• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Handling arm (20) for a handling device (10) of an injection molding machine, with a first part arm (1) and a second part arm (2), the at least two parallel guide rails (3, 4) and at least two on the guide rails (3, 4 ) movable guide jaws (5, 6) are displaceable, wherein a guide jaw (5) arranged on the first subarm (1) can be moved on a guide rail (4) arranged on the second subarm (2) and a guide jaw (2) arranged on the second subarm (2). 6) on a first partial arm (1) arranged guide rail (3) is movable, wherein in the extended position (A) of the partial arms (1, 2) arranged on the first partial arm (1) guide jaw (5) on the second arm ( 2) arranged guide jaw (6) ineiner to the alignment (R) of the guide rails (3, 4) perpendicular line of sight (L) at least partially, preferably completely, covered.
    公开号:AT511201A4
    申请号:T9972011
    申请日:2011-07-08
    公开日:2012-10-15
    发明作者:Peter Ing Zeirzer；Gerald Marcus Ing Huber
    申请人:Engel Austria Gmbh；
    IPC主号:
    专利说明:

    70248 22 / sk 1
    The invention relates to a Handlingamn for a handling device of an injection molding machine, with a first part arm and a second arm, which are displaceable over at least two mutually parallel guide rails and at least two movable guide rails on the guide rails, wherein a arranged on the first arm guide jaw at one of the second arm arranged guide rail is movable and arranged on the second arm part guide jaw is movable on a arranged on the first arm part guide rail. In addition, the invention relates to a handling device with such a handling arm, as well as an injection molding machine with a handling device.
    Handling arms are used in a variety of ways to move - mostly in factories - various parts. For example, handling arms or handling devices are also required in injection molding machines in order to move injection-molded parts there, to insert components to be encapsulated in the mold or the like. Handling devices may also be used to remove larger parts such as e.g. Mold halves, to move.
    Important criteria for handling arms are stability and accuracy, especially for heavy objects to be moved. The accuracy is difficult to maintain especially when the handling arm has to be extended far and the arms are telescopically moved to each other. Since the individual arms are usually very stable, high loads on the connection areas between the two arms is given at high loads and fully extended position.
    For partial arms, which are connected to each other only via a guide rail and a guide jaw, the stability in the extended position is very impaired and also the accuracy is poor. For this reason, partial arms are usually connected to one another via at least two guide rails and two or four guide jaws.
    By way of example, an embodiment known from the prior art is shown in FIG. In this case, a first handling arm 1 along two main guide rails 11 at a base station 7 is movable. In Fig. 1 while the handling arm 20 is shown in the retracted position B, wherein the guide arms 5 and 6 are attached to the first part of the arm 1. These correspond to a guide rail 3 or 4 attached to the second partial arm 2. Two parallel guide rails 3 and 4 can also be attached to the second partial arm 2 and correspond to corresponding two or four guide jaws 5 and 6. In this retracted position B, it can be seen that the stability between the two partial arms 1 and 2 is relatively small, since they are connected only at the ends pointing in the extension direction F via the guide jaws 5 and 6.
    As can be seen in FIG. 2 in the extended position A of the hand-held arm 20, the maximum extension length Z is relatively short when the guide jaws 5 and 6 are arranged in alignment R of the guide rails 3, 4.
    The same problems as with a handling arm 20 according to FIGS. 1 and 2 also arise inversely when the guide jaws 5 and 6 are mounted on the second part arm 2 and the guide rails 3 and 4 on the first part arm 1.
    In order to solve the problem of instability in the retracted position B above all else, FIGS. 3 and 4 show a further connection possibility known from the prior art for two partial arms 1 and 2 of a handling arm 20. In the retracted position B according to FIG. 3, sufficient stability is provided since the second guide arm 6 is arranged at the end pointing in the retraction direction E and corresponds to a first guide rail 3 on the first arm 1, while the end pointing in the extension direction F of the first part of the arm 1, the first guide jaw 5 is arranged, which corresponds to a arranged on the second arm 2 second guide rail 4.
