Transfer System for Transporting Work Pieces in a Press

Abstract

A transfer system ( 100 ) for transporting work pieces in a press ( 1 ), comprises a transfer rail ( 150 ) having a plurality of grippers ( 152 ) for gripping the work pieces, a linear mechanism ( 110 ) attachable to a press frame ( 2 ) of the press ( 1 ) for linearly moving the transfer rail ( 150 ) with respect to the press frame ( 2 ) and an articulated mechanism ( 130 ) for carrying the transfer rail ( 150 ), the articulated mechanism ( 130 ) comprising at least three parallel swivel axes, whereby the articulated mechanism ( 130 ) is attached to the linear mechanism ( 110 ) such that it is linearly moveable with respect to the press frame ( 2 ). Articulated mechanisms are widely used and cost-effective. They allow for a simple construction of the transfer system. Furthermore, they allow for a very precise control. The linear mechanism and the main part of the articulated mechanism may be arranged on an outer side of the press frame, whereby only the transfer rail and the foremost part of the articulated mechanism to which the transfer rail is attached enter the press window. Therefore, the mechanism is well suited for presses with a small press window.

1 . A transfer system for transporting work pieces in a press, comprising
 a) a transfer rail ( 150 ;  250 ) having a plurality of grippers ( 152 ;  252 ) for gripping the work pieces ( 11 );   b) a linear mechanism ( 110 ;  210 . 1 ,  210 . 2 ) attachable to a press frame ( 2 ) of the press ( 1 ) for linearly moving the transfer rail ( 150 ;  250 ) with respect to the press frame ( 2 );   
     characterized by
 c) an articulated mechanism ( 130 ;  230 . 1   230 . 2 ) for carrying the transfer rail ( 150 ;  250 ), the articulated mechanism ( 130 ;  230 . 1   230 . 2 ) comprising at least three parallel swivel axes (J 2 , J 3 , J 4 ), whereby the articulated mechanism ( 130 ;  230 . 1   230 . 2 ) is attached to the linear mechanism ( 110 ;  210 . 1 ,  210 . 2 ) such that it is linearly moveable with respect to the press frame ( 2 ). 
 
   
   
       2 . The transfer system as recited in  claim 1 , characterized in that the linear mechanism ( 110 ) comprises a horizontal linear guide ( 111 ,  114 ) attachable to the press frame ( 2 ), the guide ( 111 ,  114 ) being arranged parallel to a main transfer direction ( 9 ) of the press ( 1 ) such that the articulated mechanism ( 130 ) is linearly moveable parallel to the main transfer direction ( 9 ). 
   
   
       3 . The transfer system as recited in  claim 2 , characterized in that the at least three swivel axes (J 2 , J 3 , J 4 ) are oriented parallel to the horizontal linear guide ( 111 ,  114 ). 
   
   
       4 . The transfer system as recited in  claim 2 , characterized in that the horizontal linear guide ( 111 ,  114 ) is attachable to the press frame ( 2 ) in a position above a work space of the press ( 1 ), and in that the articulated mechanism ( 130 ) is attached to the linear guide ( 111 ,  114 ) in a suspended position. 
   
   
       5 . The transfer system as recited in  claim 1 , characterized in that the linear mechanism ( 210 . 1 ,  210 . 2 ) comprises a vertical linear guide ( 211 . 1 ,  214 . 1 ;  211 . 2 ,  214 . 2 ) attachable to the press frame ( 2 ), such that the articulated mechanism ( 230 . 1 ;  230 . 2 ) is linearly moveable in a vertical direction, and in that the at least three swivel axes (J 2 , J 3 , J 4 ) are oriented parallel to the vertical linear guide ( 211 . 1 ,  214 . 1 ;  211 . 2 ,  214 . 2 ). 
   
   
       6 . The transfer system as recited in  claim 5 , characterized by
 a) a first linear mechanism ( 210 . 1 ) attachable to a first support ( 3 ) of the press frame ( 2 );   b) a second linear mechanism ( 210 . 2 ) attachable to a second support ( 4 ) of the press frame ( 2 );   c) a first articulated mechanism ( 230 . 1 ) attached to the first linear mechanism ( 210 . 1 ); and   d) a second articulated mechanism ( 230 . 2 ) attached to the second linear mechanism ( 210 . 2 );   
     whereby
 e) the transfer rail ( 250 ) is attached to both the first articulated mechanism ( 230 . 1 ) and the second articulated mechanism ( 230 . 2 ). 
 
   
   
       7 . The transfer system as recited in  claim 6 , characterized in that movements of the first articulated mechanism ( 230 . 1 ) and the second articulated mechanism ( 230 . 2 ) are synchronized by an external control system. 
   
   
       8 . The transfer system as recited in  claim 1 , characterized in that the at least three swivel axes (J 2 , J 3 , J 4 ) are constructed and arranged such that the articulated mechanism ( 130 ;  230 . 1 ,  230 . 2 ) may be swiveled out clear of the press ( 1 ). 
   
   
       9 . The transfer system as recited in  claim 1 , characterized in that the articulated mechanism ( 130 ;  230 . 1 ,  230 . 2 ) comprises an automatic coupler for coupling the transfer rail ( 150 ;  250 ). 
   
   
       10 . The transfer system as recited in  claim 1 , characterized in that the articulated mechanism ( 230 . 1 ,  230 . 2 ) is constituted by a robot arm of an articulated robot having at least three parallel swivel axes (J 2 , J 3 , J 4 ). 
   
