 6 following in the transport direction 5, where the parts 3 are joined together. A separate part N2012 / 13400 12 11 .1 Ηά2012 / 50498
    Positioning station 7 can then be omitted at this designed as a process module workstation 6.
    The parts supply station 7 comprises a feeding device for conveying and / or separating, with which the parts 3 taken from a (not shown) bulk material container or parts store, isolated and / or aligned and conveyed into a staging area, from where the parts 3, for example by means of Handling device 16 are removed. The parts 3 are formed for example by grafting, discs, pins, contacts, etc. Such parts delivery stations 7 have become known, for example, from EP 0 637 569 A1, EP 1 460 006 A1 or DE 44 34 146 A1.
    As can now better be seen from a synopsis of FIGS. 4 to 6, here the pivot axis unit 21 of the working unit 19 forming gripper unit 19a is shown without additional components in various perspective views to better explain their operation can. Furthermore, this embodiment of the gripper unit 19a, in particular those of the pivot axis unit 21, possibly present an independent training.
    Thus, the gripper unit 19a here comprises a separate support frame 35, which is movably connected with the interposition of an additional support assembly 36 with the linear guide unit 20, not shown here. The gripper unit 19 a is mounted or held on the support assembly 36. This is done by a pivot bearing about or by the pivot axis 28. Thus, the pivot axis unit 21 together with their components by means of the linear guides 22 to 24 in the previously described main axis directions 25 to 27 are additionally adjusted.
    But it would also be possible to provide the support assembly 36 with an additional linear guide 48, which forms a fourth linear guide of the linear guide unit 20, so as to provide a further vertical adjustment in the direction of the Y-axis 26, as shown in FIG is registered. The linear guide 48 is in turn provided with a (preferably electronically controlled) drive, which is not shown. On the other hand, this linear guide 48
    N2012 / 13400 13 13 iPrinted: 09-11! LQ2012 / £ 0498 may also be provided only as an alternative to the previously described second linear guide 23. The second linear guide 23 would then not necessarily be necessary in this case. However, if the second linear guide 23 and fourth linear guide 48 are used, which can be controlled independently of each other via the drives, a simultaneous (superimposed) adjustment in the direction of the Y-axis 26 can be made. On the other hand, a reference position in the direction of the Y-axis 26 can be adjusted during a changeover process between different assemblies to be produced via the second linear guide 23, while the adjustment of the gripper unit 19a in the direction of the Y-axis 26 for the working process exclusively from the fourth linear guide 48 ,
    Furthermore, the previously described pivot axes 28, 29, 30 are arranged on the support frame 35 and there also formed physically by corresponding components. The support frame 35 in turn comprises a plurality of support frame members 37, 38. Under support frame members 37, 38 but here are also several items that can be assembled into an assembly understood. In this embodiment shown here, the first support frame member 37 is mounted relative to the support assembly 36 about the pivot axis 28 for pivoting about the X-axis 25 thereto. Preferably, the pivot axis 28 extends in the direction of the Y-axis 26, approximately centrally with respect to the entire gripper unit 19a.
    The first of the support frame elements 37 is here seen in the vertical direction - in the present case in the direction of the Y-axis 26 - arranged above the further support frame member 38. In order to carry out a further adjustment of the gripper unit 19a about the Y-axis 26, the further support frame member 38 of the support frame 35 via a separate pivot assembly 39 to the first support frame member 37 is pivotally connected or rotatably connected. The further support frame element 38 can thus be pivoted about the main axis direction, namely the Y-axis 26 relative to the first support frame element 37 via a bearing arrangement not further described and a drive member. This pivoting or adjustment can only a predetermined, certain angular range or even the full angular range of 360 ° entra-
    N2012 / 13400 iPrinted: 09 ^ 11-2012
    This makes it possible to rotate the further support frame element 38 relative to the first support frame element 37 about the pivot axis 29 and thus about the Y-axis 26. The first support frame member 37 is preferably held against rotation about the pivoting about the pivot axis 28 and thus about the X-axis 25 on the support assembly 36.
    Furthermore, the gripper unit 19a has cooperating gripping fingers 40, which in turn are mounted on the further support frame element 38 about the pivot axis 30 for pivoting about the Z axis 27 on the further support frame element 38. In order to have to move as small masses in this area, it is advantageous if the pivot axis 30 is arranged for the gripping fingers 40 immediately adjacent to the gripper fingers 40.