    However, as can be seen in Fig. 4, results in the extended position A, the problem that the extension length Z is relatively short, since the guide jaws 5 and 6 would encounter in further movement in the extension direction F together. In addition, the guide rail 3 or 4 can not lead to the end of the respective partial arm 1 or 2, since there the respective guide jaw 5 and 6 is arranged.
    The object of the present invention is therefore to provide a comparison with the prior art improved handling. In particular, the stability should be high even when retracted and at the same time the extension length should be as large as possible.
    This is achieved for a handling arm with the features of the preamble of claim 1, characterized in that in the extended position of the partial arms arranged on the first arm guide jaw at least partially, preferably completely covers the guide jaw arranged on the second arm part in a direction perpendicular to the alignment of the guide rails line of sight , In other words, in the extended position, a plane perpendicular to the alignment of the guide rails intersects both the at least one guide jaw on the first partial arm and the at least one guide jaw on the second partial arm. In other words, the guide jaw and the guide rail of the first partial arm are arranged at right angles to the alignment of the handling arm at the end pointing in the extension direction of the first partial arm. Conversely, this arrangement applies to the retraction end of the second Teiiarms.
    Particularly preferably, it can accordingly be provided that the guide rail on the first Teiiarm extends to the extending direction in the extension end of the first part of the arm and the guide rail on the second Teiiarm extends to the direction of retraction in the end of the second part of the arm. In the same way it can be provided that the guide jaw is arranged on the first part of the arm pointing in the extension direction end of the first part of the arm and the guide jaw of the second part of the arm is arranged in the retraction direction end of the second part of the arm.
    Protection is also desired for a handling device with a handling arm according to the invention, as well as for an injection molding machine with a handling device including handling arm according to the invention.
    Further details and advantages of the present invention will be explained in more detail below with reference to the description of the figures with reference to the exemplary embodiments illustrated in the drawings. Show:
    1 to 4 Fig. 5 Fig. 6 Fig. 7 Fig. 8 Fig. 9 Fig. 10 and 11 Fig. 12 Fig. 13
    Handiingarme according to the prior art, schematically a handling arm according to the invention in the retracted position, schematically a handling arm according to the invention in the extended position, a 3D representation of a retracted handling arm, a 3D representation of an extended Handlingarms, a 3D representation of an entire handling device, a Handtingarm in retracted pitch in different
    Perspectives, in perspective an extended handling arm and a section through the handling arm.
    The existing from the prior art according to the already described Fig. 1 to 4 disadvantages are on the one shown in FIG S solved in that in the illustrated retracted position B at the pointing in the retraction E end of the second arm 2 and shown in the foreground second guide jaw 6 with the also shown in the foreground first guide rail 3 on the first arm 1 corresponds. In contrast, the pointing in the extension F end of the first part of the arm 1 arranged guide jaw 5 is indicated by dashed lines in the background and corresponds to the also in the background (dashed lines) shown and connected to the second arm 2 second guide rail 4. This is mainly compared to the in the Fig. 1 and 2 shown known prior art given a much better stability even in the retracted position B. ··· »·· * · ·! • ♦ · J • · · 1 • ♦ ^ * · • I ··········································································································· * · · 5 5 5 5 5 5 5
    The further advantage can be seen in Fig. 6, after which a longer extension length Z + can be achieved in the extended position A. Here are the two guide jaws 5 and 6 in a direction R of the guide rails 3 and 4 right-angled line of sight L behind each other or partially obscure. As a result, the guide jaws 5 and 6 are not "in the way" and allow a relative to the length of the two arms 1 and 2 larger Maximalausfahrstellung. As a result, the manipulation device 9 at the end of the second partial arm 2 with the same length of the partial arms 1 and 2 as in the prior art have a further travel, without affecting the stability in the extended position A and in the retracted position B.
    In FIG. 7, the two partial arms 1 and 2 of the handling arm 20 are shown in a simple 3D representation, the handling arm 20 being in the retracted position B. The attached to the second arm 2 second guide rail 4 corresponds to a fixed to the first part of arm 1 guide jaw 5. Parallel thereto is also attached between the first part of arm 1 and second arm 2 at the retraction end E of the second arm 2, a second guide jaw 6, with the guide rail 3 attached to the first part arm 1 corresponds. In principle, it would also be conceivable for this purpose that the partial arm 2 is guided inside the first partial arm 1. Also, the guide rails 3 and 4 and the guide jaws 5 and 6 remain between the two partial arms 1 and 2 are arranged.
