WO1986006306A1

WO1986006306A1 - Transfer installation

Info

Publication number: WO1986006306A1
Application number: PCT/CH1986/000053
Authority: WO
Inventors: Anton Wenger
Original assignee: Styner & Bienz Ag
Priority date: 1985-04-26
Filing date: 1986-04-21
Publication date: 1986-11-06
Also published as: EP0220214A1

Abstract

The transfer installation (1) is intended to a multiple plunger press (15) of which the machining stations (3, 4) are circularly arranged about a drive shaft (26). It comprises gripping devices (2) each situated between two adjacent machining stations (3 and 4) for the periodic transport of workpieces from a machining station to the next. The driving of the successive gripping devices (2) and of their gripping members (10) is effected by means of two control members (6, 7) of a common device (5) connected to the drive shaft (26). The orientation motion of the gripping devices (2) is given by the first control member (6) acting with the support (44) of the gripping device (2) connected to a lifting device (8). The gripping member (10) is driven by the second control member (7) contiguous to a control bar (40). The driving of the gripping devices (2) is coordinated with the working period of the machining stations (3, 4).

Description

___---, _- _*

'PCT / CH86 / 00053

- 1 - transfer device

The invention relates to a transfer device consisting of a plurality of gripping devices which are successively driven with the same movement and which are provided for the cyclical transport of the conveyed material from a stationary work station associated with each gripping device, primarily for machines for non-cutting and / or cutting shaping or packaging. , Filling and assembly machines.

A transfer device is used for the rational and reliable mode of operation when carrying out repetitive operations in large series. For example, in metal forming technology in the case of non-cutting shaping of metallic blanks into molded parts or when punching; but also when packing loose or compact goods, when filling containers and when assembling several individual parts into units, transfer devices become essential tools of great importance.

Among other things, In US Pat. No. 4,471,644, a transfer device which is matched to the embodiment and the mode of operation and the working cycle of the press is used in a press for the deformation of so-called blanks into hollow bodies.

This press itself has a central support column in vertical alignment, which is anchored in a yoke-like frame formed from several support members. At the top of the support column there is a circular counter-pressure plate screwed to the latter and laterally projecting from it, on the underside of which the stationary parts of the shaping tools arranged around the support column are fastened.

The support column is hollow-cylindrical and is penetrated from above by a drive shaft, which is connected to a cam track on the underside of the support column

Reduction gearbox connects to the drive. For this purpose, axially acting rolling bearings are provided, on which the equidistant cam track is supported. Supported by means of idlers on the cam track, the plungers of the movable tool parts assigned to the stationary parts of the shaping tools slide in the yoke of the frame in order to carry out the deforming and opening movement of the shaping tools. In the deformation cycle of the press, a traction mechanism gear is provided with the drive shaft of the reduction gear for driving a transfer device for transporting the workpieces to be deformed between the work stations. Outside of the press, a shaft extends upwards from this traction mechanism gear, which serves to drive the transfer device. The latter, referred to as "circular walking beam transfer mechanism", is located at the top of the movable tool parts in their open position and is formed with an annular support element. This support element has a larger diameter than the work stations arranged in a circle.

According to the number of work stations on the press, the support element is provided with gripping arms projecting radially inwards, which have at their free inner end a driver part shaped according to the workpiece. The support element is in turn connected to a link which is coupled on the other hand to the shaft projecting upwards from the traction mechanism transmission. In order to keep the support element in a horizontal position, it is offset by 120 ° in each case by means of the same link on a support element on the press. When the shaft connected to the support element rotates, it pivots with a circular movement corresponding to the length of the handlebars and passes over two successive work stations. In the work cycle of the press, one workpiece is fed from one work station to the other, whereby the transfer takes place in one and the same direction of rotation. The moldings are each removed and fed to the work stations at high speed.

- 3 -

When the workpieces are removed from the work stations or a stacking magazine, there are infinite accelerations which cannot avoid an impact of the driver parts and a tear-off positioning in which the accuracy of the position of the workpiece in the movable tool part places high demands. At the same time, high centrifugal forces arise which can hardly be controlled without additional holding devices or a necessary training on the driver parts. These concerns have a major impact on the reliability of the transfer device.

With this construction, only a moderate working speed can be achieved, combined with high noise.

In addition, the design of this transfer device depends on the stages required during the pressing process and is limited to a work process in the same direction due to the circular design of the support elements. As a result of the form-fitting driving parts or the rigid transfer ring in general, the user of this device is affected by high procurement and operating costs if the dimensions of the workpieces to be deformed change or the number of deformation stages is reduced.

The drive arrangement of the press in cooperation with the special embodiment of the transfer device in this known machine requires a high outlay in terms of cost and weight, the drive motor located above having a negative effect on a compact design of the press.

In addition to this circularly circulating transfer device, further transfer systems are known. So, among other things, the so-called gripper rails that run along the side of the successive work stations when the deformation path is straight,

which move the workpieces together in one plane by clamping and transport them to the next work station, then move away from each other and move back to the starting position. In this system, the workpieces are captured and transported in a form-fitting and non-positive manner.

On the basis of the above-mentioned shortcomings and the design in need of improvement according to the American patent specification, the inventor has set himself the task of creating a transfer device of the type described at the outset for the areas of application mentioned, with which high reliability in the production process is achieved can be and which ensures a largely universal use in processing machines of the type mentioned. This requirement also includes robustness and precision when moving the molded parts to produce dimensionally accurate workpieces at the workstations, and the possibility of high volume production.

According to the invention, this object is achieved by a control device which is drive-connected to the gripping device and is formed from two combined control members, the first control member being actuated by a lever mechanism with the gripping device which can be moved from one to the adjacent work station on a guideway, and the second control member is connected to a driver element which can be moved back and forth on the gripping device, at least approximately perpendicularly to its direction of movement.

