WO2010146014A2

WO2010146014A2 - Displacement device, arrangement, and production system

Info

Publication number: WO2010146014A2
Application number: PCT/EP2010/058301
Authority: WO
Inventors: Thomas Beetz
Original assignee: Thomas Beetz
Priority date: 2009-06-17
Filing date: 2010-06-14
Publication date: 2010-12-23
Also published as: WO2010146014A3; DE102009025262A1

Abstract

The present invention relates to a displacement device, comprising: a base segment (12), a working segment (14) at a distance from the base segment, a linkage arrangement (18) connecting the base segment and the working segment to each other, and a drive segment (55) coupled to the linkage arrangement for transferring displacement drive force in order to displace the working segment relative to the base segment between at least one working position and at least one retracted position, wherein the linkage arrangement comprises a scissor kinematic mechanism made of two force parallelograms connected to each other and a carriage displaceably guided thereon. The invention further relates to a production system for producing a product using a displacement device according to the invention.

Description

Movement device, arrangement and manufacturing facility

description

5

The present invention relates to a movement apparatus comprising a base portion, a working portion spaced from the base portion, a hinge assembly interconnecting the base portion and the working portion, and a drive portion coupled to the lo hinge assembly for transmitting movement driving force to engage the working portion in FIG With respect to the base portion to move linearly between at least one working position and at least one retraction position, wherein the hinge assembly comprises: a first drive member which is drivable by the drive portion for pivotal movement about a i5 arranged at the base portion first drive link point, a second drive member, which by the drive portion for the pivoting movement about a arranged at the base portion second drive joint point is driven, a first output member, which at a first intermediate joint point at a distance

₂ o is pivotally coupled to the first drive member from the first drive joint point, a second output member which is pivotally coupled to the second drive member at a second intermediate joint point spaced from the second drive joint point, and a power take-off unit comprising the first and second output members

25 pivotally coupled together. Furthermore, the invention relates to an arrangement based on a combination of second such movement devices and a manufacturing plant for producing a shaped body.

30 movement devices, in particular automated

Moving devices in the form of robot arms are known from the industrial production and assembly of various items in large numbers. Moving devices become Nowadays, it is widely used everywhere, where certain work processes are to be carried out in cyclical repetition in succession or a certain work is dangerous or impossible for a person.

Moving devices are used, for example, in production plants for producing a shaped body by a shaping process, in particular injection molding or stamping processes, where they serve, in particular, for removing the molded bodies from a mold and for transferring the molded body to a subsequent processing station. In such manufacturing plants, molded articles are mass-produced at a substantial portion (e.g., 20 million molded articles per year), so that shortening the cycle time for the production of a single molded article is of high economic importance. Shortening the cycle time by just a few milliseconds can quickly add up to considerable financial savings.

One way of shortening the cycle time in manufacturing plants of the above-mentioned type has already been seen in the past in accelerating the process of removing the molded article from the mold. For this purpose, powerful robotic arms or linear motion devices were used, which have correspondingly strong drive means to achieve the desired high accelerations during loading and unloading. However, these known robots or linear motion devices are accordingly expensive to purchase and operate and require high space and expensive linear guides, such. Recirculating ball bearings.

In industrial production and assembly, in particular in manufacturing plants of the aforementioned type, be as

Movement device mostly six-axis robot used. Such robots have six degrees of freedom and have the advantage of being modeled on the kinematics of the human arm, including the hand and therefore can comprehend essentially all movements and orientations in space. However, it is disadvantageous that a force acting on the distal working section (eg a gripper) of the six-axis robot, eg a weight force of a gripped product or an inertial force due to a rapid acceleration of the robot, in a six-axis robot from joint to Joint is transmitted while at least some of the plurality of driven axles always loaded in the direction of rotation. However, such loads can be absorbed by the drive means of the joints hardly play and thus require a significant oversizing of the components of the robot.

Further prior art motion devices are known from GB 2 061 872 A, EP 0 200 105 A1 or EP 0 298 427 A1, each of which proposes solutions to drive by a

Joint assembly to produce a linear movement between a base portion and a working portion.

In the moving devices of the above-cited prior art as well as in all other robot-like

Moving devices that allow not only linear movement of the working section in space, this results in the problem of ensuring a linear movement between the working portion and base portion a defined orientation of the working portion relative to the base portion, for example, a gripped molding during the linear movement in the desired constant Orientation to the earth's surface to keep. To ensure the orientation of the working section, the known moving devices use a belt transmission, a chain transmission or a gear transmission, which runs parallel to the joint arrangement between the base section and the working section and transmits orientation information from the base section to the working section. These transmission systems are not only expensive and maintenance-intensive but also playful and partly inaccurate.

Against this background, it is an object of the present invention to provide a movement device which has a simple construction, is economically producible and operable and which permits a movement of the working section at high speed. It is another object of the invention to provide a new manufacturing plant for producing a shaped body, which operates with reduced cycle time.

According to a first aspect, the object of the invention is achieved by a movement device comprising a base portion, a working portion at a distance from the base portion, a hinge assembly interconnecting the base portion and the working portion, and a drive portion connected to the hinge assembly for transmitting motion driving force is coupled to the

Working portion relative to the base portion to move linearly between at least one working position and at least one retreating position, wherein the hinge assembly comprises: a first drive member, which by the drive portion for pivotal movement about an am

A second drive member, which is drivable by the drive portion for pivotal movement about a arranged at the base portion second drive link point, a first output member, which at a first intermediate joint point at a distance from the first

25 is pivotably coupled to the first drive member, a second output member which is pivotally coupled to the second drive link at a second intermediate joint point spaced from the second drive link point, and a power take off coupling unit which pivotally couples the first and second output members together. A

Moving device with at least these features is hereinafter referred to as a moving device with closed kinematic chain or as a moving device with scissors kinematics. According to the invention, a universally usable movement device according to the first aspect of the invention is further characterized in that the first output member has a first transmission point arranged at a distance from the first intermediate point and the output coupling unit, to which a first

Transmission member is pivotally supported, that the second output member has a spaced from the second intermediate joint point and the output coupling unit second transmission joint point on which a second transmission member is pivotally held, that the transmission members further each one

Connecting joint point, wherein the connection points are arranged coaxially or at a fixed distance from each other, that the working portion comprises a carriage, wherein the carriage at the first and at the second connection pivot point is pivotally coupled to the first and the second transmission member and at the

Output coupling unit is held displaceably relative to this, or wherein the carriage is slidably supported relative to the first and the second transmission member and is pivotally supported relative to the output coupling unit.

Due to the construction according to the invention of the transmission links, the connecting joint points and the at least one slidable slide on the distal portion of the moving device (arranged at a distance from the base portion) can be achieved with structurally simple means the effect that the carriage and thus the working section in a constant Orientation can be maintained with respect to the base portion when the hinge assembly is operated for linear displacement of the working section. Additional belt transmissions, chain transmissions or gear transmissions, as required in conventional motion devices to maintain the orientation of the working section, can thus be dispensed with. As a result, eliminates the design and maintenance costs for additional transmission parts. The stability of the limbs and Accordingly, hinge points of the moving device need not be designed to accommodate the high preload forces necessary for operation with parallel belt transmissions. Furthermore, the movement device according to the invention, 5 which works without belts or chains, particularly suitable for use in clean rooms or for very precise movements, since the necessarily associated with belt and chain transmissions or gear transmissions game deleted.

I ₀ The movement device according to the invention achieved when the carriage of the working portion pivotally connected to the

Transmission coupling unit is coupled and linearly slidably coupled to the output coupling unit, by the special arrangement of transmission elements, connecting joints and slide simultaneously i5 another important technical effect of significantly increasing the speed of linear movement of the working section with respect to the base portion. Due to the special lever ratios, a displacement of the carriage in a linear movement takes place during a pivotal movement of the first and the second drive member by a certain angle

2o direction, which is significantly larger than the simultaneously occurring

Displacement of the output coupling unit. A mounted on the carriage working means is moved accordingly with the same drive movement of the drive links faster and with greater acceleration between working position and retreat position as about one on the

25 output coupling unit attached working section of a

Movement device without the construction according to the invention.

The achieved speed increase is not at the expense of space, since the transmission links "fold together" with the 30 shear kinematics of the drive and output members in the retracted position and telescopically fold out in the working position.

