• 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:
    manipulator element the present invention relates to a manipulator element (14) for transporting workpieces, especially between two subsequent molding presses (10, 12) of a press operation line, comprising a movement mechanism that allows three movements dimensions in the path between the molding presses (10,12), characterized by the fact that an additional arm (40) is fixed to the movement mechanism and connected to this movement mechanism through a supporting element (38), which allows a rotary movement of the supplementary arm (40) around a vertical axis of the support element (38), as well as a translational movement of the supplementary arm (40) with respect to the support element (38), and in which a tool holder (42) is provided at the outer end of an additional arm (40), said tool holder (42) which can be rotated around a first horizontal axis (a1), and around a second axis (a2) P erpendicular to the first axis (a1), and said tool holder (42) comprising a tool reception (70.72) that can be rotated about a third axis (a3), arranged perpendicular to the second axis (a2) .
    公开号:BR112012015640B1
    申请号:R112012015640-3
    申请日:2009-12-21
    公开日:2020-09-29
    发明作者:Naumann Bernd；Wessling-Schäfers Markus
    申请人:Wilfried Strothmann Gmbh Maschinenbau Und Handhabungstechnik；
    IPC主号:
    专利说明:

    [001] The present invention relates to a manipulator element for transferring workpieces, especially between two subsequent molding presses, within a molding press production line, comprising a movement mechanism for the execution of three dimensional movements in the path between the two molding presses.
    [002] The manipulative elements are known in great variety. Some of these manipulative elements comprise an articulating manipulator arm, with at least two members that are articulably connected around a horizontal axis. Through this movement of articulation or folding, the distance from the outer end of the manipulator arm to its support can be reduced or increased. In addition, the height of the external end of the manipulator arm can be changed by means of suitable articulation movements of two members of the arm, around its horizontal articulation axis.
    [003] When the workpieces between two molding presses are transferred, it must be considered that there is not much space between the molding presses, and the space between the upper pressing tool and the lower pressing tool of a press is quite shallow. For this reason, this is a common problem when transferring relatively large workpieces from one molding press to another. If manipulator elements of the above type are used for this purpose comprising folding arms, the support base of the adjacent molding presses, as well as the manipulator support itself, obstruct movement, due to the fact that the manipulator arm follows an arc path circulate during the articulation movement with its outer end, and approaches the base of the molding presses.
    [004] In addition, another problem is related to the construction of these manipulative elements, due to the fact that their movement during the transfer of work pieces is relatively time consuming and consumes a lot of energy.
    [005] In addition to the aforementioned manipulative elements comprising an articulation arm, there are also so-called linear robots, with a relatively simple construction, performing a relatively simple linear transfer movement between the molding presses. However, the known linear robots have only a few degrees of freedom in the movement of workpieces, so they are not suitable for use in a molding press production line. Articulating arm manipulators, as well as linear robots, present the common problem that the tool holder at the end of the manipulator arm has a certain construction height, which makes the insertion of workpieces in a relatively shallow space within the molding press quite difficult.
    [006] Therefore, it is an objective of the present invention to provide a manipulator element of the above type, which allows movement of the workpiece with many degrees of freedom and low expenditure of time and energy. In particular, the transfer of a workpiece in the small space between the molding presses and an insertion of one end of the manipulator arm in the shallow space between the press tools should be possible.
    [007] According to the present invention this objective is achieved by means of a manipulative element that includes the characteristics described in claim 1.
    [008] According to the present invention, an additional arm is fixed to the movement mechanism by means of a support element, which allows articulation movement of the supplementary arm around the vertical axis of the support element, as well as a linear transfer movement of the supplementary arm with respect to the support element. This swivel capability, in connection with the option to extend the supplementary arm in relation to the original manipulator arm, provides high flexibility. In particular, the distance between the tool holder and the base of the manipulator element support can be reduced or increased by the linear extraction and contraction movement, without bending the manipulator arm or moving it in another mode of operation.
    [009] At the end of the supplementary arm, a tool holder is provided which can be articulated around a first horizontal axis and around a second axis which is arranged particularly vertically in relation to the first axis. Therefore, the tool holder can be moved freely in space, so as to provide a relatively free position of the workpiece that is supported by the tool. The tool reception of the tool holder can also be rotated about a third axis, which is perpendicular to the second axis. Therefore, there are additional degrees of freedom for the tool in the tool holder.