This control device, or the triggering of the gripping and driving functions that can be achieved by means of the parts that can be controlled with it, guarantees the functionality of this embodiment both in the case of straight, curved or circularly arranged work stations. It also enables a simple drive arrangement for the processing machine.

The control elements of the control device are primarily in a press for stepwise deformation of a workpiece, in which press the deformation stations are arranged in a circle and the plungers of the movable tool parts of each station are connected to a rotating, drivable, equidistant cam track Endless, rotatably drivable control tracks formed in planes running at right angles to the concentric axis of the circularly arranged deformation stations. This design enables a particularly favorable arrangement of the transfer device within a press, it being possible to carry out the deformation in the vertical or horizontal direction.

The control device can be directly coupled to the drive device of the rotating cam track, which results in a particularly simple design of the drive of the control device. A change in the direction of rotation of the control device or the cam track does not impair the functionality of the transfer device, it only changes the working direction.

In a press in which the transfer device is arranged above the cam track, it proves to be advantageous if, for driving the transfer device, a drive shaft passing through the press at least approximately concentrically to the deformation stations is assigned to the cam track provided on the underside of the press or assigned to the cam track Drive device connects.

This situation enables a narrow, space-saving design of the press and favors the effort for its manufacture and for the material.

The fact that the gripping devices are forced depending on the tool closing and opening movement

are controlled, the driver element of each gripping device is at a distance from the intended work stations during the working movement of the movable tool parts.

The gripping devices assigned to the moving tool parts are on the way back to the starting station with the entrained driving element retracted. During this time, a step of deformation is carried out so that the deformation process as a whole can be carried out efficiently.

The proposed control concept enables the control elements to be designed in a simple manner in that their control paths are formed from sections which are circular in arc, which run around the axis of rotation of the control device and which are raised and curved and pass over to the sections in the form of an arc.

For control effectiveness, the arcuate sections of each control path of the control members are designed with radii of different sizes, the center of which lie in the axis of rotation of the control device, so that their production does not require any special measures.

The fact that the arcuate sections of each control track of the control elements are arranged opposite one another with respect to the axis of rotation of the control device makes their manufacture easier.

The arcuate sections of the control tracks hold the gripping device in a rest position, during which the associated driver is actuated, be it when the workpiece is gripped or for its positioning. This means that the arcuate sections of the first control element are provided for the forward and backward movement of the gripping devices between the two work stations assigned to them. To move the gripping devices, lever gears can be assigned to them, which are designed as angled double levers and are distributed at a radial distance from the axis of rotation of the control device and around the axis of rotation, each belonging to two subsequent workstations, pivotable about a vertical axis are arranged in such a way that the outwardly projecting lever arm of the double lever is coupled at the free end to the gripping device and the inner lever arm rests on the control path of the first control member in a drivable manner. For this purpose, the inner lever arm can have a roller, a sliding element or the like. The inner lever arm could also be guided both in a form-fitting manner and in a form-fitting and non-positive manner.

The inner lever arm of the double lever can, according to the compact arrangement of the control device and the gripping devices, be made shorter than the outwardly projecting lever arm of the double lever.

In the sense of a uniform pivoting movement direction, the inner lever arm of the double lever extends counter to the direction of rotation of the control device and the curved section of the first control member which runs in the direction of rotation of the control device and connects the larger of the circular sections with the smaller section Workpieces are provided between the work stations or for the advance movement of the gripping devices, so that a uniformly following sequence of movements occurs within a radius of 360 ° or in the region of the inner lever arms which are oriented in the same way.

The return movement of the gripping devices in the arrangement of the inner lever arm just described takes place through the "curved" section running in the direction of rotation of the control device and connecting the smaller of the circular sections with the larger section, these return movements of the gripping devices being initiated subsequently. Due to the interaction of the control elements and the gripping devices with the driver elements assigned to them via the double levers, the control tracks of the control elements or their control sections are coordinated with one another, the control elements of the control device being arranged at least approximately so that one another the curved section of the control path of the first control member, which connects the larger radius section with the smaller radius section, and the larger radius section of the control path of the second control member form approximately a common circular sector determined by the axis of rotation of the control device.

The type of control of this transfer device makes it possible to divide the circularly arranged gripping devices into groups of several gripping devices which are driven in opposite directions and in the same direction, the inner lever arms of the double levers of a group of gripping devices being opposite to those in the case of opposite driving inner lever arms of the other group of gripping devices are arranged. This division of the gripping devices into two or more groups enables the intermittent deformation of blanks or the workpieces over several sectors within a radius of 360 °, whereby the deformation with a smaller number of stages and different workpieces on one and the same Press can be made.

The curved sections connecting the arcuate sections of the second control path are provided for actuating the entraining member in the form of an ejection and retraction movement in the radial direction, an overlay with the pivoting movements of the gripping devices being conceivable.

An actuating rod which is guided in the gripping device and which is connected to the control track can be used to drive the entrainment member of the second tax body is connectable, be useful. A positive or non-positive connection can be used here.

In coordination with the actuation of the movable tool parts, the control paths of the control elements of the control device can be arranged in relation to one another in such a way that the advance movement of the gripping devices between two stations with ejected driver elements only takes place when the tools are open.

Likewise, in accordance with the drive of the movable tool parts, the return movement of the gripping device with closed tools can only take place with the driver element withdrawn.

The movement sequence of the entrainment members and gripping devices is therefore cyclical.

Starting from a work or feed station, the first step with the workpiece or blank gripped is the advance movement with the driver element extended to the next work station. After positioning the workpiece, the gripping device is withdrawn from its forward end position into the initial position with subsequent ejection of the workpiece Carrier organ returned.

When returning, the pivoting movement of the gripping device can be initiated before the driver element has reached its rearmost position when retracting; this superimposition of the movement can shorten the return path and save time during processing.

In a preferred embodiment, the entrainment member of each gripping device can be designed as a clamp that can be driven by the actuating rod. This can -

the workpieces are positively embraced, transported and precisely positioned. This mode of operation enables a largely smooth, reliable workflow when the parts are deformed.

