This application claims Paris Convention priority of DE 10 2010 029 809.3 filed Jun. 8, 2010 the complete disclosure of which is hereby incorporated by reference.
The invention concerns a handling unit for relocating parts, comprising a base part and a handling arm, wherein the handling arm is guided in a linear direction along a first axis of movement and along a second axis of movement, which extends transversely with respect to the first axis of movement, in such a fashion that it can be adjusted with respect to a base part, and wherein, for guiding the handling arm, a guiding cam is provided on the base part and at least one cam follower is provided on the handling arm.
Conventional handling units of this type are disclosed e.g. in DE 20 2005 005 507 U1 or DE 200 047 46 U1. In particular, gripping devices may be mounted to the free end of the handling arm for gripping parts and relocating them from one position to another position.
It is the underlying purpose of the invention to improve conventional handling units in such a fashion that, in particular, the relocating process is made more flexible.
This object is achieved by a handling unit comprising the features of the independent claim. A handling unit of this type consequently provides a first drive for adjusting the handling arm along the first axis of movement and a second drive for adjusting the handling arm along the second axis of movement. The two drives are, in particular, linear drives. In principle, the drives can advantageously be driven independently of each other. A handling unit of this type is advantageous in that the motion sequences in the direction of the first axis of movement and in the direction of the second axis of movement can be driven independently of each other due to the provision of two different drives. In particular, only one drive may be driven or both drives may be simultaneously driven depending on which arc sections are to be followed. It is additionally also possible to stop the handling arm in any desired position.
In one advantageous embodiment, at least one of the two drives can be driven in such a fashion that it already loads the handling arm in the direction of its associated axis of movement before the cam follower guided in the cam guide enables movement of the handling arm in the direction of this axis of movement. This realizes a type of preloading and when the cam guidance permits movement in the direction of the respective axis of movement, this movement is consequently introduced very quickly due to the preloading. This realizes an overall strong acceleration of the cam follower in the cam guidance or of the handling arm in the direction of the respective axis of movement. A handling unit of this type consequently achieves increased speed during the relocation of parts.
The base part advantageously comprises a carriage that is guided along the second axis of movement, wherein the handling arm is disposed on the carriage in such a fashion that it can be guided along the first axis of movement. It is thereby feasible for the first drive to be provided between the handling arm and the carriage for moving the handling arm along the first axis of movement and/or the second drive to be provided between the carriage and the base part for moving the carriage along the second axis of movement. Due to the independent design of the drives, the drives may be disposed on the respective corresponding components independently of each other.
It has turned out to be advantageous for the first and/or the second drive to be designed as cylinder piston units which can be pressurized. Drives of this type require a relatively small amount of space, generate large forces and can be correspondingly driven for generating a corresponding pretensioning force.
Advantageously, the piston of the first drive is rigidly disposed on the handling arm and the cylinder of the first drive is formed by the carriage. In a corresponding advantageous fashion, the piston of the second drive is rigidly disposed on the base part and the cylinder of the second drive is formed by the carriage.
An advantageous path of movement is realized when the guiding cam has substantially the shape of a “U” turned upside down and has a first vertical section, an adjacent first arc section, an adjacent horizontal section, an adjacent second arc section and an adjacent second vertical section. It is consequently possible to transfer the handling arms from a lower rear operating position to a front lower operating position using a cam shape of this type.
The base part advantageously comprises appropriate switching elements for detecting the stroke position of the carriage and for actuating the second drive. Corresponding switching elements may also additionally be provided on the carriage for detecting the stroke position of the handling arm and for driving the first carriage. In principle, it is sufficient to only detect the stroke position of the carriage and to drive the two drives in dependence on the stroke position of the carriage.
It is thereby advantageous to provide at least three switching elements on the base part, arranged on top of each other, for detecting three stroke positions of the carriage in such a fashion that a rear lower operating position can be detected and that, upon detection of the rear lower operating position, the second drive is driven for lifting the carriage. The carriage is thereby consequently lifted starting from an initial rear lower position.