    [010] In particular, it is possible to articulate the second axis of the tool holder by rotating it around the first horizontal axis, in a horizontal position, and to position the tool reception by turning around the second axis, also, within the horizontal plane, resulting in that all three axes are arranged in the same horizontal plane. In this position, the end of the supplementary arm with the tool holder and the tool reception, all together, have a relatively low height, which allows insertion of a workpiece in a relatively shallow press space. This introduction can be carried out mainly by linear extraction of the supplementary arm from its support element.
    [011] Because the construction according to the present invention provides advantages in relation to the height of the construction, when picking and inserting the workpiece into and out of the molding press, the workpiece can be rotated and articulated freely in the space between the two molding presses, due to the large number of degrees of freedom, in addition to the linear mobility performed by an additional arm towards the base of the manipulator element support or away from it. The respective movements can be performed with a relatively low expenditure of time and energy.
    [012] Preferably, the tool holder is received within a rotation holder to rotate around the second axis, while the rotation holder itself is held at the end of the supplementary arm, which can be rotated around the first axis .
    [013] The receiving part of the tool is preferably provided in the form of a bar-shaped support, with the axis of the bar representing a third axis.
    [014] According to a preferred embodiment of the present invention, the end of the supplementary arm comprises an articulated joint element which can be rotated about a vertical axis and its end supports the third axis.
    [015] With this articulated joint element, the tool holder can also be kept articulated at the end of the supplementary arm, in a position to move within the press space, in which the first, second and third axes are arranged on a plane common horizontal. This articulation within the horizontal plane around the axis of the articulated joint element can provide a small angular inclination of the supplementary arm in relation to the direction of introduction.
    [016] Preferably, the articulated joint element is fork-shaped and receives rotation support on both sides.
    [017] According to another preferred embodiment of the present invention, the movement mechanism comprises a horizontal beam, in which the support element is kept movable along the extension of the beam and movable in a vertical direction.
    [018] The beam is provided to connect a greater distance within the space and between adjacent molding presses. Between the ends of the horizontal beam, the support element for the supplementary arm is moved, and it can perform the movements described above for insertion and placement of workpieces in their respective final positions.
    [019] According to another preferred embodiment, the manipulator element comprises a folding arm, with a plurality of members, while the supplementary arm is provided at the end of its folding arm.
    [020] By means of the supplementary arm, the above described disadvantages of a folding manipulator arm are at least partially offset by the fact that the provision of the flat supplementary arm reduces the danger of collision between the folded parts of the manipulator arm and the support base of the molding press.
    [021] Preferably, one or more motors are provided to perform rotation about the first axis, the second axis and / or about the third axis.
    [022] In the following, a preferred embodiment of the present invention is described, with reference to the following attached figures: - Figures 1 to 3 show a preferred embodiment of a manipulative element, according to the present invention, within a line production of molding presses; figure 4 is a detailed perspective view of the manipulator element shown in figures 1 to 3; figures 5A and 5B represent side views of the modality shown of the manipulator element according to the present invention, in different positions of the tool holder; and - figures 6 and 7 represent a side view and a perspective view of the manipulator element according to the present invention, in another position of the tool holder.
    [023] Figure 1 shows, schematically, two subsequent molding presses (10, 12) within a molding press production line. Between the molding presses, a manipulator element (14) according to the present invention is provided for transferring a workpiece (16) from a first press (10) to a subsequent second press (12). The press (10) comprises a gripping position (18) at the top of the lower half (20) of a pressing tool (22), while the second press (12) comprises a receiving position (24) at the top of the lower half (26) of your pressing tool (28). The manipulator element (14) is provided for grasping the workpiece (16) after the pressing operation, within the first press (10), from the gripping position (18), to transfer said workpiece to the position of receiving (24) of the second press (12).
    [024] For this purpose, the manipulator element (14) comprises a horizontal beam (30), which extends within the space between the two presses (10, 12). In the beam (30) rails (32) are provided, on which a horizontal cart (34) moves between the ends of the beam (30). In the car (34) another vertically movable car (36) is provided, which comprises a support element (38) at its lower end. This support element (38) supports an additional arm (40) that can be deflected with respect to the support element (38) in the longitudinal direction of the supplementary arm (40) and can be articulated around the vertical axis of the support element ( 38).
