• 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:
    A handling system for components or tools comprises a guiding track formed by a pair of spaced parallel guiding posts, on which is displaceably mounted an intermediate carrier for the components coupled to an apparatus for displacing and positioning the intermediate carrier along the guiding posts, in which the guiding posts are associated with respective support elements extending parallel and lengthwise of the posts and transversely therefrom the support elements being arranged to stiffen the guiding posts and support them against bending due to operating forces on the carrier when handling components or tools.
    公开号:SU1382397A3
    申请号:SU864027424
    申请日:1986-05-06
    公开日:1988-03-15
    发明作者:Штихт Вальтер
    申请人:Вальтер Штихт (AT)；
    IPC主号:
    专利说明:

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    The invention relates to a machine structure, in particular, to devices for manipulating and, accordingly, positioning parts or tools.
    The aim of the invention is to provide accurate positioning of the intermediate ball bearing in any final position by strengthening the guide columns in the direction of the main load and displacement in two different planes of space.
    1 shows a device for manipulating or positioning parts, a general view; FIG. 2 is a view A of FIG. 1, with a partial section BB in FIG. 1; Fig. 3, a guide column with an additional supporting element fixed to it, side view; Fig. 4 is a variant of the device for manipulating parts, view A in Fig. 1; Fig. 5 shows an embodiment of a device for manipulating parts, side view; figure 6 view In figure 5; Fig. 7 is a variant of the device for handling the parts by manipulating, a partial section G-Y in Fig. 5; Fig, 8 is a part of the device, side view, section DD in Fig.7,
    In the device 1 for manipulating the parts 2 or their positioning, the gripping device 3 is fixed on the intermediate ball support A, which is mounted for movement along the guide 5, formed by the guide columns 6 and 7, by means of the positioning device 8, for example, cylinder-piston power cylinder devices 9. Guiding columns 6 and 7 with their end sections are installed base plates 10 and 11, forming, together with the base plate 12, the dry {base (base) 13. Both guide columns 6 and 7 both horizontally and vertically displaced one relative to the other, and therefore located in a plane 14 extending obliquely to the horizontal,
    The bottom guide of the column 6 has an additional supporting element 15, which is shaped by the support bar 16, the cross section, centering the central vertical plane 17 and pro: -; r1, through the center of the guide to (1) 6, for supporting and reinforcing at loads in the direction of the vertical plane 17,
    The upper guide column 7 also includes an additional supporting element 18 formed by a rectangular support bar 16 which is located along the middle of a non-horizontal plane 19 passing through the center of the guide column 7,
    The height of section 20 is parallel to, respectively, the go1 of the vertical or vertical planes 19 and 17, respectively, and is larger than 21 sections of the supporting strips 16, Width 21 of the sections of the supporting strips 16 is less than the diameter of 22 guide columns 6 and 7.
    Due to this, the guide columns 6 and 7 are reinforced in the horizontal and vertical planes 19 and 17, and the guide 5 becomes stiffer in both these directions. This ensures a strictly parallel course of the intermediate ball support 4, since the deflection of the guide columns even with the application of large forces c. the area of the gripper 3 in the direction of both planes J7 and 19 decreases, Dp reaching the rigidity in the direction of the horizontal and vertical planes 19 and 17, corresponding to the bending of the guide columns 6 and 7, is possible (as shown in the schematic illustration of the guide columns 6 in FIG. .1) choose the height of section 20 and the moment of resistance of the guide column 6.7 in accordance with the expected course of the bending line. Due to this, it is possible to adjust the actual moment of resistance in different parts of the length of the guide columns 6 or 7 to the loads occurring in these zones, in particular to the loads from the bending moment.
    Fig. 3, by means of a cross section of the guide column 23, shows that the connection of the support bar 16 with the guide column 23 can be carried out as follows. The guide column 23 has a cross section in the form of a section of a circle and on the flat side 24 of the guide column 23, the support bar 16 is connected with screws 25 to the guide column 23,
    But it is also possible (Figures 1 and 2) to guide the columns 6 and 7 with a groove extending in their longitudinal direction, having a width approximately
    ten
    corresponding to a width 21 sections of the support bars 16, so that they can be inserted into guide columns 6 and 7.