    The physical pivot axis 30 is designed such that it transmits via a later described in more detail drive assembly 54, the torque generated by this and thus the adjusting force about the Z-axis 27 on the gripping fingers 40. Furthermore, it is also necessary for carrying out the gripping movement or the release movement of the gripping fingers 40, so that the gripping fingers 40 can be adjusted relative to one another in the direction of the pivot axis 30 and thus in the direction of the Z-axis 27.
    For this purpose, a non-rotatable, in particular form-fitting connection or mounting between the gripper fingers 40 and the physical pivot axis 30 is necessary. The initiation of the twisting movement on the gripping finger or fingers 40 can take place by turning or swiveling the physical pivot axis 30. Furthermore, however, a displacement movement of at least one of the two gripper fingers 40 in the direction of the pivot axis 30 is to be made possible. This transmission possibility or longitudinal guidance will be explained in more detail in FIGS. 7 and 8 below.
    For the sake of order, it should be mentioned that the pivot axis 30 can also be referred to as a pivot shaft, since a shaft in its simplest form is a rod-shaped machine element which can be used for the transmission of rotational movements and torques as well as for the mounting of rotating parts.
    N2012 / 13400 15 09-1 14.1 | ΐϋ 2012/50498 det. Shafts, in contrast to axles that have a pure support or bearing function, transmit a torque. They are therefore claimed to torsion. For reasons of simplicity, the axes indicated schematically by dotted lines are referred to as pivot axes 28, 29 and 30, even if they are used for direct transmission of torques.
    In order to achieve an additional adjusting movement of the gripping fingers 40 in the direction of the pivot axis 30 and thus in the direction of the Z axis 27, further guide elements are to be provided in order to be able to perform this sliding or sliding movement on the pivot axis 30.
    It can also be seen here that the pivot arrangement 39 provided between the two support frame elements 37, 38 is seen between the pivot axis 28 of the first support frame element 37 forming the X axis 25 and the pivot axis 30 of the further support frame element 38 forming the Z axis 27 is arranged.
    To carry out the gripping movement or the release movement of the cooperating gripping fingers 40, their relative adjustment in the direction of the Z-axis 27 and thus in the direction of the pivot axis 30 is necessary. For this purpose, an adjusting arrangement 41 is provided in the region of the pivoting arrangement 39, which is held or connected to the first supporting frame element 37. The adjusting arrangement 41 includes, inter alia, an actuator which performs a linear adjusting movement, which takes place in a parallel direction with respect to the pivot axis 29. The actuator can be freely selected according to the requirements and desired implementation of the adjusting movement according to the known prior art.
    On the other support frame member 38 is a in the direction parallel to the Y-axis 26 adjustably mounted transmission element 42 is guided. In the present embodiment, the transmission element 42 is seen in cross-section as an annular, circumferential member formed with a wall thickness. Such a component is also called a hollow cylinder or disk-shaped or
    N2012 / 13400 16 09τ11-2012 .1 (ίθί201 ^ δΡ498) This transmission element 42 is operatively connected to the actuator assembly 41 and can by its support on the other support frame member 38 relative to this in parallel and linear directions with respect to the Y-axis 26 and Thus, since this transmission element 42 is mounted on the further support frame member 38, which in turn relative to the first support frame member 37 can be adjusted about the common pivot axis 29 and thus about the Y-axis 26, this transmission element 42 has the previously described and with respect to the Y-axis 26 rotationally symmetrical spatial form.
    On the one hand to be able to perform the axial movement of the transmission element 42 in the direction of the Y-axis 26 and on the other hand, the rotational movement of the same about the Y-axis 26, a corresponding device for transmitting the Verstellhubes of the actuator assembly 41 to the transmission element 42 is provided. For this purpose, the adjusting arrangement 41, which here performs a linear movement in the axial direction with respect to the Y-axis 26, an engagement device 43, on the one hand with the actuating assembly 41 and on the other hand with the transmission element 42 is in operative connection. This engagement device 43 is designed in such a way that the transmission element 42 can perform the rotation about the Y-axis 26 and nevertheless the adjustment in the direction of the Y-axis 26 is possible. Preferably, a claw-shaped configuration is selected in the engagement device 43, wherein the claws on the transmission element 42 act on the axially remote from one another shelves and the engagement device 43 and the claws are further coupled to the actuator assembly 41 and connected. In order to be able to carry out a smooth rotational or pivoting movement of the transmission element 42 in the area of the claws, the engagement device 43 usually has a disk-shaped bearing element 49. For example, a rolling bearing arrangement with at least one, preferably two or more bearing elements 49 spaced apart from one another in the circumferential direction can be provided on one side of the transmission element 42 facing the adjusting arrangement 41. Thus, the bearing element forms one of the claws.