A feed position can advantageously be detected prior to reaching an upper operating position, wherein, upon detection of the feed position, the first drive is also driven in addition to the second drive for extending the handling arm. The feed position is thereby advantageously arranged in such a fashion that movement of the handling arm along the first axis of movement is not yet possible. This is achieved in that the handling arm is preloaded in the direction of the first axis of movement with such a force that when the guiding cam enables motion in the direction of the first axis of movement, this motion is performed with high acceleration in the direction of the first axis of movement.
It is furthermore provided that the upper operating position can be detected. When the upper operating position is detected or left, the second drive is operated for lowering the carriage.
It is furthermore provided that the front lower operating position can be detected. In this front lower operating position, the part can e.g. be grasped. During the gripping process, the front lower operating position is maintained. When a confirmatory value is present, i.e. confirmation of a gripping action, the second drive is preferentially operated for lifting the carriage. Shortly before, upon or after reaching the front upper operating position, the first drive may be operated in such a fashion that the handling arm is moved to the rear operating position. Shortly before, upon or after reaching the upper rear operating position, the second drive may be operated in such a fashion that the handling arm is transferred into the rear lower operating position.
Appropriate shock absorbers may be provided on the base part for damping the motion of the carriage upon reaching the lower operating positions.
The axial position of the shock absorbers is advantageously adjustable for adjusting the lower operating position. The vertical position of the lower operating position can consequently be adjusted via the axial position of the shock absorbers.
The above-mentioned object is also achieved by a method for operating an inventive handling unit in that at least one of the two drives is driven in such a fashion that it loads the handling arm in the direction of the associated axis of movement already before the cam follower guided in the cam guidance enables movement of the handling arm in the direction of this axis of movement. This permits comparatively high acceleration of the movement of the handling arm.
It is thereby advantageous when, upon detection of the rear lower operating position, the second drive is driven for lifting the carriage, when before reaching an upper operating position, a feed position has been detected, and upon detection of the feed position parallel to the second drive, the first drive is also driven for extending the handling arm, when upon detection or leaving an upper operating position, the second drive is switched over for lowering the carriage and/or when upon detection of the front lower operating position, the second drive remains switched on, is switched off or switched over.
Further advantages and advantageous embodiments of the invention can be extracted from the following description by means of which the embodiment illustrated in the figures is described and explained in more detail.
As is illustrated in
For realizing the path of movement 38, a guiding cam 40 is provided on the base part, into which a cam follower 42 on the side of the handling arm engages. The cam 40 is thereby clearly illustrated, in particular in
As is illustrated in sectional view in accordance with
For adjusting the carriage 14 with respect to the base part 12, a second drive 66 is provided as is clearly shown, in particular in
The two drives 62 and 66 can be driven independently of each other.
As is clearly illustrated in
A total of four proximity switches 76, 78, 80 and 82 are provided on the base part 12 for defined drive of the two drives 62 and 66, which are e.g. clearly illustrated in
In the rear lower operating position 26 of the handling arm 16 illustrated in
When the handling arm 16 has reached its upper stroke end position 30, the switching element 84 communicates with the proximity switch 82. When the position 32 or 32′ has been reached, the switching element 84 leaves the proximity switch 82. The second drive 66 is switched over, since the proximity switch 82 has been switched off, such that the carriage 14 is moved in a downward direction. When the switching element 84 reaches the proximity switch 78, the front lower operating position 36 or 36′ is reached. A gripper which is e.g. disposed on a plate 24 can then grip one part. After successful gripping, the free end of the handling arm 16 can be transferred from its front lower operating position 36 into its rear lower operating position 26 through correspondingly driving the drives 62 and 66.
Very high cycle times can be realized, since the first drive 62 is already driven in the position 28′, in which movement of the handling arm 16 in the direction of the first axis of movement 18 is not yet possible.
In a further development of the invention, which is not shown in the figures, switching elements may also be provided on the carriage 14 which can be used to retrieve characteristic positions of the handling arm along the first axis of movement 18.