The clamping pliers advantageously have on the actuating rod two actuating levers articulated with the rear end about a vertical axis, the front end of which is coupled to the free end of a steering lever articulated on the movably guided support plate of the gripping device and is provided with a projecting clamping jaw. To shorten the actuating rod, the swivel bearings of the actuating levers are arranged in cantilevers on both sides of the actuating rod.

In a preferred embodiment, due to the displacement path, the actuating levers are mounted with their rear ends approximately in the middle of the length of the actuating rod or at a short distance from the control path of the second control element.

The actuating rod of the driver element can be guided in an inclined manner in the support plate of the gripping device so as to be radially displaceable relative to the axis of rotation of the control device.

For this purpose, two pairs of rollers freely rotatable one behind the other, to the side of the actuating rod, about vertical axes are provided, with the actuating rod forming a form-fitting guide with the rollers for horizontal alignment of the latter.

Alternatively, instead of the roller guide, the support plate of the gripping device could be provided with a sliding guide, for example a dovetail-shaped guide groove. Behind the articulation points of the actuating levers, the actuating rod can have a roller, a sliding block or the like which is freely rotatable about a vertical axis and which engages in a groove-like control track provided on the second control element.

An open guideway, in which the relief member of the actuating lever can be pressed by means of spring force, could also meet the requirements.

It proves to be advantageous if the transfer device is provided with a supporting frame which is necessary for the attachment.

In a particularly favorable embodiment, the support frame has a hollow axis through which the drive shaft of the transfer device passes, on which the control device is mounted. This makes it possible to implement an inexpensive construction which enables a compact drive with optimally used spatial conditions.

It may be expedient if the drive shaft projecting from the hollow axis is connected to a hub provided for arranging the control device having the control elements.

In the sense of an economical arrangement, the second control element of the control device intended for driving the driver elements is arranged closer to the end of the drive shaft than the first control element. In the case of a vertically aligned drive shaft, the second control element is therefore above the first control element of the control device.

Of course, it would be possible, taking into account a less favorable arrangement of the drive of the transfer device, the first control element in the vicinity of the drive. - 12 -

to be installed at the end of the shaft, a more complex construction would only be necessary due to the second control member occupying the larger area. For the reason mentioned, the description of such an embodiment, which is based on the basic structure of the present invention, has been omitted.

For the reasons mentioned, it is recommended that the driver element or the clamping pliers be arranged above the support plate of the gripping device and the lever mechanism is connected to the underside of the support plate.

In order to be able to create and use a lever gear as simple as possible, it is advantageous if the outwardly projecting lever arm of the double lever is connected at the free end to the support plate of the gripping device by a connecting lug.

Optionally, the tab could be replaced by a radially extending guide slot provided in the support plate of the gripping device, which compensates for the radial change in length of the outwardly protruding lever arm of the double lever.

Advantageously, the inner lever arm of the double lever is supported by a force accumulator provided on the support frame on the control path of the first control element, for the gripping device assigned to it.

The control tracks of the control elements can be designed as non-positive or form-fitting connecting links to the gripping devices and driver elements.

The invention is then explained on the basis of several exemplary embodiments shown in the drawing. Show it; 1 is a plan view of the transfer device along the section plane II in Figure 2,

2 shows a cross section through the transfer device according to the sectional plane II-II in FIG. 1,

3 shows a multiply enlarged, excerpt-like representation of the transfer device according to FIG. 1,

4a-f a schematic representation of various functional variants of the transfer device,

5 shows a top view of the transfer device according to the functional variant in FIG. 4b,

6 shows a longitudinal section through a step press provided with the transfer device,

7 is a movement diagram of the rams of the step press shown in FIG. 6,

8a shows a schematic representation of the sectoral pivoting movement of a gripping device of the transfer device, with the same working direction,

8b shows a movement diagram based on the pivoting movement of the gripping device according to FIG. 8a based on the movement diagram according to FIG. 7 or a press shown in FIG. 6, ^* . - 14 -

9a shows a schematic illustration of the ejection and retraction movement of the entraining element on the gripping device in the same direction of operation and

9b shows a movement diagram after the ejection and retraction movement of the driving element according to FIG. 9a based on the movement diagrams according to FIGS. 7, 8a and 8b,

10a shows a schematic illustration of the sectoral pivoting movement of a plurality of gripping devices of the transfer devices working in opposite or opposite directions in groups,

10b shows a movement diagram based on the pivoting movements of the gripping devices according to FIG. 10a, based on the movement diagram according to FIG. 7 or a press shown in FIG. 6,

11a shows a schematic representation of the ejection and retraction movement of each entraining element of two gripping devices of the transfer device, which work in groups of a plurality of opposing or mutually facing,

11b shows a movement diagram based on the ejection and retraction movement of the entrainment members according to FIGS. 11a and

12 shows a plan view of the transfer device in the region of a removal station. 1 shows a transfer device, denoted overall by 1, consisting of a plurality of forcibly driven gripping devices 2, each of which is assigned to two stationary work stations 3, 4 connected in series for the cyclical transport of the conveyed material. To drive the gripping device 2, a control device 5 formed from two combined control members 6, 7 is provided, the first control member 6 being connected by lever gear 8 with the gripping devices which can be moved from a 3 to the neighboring work station 4 on a guideway 9 2 and the second control element 7 is connected to a driver element 10 which can be moved back and forth on these gripping devices, at least approximately perpendicular to their directions of movement.

FIG. 2 shows the arrangement of the elements listed above in a cross-sectional representation according to the sectional plane II-II in FIG. 1.

As already discussed in the introduction to the description, this transfer device can perform various work functions. In the present case, a press is provided in particular for the step-wise deformation of a workpiece, the work stations designed for the deformation being arranged in a circle and the rams 11 of the movable tool parts 13 of each machining station 3, 4 having an equidistant cam track which can be driven in rotation 14 are connected to the drive.