The output coupling unit may have an output coupling axis, at which the first and the second output member are pivotally supported relative to each other, wherein on the output coupling axis preferably further a slide guide for linearly displaceable guidance of the carriage can be held so that the carriage guide is pivotable relative to the first and second transmission member. Such a common output coupling axis creates a particularly simple and low-play construction of the output coupling unit.

In principle, however, it is conceivable that the output coupling unit has a plurality of axes, or even separate axes for the two members held thereon and for the carriage guide, wherein the plurality of axes are then mounted or attached to a coupling body connecting them.

As a particularly simple and almost backlash-free construction variant, a power take-off coupling unit has proven with a driven coupling shaft, wherein one of the two output members is rotatably mounted on the output coupling axis, the other of the two output members is rotatably connected to the output coupling axis, and wherein a carriage guide for linearly displaceable guide Slides is rotatably mounted on the output coupling axis.

Depending on the length of the various links of the joint arrangement and the arrangement of the hinge points arise for the carriage different strokes and lifting speeds in relation to the force required for the pivoting force. In a very simple construction, the output members could be formed as elongate struts, on each of which the transmission joint point, the output joint point and the Zwischengeienkpunkt are arranged substantially in line. At least the above-mentioned effect of stabilizing the orientation of the working section in relation to the base section is achieved in such an embodiment, whereby the arrangement of the hinge points can be considered as variants: (1) of Output joint point is disposed between the transmission joint point and the intermediate joint point, or (2) the transmission joint point is disposed between the output joint point and the intermediate joint point. In the latter alternative, however, the carriage would move in the opposite direction to the output coupling unit.

A particularly favorable ratio of achievable acceleration effect and expended drive energy is achieved in one embodiment of the movement device according to the invention, in lo which an angle between a connecting line between the

Output coupling unit and the first intermediate joint point and a connection line between the output coupling unit and the first transmission joint point and an angle between a connecting line between the output coupling unit and the second intermediate joint point and a connecting line between the

Output coupling unit and the second transmission joint point in a range of about 10 degrees to 170 degrees, preferably in a range of about 75 degrees to about 115 degrees, most preferably at about 95 degrees. In the angle range between approximately

₂ o 10 degrees and about 170 degrees, the advantage that sets in

Jamming the joint assembly in the extreme positions by avoiding stretched toggle can be largely prevented. In the angular range between about 75 degrees and 115 degrees experimentally, the best values for maximum acceleration have been found

₂ 5 minimum power consumption of the drive section achieved. It should be noted that the optimization of the angle is not a trivial task, since a higher acceleration of the carriage can be achieved on the one hand by higher drive power and on the other by other angular relationships of the joint assembly, so that an optimization task with

30 results in several unknowns. The above optimum values were confirmed experimentally.

In a further embodiment of the invention, a distance between the first and second transmission joint point and the first and second connection joint point is greater than a distance between the first and second transmission joint point and the output coupling unit. A movement device of this embodiment is operable with a particularly large stroke between the maximum retracted and maximum extended position.

With regard to the space occupied by the hinge arrangement of the movement device, it has proved to be particularly advantageous if the connection points are arranged between the base section and the output coupling unit.

Simple and inexpensive, the transmission elements are formed by rigid, strut-like components. In a variant of the invention is alternatively thought that at least one, preferably both

Transmission members are designed as linear actuators (for example in the form of electrical or hydraulic / pneumatic piston-cylinder assemblies or linear motors). Such linear actuators could achieve additional acceleration of the working section in the feed movement with appropriate control. Further, by means of at least one such linear actuator rotation of the working portion regardless of the rotation of the drive and driven members (additional pivot axis) or a fine-tuning of the orientation of the working portion conceivable.

Another structurally simple embodiment of the invention provides that the first drive joint point and the second drive joint point have coaxial axes of rotation or a common axis of rotation. In particular, in such a movement device, the joint arrangement both in the retracted position and in the

Working position are formed as flat as possible, so that it has minimal space in a direction parallel to the axis of rotation of the drive joint points. According to a second aspect of the invention, the above-mentioned object of the invention is achieved independently or in combination with the first aspect of the invention by a movement device comprising a

5 base portion, a working portion at a distance from the base portion, a hinge assembly interconnecting the base portion and the working portion, and a drive portion coupled to the hinge assembly for transmitting motion driving force to interpose the working portion with respect to the base portion

I ₀ at least one working position and at least one retracting position to move linearly, wherein the hinge assembly comprises: a first drive member, which is driven by the drive portion for pivoting movement about a disposed at the base portion first drive link point, a second drive member, which by the i5 drive portion for pivoting movement a second drive joint point arranged on the base section can be driven, a first output member, which is pivotably coupled to the first drive member at a first intermediate joint point at a distance from the first drive joint point, a second output member which is connected to a second

20 intermediate pivot point is pivotally coupled to the second drive member at a distance from the second drive link point, and a power take-off coupling unit which pivotally couples the first and second output members together, wherein the hinge assembly is cantilevered.

25

Under a one-way flying storage is understood according to the invention a bearing of the joint assembly in which a forces of the joint assembly (inertial forces and weight forces) to a significant proportion receiving connection between joint assembly 0 and base portion substantially only on one side of an imaginary

Level is present, which is spanned by the pivotal movement of the first and / or the second drive member, that is, by a plane which is perpendicular to the axis of rotation of the first or / second drive member runs and the first and second drive member intersects.

A moving device of the second aspect of the invention had to be disadvantageous to a person skilled in the art at a first glance because of apparent drawbacks, and therefore was not obvious. In particular, a one-way flying bearing requires a more stable construction for receiving the tilting moments in the region of the connection between the hinge assembly and base portion. About this arises in motion devices with independently driven drive members at the first moment the problem of how the driving force to be transferred to the remote from the base section drive member. It is to be regarded as merit of the inventor to have overruled this prejudice and to have recognized that a one-way cantilevered movement device increases the radius of action of the device to an extent that the additional effort to stabilize the storage and possibly to transmit the driving force overcompensated. Thus, in a preferred embodiment of the invention, the inventively mounted hinge assembly can be pivoted so that the working portion is rotatable about a practically arbitrary angle of 360 degrees freely around the base portion, so that complex movements in the complete environment of the movement device are possible.

In a preferred embodiment of the movement device of the second aspect, it is provided that the drive section comprises a first drive unit for transmitting movement drive force to the first drive member, that the first drive unit is attached to the base section, that the first drive member is on one side of the hinge arrangement at the base section or / and is cantilevered on the first drive unit, and that the second drive member is cantilevered on the same side as the first drive member or is cantilevered on the first drive member. With the features of this embodiment, a one-sided flying bearing with a small number of components is realized easily and inexpensively. Preferably, in a moving device of the first aspect or the second aspect of the invention, the driving section includes a first drive unit for transmitting motive driving force to the first drive member and a second drive unit for transmitting motive motive force to the second drive member, wherein the drive units are preferably independent can be controlled from each other.

By providing two drive units, the two lo drive members can be set in pivotal movement relative to each other, so that the working section moves between the retreat position and the at least one working position, the direct drive of each drive member is particularly reliable and flexible by its own drive unit. Moreover, if the two drive units independently i5 are controlled from each other, so the working portion not only linearly from the base portion or move to this, but can with movement components in the circumferential direction about the drive joint point and thus within the range of the movement device almost at each point be positioned by the 2o pivotal movement of the joint assembly plane. Thus, a simple circular movement of the working section about one of the drive joint points is simply possible because only one of the two drive units is operated.

In a preferred embodiment of a movement device of the first and second aspects, it may further be provided that the drive units are each formed by motor units, each of the motor units comprising: a motor having a stator and a rotor, and an output element, the through the rotor of the engine or

30 is formed by a moving element of a driven by the rotor of the engine transmission. The use of motors eliminates the need to convert the motion of the drive units into a rotary motion to pivot the drive links. For the most part To convert high speed of motors in the low rotational speed of the drive members with high power, suitable reduction gear between the rotor of the motor and the output element recommend. Alternatively, torque motors can be used which can provide a particularly accurate and powerful rotor output at a suitable speed.

If the drive units are formed from motor units, it is proposed in a preferred embodiment that the stator of the first motor unit is rotationally fixed with respect to the base portion that the output member of the first motor unit is rotationally fixed with respect to the first drive member that the stator and / or a transmission housing of the second motor unit is rotationally fixed with respect to the second drive member and that the output member of the second motor unit is rotationally fixed with respect to the output member of the first motor unit or identical thereto. Due to the non-rotatable connection or one-piece design of the output element of the two motor units of the design advantage is achieved that the second motor unit can be partially or completely supported on the first motor unit and, more preferably, a support of the second motor unit can be completely eliminated, in this way a flying storage of the movement device can be realized with simple means.