    [025] At the end of the supplementary arm (40) a tool holder (42) is provided, as described below, said tool holder (42) which can be tilted and rotated around different axes. The tool holder (42) supports a tool (44) for transporting the workpiece (16). Due to the movement mechanism formed by the horizontal beam (30), horizontal car (34) and vertical car (36), the tool holder (42) can practically reach any desired point within the space between the presses (10, 12 ), between the gripping position (18) and the receiving position (24).
    [026] While figure 1 shows an intermediate position in which the supplementary arm (40) is positioned vertically with respect to the beam (30), figure 2 shows an extremely extracted position of the supplementary arm (40), in which the work (16) is gripped by the first molding press (10). Figure 3, on the other hand, shows a position between the position of figure 2 and the position of figure 1, in which the supplementary arm (40) is partially contracted in the direction of the support element (38), but still oriented in the longitudinal parallel direction to the beam (30), before being articulated within the position of figure 1. In the next movement to insert the workpiece (16) into the subsequent molding press (12), the supplementary arm (40) is later articulated in the same direction of rotation with respect to the support element (38), so that the receiving position (24) for the workpiece (16) is reached.
    [027] It can be seen from figure 2 that the tool holder (42) at the end of the supplementary arm within the press space of the first molding press (10), between the two halves of the pressing tool (22) takes a different position from that shown in figures 1 and 3. This change of position of the tool holder is possible due to a construction that will be described in greater detail in connection with figure 4.
    [028] Figure 4 shows a portion extracted from the supplementary arm (40), which is maintained at the end of the support element (38). At the end (46) of the supplementary arm (40) there is an articulated joint element (48) which is fork-shaped, and which can be articulated with respect to the fixed end (46) of the supplementary arm (40) around a vertical axis (A0). The articulation space of the articulated joint element (48) is delimited in a lateral direction by means of lateral stops (50, 52), formed by the vertical side walls of the hollow profile that forms the supplementary arm (40). A motor is provided for articulation of the articulated joint element (48), which will not be explained here.
    [029] The articulated joint element (48) in the shape of a fork comprises two flat and parallel support arms (54, 56). Between these support arms (54, 56), a rotation support (58) is received to rotatively support the tool support (42). The rotation support (58) itself can be kept articulated between the support arms (54, 56) of the articulated joint element (48) and can be rotated about a horizontal axis (Al), which is arranged perpendicular with to the axis of rotation (A2) of the tool holder (42). This axis of rotation (Al) of the rotation holder (58) must be designated as the first axis (Al), while the axis of rotation (A2) of the tool holder (42) will be designated as the second axis. The rotation of the rotation support (58) between the support arms (54, 56) is carried out by means of a motor drive (62, 64), which is provided on the external sides of the support arms (54, 56). To rotate the tool holder (42), another motor transmission (66) is provided on the second axis (A2) between the support arms (54, 56).
    [030] The tool holder (42) comprises a pin (68) which is received with one of its ends within a rotation holder (58). Circular shaped tool holders (70, 72) extend from the remaining free end of the pin (68), and its bar axis is arranged on a third common axis (A3), which is perpendicular to the second axis (A2 ). Tool holders (70, 72) can be rotated about the third axis (A3), on the pin (68). The rotation is performed by a corresponding rotation transmission (74, 76), to rotate the respective tool reception (70, 72), in relation to the pin (68). Each tool reception (70, 72) carries a portion of a tool for lifting the workpiece (16).
    [031] Although the tool holder (42) can be rotated around the first axis (Al) and around the second axis (A2), so that the bar-shaped tool receptions (70, 72) can take the desired position in the space, the workpiece (16) can be positioned by rotating the tool holders (70, 72) around the third axis (A3). This provides a large number of degrees of freedom in the movement of the workpiece (16). In addition, the tool holder (42) can take the flat position shown in figure 4, in which all three axes (A1, A2 and A3) are arranged within a common horizontal plane and the tool holders in bar form (70, 72) are positioned by turning around the third axis (A3), so that the workpiece itself takes a horizontal position. In that position, the workpiece (16) can also be inserted into a space between the two pressing tools of a molding press (10, 12), which is relatively shallow.
    [032] From that position, the tool holder (42) can be moved within a position as shown, such as, for example, in figure 5B. Figures 5A and 5B represent side views of the present embodiment of a manipulator element according to the present invention, in different positions of the tool holder (42), notably the position according to figure 5A, which has already been described with respect to to figure 2 and the position according to figure 5B, corresponding to figures 1 and 3.
