Parts handling device for parts handling and injection molding machine equipped with the same

Abstract

A component handling device for handling components in a working machine or processing machine, in particular an injection molding machine, the device comprising a substantially linear axis (T 1 ), extending outside or inside the operating space (HR) in the operating device, a multi-axis device (9), in which the substantially linear axes (T 1 ) can be displaced in translation and has a main axis of rotation (R 1 ), and the basic linear axis (T 1 ) is orthogonal, = secondary rotation axis (R 2 ), which is guided parallel to the main rotation axis and is linked to the main rotation axis (R) via a first robot arm (11). 1 ), the secondary rotation axis pivotably guides the second robot arm (12) above the operating space (HR), and = the vertical linear axis (T 2 ), with the secondary rotation axis (R 2 ) is eccentrically linked to the second robot arm (12), and the gripping device (5) is linked to the vertical linear axis (T 2 ) for the part to be operated (BT).

Description

[0001] This patent application claims the priority of German patent application DE 10 2019 205 940.6, the content of which is incorporated herein by reference. Technical Field

[0002] The present invention relates to a component handling device for performing component handling in a working machine or a processing machine such as an injection molding machine, and to an injection molding machine equipped with the component handling device. Background Art

[0003] The reasons for the prior art problems constituting the present invention will be explained in more detail using the example of an injection molding machine. Currently, common handling devices for component removal in injection molding machines, such as those currently also used by the applicant, are usually based on a 4-axis linear robot having three translation axes and at least one but also up to three rotation axes. For example, it can also be seen from DE4127446A1 that such a handling device is used as a gantry robot to supply tools and workpieces to a machine tool. FIG8 shows such an handling device in use, wherein the handling device 1' is mounted on a fixed tool clamping plate 2 of an injection molding machine. In the injection molding machine, only a movable clamping plate 3 in a clamping unit without a toggle lever is shown, and in the injection unit, only a nozzle connection 4 in the plasticizing cylinder is shown. In the following, in the description of the prior art and in the description of the present invention, the corresponding axes will be respectively indicated by "T x ” and “R x ". T is the translation axis, R is the rotation axis, and x is the position of the axis in the kinematic chain. So, for example, Figure 6 As shown, the above four axis arrangement is composed of axis T 1 T 2 T 3 R 1 The translation axis is used to change the position of the gripping tool 5 ′ for manipulating the part BT in space, while the rotation axis R 1 For changing its orientation, for example removing a component BT arranged upright in an open injection molding tool and placing it on a horizontal bracket 6'. These handling devices are arranged above the injection molding machine and have a three-dimensional working space.

[0004] The above-mentioned type of operating device has various disadvantages. For example, the three translation axes T 1 、T 2 and T 3They are usually designed as open guides with so-called loss lubrication, which results in a high risk of contamination of the tools or the parts manufactured therein. This is particularly true for the two axes of the handling device 1 ′, which are cyclically located directly above and / or in the tool and part placement area. In order to achieve at least five degrees of freedom of these handling devices, two additional axes of rotation R 1 and R 2 , these two rotation axes are arranged on a grid consisting of three linear axes T 1 、T 2 and T 3 The end of the kinematic chain formed, that is, arranged on the third translation axis T 3 Therefore, the two rotation axes R 1 and R 2 Must follow the third translation axis T 3 Each movement in the Earth's gravitational field results in a high energy input with a correspondingly unfavorable energy balance.

[0005] Furthermore, the arrangement of the axis of rotation on the third linear axis leads to an increased tendency towards oscillations due to a pendulum effect, which may have to be counteracted by reducing the effective load on the third translation axis.

[0006] In this linear robot, if the second translation axis T 2 Designed to be able to move in the first translation axis T 1 The rigid suspension rod 7' moves upward, and the third translation axis T 3 Moving vertically on this rigid suspension bar 7', there is a considerable risk of collision with the suspension bar 7' when removing the part from the open injection moulding tool, especially for parts that are long in the vertical direction. Such a collision situation between the shaded elongated part BT and the suspension bar 7' is shown in Figure 8.

[0007] Furthermore, the restricted working space of the three-dimensional robot in the handling device 1 ′ remains unchanged by adding further rotational degrees of freedom and cannot be enlarged thereby, since only the orientation of the gripping tool is changed by these rotational degrees of freedom.

[0008] In another prior art, such as AG (Automations-und ) company (Bendererstrasse 33, 9494 Schaan, FL) in the form of an "AQS-P 120 swivel arm robot" apparently previously used, the kinematic chain is formed by a translation axis, a rotation axis rotatably arranged on the translation axis, a second translation axis arranged on the translation axis in a direction orthogonal to the first translation axis, and at least two further rotation axes on the second translation axis. In short, the arrangement is thus formed by T 1 R 1 T 2 R 2 R 3 express.

[0009] Here, the same T as the first mentioned 1 T 2 T 3 R 1 The arrangement has similar disadvantages. 2 The front and back sides are connected by two parallel rotation axes R 1 and R 2 Instead of the second translation axis T 2 This has the effect that due to the second rotation axis R 2 Arranged on the vertical translation axis T 2 In this arrangement, relatively high masses must be moved again, which has a negative effect on the vibration behavior, energy balance and component load-bearing capacity of this arrangement. In addition, in this arrangement, R 2 A single rotation of only causes a change in the orientation of the clamping tool, but not in the spatial position.