    Fig. 4 shows an embodiment of the device 1 in which the guide columns 26 and 27 forming the guide are also located in the oblique vertical planes 14. An intermediate ball bearing 4 is mounted on these guide columns 26 and 27,
    In order to tighten the guide columns in the horizontal plane 19 and the vertical plane 17, additional support elements 28 formed by the support bars 29 are located here in mirror images of the guide columns 26 and 27 mirrored in arrangement. The support bars 29 have a square cross section with sides of the liner 30. Thus, the guide columns 26 and 27 are reinforced in both spatial directions fixed by planes 17 and 19. In addition, by mirroring it can be perceived occurring in opposite directions in the horizontal and loads, respectively, in vertical planes 19 and 17.
    The lateral lengths of the 30 support bars 29 are chosen so that the diagonal of the section
    25
    thirty
    and 36 through the additional supporting member 37 directly resting on one of the two support plates 32 and 34. In addition, the additional supporting members 37 are formed by the supporting strips 38, and these supporting strips 38 simultaneously serve to pass the fastening members 39 by which these guide columns 35 and 36 mounted to base plates 32.
    The guide columns 35 and 36 (Fig. 5) pass between the lateral sides of the bearing plates 33 facing each other and are not directly fastened in them. Thus, it is possible to change the dpins arising due to temperature fluctuations during operation, for example, due to the release of heat, friction, etc., diverts evenly along the entire length of the guide columns 35, 36 or the supporting strips 38 belonging to them. plates 32, 34. The carrier plates 33 serve to hold the end stops 40 or shock absorbers 41. The whole supporting body base 31 with guide columns 35 and 36 is located, for example, on another supporting body 42 of the same or similar device. 1 and each of these devices is mo To form a linear axis of the manipulation device. Due to this, it is possible to create highly loaded guides of the cooper bar 29 shorter than the diameter by 35 on 35 of a relatively small cross section.
    the governing column 26 or 27. That is, in any case, a strict backlash-free direction of the intermediate support 4 is provided. when installing these support bars 29,
    Figures 5 and 6 show the device i for manipulating parts or a tool for positioning them. It encloses the supporting body 31, which includes one orfop plate 32, two supporting plates 33 and a second support plate 34. In this supporting body in the vertical plane 14 passing inclined to the vertical plane there are two guide columns 35 and 36 , In order to ensure, along the entire length of the guide columns 35 and 36, the direction of the intermediate yarik support, strictly parallel and moderate in height, on which a gripping device, an instrument, etc., can be mounted, each of two guide columns 35
    40
    45
    whereby it is possible to save space for guide columns 35 and 36 in the intermediate ball support 4 "Therefore, this intermediate ball bearing can be performed with smaller cross-sectional dimensions, so that even in the device, which has all the compressed space, there is enough space to accommodate positioning devices 8 for such an intermediate ball bearing 4 and measuring system 43, shown schematically in Fig. 6, within the bearing housing -.
    50
    This measuring system 43 can be formed, for example, by a tension scale, equipped with a code that can be confused as the intermediate ball support 4 moves in the direction of the 55 columns 35, 36, in order to keep it between the end positions determined by end stops 40, for example, in intermediate
    0
    Q 5
    0
    and 36 through the additional support member 37 directly rests on one of the two support plates 32 and 34. In addition, the additional support members 37 are formed by the support strips 38, and these support strips 38 simultaneously serve to pass the fastening members 39, which are the guide columns 35 and 36 is attached to base plates 32.
    The guide columns 35 and 36 (Fig. 5) pass between the lateral sides of the carrier plates 33 facing each other and are not directly fastened in them. Thus, it is possible to change the dpins arising due to temperature fluctuations during operation, for example, due to the release of heat, friction, etc., diverts evenly along the entire length of the guide columns 35, 36 or the supporting strips 38 belonging to them. plates 32, 34. The carrier plates 33 serve to hold the end stops 40 or shock absorbers 41. The whole supporting body base 31 with guide columns 35 and 36 is located, for example, on another supporting body 42 of the same or similar device. 1 and each of these devices is mo To form a linear axis of the manipulation device. Due to this, it is possible to create highly loaded guides of a relatively small 35 cross section.
    0
    five
    whereby it is possible to save space for guide columns 35 and 36 in the intermediate ball support 4 "Therefore, this intermediate ball bearing can be made with smaller cross-sectional sizes, so that even in a device that has a very tight space, there is enough space for positioning the device 8 for such an intermediate ball bearing 4 and the measuring system 43, schematically shown in FIG. 6, within the carrying case.