For damping the movement of the carriage 14 in the two lower operating positions 26 and 36, two stop elements 90 and 92 in the form of shock absorbers are provided on the base part, which can be adjusted independently of each other in the direction of the second axis of movement 20. As is illustrated, in particular in
As is illustrated, in particular in
Two intermediate links 104 and 106 are provided in the carriage 14, wherein one intermediate link 104 cooperates with the stop 90 and the other intermediate link 106 cooperates with the stop 92.
As mentioned above, the recess 102 corresponds to the other intermediate link 106 in the front lower operating position 36 such that the free end of the rod 108 of the intermediate link 106 is not loaded by the handling arm 16. As is illustrated in
In the rear lower operating position 26 it is exactly vice versa. In this operating position 26, the front stop element 90 corresponds to the associated intermediate link 104 such that the intermediate link 104 cooperates with the recessed section 102. When the intermediate link 104 impinges on the associated impact element 90, the intermediate link 104 is consequently immersed in an axial upward direction into the carriage 14 and does not offer any considerable resistance or stop. In the operating position 26, the rear intermediate link 106 communicates with the stop section 99 of the web 98 of the handling arm 16. In so far, the intermediate link 106 cannot be immersed in the axial position into the carriage 14. It consequently strikes the impact member 93 of the rear stop element 92 upon reaching the operating position 26. The height of the rear lower operating position 26 is consequently only predetermined by the screwing depth of the rear stop element 92 in the base part 12.
The two intermediate links 104 and 106 in
The figure clearly shows how the intermediate link 104′ engages in the recess 100 in the rear operating position and the intermediate link 106′ acts against the stop section 99. It is moreover clearly illustrated how the intermediate link 104″ acts against the stop section 101 of the handling arm 16 in the front operating position and the intermediate link 106″ engages in the recessed section 102. When the intermediate links 104 or 106 engage in an associated recessed section 100 or 102, these intermediate links do not act as a stop. The intermediate links are rather immersed into the associated recessed section in the respective operating position.
In particular,
In order to ensure a defined position of the two intermediate links 104 and 106, these are held under pretension in their axial lower position by means of coil springs 112.
The handling arm 16 of
The handling arm 16 can be displaced by the stroke x in the horizontal direction into the rear position. In the front lower operating position, the stop element A1 acts against the stop section 204 and the stop element A2 remains free of contact due to the correspondingly selected length of the cross member 200. In the rear lower operating position, the stop element A1 is immersed into the recessed section 202 and the stop element A2 acts against the stop section 204. Both stop elements A1 and A2 can be adjusted in height independently of each other such that the stroke end positions of the handling arm 16 can be adjusted in height.
Number | Date | Country | Kind |
---|---|---|---|
10 2010 029 809 | Jun 2010 | DE | national |
Number | Name | Date | Kind |
---|---|---|---|
3988938 | Nagai | Nov 1976 | A |
4019668 | Diepeveen | Apr 1977 | A |
4095699 | O'Neil | Jun 1978 | A |
4557657 | Olson et al. | Dec 1985 | A |
4599909 | Koller | Jul 1986 | A |
4740134 | Dixon | Apr 1988 | A |
4762460 | Stoll | Aug 1988 | A |
5564888 | Doan | Oct 1996 | A |
6264419 | Schinzel | Jul 2001 | B1 |
6851917 | Feyrer et al. | Feb 2005 | B2 |
20010051092 | Mimata | Dec 2001 | A1 |
Number | Date | Country |
---|---|---|
18 99 385 | Aug 1964 | DE |
22 01 955 | Aug 1973 | DE |
36 03 650 | Aug 1987 | DE |
200 04 746 | Sep 2000 | DE |
20 2005 005 507 | Aug 2005 | DE |
10 2006 014973 | Oct 2007 | DE |
1 538 117 | Jun 2005 | EP |
1 710 448 | Oct 2006 | EP |
1710448 | Oct 2006 | EP |
Entry |
---|
EP 1710448 English Machine Translation. |
Number | Date | Country | |
---|---|---|---|
20110299964 A1 | Dec 2011 | US |