If the drive units are formed from motor units, it is conceivable for the construction of the drive section with respect to the base section and the hinge arrangement of several variants:

In a first embodiment variant, the first motor unit is fastened to the base section and the second motor unit, the hinge arrangement and the working section are essentially held cantilevered only at the output element of the first motor unit. In this case, the first and the second motor unit can be constructed substantially identical to one another and the output elements of the two motor units can be connected to each other be attached. Due to the identical structure, a reliable synchronization of both drive units and thus reliable positioning of the working section can be ensured. Appropriately, in this variant, the joint arrangement (viewed in the direction of the axes of rotation of the motors) may be arranged between the two motor units.

The motor units according to the invention allow movement of the drive members using directly driven gears. On play-related transmission elements can thus be dispensed with, so that a very accurate movement of the drive members and thus of the working section is possible. A flying mounting of the moving device, in particular on one of the drive units, also achieves the kinematic effect that with a symmetrical structure, in particular the same rotational moment of inertia of the two

Drive members, an acceleration of the first drive member by a drive unit due to the angular momentum conservation set to an equal, but oppositely directed acceleration of the second drive member leads, so that in the ideal case, the second drive member hardly needs to be driven independently (rotational recoil). In practice, however, it can at least be achieved that a powerful drive unit for driving the first drive member can be stably fixed to the base portion, while the second drive unit cantilevered to drive the second drive member low performance and thus can be made lighter, so that the forces of the flying storage on Base section can be reduced. As an alternative to the above-mentioned identical construction of the two drive units, the second drive unit could therefore also have lower power or lower weight than the drive unit mounted on the side of the base section, even with the aforementioned advantages.

In a second embodiment, the two motor units are arranged on the same side of the hinge assembly, which has particular advantages in With regard to the connection of the motor units, since supply lines of the motor units do not have to be guided through the pivoting path of the joint arrangement. A movement device of the second variant can be realized with constructive advantages, for example, that the two motor units are fixed to the base portion, that the output member of the first motor unit drives the first drive member, and that the output member of the second motor unit drives a shaft or is formed by a shaft wherein the shaft passes through a through opening of the first drive member and drives the second drive member.

A movement device according to the first or second aspect of the invention is particularly well suited for any transfer tasks in which a product is to be transported through the working section, when the working section has holding means for capturing and holding at least one product and between the at least one Work position and the retreat position to move. A movement device developed in this way is then especially designed for operation in a production plant for producing a shaped body by a shaping process, e.g. an injection molding or pressing or

Punching method, set up, as will be described in more detail later. The forces often occurring in such manufacturing processes on the working portion act in the movement device according to the invention for the most part perpendicular to the pivot axes of the links and thus can be particularly stable introduced into the bearings of the pivot axes.

According to a third aspect, the object of the invention is achieved independently or in combination with the first and / or the second aspect of the invention by an assembly comprising a base portion, a first moving device and a second moving device, each of the moving devices spaced from the base portion and working portion a hinge assembly interconnecting the base portion and the working portion, and wherein the Joint arrangement of each movement device comprises: a first drive member, which is drivable by the drive portion for pivotal movement about a arranged at the base portion first drive joint point, a second drive member, which is driven by the drive portion for pivotal movement about a disposed at the base portion second drive link point, a first output member, which a second output member which is pivotally coupled to the second drive member at a second intermediate joint point spaced from the second drive joint point, and an output coupling unit comprising the first and second output members pivotally coupled to each other, wherein the first drive member of the first movement device and the first drive member of the second movement device of a common first central drive bsglied are formed or are fixedly connected to a common first central drive member so that they are pivotable about the same first drive joint point, wherein the second drive member of the first movement device and the second drive member of the second movement device of a common second

Central drive member are formed or are fixedly connected to a common second central drive member so that they are pivotable about the same second drive joint point, and wherein the arrangement further comprises a drive portion which is coupled to the first and / or the second central drive member for transmitting movement driving force to move the working portions of the moving devices with respect to the base portion between at least one working position and at least one retreating position.

With the arrangement according to the invention, a combination of two movement devices has been created on the principle of the closed kinematic chain, wherein the arrangement in its Construction and its technical effects go well beyond merely adding two conventional motion devices. Thus, both moving devices can be held on a common base portion and driven by a common drive section, whereby manufacturing and operating costs and

Space requirements can be saved. The arrangement according to the invention is, according to its basic principle, a single device, with which two working sections can be operated simultaneously in precise synchronism with one another. For example, the arrangement can operate two machines at the same time, removing two moldings from a mold at the same time, for example.

Although the two working sections can not be moved independently of each other due to the common central drive members of both movement devices, however, the inventor has realized that just in the field of industrial manufacturing and assembly or in other applications one and the same operation is advisable to perform at two spatially separated locations and that a symmetrical movement of the working section is then even desirable in particular. By way of example, it can be stated that the arrangement according to the invention can simultaneously discharge two injection molds arranged at a distance, thanks to the construction according to the invention in reliable temporal and spatial symmetry, so that the abovementioned restriction in such a production plant even proves to be an additional advantage.

A further important advantage of the arrangement according to the invention lies in the possibility of making the mass distribution around the mounting of the arrangement on the base section more symmetrical with simple means. In particular, if the first and the second central drive member are formed by rigid struts, which cross substantially centrally, wherein the first and the second drive joint point at the intersection of the struts, so a substantially symmetrical mass distribution can be achieved and the storage of the arrangement in the Base section or drive section acting forces can be significantly reduced.

A substantially symmetrical arrangement also offers the decisive advantage that during the movement of the Glenkanordnungen occurring inertial forces occur simultaneously and substantially the same size in opposite directions and thus cancel each other and not in the storage of the arrangement at the base portion or on the drive section be initiated.

The arrangement according to the invention can be developed by one or more of the aforementioned features of the movement device of the first aspect or / and of the second aspect. In particular, each of the two movement devices may be a movement device of the first or / and the second aspect of the invention, wherein the features relating to the drive portion or the base portion are preferably provided only once, namely for the common drive portion and the common base portion, etc. Further, an inventive arrangement comprise more than two movement devices of the type described, which are also independently movable. Thus, for example, a lift system can be realized, which executes several movements simultaneously with several working sections and is held at a common base section and is driven by one or more drive sections.

According to a fourth aspect, the invention relates to a manufacturing plant for producing a product, wherein the manufacturing plant comprises at least one tool and a transfer device for loading or / unloading the tool.

Such manufacturing plants are well known in the art and use as a transfer device mostly six-axis robot. Six-axis robots, however, are relatively expensive, as they are a host of stand-alone having driven axles, which are for the substantially linear movement during loading and unloading of the tool largely unnecessary. Due to the large number of joints which are pivotally driven in different directions, external forces always acting on the transfer device from the side of the tool or product are always also partly introduced directly into the drive devices. Accordingly, the six-axis robots would usually have to be oversized, resulting in further costs.

In the prior art, therefore, greater efforts have been made to find alternatives for six-axis robots for loading and unloading tools. Extensive developments in this field have led to the use of various linear motion devices with one or more slidable carriages which are moved by a ball screw drive, by linear motors, by a belt drive, by cables or by a chain drive. However, such devices have the disadvantage that they require high drive power to achieve the required acceleration of the carriage for low cycle times. Further, the conventional linear motion devices require a plurality of movable members to which large inertial forces act at high accelerations. Belt and chain drives as well as linear guides are also relatively loud, maintenance-intensive and unsuitable for clean room environments.

Against this background, the present invention according to the fourth aspect provides a manufacturing plant of the type mentioned, which has lower acquisition costs and more economical, in particular with shorter cycle time works by at least one moving device with closed kinematic chain is provided according to the invention as a transfer device. Such

Movement device can cause a linear movement of the working section in a simple manner by changing the angle between the two drive links. The movement device comes with only a driven axle, while the at least three further axles can be manufactured as passive axles inexpensively and stably in order to absorb the external forces acting on the working portion. The transfer device of the manufacturing plant according to the invention operates without belt or chain transmissions and without gears between the individual members and has over conventional solutions reduced acquisition and maintenance. The drive links are swiveling and can therefore be controlled directly, precisely and without play by motor units. Expensive linear guides can be dispensed with as far as possible.