The press 15 according to FIG. 6 has a machine stand 16 in which the rams 11 carrying the movable tool parts 13 are displaceably guided in cylindrical guides 17 and are supported on the cam track 14 by means of support rollers 18. The guides 17 are arranged in a drive block 19 anchored in the machine stand 16 in a circular manner and coaxially to the processing stations, the drive block 19 simultaneously serving to mount the cam track 14 and to mount the drive members. The support rollers 18 are in one with the - 16 -

The lower end of the plunger 11 connected to the fork, which has a bearing point offset downward for supporting roller bearings. The latter each take up a freely rotatable guide roller 21, which keep the support roller 18 connected to the cam track 14.

The cam track 14 is driven by means of a traction mechanism gear 22, the concentrically arranged drive wheel 23 of which is firmly connected to the cam track 14, and for this purpose is mounted on the drive block 19 by a double, mainly axially loadable roller bearing. The stationary counter-pressure plate 24 is constructed in a yoke-like manner on the machine stand 16 above the drive block 19. The stationary tool parts 12 are fastened below the counter pressure plate coaxially to the plungers.

The drive block 19 is provided with a we¬ to the plungers 11 nigstens approximately concentric bore 25 wel¬ che from below of a ^* with the drive wheel 23 of the Nocken¬ web integral drive shaft 26 passes through wi-rd and on the drive block 19 the step press 15 drives supported transfer device 1. The control members 6, 7 of the control device 5 are provided as endlessly driven control tracks 27, 28, the planes of which are driven in rotation at right angles to the concentric axis 26 of the circularly arranged deformation stations, the design of which will be described below.

Depending on the tool closing and opening movements, the driver elements 10 of the gripping devices 2 are at a distance from the work stations during the working movement of the movable tool parts 13, as is clearly shown in FIG. 1.

In this connection, reference is made to FIGS. 7, 8a-b, 9a-b, 10a-b and 11a-b. 7 shows a diagram with the lifting and lowering movement (s) of a plunger 11 of the processing stage of a station, based on the cam track construction used at a rotation of 360 °, denoted by the control curve angle. The rising at zero - 17 -

The control cam moves the plunger 11 from its rest position into the end position of the deformation and back again into the rest position, in which the plunger remains for a certain time to transfer the workpieces between the processing stations.

In parallel to the movements of each plunger 11, the movement of the gripping device 2 and its driver element 10 is recorded in FIGS. 8a-b, 9a-b, 10a-b and 11a-b in accordance with FIG. 7 and is still to be discussed his.

The particular configuration of the control elements 6, 7 or their control tracks 27, 28 is shown in FIGS. 1 and 3, both control elements 6, 7 each consisting of two circular-shaped 29, 30 and 33, 34, about the axis of rotation 26 of the control device 5 and each of two raised curved 31, 32 and 35, 36, to the arcuate 29 30 ^" , or 33, 34 sections are formed.

The circular sections 29, 30 and 33, 34 are those which place the gripping device 2 in a stationary state, while the curved sections 31, 32 and 35, 36 of the control tracks 27, 28, which connect the circular sections the control elements 6, 7 exert a driving effect on the gripping device 2 or its driver element 10. It can also be seen from the drawing of FIGS. 1 and 3 that the arcuate sections 29, 30 and 33, 34 of each control element 6, 7 have radii of different sizes, but have the axis of rotation 26 as a common center.

It is also noticeable that the arcuate sections 29, 30 and 33, 34 of each control track 28, 29 are at least approximately opposite one another with respect to the axis of rotation 26 of the control device 5. It was determined that those connecting the circular 29, 30 of the first control element 6 were raised, curved and, to the latter, curved - 18 -

Sections 31, 32 passing over the lines are provided for controlling the forward and return movement of the gripping device 2 on the arcuate guideway 9. The lever gears 8 used to drive each gripping device 2 on the guideway 9 are designed as double levers and are distributed at the same distance from the axis of rotation ^a 26 of the control device 5 and around the axis of rotation 26 to two successive work stations and around a vertical one Pivot axis 37 is arranged, wherein the outwardly projecting lever arm 38 of the double lever is coupled at the free end to the gripping device 2 and the inner end of the lever arm 39 is drivably connected to the control track 28 of the first control member 6. In the sense of an economical division of space, the inner lever arm of the double lever is shorter than the outwardly projecting lever arm 38. Of course, it would be possible with other lever arm conditions or with a wider control path in which the double lever is axially offset from one another can be arranged to achieve the same control process.

According to FIG. 1, the inner lever arm 39 of the double lever is arranged there to extend counter to the direction of rotation of the control devices 5, so that the radius-larger 29 of the arcuate sections 29, 30 running in the direction of rotation of the control device 5 with the radius-smaller circular arc section 30 connecting curved section of the control path 27 of the first control member 6 is provided for transporting the workpieces between the work stations 3, 4 or for the forward movement of the gripping device 2. The return of the gripping device 2 takes place through the curved section 32 of the first control member 6 connecting the smaller radius 30 in the direction of rotation of the control device with the larger radius 29.

1, it can be seen that the control elements 6, 7 of the control device 5 are arranged at least approximately in relation to one another in such a way that the curved section 31 of the control path connecting the larger 29 with the smaller circular arc-shaped section 30 27 of the first control element 6 and the circular section 33 of the control path 28 of the second control element 7 with a larger radius form a common circular sector determined by the axis of rotation 26 of the control device 5. In this situation, the workpieces are transported to the adjacent processing station by the drive action of the first control member 6 when the driving member 10 is ejected.

With reference to FIGS. 4a to 4f, it should be pointed out that with the transfer device 1 according to the invention it is possible not to have to use the entire circumference of 360 ° for the production of workpieces or other work processes, but rather to arrange the gripping devices 2 in groups of the same or opposite direction of rotation so as to be movable, the inner lever arms 39 of the double lever being arranged in the same direction in each group.