    N2012 / 13400 17 17 (102012/50498
    Printed: 09-11-2012
    On a side facing away from the actuator assembly 41 side of the transmission element 42 hook-shaped engaging elements 44 are provided, which engage over the outer circumference of the transmission element 42 in the direction of the Y-axis 26. This engagement element 44 forms the further on the transmission element 42 engaging claw. Preferably, each engagement element 44 is arranged opposite a bearing element 49. Thus, the transmission element 42 is arranged in the direction of the Y-axis 26 between the bearing element 49 and the engagement element 44. This is depending on the set game, the transmission element 42 on the bearing element 49 of the rolling bearing assembly and / or the engagement member 44 at. This makes it possible to transmit or forward the adjustment stroke to be carried out, starting from the setting arrangement 41 onto the transmission element 42 in the axial direction in both adjustment directions. Preferably, a mostly backlash-free transmission of the adjustment movement in the direction of the Y-axis 26 is desired.
    Furthermore, it can now be seen better from FIGS. 5 and 6 that a plurality of guide rods 45 are provided on the transmission element 42 distributed over the circumference, or are arranged thereon, which in turn are guided guided in the further support frame element 38. These can be any desired axial bearings, with which the transmission element 42 is guided guided on the guide rods 45 on the lower support frame member 38 of the support frame 35 and thus also relative to this adjustable. The bearings can be seen by hiding components of the support frame 35 in the illustration of FIG. 6, which are penetrated by the guide rods 45.
    The guide rods 45 extend in a parallel direction with respect to the pivot axis 29 and the Y-axis 26. At least one additional pin-shaped adjusting element 46 is arranged projecting in the radial direction on at least one of the guide rods 45, which in turn is in operative connection with a link arrangement 47 or in the there provided at least one slide track 50 and / or 51 engages. In the present embodiment, two slide tracks are provided, each of the slide tracks 50, 51 at one in the direction
    N2012 / 13400 11: -2012 IE014.1 110 2012/50498 18 of the Z-axis 27 relative to the lower support frame member 38 slidably guided adjusting part 52, 53 is arranged or formed.
    Each of the gripping fingers 40 is thus in drive connection via the respective own setting part 52, 53 and the adjusting element 46 engaging in the slide track 50, 51 and subsequently with the transmission element 42 for the adjustment processes to be carried out for the gripping or release movement. The two slide tracks 50, 51 are still running counter to each other.
    Due to the inclination of the slide tracks 50, 51 with respect to the movement performed by the actuator assembly 41 in the parallel direction with respect to the Y-axis 26, the above-described gripping movement of the gripper fingers 40 in the direction of the Z-axis 27. This allows the gripping fingers 40 preferably synchronously be moved towards or away from each other. This makes it possible, via the engagement device 43, to be able to transmit the linear adjustment stroke of the actuating element of the actuating arrangement 41 to the transmission element 42 and subsequently to the at least one guide rod 45 with the actuating element 46 protruding therefrom. Thus, a parallel aligned with respect to the Y-axis 26 adjusting stroke on the link assembly 47 in a parallel direction with respect to the Z-axis 27 and the pivot axis 30 and also optionally in a counter-aligned adjusting movement of the gripper fingers 40 are implemented. Due to the interaction of the actuating element 46 with the link assembly 47, then the adjustment movement for the gripping and release movement can be carried out with minimal space requirements.
    This makes it possible, with a very small footprint, the adjustment movements of the gripping fingers 40 in the region of the common Z-axis 27 and
    Pivot axis 30 to perform both for carrying out the pivoting movement of the gripping fingers 40 about the Z-axis 27, as well as in the direction of the same for carrying out the gripping movement. Thus, the scarce available space is optimally utilized. In addition, the masses to be moved in the area of the gripper fingers 40 and the entire pivot axis unit 21 are kept low.
    N2012h 3400 19
    The pivoting movement of the gripping fingers 40 about the Z-axis 27 or pivot axis 30 takes place by means of a separate drive arrangement 54. In the present exemplary embodiment, the drive arrangement 54 comprises a drive motor 55, which, e.g. is in drive connection via a traction drive 56 with the physical pivot axis 30. The traction drive 56 includes in this embodiment, inter alia, a rotationally fixed on the pivot axis 30 held gear which is connected via a toothed belt with the drive motor in drive connection. But there would also be other drive means conceivable, with which a generation and transmission of the drive torque to the pivot axis 30 takes place. On the pivot axis 30, the gripping fingers 40 are not only held against rotation but also additionally slidably guided guided in the axial direction.