    This measuring system 43 can be formed, for example, by a tension scale equipped with a code that can be considered when the intermediate ball support 4 moves in the guide columns 35, 36 in order to hold it between the end positions defined by the end stops 40, for example, in intermediate
    positions, and with the help of the brake as needed when fixing.
    The smsto of the two directional columns can be strengthened in the required direction of action of the main load, only one, if this is sufficient for a specific case. In addition, within the scope of the invention, it is possible to modify the shape of the support elements or support planks, if in this case the two parallel guide columns acquire the corresponding reinforcement or tightening in two different spatial directions.
    It is possible, the guide columns 6 and 7 (FIG.) Can be fixed in one of the two bearing plates 10 or 11, which, for example, is shown in the area of the carrier plate 10 by means of the fixing pin 44, and in the opposite carrier plate 11 freely movable in the longitudinal direction. Due to this, it is possible, with longer guide columns and fluctuating ambient temperatures, to compensate for the lengths of the guide columns 6 and 7, not allowing overvoltage of the bearing housing (base) 13 or bending of the guide columns 6 and 7.
    Thanks to the device (Fig. 6) belonging to the guide columns 35 of the stop bars, it was achieved that even with an eccentric load (arrow 45), for example, the gripper 3, contrary to the direction of the carriage of the guide sleeve, eccentric force (arrow 46) can be transmitted flawlessly 35 columns.
    Figures 7 and 8 show another variant of the device for manipulating and positioning the parts. The guide 5 is formed by two guide columns 47 and 48, which are located in the plane 14, which is relative to the horizontal plane 19 and the vertical plane 17 In two directions intermediate columns 47 and 48 moves the intermediate ball bearing (carriage) 4, which through the spherical centering devices 49 and 50 rests on guide columns 47 and 48,
    The spherical centering devices 49 and 50 have an approximately consistent cross-section, with the two ends 51 and 52 of the sleeve 33 storing the balls 54 in the circumferential direction spread over the edge
     .
    ten
    15
    20
    25
    thirty
    35
    40
    45
    50
    55
    at least at the angle of solution 55. In this part of the surface of the guide columns 47 and 48 not covered by the sleeve 53, the supporting elements 56 and 57 are located. They are connected to each other by gluing or using a clamping effect, or by mechanical fastening means such as screws. If on the intermediate ball support (carriage) 4 the gripping device 3 is located on the side facing away from the opposite sides of the two guide columns 47, 48, i.e. eccentric to the guide 5, the gripping device and the part it captured, i.e. mass 58, a torque is created which attempts to rotate the intermediate ball bearing (carriage) 4 around the midpoint of the guide columns 48. This results in a rotation moment shown by arrow 59 acting on the guide column 47. On the contrary, the guide column 48 is loaded mainly direction of gravity, directed in this example parallel to the vertical Direction to mass 58, shown by arrow 60. Accordingly, the supporting element 57 belongs to the side of the guide column 48 opposite to the action of the forces The seals are solid (arrow 60) in order to absorb the loads caused by the mass 58 in this direction and prevent unacceptable deflection of the guide column. The supporting element 56, belonging to the guide column 47, is respectively also located on the side of the guide column 47, g (opposite to the rotational moment indicated by the arrow. It prevents the guide column from undermining jiycTHMbui under the action of shear forces resulting from the moment of rotation At the same time, with such a device for supporting ball elements, the guide with the open area of the sleeve 53 is located on the side opposite to the acting force. Due to this, the stretching of the sleeve 53 is similar to that of the guide column. 47, as well as at guide column 48, is reliably prevented, even if they are immersed by great forces.
    For the implementation of the invention (FIG. 7), it doesn’t matter whether the inclined plane 14 passes through the middle
    interlocking between the ball ball, mounted for movement on the guide columns and connected with the device for positioning this tower, made in the form of a power cylinder, and the actuator in the form of a gripping device, in order to increase the accuracy of positioning - a daily pillar support in any final position due to the reinforcement of the guide columns in the direction of the main load and the displacement of the directions of the loading force in two different planes of space, It is equipped with additional supporting elements located in planes parallel to HanpaB10.
    point 61 of guide columns 47, A8 or this plane A passes tangentially to guide columns 47-48, as schematically shown in the area of guide column 48.