   
       11 . The transfer system as recited in  claim 1  , characterized in that the articulated mechanism ( 130 ;  230 . 1 ,  230 . 2 ) comprises
 a) a base ( 115 ;  215 . 1 ,  215 . 2 ) attached to the linear mechanism ( 110 ;  210 . 1 ,  210 . 2 );   b) a first arm ( 133 ;  233 . 1 ) attached to said base ( 115 ;  215 . 1 ) via a first of said swivel axes (J 2 );   c) a second arm ( 136 ;  236 . 1 ), a first end of which is attached to said first arm ( 133 ;  233 . 1 ), via a second of said swivel axes (J 3 ), and a second end of which is attached to the transfer rail ( 150 ;  250 ), via a third of said swivel axes (J 4 );   d) a first drive ( 132 ) for actuating a swiveling motion of said first arm ( 133 ;  233 . 1 ) with respect to said base ( 115 ;  215 . 1 ), around said first swivel axis (J 2 );   e) a second drive ( 134 ;  234 . 1 ) for actuating a swiveling motion of said second arm ( 136 ;  236 . 1 ) with respect to said first arm ( 133 ;  233 . 1 ), around said second swivel axis (J 3 );   f) a third drive ( 137 ;  237 . 1 ) for actuating a swiveling motion of the transfer rail ( 150 ;  250 ) with respect to said second arm ( 136 ;  236 . 1 ), around said third swivel axis (J 4 ).   
   
   
       12 . The transfer system as recited in  claim 11 , characterized in that the first drive ( 132 ) is attached to the base ( 115 ;  215 . 1 ,  215 . 2 ), in that the second drive ( 134 ;  234 . 1 ) is attached to the first arm ( 133 ;  233 . 1 ) and in that the third drive ( 137 ;  237 . 1 ) is attached to the second arm ( 136 ;  236 . 1 ). 
   
   
       13 . A press, in particular a press line or multiple-die press ( 1 ), comprising at least one transfer system ( 100 ;  200 ) as recited in  claim 1 . 
   
   
       14 . The press as recited in  claim 13 , characterized in that a first transfer system and a second transfer system are arranged across the press and in that the transfer rail is a cross bar that is attached to both the first and the second transfer system. 
   
   
       15 . A method for transporting work pieces in a press, using a transfer system, in particular one as recited in  claim 1 , comprising a linear mechanism ( 110 ;  210 . 1 ,  210 . 2 ) attachable to a press frame ( 2 ) of the press ( 1 ) and an articulated mechanism ( 130 ;  230 . 1   230 . 2 ) for carrying a transfer rail ( 150 ;  250 ), the articulated mechanism ( 130 ;  230 . 1   230 . 2 ) comprising at least three parallel swivel axes (J 2 , J 3 , J 4 ), whereby the articulated mechanism ( 130 ;  230 . 1   230 . 2 ) is attached to the linear mechanism ( 110 ;  210 . 1 ,  210 . 2 ) such that it is linearly moveable with respect to the press frame ( 2 ), the method comprising the steps of
 a) positioning the transfer rail ( 150 ;  250 ) in a first position, such that a work piece ( 11 ) to be transported is seizable by a plurality of grippers ( 152 ;  252 ) attached to the transfer rail ( 150 ;  250 );   b) seizing the work piece ( 11 ) by actuating the grippers ( 152 ;  252 );   c) lifting the transfer rail ( 150 ;  250 ) together with the work piece ( 11 ) by moving along a linear axis (J 1 ) of the linear mechanism ( 110 ;  210 . 1 ,  210 . 2 ) and/or by moving around at least one swivel axis of the at least three swivel axes (J 2 , J 3 , J 4 ) of the articulated mechanism ( 130 ;  230 . 1   230 . 2 );   d) transferring the work piece ( 11 ) by moving the transfer rail ( 150 ;  250 ) along a main transfer direction ( 9 ) by moving the articulated mechanism ( 130 ;  230 . 1   230 . 2 ) and/or the linear mechanism ( 110 ;  210 . 1 ,  210 . 2 );   e) lowering the transfer rail ( 150 ;  250 ) together with the work piece ( 11 ) by moving the linear mechanism ( 110 ;  210 . 1 ,  210 . 2 ) and/or the articulated mechanism ( 130 ;  230 . 1   230 . 2 ); and   f) releasing the work piece by actuating the grippers ( 152 ;  252 ) of the transfer rail ( 150 ;  250 ).   
   
   
       16 . The method as recited in  claim 15 , characterized in that the lifting and lowering of the transfer rail ( 150 ) is exclusively accomplished by moving the articulated mechanism ( 130 ) and in that the transfer along the main transfer direction ( 9 ) is exclusively accomplished by moving the linear mechanism ( 110 ). 
   
   
       17 . The method as recited in  claim 15 , characterized in that the lifting and lowering of the transfer rail ( 250 ) is exclusively accomplished by moving the linear mechanism ( 210 . 1 ,  210 . 2 ) and in that the transfer along the main transfer direction ( 9 ) is exclusively accomplished by moving the articulated mechanism ( 230 . 1 ,  230 . 2 ). 
   
   
       18 . Use of an articulated robot having at least three parallel swivel axes (J 2 , J 3 , J 4 ) for transporting work pieces ( 11 ) in a press ( 1 ), whereby the robot is attached to a linear mechanism ( 110 ;  210 . 1 ,  210 . 2 ) fixed to a press frame ( 2 ) of the press ( 1 ) such that it is linearly movable with respect to the press frame ( 2 ), and whereby the robot is carrying a transfer rail ( 150 ;  250 ) having a plurality of grippers ( 152 ;  252 ) for gripping the work pieces ( 11 ).