Another particular advantage of a manufacturing plant with a moving device with a closed kinematic chain lies in the simple possibility, in addition to the linear movement of the working section, of carrying out a further movement with a movement component perpendicular to the axis of the linear movement. For this purpose, the drive section is simply controlled such that the two drive members are pivoted with respect to the base portion at different speeds or pivoted in the same direction. This feature is of particular importance in the specific application, namely a manufacturing plant for the production of a shaped body, since e.g. when removing a molded body regularly the mold initially linearly withdrawn from the mold and then at another position, which is located at a distance from the axis of the linear movement, filed or passed to another device. It is to be regarded as merit of the inventor to have first recognized the special suitability of a conventional closed kinematic chain motion device for the particular requirements and motion sequences of a forming process, thus claiming independent protection for such a manufacturing facility.

In preferred embodiments of the manufacturing plant of the fourth aspect of the invention, the transfer device may include a Moving device of the first or second aspect of the invention or an arrangement according to the third aspect of the invention. In such embodiments, the advantages and effects described above with respect to the first to third aspects can be achieved, which are particularly associated with the production of moldings

Wear come. In particular, moldings are often produced in extremely high quantities at relatively low unit prices, so that an economical operation of the manufacturing plant and a shortening of the cycle time by reducing the mold open times, as achieved in the invention, particularly important.

In a particularly preferred embodiment, the manufacturing plant of the fourth aspect of the invention comprises at least two molds, wherein both molds are loaded or unloaded with the same movement device, in particular a movement device according to the invention, or with the same inventive arrangement of the third aspect. In this case, preferably the drive joint points of the first and the second drive member or the drive joint points of the first and second central drive member are substantially centered on a connecting line between two

Removal positions arranged at which the molded body can be seen from the two forms. In this way, a synchronous loading and unloading operation with balanced masses can be made possible.

The invention will be explained in more detail below with reference to preferred embodiments with reference to the accompanying drawings. Show it:

Figures 1a - 1c, a moving device after a first

Embodiment of the invention in a retracted position, an intermediate position or a working position; FIGS. 2a, 2b show perspective views of the movement device shown in FIGS. 1a-1c in the retracted position;

3a, 3b are perspective views of the movement device shown in Figures 1a - 1c in the working position;

Figures 4a, 4b are perspective views of the output members of the movement device shown in Figures 1a - 1c;

FIG. 5 shows a cross-section of a distal section of the movement device shown in FIGS. 1a-1c according to a section line V-V in FIG. 1c;

FIG. 6 is a cross-sectional view of a proximal portion of the movement device shown in FIGS. 1a-1c according to a section line VI-VI in FIG. 1b;

FIG. 7 shows a movement device of a second embodiment of the invention in a cross-sectional view corresponding to FIG. 6;

FIG. 8 shows a movement device of a third embodiment of the invention in a cross-sectional view corresponding to FIG. 6;

Figures 9a, 9b is a schematic representation of a manufacturing plant according to a fourth embodiment of the invention in a retracted position and in a working position; Figures 10a, 10b is a schematic representation of a manufacturing plant according to a fifth embodiment of the invention in a working position and a retracted position; and

Figures 11a, 11b simplified schematic representations of

Driving portions of the first embodiment and the second and third embodiments of the invention.

FIGS. 1a to 3b show side views and perspective views, respectively, of a movement device, generally designated 10, to which reference will now be made. The moving device 10 of the first embodiment comprises a base portion 12, through which the moving device 10, e.g. is held stationary on a base frame, not shown. Alternatively, the base portion 12 could be disposed on a slidable, mobile, and / or rotatable support.

A working section 14 has a gripping tool 16 for gripping a molding, not shown. In the exemplary embodiment, the gripping tool 16 comprises two gripping elements 16a, 16b, each with six suction cups 17, so that at the same time twelve shaped bodies can be held on the gripping tool 16.

A hinge assembly 18 connects the base portion 12 and the

Working section 14 and includes a first drive member 20a, a second drive member 20b, a first output member 22a and a second output member 22b, wherein the four members 20a, 20b, 22a, 22b are interconnected by mutually parallel axes 24, 26, 28, 30 that they form a dragon quadrangle. Specifically, the first and second drive members 20a, 20b are pivotally connected to each other about the drive shaft 24, the first drive member 20a and the first output member 22a are pivotally connected to each other at the first intermediate axis 26, the second Drive member 20b and the second output member 22b are pivotally connected to each other at the second intermediate axis 28 and the first and the second output member 22a, 22b are pivotally connected to each other on the output shaft 30.

The first and second drive member 20a, 20b and the first and the second output member 22a, 22b extend in all pivot positions substantially parallel to a plane perpendicular to the axes 24, 26, 28, 30 (in FIGS. 1a to 3b a vertical plane). , Accordingly, the space requirement of the moving device 10 in the direction of the axes 24, 26, 28, 30 is limited. As can be seen in particular in Figures 2a to 3b, the drive members 20a, 20b are each formed by strut-like lever members. The axles 24, 26, 28 are respectively disposed at opposite end portions of the drive members 20a, 20b.

As can be clearly seen in particular in FIGS. 4a, 4b, the output members 22a, 22b are substantially L-shaped and each comprise a main portion 32a, 32b and an extension portion 34a, 34b. The main portion 32a and the extension portion 34a of the first output member 22a are fixedly connected to each other. Likewise, the main portion 32b and the extension portion 34b of the second output member 22b are fixedly connected to each other. The main sections could alternatively also be integrally connected to their respective extension sections, so that the output members are formed from a one-piece L-lever.

At the output axis 30 opposite ends of the extension portions 34a, 34b, these transmission joint points 36a, 36b, to which transmission members 38a, 38b, are pivotally coupled, so that the transmission members 38a, 38b can pivot about the output axis 30 parallel pivot axes. The two transmission members 38a, 38b are at their other ends pivotally attached to respective connecting link points 39a, 39b, respectively, at a proximal portion of a carriage 40 which carries the gripping tool 16 at its distal portion. The two extension sections 34a, 34b and the two transmission links 38a, 38b together again essentially form a kite quadrilateral. The carriage 40 is slidably guided in a carriage guide 42 which is connected to the output shaft 30 so as to be pivotable with respect to the first and second output members 22a, 22b.

Further details of the structural design in the region of the output shaft 30 can be seen in the cross-sectional representation of FIG. 5, which shows a section along a section line V-V in FIG. 1b.

It can be seen that the main portion 32b of the second output member 22b is fixedly attached to one end of the output shaft 30 so as to rotate together with the output shaft 30. Also firmly connected to the output shaft 30 is the extension portion 34b of the second output member 22b, so that this also rotates together with the output shaft 30. Between the main portion 32b and the extension portion 34b of the second output member 22b, the first one

Output member 22a by rolling bearings 44 pivotally mounted on the output shaft 30. The extension portion 34a is formed of two parallel plates 46, 48 which sandwich the main portion 32a of the first output member 22a and are fixedly connected thereto. The rolling bearings 44 are disposed between the main portion 32 a and the output shaft 30.

At the end of the output shaft 30 opposite the second output member 22b, the slide guide 42 is rotatably mounted on the output shaft 30 via roller bearings 50, so that the slide guide 42, the first output member 22a and the second output member 22b are each held pivotably in pairs. It can also be seen in FIG. 5 that the slide guide 42 has two guide rails parallel to one another 52 which engage associated rails 54 of the carriage 40 so as to be linearly slidable on the carriage guide 42.

Referring again to Figures 1a-1c, it is further noted that the moving device 10 is substantially symmetrical with respect to the spatial arrangement of the hinge points and the length and orientation of the individual members 20a, 20b, 22a, 22b, 38a, 38b, respectively are arranged on a plane E, which contains the drive axle 24 and the output shaft 30. The length of the transmission members 38a, 38b is each slightly larger than the length of the extension portions 34a, 34b, each measured between the respective hinge points. An angle α between the main portion 32a, 32b and the extension portion 34a, 34b is for both output members 22a, 22b, each slightly greater than 90 degrees, for example, 95 degrees in the embodiment.