4a shows the fabrication of a workpiece using all available processing stations, identified by several arrowheads, specifying the start and end of manufacture.

FIG. 4b shows the possibility of forming two groups distributed over the same number of processing stations as in FIG. 4a with the difference that the processing path is merged again at the end after the initial diverging at the feed station. 4c illustrates production in four groups, the processing paths branching off at the opposing feed points and the production having ended at 90 ° at the circle.

4d shows a processing sequence which is divided into three groups and is oriented in the same direction, the feed point of each group also being provided as the discharge point of the adjacent group.

4e records a production process with groups of different numbers of processing stages with a branch at the feed station.

Fig. 4f has an alternative grouping on half the circumference.

The embodiment shown in Fig. 4b is drawn in more detail in Fig. 5. The processing stations arranged on the circumference of 360 ° are divided into two groups of six. Each group requires five gripping devices 2, which are provided with a driver element 10 and are driven by lever gear 8. Of the transfer device of FIG. 1, ledig¬ Lich by the reverse ^{'arrangement,} the inner He¬ belarme 39 of the double lever by these groups ge arranged gens direction and thus allow a divergent dual processing sequence. This embodiment differs

Both in FIG. 5 and in FIG. 1, the movement sequences of the gripping devices 2 and the machining sequence of the workpieces are indicated by dash-dotted lines and arrows.

For the ejection and retraction movement of the driving element 10, the arcuate sections 33, 34 connecting the curved sections 35, 36 of the control path 28 of the second ten control element 7 is provided, in which an actuating rod 40, which is guided on the gripping device 2, engages to actuate the driving element 10.

The control tracks 27, 28 of the control elements 6, 7 are arranged to one another in such a way that, in coordination with the actuation of the movable tool parts 13, the advance movement of the gripping devices 2 between the processing stations 3, 4 takes place with the driver elements 10 ejected when the tools are open (see FIG. 1 bottom left). The return movement of the gripping devices 2 is provided with the tools closed, the driver elements 10 then being withdrawn (see FIG. 1 upper half-knife).

The sequence of movements of the gripping device 2 and the driver element 10 assigned to it is cyclical, i.e. that after the advance movement from the receiving station to the next station provided for processing with the driver element 10 ejected and the workpiece picked up, the gripping device 2 with the driver element 10 retracted is returned from its previous end position to the initial starting position with the subsequent ejection process of the driver element 10. To reduce processing or production time and to protect the drive elements, the return movement of the gripping device 2 starts before the rear end position of the driving element 10 is reached. The ejection movement of the driving element 10 also begins before the return movement of the gripping device 2 ends.

Particular attention was paid to the formation of the entrainment member 10. ^" It has been shown that the reliability can be considerably improved if the workpieces are at least partially encased during their transfer from one processing station 3 to the other 4 by a forceps-like device. For this purpose, one is activated by the actuating rod 40 ¬ drivable clamping pliers 41 are provided, which on the actuating rod 40 has articulated actuating levers 43 which are articulated about vertical axes 42 and whose front end is coupled to the free end of a steering lever 45 articulated on the movably guided support plate 44 of the gripping device 2 and each with a clamping jaw 46 projecting outwards is provided. Short cantilevers 47 are attached on both sides of the actuating rod 46 for receiving the pivot bearings of the actuating lever 43, which allow a short design of the actuating rod 40. The arms 47 are provided approximately in the middle of the length of the actuating rod 40.

The actuating rod 40 is guided approximately radially to the axis of rotation 26 of the control device 5. In the embodiment shown, two pairs of rollers 48 freely rotatable about vertical axes are arranged one behind the other in the direction of displacement at a distance on the side of the actuating rod 40, between which the actuating rod 40 is guided in a form-fitting manner (see FIG. 3). Alternatively, but not shown, there could be a groove provided in the support plate 44 for guiding the actuating rod 40.

To actuate the actuating rod 40, behind the articulation points 42, the actuating lever 43 is mounted on the actuating rod 40 on a roller 49 which is freely rotatable about a vertical axis and which engages and engages in the groove-like control path 28 milled on the second control element 7 the flanks of the groove is guided.

In Fig. 3, which is provided with the most important reference numerals, the mode of operation of the transfer device can be seen on a gripping device 2 and the driving element 10 belonging to it. In the situation shown, the clamp pliers 41 (driver element 10) have just reached the next processing station 4.

To reach this point from the processing station 3, the outwardly projecting lever arm 38 of the double lever has - 23 -

due to the lever arm 39 resting on the moving, curved section 31 of the control track 27 of the first control member 6, a pivoting movement is carried out, while the clamping pliers 41, guided without a drive, remain in the radius-larger section 33 of the control track 28 of the second control member 7 in the workpiece holding position, since she recorded the workpiece at station 3. Immediately after reaching the processing station 4, the feeler roller 50 of the shorter lever arm 39 runs on the circular arc-shaped, larger section 29 of the first control member 7 and keeps the gripper device 2 motionless, whereupon by the rotary movement of the control device 5, by the action of the curved section 36 of the second control member 7, the actuating rod 40 is withdrawn and the clamping pliers 41 are removed from the workpiece by removing the clamping jaws 46 and placed in their rearward or inner rest position. The movement of the jaws 46 is indicated in more detail by the verseh with ^arrows' enes dotted lines at station 4, as is the rearmost position of the Betätigungs¬ rod 40. Once the inner end position of the Mitnehmerorgans 10 (clamp assembly 41) is obtained, or even a bit before ¬ forth, the return of the gripping device 2 begins, initiated and executable through the curved section 32 of the first control member 6, so that the outwardly projecting lever arm 38 of the double lever exerts a rightward pivoting movement. The clamping pliers 41 remain in their set-back position, the roller 49 of the actuating rod 40 being located on the smaller radius section 34 of the second control member 7. On the occasion of the return movement of the gripping device 2, the deformation takes place through the tool parts 13 of the step press 15, which are driven by the cam track 14. When or before the rear sector limit is reached, in the starting position, the driving element 10 is used to detect the Eject the workpiece again, with the curved section 35 of the second control organs 7 is used. During this process, roller 50 of lever arm 39 moves over smaller radius section 30 of first control member 6. The closing movement of clamping pliers 41 is indicated in more detail by the curved dash-dotted lines with directional arrows at station 3.