    In Fig. 8, the handling arm 20 is shown in the extended position A, in which the guide jaws 5 and 6 in a direction R of the guide rails 3 and 4 rectangular line of sight L cover. The second partial arm 2 may have a shorter area, on which the second guide jaw 6 is arranged. The second part arm 2 can also be designed to be generally tapering or lighter in the front region. This increases the stability and the masses to be moved are lower. It should also be noted that the first guide rail 3 and the first guide jaw 5 need not be arranged on the same surface plane of the first partial arm 1. The first guide jaw 5 could for example also be arranged on the upper side of the first partial arm 1. There .. · * • · *. • · ·! • Kt κ · ·· • · * · · • * V * · * ·· * > The second guide rail 4 on the second Teitarm 2 or the entire second partial arm 2 would then have to correspond to the location and the design or alignment of the first Guide jaw 5 be adapted.
    In Fig. 9, an entire handling device 10 is shown. On a handling carrier 12 of the Z-axis aligned Z-carrier 16 is fixed, on which the rails 18 are arranged. Along these rails 18, the X-carrier 15 can be moved via a drive 17. In turn, rails 19 are arranged on this X-carrier 15, along which the base station 7 can be moved by means of a drive (not shown). This base station 7 is already part of the handling arm 20, which forms the Y-beam. This handling arm 20 consists of the first partial arm 1 and the second partial arm 2. In addition, a damping element 13 and a cover 14 are arranged in the upper area. The first partial arm 1 can be moved via the main guide rail 11 along the main guide jaws 24 arranged on the base station 7.
    FIG. 10 shows the handling arm 20 forming the Y-carrier in the retracted position B. The drive unit 8 is fastened to the base station 7 and engages in the toothed rack 21 attached to the first partial arm 1 via a pinion (not shown). The belt 20 is fixedly connected to the base station 7 and can be unrolled along the deflection rollers 23 arranged in the first partial arm 1. At the bottom of the first part of the arm 1 (see Fig. 11), the belt 22 emerges again and is there fixedly connected to the second Teiiarm 2. The second part arm 2 is connected via in this case two guide jaws 6 with a guide rail 3 arranged on the first part arm 1. In FIG. 10 it can be seen that on the other side two guide jaws 5 arranged on the first subarm 1 correspond with the guide rail 4 arranged on the second subarm 2. In principle, it would also suffice in each case one guide jaw 5 and one guide jaw 6. For reasons of stability but can - as shown - two guide jaws 6 and 5 may be provided.
    When the pinion driven by the drive unit 8 starts to rotate clockwise, the first arm 1 moves relative to the base station 7.
    ΦΦ ΦΦ Φ Φ ΦΦΦ Φ Φ ΦΦ ΦΦ ΦΦ Φ ΦΦΦ Φ Φ Φ Φ ΦΦ 7 along the main guide jaws 24 in the extension direction F and reaches the extended position A shown in FIG. 12, whereby the guide jaw 5 arranged on the first subarm 1 arranged on the second part of arm 2 guide jaw 6 (not shown) in a direction R of the guide rails 3 and 4 perpendicular line of sight L at least partially, preferably completely, covered. Since the second partial arm 2 is fixedly connected to the belt 22, the partial arm 2 moves twice as long as the first partial arm 1 relative to the base station 7 in the extension direction F.
    In Fig. 13 is a section through the handling arm 20 is shown. In this case, the first part of arm 1 over its main guide rails 11 along the mounted on the base station 7 main guide jaws 24 can be moved. This movement is controlled by the driven by the motor (drive unit 8) pinion 25, which engages in the attached to the first arm 1 rack 21. As a result of the movement of the first partial arm 1 triggered thereby, the deflection rollers 23 are also moved relative to the base station 7, as a result of which the belt 22 fixedly connected to the base station 7 rolls on the deflection rollers 23. Since the belt 22 is also attached to the second part of arm 2, this moves at twice the speed of the first part of arm 1. Further, it can be seen in Fig. 13 that the second part of the arm 2, the second guide rail 4 is mounted and with the first part of the arm 1 arranged guide jaw 5 corresponds, while the arranged on the first part of the first arm guide rail 3 corresponds to the attached to the second part of arm 2 guide jaw 6. In Fig. 13, the further advantage of the invention can be seen, according to which the two arms 1 and 2 can be much closer to each other, since the guide rails 3 and 4 - as it would be the case in Figs. 3 and 4 - not hinder.