    Fig. 8 shows a part of the device, namely the balls 54, which protrude the sleeve 53 and, therefore, the body of the intermediate ball support (carriage) 4 on the guide column 48.
    It should be noted that even regardless of the arrangement of the supporting elements in the relative position of the liners jr of the ball guides when eccentrically relative to the guide 5 of the placed weights, a solution corresponding to the invention can be seen. Moreover, with loads of 20 columns, and associated with these
    25
    thirty
    as operating exclusively in the horizontal 19 or vertical J7 plane, the additional supporting elements of both guide columns can also be located exclusively in the horizontal or, respectively, in the vertical plane or in a plane parallel to them. In addition, the design of the support element in the form of a support bar, longitudinally constricted to the guide, as well as a special type of mounting of guide columns on the support bars or a combination of components and / or i mounting of the support bars with guide columns in bearing plates JO, can be considered The solution according to the invention, especially if only additional supporting elements are fixed in the supporting plates 10, 11, and guide columns with longitudinal mobility are mounted on the supporting elements,
    Another advantage of the positioning of the support elements with highly loaded guides 5 is primarily that an increased section surface is created for the heat sink, as a result of which changes, lengths or sections due to temperature differences can be reliably excluded.
    权利要求:
    Claims (8)
    [1]
    Invention Formula
    1, A device for manipulating 55 with parts or tools, comprising a base formed by base plates and co40 guides
    45
    guide pillars.
    [2]
    2. The device according to claim 1, about tl, and the fact that the planes of the additional supporting elements parallel to the guide columns are at an angle to one another.
    [3]
    3. The device according to paragraphs. J and 2, t - characterized by the fact that the additional supporting elements are made in the form of supporting strips of rectangular section, the section width of which is smaller than the diameter of the flow of x columns
    and less than the height of the cross section of this bar, with the largest axes of symmetry of the cross sections of the supporting bars of the respective guide columns being at an angle of 90 to one another and passing through the central axis of each guide column.
    [4]
    4. A device according to Claim 1, characterized in that the additional supporting elements are located in a vertical plane tangential to the guide columns, and at least in one coordinate direction are rigidly connected with the guide columns, forming a single node with them.
    [5]
    5. Device according to n.J, characterized in that additional supporting elements are placed
    in mirrored quadrants. cross-sectional planes of the guide column.
    [6]
    6. The device according to any one of the preceding examples is that the additional supporting elements are located between the guide columns and the supporting 82397S
    interlocking between the ball ball, mounted for movement on the guide columns and connected with the device for positioning this tower, made in the form of a power cylinder, and the actuator in the form of a gripping device, in order to increase the accuracy of positioning - a daily pillar support in any final position due to the reinforcement of the guide columns in the direction of the main load and the displacement of the directions of the loading force in two different planes of space, It is equipped with additional supporting elements located in planes parallel to HanpaB10.
    jr 20 columns, and associated with these
    five
    0

    five
    0
    five
    guide pillars.
    2. The device according to claim 1, about tl, and the fact that the planes of the additional supporting elements parallel to the guide columns are at an angle to one another.
    3. The device according to paragraphs. J and 2, t - characterized by the fact that the additional supporting elements are made in the form of supporting strips of rectangular cross section, the width of which is smaller than the diameter of the diagrams of the columns of x
    and less than the height of the cross section of this bar, with the largest axes of symmetry of the cross sections of the supporting bars of the respective guide columns being at an angle of 90 to one another and passing through the central axis of each guide column.
    4. A device according to Claim 1, characterized in that the additional supporting elements are located in a vertical plane tangential to the guide columns, and at least in one coordinate direction are rigidly connected with the guide columns, forming a single node with them.
    5. Device according to n.J, characterized in that additional supporting elements are placed
    in mirrored quadrants. cross-sectional planes of the guide column.
    6. The device according to any one of these examples is that the additional supporting elements are located between the guide columns and the supporting plates in mutually perpendicular p-Hbtx planes and at the same time are connected to the supporting plates by means of detachable fastening connections.