The sequence of movements of the gripping device 2 and the driver element 10 assigned to it is shown in cooperation with the ram movement of the press 15 in the movement diagrams of FIGS. 7, 8a-b, 9a-b, 10a-b and 11a-b. 7 shows the position of twelve plungers 11 on the circumference of the circle determined by the processing stations 3, 4 or the movements of a plunger 11 in the course of a complete rotation of the cam track 14.

The pivoting movement of the gripping device 2 shown in FIG. 8b and the lifting movement of the driving element 10 or the clamping pliers 41 in FIG. 8b are also matched to the length of the movement sequence of a plunger 11 or are recorded periodically.

8a illustrates the swivel angle oc in its size corresponding to the number of gripping devices 2 and their forward and return movement from one station 4.3 to the other 3.4. 9a conveys the ejection and retraction movement of the entrainment member 10 of each gripping device 2 in the following manner.

8b and 9b were made in coordination with the ram movements of the press 15 according to FIG. 7 and in each case taking into account two successive gripping devices 2 and their entrainment members 10 below one another, in order to counteract the pivoting movement of the gripping devices 2 To prevent accretion or collision of the driving elements 10 (clamping tongs 41).

At the same time, attention was paid to minimal accelerations and decelerations, which is evident from these figures. 10a-b and 11a-b show the same principle, but aligned according to FIGS. 4b, 4c and 4e and FIG. 5, one in groups of several gripping devices working in the same direction with an opposite working sequence. organs 7 is used. During this process, roller 50 of lever arm 39 moves over smaller radius section 30 of first control element 6. The closing movement of clamping pliers 41 is indicated in more detail by the curved dash-dotted lines with directional arrows at station 3.

The pivoting movement of the gripping device 2 shown in FIG. 8b and the lifting movement of the entraining element 10 or the clamping pliers 41 in FIG. 8b are also matched or periodically recorded to the length of the movement sequence of a plunger 11.

8a illustrates the swivel angle oC in its size corresponding to the number of gripping devices 2 and their forward and backward movement from one station 4.3 to another 3.4. 9a conveys the ejection and retraction movement of the entrainment member 10 of each gripping device 2 in the following manner.

At the same time, attention was paid to minimal accelerations and decelerations, which is evident from these figures. 10a-b and 11a-b show the same principle, but aligned according to FIGS. 4b, 4c and 4e and FIG. 5, one in groups of several gripping devices working in the same direction with an opposite working sequence. Finally, a special embodiment of the transfer device is also described in connection with the mode of operation of a step press. As can be seen in FIG. 2, the transfer device 1 has a support frame 51 consisting of support elements

52 and a base plate 53 fastened thereon. Fig. 6 shows the attachment of the transfer device 1 to the drive block 19 of the press 15. With the base plate

53 of the support frame 51 is fixedly connected to a hollow shaft 54 through which the drive shaft 26 extends, on which the control device 5 is mounted. The end of the drive shaft 26 protruding from the hollow shaft 54 has a hub 55 which is connected to the control device 5. Tapered roller bearings 56 are arranged at a distance from one another for mounting the control device 5 on the outside of the hollow shaft 54. Of the control elements 6, 7 of the control device 5, the second control element 7 is connected closer to the end of the drive shaft 26 with the hub 55 than the first control element 6 and lies above the gripping device 2.

The driver element 10 or the clamping pliers 41 is located above the support plate 44 of the gripping device 2 and the lever gear 8 is coupled to the underside of the support plate 44 with it.

To compensate for the radially directed change in length of the outwardly protruding lever arm 38 which occurs due to the pivoting movement of the double lever, a connecting plate 57 coupling the support plate 44 is provided at the end thereof. A slot in the support plate 44 could take this into account.

The inner lever arm 39 of the double lever is pressed against the control track 27 of the first control member 6 by means of an energy store 58 anchored on the support frame 51, primarily on the base plate 53. Of course, here too, as with the second control element 7, a purely positive guidance would be possible. The same can also be said of the second control track 7, which could also be provided as an open control track and with a force-locking drive connection ^' for the driving elements 10. The energy stores 58 have a pipe socket 59 in which the double lever is mounted. Provided on the outside of the pipe socket 59 is a torsion spring 60 anchored to the support frame 51 and having a plurality of turns, the free end of which is connected to the pivot axis 37 of the double lever in order to achieve a rotational effect.

In addition, the support plate 44 of the gripping device 2 is supported on the guide track 9 by means of lateral guide rollers.

12 shows a station 4 of the transfer device at which the workpieces leave the press 15. Something has changed on the entrainment member 10 in that a conveying device 61 has occurred instead of the clamping pliers 41, which is coupled to the actuating rod 40 and the support plate 44 of the gripping device 2. By means of actuating rods 40, which are driven by the second control element 7, a steering lever mechanism 62 is started, which removes the workpiece from the last station 4 of the work process and pushes it onto an outlet guide 63. The sliding movement of the ejection plate 64 fastened to the outer end of the steering lever mechanism 62 corresponds approximately to that of the gripping device 2 when moving a workpiece from one work station 3 to the other 4. The outlet guide 63, which is formed in a channel-like manner, directly adjoins the removal station 4 and extends from the latter at an acute angle pointing outward from the direction of movement of the ejection plate 64, so that the workpiece slides along the outlet guide 63 along the guide wall 65 opposite the ejection movement.