With reference to FIG. 6, the base section 12 with drive section 55 will be explained in more detail below, wherein FIG. 6 shows a cross-sectional view corresponding to a line VI-VI in FIG. 1b. A carrier ring 56 has a mounting flange 58 with screw holes, so that it can be fixedly attached to a stationary machine part or the like, not shown. A stator 62a of a first electric motor 64a is fixedly connected to the carrier ring 56 via a first gear housing 60a. A rotor 66a of the first electric motor 64a carries a first transmission input gear 68a of a first transmission 70a, which converts the rapid rotational movement of the rotor 66a into a slower rotational movement of a first transmission output gear 72a (reduction planetary gear).

As a gear 70a, here preferably a harmonic drive gear is used, as it is manufactured and sold by the company "Harmony Drive AG". The harmonic drive transmission includes the transmission input gear 68a, which has an elliptical shape and as Wave generator of the harmonic drive transmission is used. Via a ball bearing 84, the elliptical wheel 68a deforms a cylindrical, deformable steel bushing 86, the so-called flexspline, which carries an outer toothing. The flex spline 86 is part of the transmission output member 72a or

5 rotatably coupled with this. The external toothing of the flex spline 86 engages in an internal toothing of the first gear housing 60a, so that the first gear housing 60a forms the fixed circular spline of the harmonic drive transmission. In this case, the meshing between Flexspline 86 and Circular Spline 60a always only at the opposite lo sections of the large ellipse axis of the elliptically deformed Flexsplines 86. The rotation of the ellipse axis corresponding to the rotation of the elliptical Getriebeeingangsrads 68a, the engagement area between Flexspline 86 and Circular Spline shifts 60a at the same speed around the axis of rotation. The flex spline 86 has two teeth less than the circular spline 60a, so that one half rotation of the elliptical transmission input gear 68a results in a relative movement between the flex spline 86 and the circular spline 60a about one tooth. The Flexspline 86 is part of the transmission output member 72a or is rotatably coupled with this, so that the rotor rotation with strong

20 reduction is transmitted to the transmission output member 72a.

Harmonic drive gear of the type described high torque can be transmitted almost no play. They are relatively easy to maintain due to a small number of components and have high efficiency. Of course, the invention is not limited to

Limited use with Harmonic-Drive transmissions, but can be performed with other planetary gear or other reduction gears.

A proximal end portion of the first drive member 20a is received between the first transmission output gear 72a and a first attachment plate 74a. By a plurality of circumferentially about the axis of rotation of the electric motor 64 around in Spaced apart screws 76 which respectively pass through the first attachment plate 74a and the first drive member 20a and are screwed into the first transmission output gear 72a, the first attachment plate 74a, the first drive member 20a and the first transmission output gear 72a are fixedly connected to each other. Via cross roller bearings 78, the first transmission output gear 72a is rotatably mounted in the first transmission housing 60a.

A second electric motor 64b has a stator 62b and a rotor 66b, wherein the axis of rotation of the rotor 66b is coaxial with the axis of rotation of the rotor 66a of the first electric motor 64a and wherein the two rotors 66a, 66b of the two electric motors 64a, 64b face each other.

The stator 62b of the second electric motor 64b is fixedly connected to a second gear housing 60b which also rotatably holds on its outer periphery a proximal portion of the second drive member 20b, so that the stator 62b of the second electric motor 64b rotates together with the second drive member 20b.

On the rotor 66b of the second electric motor 64b, a second transmission input 68b of a second harmonic drive transmission 70b is mounted, which is substantially identical to the first harmonic drive transmission and which rotates the faster rotation of the rotor 66b of the second electric motor 64b in a slower rotational movement of a second Getriebeausgangsrads 72b converts. The second transmission output gear 72b is rotatably supported by cross roller bearings 78b on an inner circumference of the second transmission case 60b.

By a plurality of around the axis of rotation of the motors spaced apart screws 80 is a second

Attachment plate 74b to the second Getriebeausgangsrad 72b firmly connected, the screws 80 pass through the second mounting plate 74b. Distributed around the axis of rotation in the circumferential direction arranged screws 82 are finally the first mounting plate 74a and the second mounting plate 74b rotatably connected to each other. As a result of this construction, the first transmission output gear 72a, the first drive member 20a, the first attachment plate 74a, the second attachment plate 74b, and the second transmission output gear 72b are connected together in a rotationally fixed manner to form an intermediate unit. While the first electric motor 64a drives this intermediate unit including the first drive member 20a, the operation of the second electric motor 64b causes the stator 62b and the second drive member 20b to rotate together around this intermediate unit.

For linear movement of the working portion, the first drive member 20a and the second drive member 20b must rotate in opposite directions at the same angular velocity, which is achieved by rotating the first drive member 20a around the base portion 12 by the first electric motor 64a at a certain angular velocity Ω, while the second drive member 20b through the second electric motor 64b at a speed of -2 x Ω, ie with double and counter-rotating speed around which interconnected transmission output members 72a, 72b is rotated. Both

Drive members 20a, 20b then rotate in opposite directions with respect to the base portion at the same angular velocity Ω.

As a result of the configuration illustrated in FIG. 6, the movement device 10 of the exemplary embodiment is cantilevered on the base-fixed carrier ring 56 or on the first electric motor 64a. Accordingly, both drive members 20a, 20b can rotate about full 360 degrees around the carrier ring 56 and thus around the base portion 12. This is achieved by the first drive member 20a is mounted on the side of the first electric motor 64a flying on the base portion 12 and the second drive member 20b is mounted on the above-mentioned intermediate unit flying on the first drive member 20a. Figure 7 shows a cross-sectional view corresponding to Figure 6, but for a second embodiment of the invention. In the drive section of the second embodiment, a first electric motor 64a ¹ and a second electric motor 64b ^{1 are} fixedly secured to a base fixed support ring 56 'via an intermediate plate 60 ", so that both electric motors 64a ¹ , 64b ¹ with respect to the base portion, ie, an external fixation The working section and hinge arrangement of the movement device of the second embodiment are analogous to the first embodiment and will not be described again in the following: In Fig. 7, only the proximal sections of the first drive member 20a and the second of the hinge arrangement of the second embodiment are shown Both drive members 20a, 20b are pivotable about the axis of a drive shaft 61 '.

A first pulley 67a ^{1 is} attached to a rotor 66a 'of the first electric motor 64a'. A second pulley 68a 'is free to rotate about the drive shaft 61'. Around the pulleys 67a ¹ and 68a ^1, a belt 69 ¹ wound such that the rotation of the rotor 66a ¹ is transmitted to the second pulley 68a. ¹ The second pulley 68a ¹ is non-rotatably connected to a drive sleeve 71a ¹ which is separated from the outer periphery of the drive shaft 61 'by an annular gap so that it can rotate with respect to the drive shaft 61'. The drive sleeve 71a ¹ communicates with an input element of a first planetary gear 70a ^1, not illustrated in detail in FIG. 7, which converts the rapid rotation of the rotor 66a 'into a slower rotation of a first transmission output element 72a'. The transmission output member 72a ¹ is rotatably supported by cross roller bearings 78 'on an inner periphery of a first transmission case 60a ^ö fixedly connected to the carrier ring 56'.

Analogous to the first embodiment, the proximal portion of the first drive member 20a between a first mounting plate 74a ¹ and received the first transmission output element 72a ¹ and the three elements 74a ¹ , 20a and 72a 'are rotatably connected to each other by a plurality of distributed around the axis of rotation around arranged fixing screws 76'.

The second electric motor 64b 'drives a second rotor 66b ¹ , which is non-rotatably connected to the drive shaft 61'. The drive shaft 61 'passes through the second pulley 68a', the first drive sleeve 71a ¹ , the first transmission output member 72a ¹ , the first drive member 20a, and the first attachment plate 74a ¹ while being rotatably supported relative to all of these members. At a free end portion 73 'of the drive shaft 61' is a second drive sleeve 71b 'rotatably supported on the drive shaft 61', which initiates the rotor rotation of the second electric motor 64b 'in a transmission input element of a non-illustrated in Figure 7 second planetary gear 70b'. The second planetary gear 70b ¹ converts the rapid rotation of the second drive sleeve 71b 'into a slower rotation of a second transmission output member 72b'. A transmission base portion or transmission housing 75 '(the portion of the transmission relative to which both the transmission input member and the transmission output member are rotatable) is fixedly connected to the second drive member 20b so as to be integral with the second drive member 20b about the second transmission output member 72b'. can turn.