    Thus, an improved handling arm is provided by the present invention, as given by the attached at both ends of the arms 1 and 2 guide jaws 5 and 6 no wobbling and also the maximum extension length Z + is increased.
    Innsbruck, July 7, 2011
    权利要求:
    Claims (7)
    [1]
    ft ft ft ft ft ft ft ft ft ft ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft. ft 1. Handling arm (20) for a handling device (10) of an injection molding machine, with a first part arm (1) and a second part arm (2), which has at least two mutually parallel guide rails (3, 4) and at least two guide jaws (5, 6) which can be moved on the guide rails (3, 4), wherein a guide jaw (5) arranged on the first sub-arm (1) is arranged on a guide rail (2) arranged on the second sub-arm (2). 4) and a guide jaw (6) arranged on the second sub-arm (2) can be moved on a guide rail (3) arranged on the first sub-arm (1), characterized in that in the extended position (A) of the sub-arms (1, 2 ) arranged on the first part arm (1) guide jaw (5) arranged on the second part arm (2) guide jaw (6) in egg ner for aligning (R) of the guide rails (3,4) right-angled line of sight (L) at least partially; preferably completely, covered.
    [2]
    2. Handfingarm according to claim 1, characterized in that the guide rail (3) on the first part arm (1) to the extension in the direction (F) facing the end of the first partial arm (1) extends and the guide rail (4) on the second arm part (2 ) to the in the retraction direction (E) facing end of the second partial arm (2) extends.
    [3]
    3. Handling arm according to claim 1 or 2, characterized in that the guide jaw (5) on the first part arm (1) in the extension direction (F) facing end of the first partial arm (1) is arranged and the guide jaw (6) of the second partial arm ( 2) is arranged at the in the retraction direction (E) facing the end of the second partial arm (2).
    [4]
    4. Handiingarm according to one of claims 1 to 3, characterized in that the first partial arm (1) with a base station (7) is connected and by a drive unit (8) relative to the base station (7) is driven to move. ha ck • * * • * '' * * * · 70248 22 / ie δ *. Λ,
    [5]
    5. Handling arm one of claims 1 to 4, characterized in that in the extension direction (F) facing the end of the second partial arm (2) a manipulation device (9), preferably a gripping arm, is arranged.
    [6]
    6. Handling device (10) with a handling arm (20) according to one of claims 1 to 5.
    [7]
    7. Injection molding machine with a handling device (10) according to claim 6. Innsbruck, on 7 July 2011
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    引用文献:
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    JPH02269591A|1989-04-10|1990-11-02|Toshiba Corp|Robot|
    JP2006062046A|2004-08-27|2006-03-09|Kawasaki Heavy Ind Ltd|Transfer robot for vacuum and its arm structural body|
    JP2008050072A|2006-08-22|2008-03-06|Hitachi Plant Technologies Ltd|Moving-in/out device|
    KR100342254B1|1999-06-25|2002-06-27|윤종용|Loading robot having a balancing part|
    JP4327341B2|2000-08-25|2009-09-09|蛇の目ミシン工業株式会社|Desktop robot with Z-axis lifting mechanism|
    JP2004165579A|2002-09-18|2004-06-10|Seiko Instruments Inc|Vacuum processor|
    CN100352748C|2005-01-12|2007-12-05|友达光电股份有限公司|Carrying and conveying device|
    US8240972B2|2007-05-17|2012-08-14|Denso Wave Corporation|Robot with linearly movable support member attaching to gripper|CN104405843B|2014-10-20|2017-07-14|湖北荆硕自动化设备有限公司|A kind of telescopic boom device|
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    DE102018201024A1|2018-01-23|2019-07-25|Deutsches Zentrum für Luft- und Raumfahrt e.V.|robot arm|
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