As soon as the ejection plate 64 has left the area of the outlet guide 63 or no longer has an effect on conveyance

connected to the workpiece, the curved movement path 36 of the second control element 7 initiates the pull-in movement onto the ejection plate 64. Then the return movement of the gripping device 2 takes place by swiveling and then the ejection movement of the ejection plate 64 is carried out.

Both the pull-in movement and the push-out movement of the push-out plate 64 are accomplished in a way guided around the work stations 3, 4, as is shown in FIG. 12 with a curved dash-dotted line. This arcuate feed and ejection path is achieved by the steering lever mechanism 62, which here also meets the requirements imposed on the transfer device 1 according to the invention.

The steering lever mechanism 62 consists of two approximately radially extending links 66, 67, which are longitudinally offset from one another on the side of the actuating rod 40 and form a movable parallelogram by connecting elements 68, 69 connected to them. The handlebar 67 closer to the actuating rod 40 is articulated with its inner end to the actuating rod 40, while the connecting element 68 connecting the outer ends of the links 66, 67 is coupled to the support plate 44 by means of an extension 69. An ejection plate 64 is fastened to the outer end of the link 66 which is further away from the actuating rod 40 and overflows the work station 4 during the forward movement for the purpose of ejecting the workpiece from the tool. In this process, the workpiece leaves the work station 4 subsequent outlet guide 63 the deformation process in the press.

The sequence of movements of the steering lever mechanism 62 is indicated by a dash-dotted line. A change in the direction of movement of the conveyor device 61 would result in a change in the arrangement of the ejection plate 64 and the outlet guide 63.

Claims

- 29 -

P A T E N T A N S P R U E C H E

Transfer device, consisting of a plurality of gripping devices which are successively driven with the same movement and which are provided for the cyclical transport of the material to be conveyed from a stationary work station assigned to each gripping device, in particular for machines for non-cutting and / or cutting shaping or packaging, filling and assembly machines, characterized by a control device (5), which is drive-connected to the gripping device (2) and consists of two combined control elements (6, 7), the first control element (6) being characterized by a Lever gear (8) with one (3) to the neighboring work station (4) on a guideway (9) movable gripping device (2) and the second control element (7) is connected to the gripping device (2), at least approximately vertically reciprocatingly to the direction of movement of the driving element (10).

2. Transfer device according to claim 1, for a press for the step-wise deformation of a workpiece, in which the deformation stations are arranged in a circle and the plungers of the movable tool parts of each station are connected in a control-effective manner with a rotationally drivable, equidistant cam track, characterized in that that the control members (6, 7) of the control device (5) are designed as endless, rotatably drivable control tracks (27, 28) in planes running at right angles to the concentric axis (26) of the circularly arranged deformation stations (3, 4).

3. Transfer device according to claim 2, characterized in that the control device (5) is coupled to the drive device (22) of the cam track (14).

4. Transfer device according to claim 3, wherein the Steuer¬ device is arranged above the cam track, da¬ characterized in that for driving the transfer

• device (1) at least approximates the press (15) - 31 -

Drive shaft (26) penetrating concentrically to the deformation stations (3, 4) connects the drive device (22) provided on the underside of the press (15) or assigned to the cam track (14) with the control device (5).

5. Transfer device according to claims 1 to 3, in which the gripping device (2) is forcibly controlled as a function of the tool closing and opening movement, characterized in that the floating element (10) of each gripping device (2) is itself during the working movement of the movable tool parts (13) at a distance from the work stations (3, 4) assigned to them.

6. Transfer device according to claims 1 to 3 and 5, characterized in that the control tracks (27,28) of the control members (6,7) from an arc (29,30 and 33,34) around the axis of rotation (26) of the Control device

(5) extending and formed from raised curved (31,32 or 35,36) to the circular arc-shaped sections (29,30 or 33,34) sections.

7. Transfer device according to claim 6, characterized in that the arcuate sections (29, 30 or 33, 34) of each control track (27 ", 28) of the control device. gane (6,7) have radii of different sizes, the center of which lies in the axis of rotation (26) of the control device (5).

8. Transfer device according to claims 5 and 6, characterized in that the circular arc-shaped sections (29, 30 and 33, 34) of each control path (28, 29) of the control members (6, 7) with respect to the axis of rotation (29 ) of the control device (5) are arranged approximately opposite one another.

9. Transfer device according to claims 6 to 8, characterized in that the arcuate sections (29, 30) connecting the curved sections (31, 32) of the first control member (6) for the forward and reverse movement of the Gripping devices (2) are provided between the work stations (3, 4).

10. Transfer device according to claims 6 to 8, characterized in that the lever mechanisms (8) assigned to the gripping devices (2) for their movement are designed as angled double levers and with a radial distance from the axis of rotation (26) of the control device (5) and distributed around the axis of rotation, each belonging to two subsequent work stations (3, 4), around a vertical swivel axis (37), such that the lever projecting outwards - 33 -

arm (38) of the double lever is coupled at the free end to the gripping device (2) and the inner lever arm (39) is drivable on the control track (28) of the first control element (6).

11. Transfer device according to claim 10, characterized in that the inner lever arm (39) of the double lever is shorter than the outwardly projecting lever arm (38).

12. Transfer device according to claim 10, characterized in that the inner lever arm (39) of the double lever extends counter to the direction of rotation of the control device (5) and that the one in the direction of rotation of the control device (5) extends the radius ¬ ren (29) of the arcuate sections (29,30) with the smaller radius section (30) connecting curved section (31) of the first control member

(6) for transporting the workpieces between the work stations (3, 4) or for the forward movement of the gripping device (2) is provided.

13. Transfer device according to claim 10 and 12, characterized in that the in the direction of rotation of the Steuer¬ device (5), the smaller radius (30) of the arcuate sections (29,30) with The curved section (32) of the first control member (6) z connecting the larger section (29) is provided for the return of the gripper device (2).