On the second transmission output element 72b ¹ is a second

Mounting plate 74b ¹ by means of a plurality of distributed around the axis of rotation of the drive shaft 61 'arranged around screws 80' firmly connected. Furthermore, the first fastening plate 74a ¹ and the second fastening plate 74b ^{1 are} firmly connected to one another by means of a plurality of screws 82 'distributed around the axis of rotation, so that the first fastening element 74a ¹ , the first drive element 20a, the first fastening plate 74a ¹ , the second attachment plate 74b 'and the second transmission output member 72b', a non-rotatable intermediate unit is formed. Thus, the first electric motor 64a ¹ rotates the aforesaid non-rotatable intermediate unit including the first drive member 20a at a predetermined speed about the axis of the drive shaft 61 ', and the second electric motor 64b ¹ rotates the second drive member 20b around the non-rotatable intermediate unit.

For linear movement of the working portion, the first drive member 20a and the second drive member 20b must rotate in opposite directions at the same angular velocity, which is achieved by rotating the first drive member 20a around the base portion 12 by the first electric motor 64a 'at a certain angular velocity Ω while the second drive member 20b is driven by the second electric motor 64b 'at a speed of -2 x Ω, ie at double and counter-rotational speeds around the interconnected transmission output members 72a ', 72b' is rotated. Both drive members 20a, 20b then rotate in opposite directions with respect to the base portion at the same angular velocity Ω.

FIG. 8 shows a third exemplary embodiment of the invention in a sectional view corresponding to FIG. 6 and FIG. 7.

The driving portion of the third embodiment differs from the driving portion of the second embodiment only in that the second rotor 66b "does not transmit its driving force directly to the drive shaft 61". Instead, the second rotor 66b carries "a first pulley 67b", an end of the drive shaft 61 "facing the motors rotatably carries a second pulley 68b" and a belt 69b "is wound around the first pulley 67b" and the second pulley 68b " Construction of the third embodiment allows a more symmetrical force introduction into the drive shaft 61 "and offers larger

Design freedom with respect to the arrangement of the electric motors 64a "and 64b". Further, the drive shaft 61 "is itself formed as a hollow shaft and the second pulley 68b" has a central opening, so that cables or access lines can be passed through the second pulley 68b "and the drive shaft 61" to supply additional equipment (not shown) on the side of the mover opposite the base section.

The first, second and third exemplary embodiments of the invention according to FIGS. 6, 7 and 8 have in common that the transmission output elements 72a, 72b; 72a ¹ , 72b ¹ ; 72a ", 72b" of the two motor units are fixed to each other, so that they rotate together. By contrast, the exemplary embodiments differ in the support and fastening of the electric motors or their gearboxes with respect to the base section. These aspects are summarized below with reference to FIGS. 11a and 11b, which represent schematic representations of the drive arrangements of the exemplary embodiments illustrated in FIGS. 6, 7 and 8.

Figure 11a corresponds to the first embodiment of Figure 6. The stator 62a of the first electric motor 64a is fixed with respect to the base portion 12. The rotor 66a of the first electric motor 64a drives the first gear 70a, the first gear housing 60a with the

Base section 12 is firmly connected. The output of the first gear 70a is fixedly connected both to the output of the second gear 70b and to the first drive member 20a. The second transmission case 60b is fixedly connected to the second stator 62b of the second electric motor 64b and to the second drive member 20b. The second rotor 66b of the second motor 64b rotates the transmission input member of the second transmission 70b. In this way, the first drive member 20a and the second drive member 20b, the second gear 70b and the second electric motor 64b are all supported at the output of the first gear 70a, so that a one-way flying bearing of the moving device in the case of the first embodiment can be realized structurally simple ,

FIG. 11 b is a schematic representation of the drive section according to the second and third embodiments (Figures 7 and 8). As in the first exemplary embodiment of FIG. 11a, the first stator 62a 'is also in the second and third exemplary embodiments; 62a "of the first electric motor 64a ¹ ; 64a" and the housing of the first gear 70a ";70a" are fixed to the base portion 12. Likewise, the outputs of the two transmissions 70a are ¹ ; 70a "and 70b ';70b" are fixedly connected in common with the first drive member 20a, and the second drive member 20b is connected to the second transmission case 60b ¹ ; 60b ", the rotors 66a ¹ ; 66a" and 66b '; 66b "of the two electric motors 64a ', 64a" and 64b'; 64b "respectively drive the transmission input elements of the two transmissions 70a ', 70a" and 70b'; In contrast to the first embodiment, however, in the second and third embodiments, the second stator 62b ¹ ; 62b "is not connected to the second gear housing 60b '; 60b "but also firmly connected to the base section 12. This has the advantage that the second electric motor 64b ¹ ; 64b" can be supported more reliably and stably, but to achieve a one-sided flying bearing a slightly higher design effort must be used than in the first embodiment, for. B. the passage of the shaft 61 '; 61 "through the second gear 70b ¹ ; 70b" as well as through both driving members 20a, 20b, as explained in more detail above with reference to Figures 7 and 8 for the second and third embodiments, respectively.

Figures 9a and 9b show a fourth embodiment of the invention in the form of a manufacturing plant for producing a shaped body 196 in an injection molding process.

The manufacturing plant 100 comprises an injection mold 190 with two mold halves 192, 194, which form a mold cavity between them in the closed state. In the mold cavity liquid Kunststoffmateriai is injected, which then cools and hardens. The mold halves 192, 194 are then opened and the molded body 196 is removed from the mold. The manufacturing plant 100 further comprises a movement device 110, for example, with the configuration according to the first, second or third embodiment of Figures 1a to 8. A working portion 114 with gripping tool for gripping the molded part 196 can through the

Moving device 110 are moved linearly along a line L between a retreat position shown in Figure 9a and a working position shown in Figure 9b. Thus, the gripping tool of the working portion 114 in the working position, the cast molded part 196 taken out of the opened injection mold 190 and retract it in the direction of the lo base portion 112.

In addition, the electric motors disposed at the location of the base portion 112 may be driven so that the mover 110 including the working portion 114 rotates around the base portion 112. Overall, the working section 114 of

Movement device 110 are thus moved to an arbitrary position within a flat annulus 122, wherein the inner radius 124 of the annulus 122 is given by the distance between the working portion 114 and base portion 112 in the retracted position and the

2o outer radius 126 of the annulus 122 by the distance between

Working section 114 and base section 112 is given in the working position. In the manufacturing plant of the embodiment shown, the working section 114 always moves in a vertical plane.

In particular, since the entire movement device 110 is cantilevered on the base portion 112, it is freely rotatable 360 degrees around the base portion 112, thereby providing flexible applications.

Figures 10a and 10b show a manufacturing plant 200 according to a fifth embodiment of the invention, which comprises two injection molds 290-1, 290-2, which are arranged at a distance from each other and at the same time can produce injection-molded parts. The loading and Unloading, in particular the removal of the cooled mold parts 296-1, 296-2 from the two injection molds 290-1, 290-2 is effected by a single arrangement 210, which is driven at the base section 212 by a drive section 255.

5

The arrangement 210 represents a combination of two movement devices according to the invention, for example the constructions shown in FIGS. 1a-8b, wherein the drive members of both movement devices are in each case formed as central drive members 220a, 220b in the form of a longitudinal strut, the longitudinal struts being approximately centered at the storage point of the base portion 212 and being driven at this point of intersection by the driving portion 255 so as to be set in a manner of scissors at different angles to each other. This leads to an i5 synchronous linear movement of the two gripping tools of both working sections 214-1, 214-2 in mutually opposite directions, so that both injection molds 290-1, 290-2 can be unloaded synchronously with one another.

Also, the assembly 210 of FIGS. 10a and 10b is cantilevered on the base portion 212 so that the working portions 214-1, 214-2 within an annular disc 222 can be positioned substantially at any point. In Figure 10b illustrates a double arrow x the linear movement of the working sections, while a double arrow ω the

25 pivoting movement of the work sections to the storage on

Base section 212 around indicates. It can also be seen in FIGS. 10a and 10b that the installation 210 of the fifth exemplary embodiment has a distribution which is symmetrical about the hinge point on the base section 212 both with regard to the weight force of the two

30 movement devices as well as with regard to the

Having acceleration of the devices occurring inertial forces and shocks. Both in the fourth and in the fifth exemplary embodiment (FIGS. 9a to 10b), it can also be seen that not only each position within the annular disks 122 and 222 can be approached by the working sections 114 and 214-1, 214-2, respectively Furthermore, the movement devices can also rotate freely 360 ° in the retraction position such that no element of the movement device, in particular no section of the joint arrangements, penetrates into the area of the annular disks 122 or 222. The entire area of the annular discs can thus be exploited without the risk of collision with the movement device.