    This combined transmission of torques on the gripper fingers 40 and the sliding movement of the gripper fingers 40 on the pivot axis 30 can be done on the one hand by a positive rotational connection and on the other hand by a sliding or sliding, while the rotationally fixed or positive rotational connection between the gripping fingers 40 and Pivot axis 30 eg take place by a splined shaft, polygonal shaft, feather key or even by a positive ball guide, as shown in simplified in FIGS. 7 and 8 is shown. This embodiment of the combined rotationally fixed, but longitudinally displaceable mounting shown here and described, may optionally constitute an independent solution according to the invention. This creates a high degree of flexibility for the gripping and release movements to be performed in the various different gripping positions required for the gripping fingers 40 in the tightest of spaces. With this embodiment, the two adjustment movements can be carried out independently of each other, wherein the adjustment movements can also take place simultaneously.
    In order to additionally enable a smooth longitudinal displacement of the gripping finger 40 or a spacer sleeve unspecified here and provided between the pivot axis 30 and the respective gripper finger 40 on the pivot axis 30, the gripping finger 40 or respectively facing each other could be provided in bearing surfaces 57, 58 facing one another Also the spacer sleeve or an intermediate member and the physical pivot axis 30 may each be arranged at least one groove-shaped recess 59, 60. In these recesses 59, 60 arranged directly opposite one another, the bearing and latching elements are e.g. used in the form of balls 61 to form the ball guide. For this purpose, the respective recess 59, 60 in both the pivot axis 30 and the gripping finger 40 and the spacers arranged therebetween on a respect to the spherical shape opposite cross-sectional shape.
    In an axial direction with respect to the Z-axis 27 and thus the pivot axis 30 extending alignment of the recesses 59, 60 not only a rotationally fixed connection between the physical pivot axis 30 and the gripper fingers 40 can be achieved but also an additional sliding movement of the gripper fingers 40 in Axial direction on the physical pivot axis 30 as a rolling guide by the balls 61 done. This longitudinal guide can be referred to as a ball roller guide or as a recirculating ball bearing guide.
    With a suitable choice of fit, the friction between the outer surface of the pivot axis 30 and the longitudinally displaceably mounted gripping finger 40 and the intermediate sleeve can be reduced so far that the Längsfüh-tion almost exclusively takes place through the ball guide, which also additionally the torque transmission for the implementation the pivoting movement takes over.
    For the sake of order, it should finally be pointed out that in order to better understand the construction of the production plant 1, these or their components have been shown partly unevenly and / or enlarged and / or reduced in size. The pivot axes 28, 29, 30 are shown in the drawings mostly as imaginary axes, but can also be formed by a variety of physical or physical axes. All statements on ranges of values in the description of the present invention should be understood to include any and all sub-ranges thereof, e.g. the indication 1 to 10 should be understood to include all sub-ranges, starting from the lower limit 1 and the upper limit 10, i.
    N2012 / 13400 09-11-2012 .1 21 110 2012/50498 all sub-ranges start with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1 or 5.5 to 10.
    The embodiments show possible embodiments of the manufacturing plant 1, wherein it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to the teaching of technical action representational invention in the skill of those skilled in this technical field. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
    Above all, the individual in Figs. 1, 2; 3; 4, 5, 6; 7, 8 embodiments form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures.