    [033] When the tool holder (42) is rotated around the first axis (Al), from the position of figure 5A, in which the second axis (A2) is horizontally arranged, it results in a second axis (A2 ) is arranged vertically, so that the position of figure 5B is reached. It is clearly shown that in the position of figure 5B, the tool holder (42) has a construction height much greater than that shown in the preceding figure 5A. Therefore, the flat position of figure 5A is preferred for inserting a workpiece (16) into a molding press (10, 12) or for removing it from the press. During the transfer from the position of figure 5A to the position of figure 5B, the horizontal orientation of the workpiece (16) can be maintained due to the ability to rotate the bar-shaped tool receptions (70, 72) around the third axis (A3), compensating for the rotation around the first axis (Al). The third axis (A3), as well as the bar axis of the tool holders (70, 72) is then pivoted around the first horizontal axis (Al), at the same time that both axes are kept parallel.
    [034] The construction of the tool holder invention shaft (42) can also provide other applications. Figure 6 shows a situation in which the second axis (A2) is positioned in the horizontal plane and the tool receptions (70, 72) are rotated around their bar axes, mainly around the third axis (A3), so that the workpiece (16) takes a vertical position. Such a position can be useful in cases where the workpiece (16) must be taken from a vertical position and also be placed in a vertical position. During transfer from one position to another, the workpiece (16) can take any desired position, depending on the space between the two molding press stations.
    [035] The situation in figure 6 is also shown in perspective view in figure 7. Thus, it can be seen that the bar-shaped tool receptions (70, 72) are rotated with respect to the position in figure 4 of about 90 ° around the pin (68), so that the vertical position of the workpiece (16) is reached.
    权利要求:
    Claims (4)
    [0001]
    1. Manipulator element (14) comprising a movement mechanism for transporting workpieces, especially between two subsequent molding presses (10, 12) of a press operating line, which allows three dimensional movements in the path between the molding presses (10, 12), characterized by the fact that an additional arm (40) is attached to the movement mechanism and connected to this movement mechanism through a support element (38) that comprises a vertical axis and allows a rotating movement of the supplementary arm (40) around the vertical axis of the support element (38), as well as a translation movement of the supplementary arm (40) with respect to the support element (38), and in which a tool support ( 42) is provided at the outer end of the supplementary arm (40), said tool holder (42) being rotatable about a first horizontal axis (Al) in relation to the outer end of the tool holder (42), and in t around a second axis (A2) perpendicular to the first axis (Al) with respect to the outer end of the tool holder (42), and said tool holder (42) comprising a tool socket (70, 72) that is rotatable in about a third axis (A3) with respect to the outer end of the tool holder (42) which is perpendicular to the second axis (A2), wherein said tool holder (42) is received inside a tool holder rotation (58) to rotate about the second axis (A2), said rotation support (58) being kept pivotable around the first axis (Al) at the end of the supplementary arm (40), where the end of the supplementary arm ( 40) comprises an articulated joint element (48) provided in the supplementary arm (40), articulated about a vertical axis (AO), while the third axis (A3) is supported at the end of the articulated joint element (48), wherein said movement mechanism comprises a horizontal beam (30), in which the el support element (38) is kept movable along the extension of the beam (30) and movable in a vertical direction.
    [0002]
    2. Manipulator element according to claim 1, characterized by the fact that said articulated joint element (48) has the shape of a fork and receives the rotation support (58) on both sides.
    [0003]
    3. Manipulator element, according to claim 1, characterized by the fact that said tool reception (70, 72) is provided with a support in the form of a bar, where its bar axis represents the third axis (A3).
    [0004]
    4. Manipulating element, according to claim 1, characterized by the fact that at least one motor is provided for articulation around the first axis (Al), the second axis (A2), and around the third axis (A3) .
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    同族专利:
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    CN103328165B|2015-10-21|
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    法律状态:
    2019-01-15| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-06-18| B06T| Formal requirements before examination|
    2019-11-19| B07A| Technical examination (opinion): publication of technical examination (opinion)|
    2020-05-12| B09A| Decision: intention to grant|
    2020-09-29| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 29/09/2020, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/EP2009/067682|WO2011076249A1|2009-12-21|2009-12-21|Robot|
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