Alternatively, the arrangement of the fourth embodiment (Figures 9a and 9b) may simultaneously serve two or more tools (e.g., two or more injection molds 190). Preferably, the power stroke (e.g., about 30 seconds) of the two or more tools is preferably offset in time so that the mover can operate the tools one at a time without the tools "having to wait" for the mover. Thus, without sacrificing cycle time, a plurality of tools can be operated with only one mover.

In a variant of the fifth exemplary embodiment (FIGS. 10a and 10b), the arrangement 210 can also cooperate with only one tool (eg only the injection mold 290-1). In a particularly effective method can then be provided that the working portion 214-2 (which faces away from the tool 290-1) is being loaded with inserts, while the first working portion 214-1 before the tool 290-1 already loaded with inserts is held in a waiting position near the tool 290-1. After loading the tool with the inserts through the first working section 214-1 and the retraction of the working section 214-1 then rotation of the assembly 210 by only 180 ° sufficient to the then already equipped with new inserts, second working section 214-2 bring in the waiting position in front of the tool 290-1 and the emptied first working section 214-1 in the of Tool facing away to drive position, where it is equipped with new inserts. In this way, the assembly must be rotated by 180 ° per cycle, instead of 360 °, as in the case of a conventional one-arm robot.

It should be added that the loading and unloading of molds described in particular with reference to the fourth and fifth exemplary embodiments has been described by way of example only and all statements regarding movements and control of the arrangements 110 and 210 are equally applicable to the operation of any other cyclically operating tools can be used to perform the tasks typical of robots. By way of example, mention should be made of "in-mold labeling" installations in which the working section supplies labels (labels) which are inserted into the tool or filling installations or assembly lines.

The invention is not limited to the embodiments described above, but includes other embodiments not described or illustrated in detail. Thus, e.g. the length of the drive members are changed in relation to the output members, it is either possible that the drive members are significantly longer than the output members, or that the drive members are significantly shorter than the output members. A simple control and symmetrical balance of power are achieved, however, when the two drive members or the two central drive members are formed substantially identical to each other, and when the two output members are formed substantially identical to each other. The same applies to the transmission elements.

The construction of the moving devices using identical components also brings advantages in terms of acquisition and maintenance costs and with regard to the control of the devices. Will be about two substantially identical electric motors for the Used driving the drive members, the drive can be standardized and a linear movement is to accomplish by simpler sign reversal or doubling or halving the supply voltages and thus by electronic means reliably and accurately.

The two electric motors are in the embodiments shown by the associated coaxial transmission output elements inherently coupled concurrently with each other, so that no interpolation over several driven axes is necessary to determine the position of the working section in space, since essentially only one drive is taken into account.

Moving devices and arrangements of the invention are preferably designed as robotic devices, i. of the

Drive section is driven by an electronic control unit according to a specific sequence program to perform certain movements periodically or in response to measured variables.

Moving devices and arrangements of the invention may

Have working sections which are equipped with a plurality of gripper elements, such as illustrated in Figure 2b for the first embodiment. Each working section can then grasp and / or transport two or more mold parts at the same time. In particular, in a manufacturing plant of FIGS. 9a, 9b, the working section 114 can simultaneously handle two shaped bodies, and in the manufacturing plant of FIGS. 10a, 10b the two working sections 214-1, 214-2 can simultaneously handle two or more molded parts in each case.

In one embodiment of the invention, the design of the

Movement device as a so-called top-loader for an injection mold or a mold possible in which the shape from above loading or unloading, the pivoting plane of the drive and driven members essentially vertical. The weight of the moving device to be moved during a pivoting movement about the drive axis can be compensated in a simple manner pneumatically or by means of a counterweight. A more advantageous mass distribution is possible for a 5 lying application of the movement device.

For driving the moving devices according to the invention, directly driven gears without belts, chains or rows of gears can be used, e.g. the harmonic drive described above, lo so that the control of the joint assembly with maximum accuracy and minimal play is possible.

Embodiments of the invention are operable with less energy. Thus, all electric motors can be kept stationary with respect to the base portion i5 so that they do not shift with the working portion. Energy for linear acceleration of the motors can thus be omitted. Further, recoil energy in the acceleration of the working section, in contrast to conventional linear motion devices and telescopic robots, for the most part (depending

₂ o after the position of the joint assembly to a part of 50% to 90%) introduced into the bearings of the joint assembly and does not directly counteract the driving force of the electric motors. Overall, the device uses a small number of components, so that less friction and less accelerated mass is taken into account.

25

Due to the closed kinematic chain, the movement device according to the invention also has relatively high stability. When inserting transfer members to stabilize the working section, toothed belts or the like for positioning the working section 30 may be dispensed with and the links and hinge points need not be designed to withstand the high biasing forces of the belts. The working sections of the moving devices of the above-mentioned embodiments are telescoped in total three times relative to the base section due to the transmission members according to the invention and the slide held thereon. With a slight angular movement of the drive links is already a strong

Linear acceleration of the carriage reached. Thus, in particular in an injection molding process, the mold opening time required for demoulding the injection mold can be reduced, which leads to a shorter cycle time and a more effective operation of the production plant.

Claims

Ansprϋche

A movement device (10; 110; 210) comprising

5 - a base section (12; 112; 212),

a working section (14; 114; 214) spaced from the base section,

a hinge assembly (18) interconnecting the base portion and the working portion, and lo - a drive portion (55; 55 '; 55 ") connected to the

Joint assembly for transmitting movement driving force is coupled to move the working portion with respect to the base portion between at least one working position and at least one retreating position, wherein the joint assembly comprises:

a first drive member (20a; 120a; 220a) which is drivable by the drive portion for pivotal movement about a first drive joint point (24; 61 "; 61") arranged at the base portion,

20 - a second drive member (20b; 120b; 220b) which is drivable by the drive portion for pivotal movement about a second drive joint point (24; 61 '; 61 ") arranged at the base portion,

- A first output member (22 a), which at a first intermediate point 25 (26) at a distance from the first

Drive joint point is pivotally coupled to the first drive member,

- A second output member (22b), which at a second intermediate joint point at a distance from the second drive joint point

30 is pivotally coupled to the second drive member, and

an output coupling unit (30) which pivotally couples the first and second output members together, characterized - That the first output member (22 a) at a distance from the first intermediate joint point (26) and the output coupling unit (30) arranged first transmission joint point (36 a), to which a first

5 transmission member (38 a) is pivotally supported,

- That the second output member (22b) at a distance from the second intermediate joint point (28) and the output coupling unit (30) arranged second transmission joint point (36b), on which a second lo transmission member (38b) is pivotally supported,

- that the transmission members (38a, 38b) further each have a connection joint point (39a, 39b), wherein the connection joint points coincide or are arranged at a fixed distance from each other, - that the working portion (14) comprises a carriage (40), wherein the carriage (40) is pivotally coupled to the first and second transmission links (38a, 38b) at the first and second linkage points and is held displaceable relative to the output coupling unit (30), or wherein the carriage is relative to the first and second transmission links is held displaceably and is held pivotally relative to the output coupling unit.

2. Movement device (10; 110; 210) according to claim 1, characterized in that the output coupling unit (30) has a Abtriebkopplungsachse (30) on which the first and the second output member (22a, 22b) are pivotally supported relative to each other.

30

3. Movement device (10; 110; 210) according to claim 1 or

Claim 2, characterized in that the output coupling unit (30) has an output coupling axis (30) in which a carriage guide (42, 52) for linearly displaceable guidance of the carriage (40) is held so that the carriage guide is pivotable relative to the first and second transfer member (38a, 38b).

5

4. Moving device (10, 110, 210) according to one of the preceding claims, characterized in that the output coupling unit (30) has a driven coupling axis (30), lo one (22a) of the two output members rotatably mounted on the

Output coupling shaft (30) is mounted, wherein the other (22b) of the two output members rotatably connected to the output coupling axis (30), and wherein a carriage guide (42, 52) for linearly displaceable guide of the carriage (40) rotatably mounted on the

Output coupling shaft (30) is mounted.