    N2012TI3400: 09-11-2012 2012/50498
    Reference Designation 1 Production Facility 36 Support Arrangement 2 Transport System 37 Support Frame Element 3 Part 38 Frame Element 4 Part Support 39 Swivel Arrangement 5 Transport Direction 40 Gripper Finger 6 Workstation 41 Adjustment Arrangement 7 T eil Provision Station 42 Transfer M ater 8 Base Frame 43 Engagement Device 9 Support Housing 44 Engagement Element 10 Bottom 45 Guide Rod 11 Interface 46 Actuator 12 frame construction 47 gate assembly 13 bearing frame module 48 linear guide 14 receiving opening 49 bearing element 15 longitudinal beam 50 slide track 16 handling device 51 slide track 17 T ransportabschnitt 52 actuator 18 pitch 53 actuator 19 working unit 54 drive assembly 19a gripper unit 55 drive motor 20 linear guide unit 56 traction drive 21 pivot axis unit 57 bearing surface 22 linear guide 58 bearing surface 23 Linear guide 59 recess 24 linear guide 60 recess 25 X-axis 61 ball 26 Y-axis e 27 Z-axis 28 Swivel axis 29 Swivel axis 30 Swivel axis 31 Width 32 Work area 33 Sidewall 34 Connecting component 35 Supporting frame
    权利要求:
    Claims (18)
    [1]
    1 (ΐΟ2012 / 0 0498) 1. A production plant (1) for producing an assembly of several parts (3), comprising a transport system (2) for conveying the parts (3) by means of Teileträgem (4), a plurality of workstations (6), which in Transport direction (5) along a transport section (17) of the transport system (2) in a grid spacing (18) are arranged one behind the other, and at least one of the workstations (6) each have a storage frame module (13) and a handling device (16) mounted on the storage frame module (13) ), wherein the handling device (16) has a working unit (19), in particular a gripper unit (19a), which is adjustable relative to the work station (6) via a linear guide unit (20) and a pivot axis unit (21), wherein the linear guide unit (20) several own linear guides (22,23, 24) with drives for each adjustment of the working unit (19) in one of the three different Major axis directions (25,26,27) and the pivot axis unit (21) a plurality of separate pivot drives with pivot axes (28, 29, 30) for each adjustment of the working unit (19) to one of the three different main axis directions (25,26,27), wherein the linear guides (22, 23, 24) of the linear guide unit (20) are arranged at a distance from the pivot axes (28, 29, 30) of the pivot axis unit (21), characterized in that the bearing frame modules (13) each have a width (31) in the transport direction (5) of the transport section (17) and in the substantially the width (31) corresponding grid spacing (18) are arranged, wherein the handling device (16) with the working unit (19) in the transport direction (5) of the transport section (17) maximum working area (32) which corresponds to the width (31) of the bearing frame module (13).
    [2]
    2. Production plant (1) according to claim 1, characterized in that the pivot axis unit (21) in the region of the working unit (19) is arranged.

    M2012 / 1 2 [Prihted; 09-11-201 1 ΝΘ2012 / 5Θ498
    [3]
    3. Production plant (1) according to claim 1 or 2, characterized in that the pivot axis unit (21) for each of the individual main axis directions (25, 26, 27) has its own pivot axis (28, 29,30), each with its own pivot drive.
    [4]
    4. Production plant (1) according to one of the preceding claims, characterized in that the working unit (19) comprises a support frame (35) which is connected in movement via a support assembly (36) with the linear guide unit (20) and on the support frame (35). the pivot axes (28, 29, 30) of the pivot axis unit (21) are arranged.
    [5]
    5. Production plant (1) according to claim 4, characterized in that the support frame (35) has a plurality of support frame elements (37, 38), of which a first support frame member (37) relative to the support assembly (36) at this about the pivot axis (28 ) is pivotally mounted for pivoting about the X-axis (25).
    [6]
    6. Production plant (1) according to claim 4 or 5, characterized in that between the support frame (35) forming the first and further support frame elements (37, 38) a pivot arrangement (39) is arranged, by means of which the further support frame member (38) relative with respect to the first support frame member (37) about the pivot axis (29) for pivoting about the Y-axis (26) is pivotally mounted.
    [7]
    7. Production plant (1) according to one of claims 4 to 6, characterized in that the working unit (19) has a gripper unit (19a) with cooperating gripper fingers (40) and the gripping fingers (40) by means of the pivot axis (30) on the further support frame element (38) are mounted for pivoting about the Z-axis (27), wherein the pivot axis (30) for the gripping fingers (40) immediately adjacent to the gripper fingers (40) is arranged. N2012 / 13 '

    Λ [10 # 1 ^ 0498 3
    [8]
    8. manufacturing plant (1) according to claim 7, characterized in that the gripping fingers (40) on the one hand rotating with the pivot axis (30) and on the other hand on the pivot axis (30) are mounted displaceably in the axial direction.
    [9]
    9. Production plant (1) according to one of claims 4 to 8, characterized in that between the two support frame elements (37, 38) arranged pivoting arrangement (39) seen in the vertical direction between the X-axis (25) forming the pivot axis (28) of the first support frame element (37) and the pivot axis (30) forming the Z axis (27) is arranged.