    [7]
    7. The device according to claim 1, wherein the guide columns are mounted in one support plate, and in the other support plate can be moved relative to it,
    [8]
    8. A device according to PP, characterized in that the guiding intermediate supports have a C-shaped section with an opening formed by planes passing through the center of the section at an angle of 30 ° to each other,
    9, The device according to claim 1, 1-8, of which is that the gripping device is located on at least one of the two sides of the intermediate support, while the additional supporting element of the Guide column is located closest to the gripping device on the side opposite to the effect of moment of gravity, and on the guide column furthest from the gripping device, on the side opposite to the action of the torque acting on the first of the guide columns,
    FIG.
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    28
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    20
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    21
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    /four
    / /
    5 29 Fi.g4
    33
    at
    m
    four/
    5 54 //
    / / /
    R
    // h yang
    /
    five/
    363Z
    Ft5 budsg
    /
    35 4 37 34 I gz
    I
    OO, © 9
    R
    I /
    33
    one
    four
    . -Jj
    57 -38
    four
     1.5
    FIG. 6
    58
    Nigl
    5C
    LL /
    X
    Fig.8
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    同族专利:
    公开号 | 公开日
    HUH3138A|1987-08-28|
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    IT1191747B|1988-03-23|
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    KR910007272B1|1991-09-24|
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    引用文献:
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    AT379340B|1979-10-31|1985-12-27|Sticht Walter|EQUIPMENT FOR PRODUCTION OR HANDLING WORKPIECES|
    DE3136654A1|1981-09-16|1983-03-31|Zahnradfabrik Friedrichshafen Ag, 7990 Friedrichshafen|LINEAR SLIDING WORK ARM, ESPECIALLY FOR HANDLING EQUIPMENT|
    DE3218712C2|1982-05-18|1985-05-02|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München|Two-axis handling device for moving workpieces between any two points in a plane|
    DE3236565A1|1982-10-02|1984-04-05|Robert Bosch Gmbh, 7000 Stuttgart|DEVICE FOR LENGTH SHIFTING OF HANDLING UNITS OF INDUSTRIAL MANUFACTURING|
    SE439968B|1982-10-19|1985-07-08|Ulf Kenneth Folke Fasth|STELLDON|
    DE3245317C2|1982-12-08|1990-01-18|Eumuco Aktiengesellschaft Fuer Maschinenbau, 5090 Leverkusen, De|
    DE3303908C1|1983-02-05|1984-06-28|MICO-Gesellschaft für industrielle Automation mbH, 7320 Göppingen|Device for handling workpieces, assembly parts or the like|
    AT384386B|1983-06-28|1987-11-10|Walter Sticht|EQUIPMENT FOR HANDLING OR POSITIONING OF COMPONENTS|
    GB2143205B|1983-07-15|1986-07-16|Leicester Polytechnic|Robots|
    DE3372598D1|1983-10-28|1987-08-27|Hohenzollern Huettenverwalt|Manipulator|
    US4604027A|1984-06-21|1986-08-05|At&T Technologies, Inc.|Manipulator of articles and methods of moving articles over an extended distance|
    US4615163A|1984-10-04|1986-10-07|Curtis Albert B|Reinforced lumber|AT387174B|1986-04-23|1988-12-12|Cerny Anton|SLED GUIDE|
    DE3710479A1|1987-03-30|1988-10-13|Bosch Gmbh Robert|LINEAR UNIT FOR IMPLEMENTING OBJECTS|
    SE8804305L|1988-11-28|1990-05-29|Fredrik Bror Bengt Lagercrantz|DEVICE TO BE ABLE TO REGULATE A ROBOTBALK'S FREE SPIRIT AGAINST A POSITIONAL POSITION|
    IL101877A|1992-05-15|1996-10-16|Zirob Advanced Technologies Lt|Robotic manufacturing unit|
    US6416273B1|1994-12-12|2002-07-09|Syron Engineering & Manufacturing, Llc|Tool mount for moving elements|
    US5733097A|1994-12-12|1998-03-31|Syron Engineering & Manufacturing Corp.|Cross-bar tool mounting system|
    US20020041481A1|2000-09-28|2002-04-11|Yoshinori Kano|Linear motor and electronic component feeding apparatus|
    GB2388064B|2002-05-01|2005-06-08|Kfh Design Ltd|Precise positioning of an object|
    JP4935442B2|2007-03-16|2012-05-23|村田機械株式会社|Plate material unloading apparatus and plate material unloading method|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT0139785A|AT388126B|1985-05-09|1985-05-09|DEVICE FOR HANDLING COMPONENTS|
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