5. Moving device (10; 110; 210) according to one of the preceding claims, characterized in that a

20 angle (α) between a connecting line between the

Output coupling unit (30) and the first intermediate joint point (26) and a connecting line between the output coupling unit (30) and the first transmission joint point (36a) and an angle between a

25 connecting line between the output coupling unit (30) and the second intermediate joint point (28) and a connecting line between the output coupling unit (30) and the second transmission joint point (36b) in a range of about 10 degrees to 170 degrees, preferably in a range of about 75

30 degrees to about 115 degrees, most preferably at about

95 degrees.

6. Movement device (10; 110; 210) according to one of preceding claims, characterized in that a distance between the first and second transmission joint point (36 a, 36 b) and the first and second connection joint point is greater than a distance between the first and second transmission joint point (36 a, 36 b) and the

Output coupling unit (30).

7. Movement device (10; 110; 210) according to one of the preceding claims, characterized in that the connection points (39a, 39b) between the base section

(12) and the output coupling unit (30) are arranged.

8. Movement device (10; 110; 210) according to one of the preceding claims, characterized in that the i5 first drive joint point (24) and the second drive joint point

(24) coaxial axes of rotation or a common axis of rotation (24).

9. Movement device (10; 110; 210) according to the preamble of claim 20 or claim 1, characterized in that the articulated arrangement (18) is cantilevered on one side.

10. Movement device (10; 110; 210) according to one of the 25 preceding claims, characterized in that the drive section (55; 55 '; 55 ") has a first drive unit (64a, 70a, 72a; 64a \ 70a ¹ , 72a"; 64a ") for transmitting motive driving force to the first drive member, the first drive unit being attached to the base portion (12; 112; 212) 30 such that the first drive member (20a; 120; 220a) is mounted on one side of the hinge assembly (18) Base section and / or is cantilevered on the first drive unit, and in that the second drive member (20b; 120; 220b) is cantilevered on the same side as the first drive member or is cantilevered on the first drive member.

11. Movement device (10; 110; 210) according to one of the preceding claims, characterized in that the drive section (55; 55 ";55") has a first drive unit (64a, 70a, 72a; 64a ¹ , 70a ¹ , 72a '; 64a ") for transmitting motive driving force to the first drive member (20a) and a second drive unit (64b, 70b, 72b; 64b ¹ , 70b ¹ , 72b"; 64b ") for transmitting motive drive force to the second drive member (20b), wherein the drive units are preferably independently controllable.

A moving device according to claim 11, characterized in that said drive units are each constituted by motor units, each of said motor units comprising: a motor (64a, 64b; 64a ¹ , 64b ¹ ; 64a ", 64b") having a stator (62a 62b, 62a ¹ , 62b ¹ , 62a ", 62b") and a rotor (66a, 66b; 66a ', 66b ¹ ; 66a ", 66b"), and an output member (72a, 72b; 72a ", 72b"). 72a ", 72b") formed by the rotor of the motor or by a moving member of a gear (70a, 70b; 70a ¹ , 70b ¹ ; 70a ", 70b") driven by the rotor of the motor.

The moving device (10; 110; 210) according to claim 12, characterized in that the stator (62a) of the first motor unit is rotationally fixed with respect to the base portion (12) that the output member (72a) of the first motor unit with respect to first drive member (20a) is rotationally fixed, that the stator (62b) and / or a transmission housing of the second motor unit with respect to the second drive member (20b) is non-rotatable and in that the output element (72b) of the second motor unit is rotationally fixed relative to or identical to the output element (72a) of the first motor unit.

The moving device (10; 110; 210) according to claim 12 or claim 13, characterized in that the first motor unit is fixed to the base portion (12) and that the second motor unit, the hinge assembly (18) and the working portion (14) in Essentially only freestanding at the output element (72 a) of the first motor unit are held.

15. Movement device (10; 110; 210) according to one of claims 12 to 14, characterized in that the first and the second motor unit are constructed substantially identical to each other and i5 that the output elements (72a, 72b; 72a ¹ , 72b ¹ ; 72a ", 72b") of the two motor units are fastened together.

16. Movement device (10; 110; 210) according to one of claims 12 to 15, characterized in that the joint arrangement (18)

₂ o between the two motors (64a, 64b) of the motor units is arranged.

17. Movement device (10; 110; 210) according to one of claims 12 to 15, characterized in that the two motors (64a ¹ ,

25 64b '; 64a ", 64b") of the motor units are arranged on the same side of the hinge assembly (18).

18. Movement device (10; 110; 210) according to claim 17, characterized in that

30 that the two motor units are fixed to the base portion, that the output member (72a ¹ , 72a ") of the first motor unit drives the first drive member (20a), and the second motor unit drives a shaft (61 ', 61 ") or is formed by a shaft, wherein the shaft passes through a passage opening of the first drive member (20a) and drives the second drive member (20b), if necessary via a transmission.

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19. A movement device (10; 110; 210) according to any one of claims 9 to 18, characterized in that the hinge assembly (18) and the working portion (14) is freely rotatable about the base portion (12) through an angle of 360 °.

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Movement device (10; 110; 210) according to one of the preceding claims, characterized in that the working section (14) has holding means (16a, 16b) for holding and holding at least one product and between the at least one working position i5 and to move the retreat position.

21. Arrangement (210) comprising a base portion (212), a first movement device (210-1) and a second movement device (210-2), each of the movement devices having a working

20 portion (214-1, 214-2) spaced from the base portion (212) and a hinge assembly (218-1, 218-2) interconnecting the base portion and the working portion, and wherein the hinge assembly of each mover comprises:

a first drive member (220a) which can be driven by the drive section for pivotal movement about a first drive joint point arranged at the base section,

a second drive member (220b) which is drivable by the drive portion for pivotal movement about a second drive joint point arranged at the base portion,

30 - a first output member, which is pivotally coupled to the first drive member at a first intermediate joint point at a distance from the first drive joint point, - A second output member, which is coupled at a second intermediate joint point at a distance from the second drive pivot point pivotally connected to the second drive member, and

an output coupling unit which pivotally couples the first and the fifth output members, characterized in that the first drive member of the first movement device and the first drive member of the second movement device are formed by a common first central drive member (220a) or to a common first central drive member are firmly connected to each other so that they are pivotable about the same first drive joint point, that the second drive member of the first movement device and the second drive member of the second Bewegungsvorrich- tion by a common second central drive member (220 b) are formed or fixed to a common second central drive member connected to each other so that they are pivotable about the same second drive joint point, and that the arrangement further comprises a drive section (255)

20, which is coupled to the first and / or the second central drive member (220a, 220b) for transmission of motive power to move the working sections (214-1, 214-2) of the moving devices with respect to the base section (212) between at least a working position and at least

25 to move at least one retreat position.

22. Arrangement (210) according to claim 21, characterized in that the first and the second central drive member are formed by rigid struts (220a, 220b) which cross substantially centrally, the first and second drive joint points being at the point of intersection the pursuits lie.

23. Arrangement (210) according to claim 21 or claim 22, characterized in that the first or / and the second movement device is a movement device according to one of claims 1 to 20.

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24. A production plant (100; 200) for producing a product (196; 296), the production facility comprising at least one tool (190; 290) and a transfer device (10; 110; 210) for loading or unloading the tool, lo characterized in that the transfer means (10;

110; 210) comprises a movement device according to the preamble of claim 1 or any one of claims 1 to 20 or an arrangement according to any one of claims 21 to 23.

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25. Production plant (100, 200) according to claim 24, characterized in that the production plant for producing a shaped body by a molding process, in particular injection molding or pressing or punching process, is set up, wherein the manufacturing plant at least one mold (190, 290) for On-

20 comprises the shaped body (196; 296) and the transfer device (10; 110; 210) is adapted to load the mold with a shaped body or / and to discharge a shaped body from the mold.

26. Production plant (200) according to claim 24 or claim 25, characterized in that it comprises at least two tools (290-1, 290-2), both tools being provided with the same movement device (110) or the same arrangement (210). be loaded and / or unloaded. 0

27. Manufacturing plant (200) according to claim 25, characterized in that the drive joint points of the first and the second drive member or the drive joint points of the first and second Central drive member (220a, 220b) are arranged substantially centrally on a connecting line between two working positions at which the tools (290-1, 290-2) are operated by the moving device or the arrangement.