    [10]
    10. Production plant (1) according to one of claims 4 to 9, characterized in that in the region of the pivoting arrangement (39) an adjusting arrangement (41) is provided, which is held on the first supporting frame element (37) and via a further supporting frame element (38 ) in a parallel direction with respect to the Y-axis (26) adjustably mounted transmission element (42) aligned parallel with respect to the Y-axis (26) Verstellhub via a link arrangement (47) in a direction parallel to the Z-axis (30) and in a counter-aligned adjusting movement of the gripping fingers (40) converts.
    [11]
    11. Production plant (1) according to claim 10, characterized in that the adjusting arrangement (41) comprises an engagement device (43) which on at least one of the axial direction with respect to the Y-axis (26) facing away from each other shelves of the transmission element (42). is applied and the engagement device (43) with an actuator of the actuating arrangement (41) is connected.
    [12]
    12. Production plant (1) according to claim 10 or 11, characterized in that the adjusting arrangement (41) further comprises at least one guide rod (45) which is aligned parallel to the Y-axis (26) and with the transmission element (42) the side facing the gripper fingers (40) is connected 4 4 = 014.1 1102012/50498 is bound, wherein the guide rod (45) is guided guided on the further support frame member (38).
    [13]
    13. Production plant (1) according to one of claims 10 to 12, characterized in that the adjusting arrangement (41) comprises a plurality of guide rods (45) and at least one of them a radially projecting adjusting element (46) is arranged, which in each case one on a setting part (52, 53) of the link arrangement (47) formed link track (50, 51) engages.
    [14]
    14. Production plant (1) according to one of the preceding claims, characterized in that the linear guide unit (20) is arranged in the vertical direction above the working unit (19).
    [15]
    15. Production plant (1) according to one of the preceding claims, characterized in that the bearing frame modules (13) in the transport direction (5) of the transport section (17) are arranged adjacent to each other and form a longitudinal row.
    [16]
    16. Production plant (1) according to one of the preceding claims, characterized in that the bearing frame module (13) in the transport direction (5) of the transport section (17) spaced apart side walls (33) and the side walls (33) interconnecting connecting components (34) includes.
    [17]
    17. Production plant (1) according to one of the preceding claims, characterized in that the bearing frame modules (13) on the respectively facing each other side walls (33) or on end faces of the side walls (33) superior connecting members (34) are supported against each other. N2012 / 13 · 5 Printed: 09-11-2012 .1 [iÖ 2012/50498
    [18]
    18. Production plant (1) according to one of the preceding claims, characterized in that on a storage frame module (13) in addition a parts supply station (7) for providing a part (3) is mounted. STIWA Holding GmbH by Attorneys Burger & Partner Lawyer GmbH
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    同族专利:
    公开号 | 公开日
    EP2916994A1|2015-09-16|
    WO2014071431A1|2014-05-15|
    EP2916994B1|2016-10-26|
    AT512775B1|2013-11-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102005034079A1|2005-07-21|2007-01-25|Gebr. Heller Maschinenfabrik Gmbh|Modular production line has work stages performed by modular working clusters with feed and working operations controlled by central command|
    DE102005047250A1|2005-10-01|2007-04-05|Supfina Grieshaber Gmbh & Co. Kg|Production line for producing work pieces, has many machining cells which are positioned side by side in row and transport device for transporting work piece in or from machining cells|
    JP2009208168A|2008-02-29|2009-09-17|Komatsu Ntc Ltd|Production line|US20160214225A1|2013-09-13|2016-07-28|Fuji Machine Mfg. Co., Ltd.|Machining system|DE102004029665A1|2004-03-30|2005-10-27|Continental Teves Ag & Co. Ohg|Modular transfer system for workpieces|
    DE102009003492A1|2008-02-15|2009-08-20|Fachhochschule Aschaffenburg|Modular manufacturing plant|AT517093B1|2015-09-04|2016-11-15|Sticht Tech Gmbh|production module|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT504982012A|AT512775B1|2012-11-08|2012-11-08|Production plant for producing an assembly of several components|AT504982012A| AT512775B1|2012-11-08|2012-11-08|Production plant for producing an assembly of several components|
    EP13815675.7A| EP2916994B1|2012-11-08|2013-11-07|Manufacturing plant for producing an assembly consisting of a plurality of components|
    PCT/AT2013/050210| WO2014071431A1|2012-11-08|2013-11-07|Manufacturing plant for producing an assembly consisting of a plurality of components|
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