14. Transfer device according to one of claims 2 to 12, characterized in that the control members (6, 7) of the control device (5) are arranged at least approximately in relation to one another in such a way that the radius-larger (29) with the radius-smaller circular arc-shaped section (39) connecting curved section (31) of the control track (27) of the first control member (6) and the radius-larger circular arc-shaped section (33) of the control track (28) of the second control member

(7) form a common circular sector determined by the axis of rotation (26) of the control device (5).

15. Transfer device according to claims 1 to 11, characterized in that the circularly arranged gripping devices (2) are divided into oppositely driven groups of several adjacent gripping devices (2), the inner lever arms (39) being the double lever trained lever gear (8) of a group of gripping devices (2) are arranged opposite to the inner lever arms (39) of the other group.

16. Transfer device according to claims 6 to 8, characterized in that the circular arc Curved sections (35, 36) connecting sections (33, 34) of the control track (28) of the second control member (7) are provided for the ejection and retraction movement of the driver member (10).

17. Transfer device according to claim 15, characterized in that an actuating rod (40), which is guided on the gripping device (2) and is connected to the control path (28) of the second control element (7), is provided for actuating the driver element (10). connected is.

18. Transfer device according to claims 1 to 17, characterized in that the control tracks (27, 28) of the control members (6, 7) are arranged with respect to one another in such a way that the advance movement is coordinated with the actuation of the movable tool parts (13) the gripping devices (2) between the processing stations (3, 4) with ejected driver elements (10) when the tools are open.

19. Transfer device according to claims 1 to 17, characterized in that when the tool parts are closed, the return movement of the gripping devices (2) takes place with the driver elements (10) retracted.

20. Transfer device according to claims 18 and 19, characterized by a cyclical movement sequence of each gripping device (2) and the respectively associated ten driver member between two processing stations (3, 4), such that after the forward movement with the driver member ejected (10), the gripping device (2) with the driver member retracted (10) from its forward end position to the initial starting position with subsequent ejection of the driver member (10) is returned. l)

21. Transfer device according to claim 20, characterized in that the return movement of the gripping device overlaps the retraction movement of the driving element (10) before the end and the ejection movement of the driving element (10) before the end of the return movement of the gripping device (2). he follows.

22. Transfer device according to claims 1 to 21, characterized in that the driver element (10) of each gripping device (2) is designed as a clamping pliers (41) which can be driven by the actuating rod (40).

23. Transfer device according to claim 20, characterized in that on the actuating rod (40) two with the rear end about a vertical axis (42) articulated outward actuating lever (43) are arranged, the front end with the free end of each one of the steering levers (45) articulated on the movably guided support plate (44) of the gripping device (2) and coupled with a projecting clamping jaw (46).

24. Transfer device according to claim 22, characterized in that the actuating rod (43) is mounted with its rear end approximately in the middle of the length of the actuating rod (40).

25. Transfer device according to claim 23, characterized in that the actuating rod (40) of the entrainment member (10) is displaceably guided in the support plate (44) of the gripping device (5).

26. Transfer device according to claim 25, characterized in that for guiding the actuating rod (40) two pairs of rollers (48) which are freely rotatable about vertical axes are arranged one behind the other and to the side of the actuating rod (40).

27. Transfer device according to claim 25, characterized in that a groove is provided in the support plate (44) of the gripping device (2) for guiding the actuating rod (40).

28. Transfer device according to claims 1 to 23, characterized in that behind the articulation points (42) of the actuating lever (43) on the actuating rod (40) there is provided a roller (49) which can be freely rotated about a vertical axis, which engages in a groove-like control track (28) provided on the second control member (7). - 38 -

29. Transfer device according to claims 1 to 28, characterized in that it can be attached to a. Support frame (51) is provided.

30. Transfer device according to claims 4 to 29, characterized in that the support frame (51) has a hollow shaft (54) penetrated by the drive shaft (26) on which the control device (5) is mounted.

31. Transfer device according to claim 30, characterized in that the drive shaft (26) projecting from the hollow shaft (54) is connected to a hub (55) provided for the arrangement of the control device (5).

32. Transfer device according to one of claims 1 to 31, characterized in that the second control member (7) of the control device (5) is arranged closer to the end of the drive shaft (26) than the first control member (7).

33. Transfer device according to claim 32, characterized in that the driver element (10) or the clamping pliers (41) are arranged above the support plate (44) of the gripping device (2) and the lever mechanism (8) with the underside the support plate (44).

34. Transfer device according to claim 10, characterized in that the outwardly projecting lever arm (38) of the double lever is connected to the support plate (44) of the gripping device (2) by a connecting lug (57).

35. Transfer device according to claim 10, characterized in that the outwardly projecting lever arm (38) of the double lever engages in a radially extending guide slot in the support plate (44) of the gripping device (2).

36. Transfer device according to claims 10 and 29, characterized in that the inner lever arm (39) is provided on the control track (27) of the first control member (6) by means of an energy store (58) provided on the support frame (51) and acting on the double lever ) is present.

37. Transfer device according to claim 6, characterized in that the control tracks (27, 28) of the control organs (6, 7) are designed as non-positive and / or positive connections.

38. Transfer device according to claims 1 to 21 with a work station intended for removing the workpieces, characterized in that one hand on the actuating rod (40), consisting of two approximately radially extending, longitudinally offset adjacent links (66, 67) and two connecting elements (68, 69) forming a parallelogram with the latter, and on the other hand on the support plate (44 ) articulated steering lever mechanism (62) is provided such that of the handlebars (66, 67) lying to the side of the front part of the operating rod (40), the handlebar (67) closer to the operating rod (40) with the inner handlebar end on the operating rod (40) is articulated and that the connecting element (68) coupled to the outer handlebar ends has an extension (69) articulated on the support plate (44).

39. Transfer device according to claim 38, characterized in that a thrust plate (64) is attached to the outer end of the handlebar (66) lying further away from the actuating rod (40).

40. Transfer device according to claim 38, characterized in that one of the work station (4) extends obliquely outwards in the direction of movement of the workpiece. Outlet guide (63) is provided.