[0010] Another handling device, in particular for use with a forming machine, is shown in DE 10 2014 014 265 A1 or US 2012 / 0294961 A1. In these known devices, a horizontal base axis T having a translation is used. 1 , parallel to the horizontal base axis T of the translation 1 The two rotation axes R of the guide 1 and R 2 and the vertical axis of translation T 2 In the first mentioned document, the axis order is T 1 R 1 R 2 T 2 , in the second mentioned file, the axis order is T 1 T 2 R 1 R 2 The two designs have in common that the two axes of rotation R 1 and R2 The two axes of rotation do not generate truly independent degrees of freedom in this respect because the coupling is forced around a horizontal axis for position and orientation adjustment of the object to be clamped. Furthermore, the operating space that can be covered by these operating devices is strictly limited to the cantilever side of the boom that can pivot around these axes of rotation.

[0011] Another known handling device, such as is generally known from US Pat. No. 5,802,201 A, is based, for example, on a so-called SCARA robot, in which two continuous parallel axes of rotation R 1 and R 2 Then the translation axis T 1 , which is displaceable parallel to these axes and on which there is at least one further axis of rotation R 3 In this case, the translation axis T 1 At the third rotation axis R 3 , which necessitates the use of circular guides and ball bearing screws to move the two axes, and although these guides and drive elements are now very suitable for axial loads, they react in a mechanically sensitive manner to radial loads and shocks, such as occur in particular during component handling in injection molding tools. In addition, for axis T 1 The achievable or required mechanical rigidity, travel distances, and speeds may not be sufficient for use in an injection molding machine.

[0012] As further prior art, reference should be made to CN108544482A1, in which the linear vertical axis of a SCARA robot is driven by a chain rather than by a ball bearing screw of conventional design.

[0013] In the SCARA robot known from US2017 / 0239810A1, the first arm of the robot can be lengthened or shortened as required by using a connector. This allows the arm of the SCARA robot to have different lengths.

[0014] The handling devices according to the two aforementioned documents do not provide any starting point for improving the problems described in connection with the handling of components in injection molding machines.

[0015] The discussion of the state of the art should end with reference to the possibility of using complex 6-axis industrial robots for component manipulation. These manipulators have a spherical workspace and offer a wide range of payloads. However, in order to have a workspace comparable to that of a linear robot, the range of these robots must be relatively large, which in turn makes these devices difficult to apply to small working machines (SGM). In addition, operation requires a high level of training, so that usually only complex tasks can be justified.

[0016] The application of such an industrial robot (sometimes with fewer axes) is shown, for example, in WO 2018 / 235430 A1 in the form of a polishing system for railway wagons. JP 04115885 A discloses an operating system for a workpiece, which comprises a machine having a linear axis T that can be moved in a linear axis T. 1 The three rotation axes R 1 , R 2 and R 3 Since the device does not have a linear vertical axis, the boom arm, which is movably driven by a rotation axis, will also have to be relatively long to allow for a sufficiently high operating space. This in turn leads to more design effort to keep the weight of the arm under control and, if necessary, to a loss of load-bearing capacity of the operating device.

[0017] Finally, DE 39 07 331 A1 shows a palletizing robot in which the two rotation axes R 1 and R 2 From the translation axis T 1 Hanging at a location that can be easily reached and placed on a surface with axis T 1 However, this structure cannot be used to handle workpieces to be removed from an injection molding machine, for example, because the mold plate in the injection molding machine occupies the space under the crossbeam. Summary of the invention

[0018] In view of the above-mentioned problems of the prior art, an object of the present invention is to provide a component handling device for performing component handling in a working or processing machine, which component handling device is improved in various performance aspects without actual additional mechanical effort, such as lower sensitivity to lubricant contamination, lower risk of collision during component removal, greater flexibility during component removal, higher payload and energy efficiency, larger working space, etc.

[0019] This object is achieved by a component handling device having the features set forth in claim 1. Therefore, the object of the invention in its basic concept consists in

[0020] - a substantially linear axis which extends outside or inside the operating space of the operating device,

[0021] a multi-axis device which is displaceable in translation on the substantially linear axis and has

[0022] = a main rotation axis which is orthogonal to the substantially linear axis,

[0023] = a secondary axis of rotation, which is oriented parallel to the primary axis of rotation and is linked to the primary axis of rotation via the first robot arm, which secondary axis of rotation pivotably guides the second robot arm above the operating space, and

[0024] = a vertical linear axis, which is linked to the second robot arm in an eccentric manner to the secondary rotation axis, and

[0025] - A clamping device linked to the vertical linear axis for the component to be manipulated.

[0026] In the axis nomenclature introduced at the beginning, the arrangement according to the invention will be indicated as T 1 R 1 R 2 T 2 Here, the arrangement T described at the beginning 1 T 2 T 3 R 1 The second translation axis T 2 The two rotation axes R 1 and R 2 Instead, the two rotation axes R 1 and R 2 The first robot arm is arranged in parallel and continuously at a certain distance above the first robot arm. In addition, according to the arrangement method T of the present invention 1 R 1 R 2 T 2 The second vertical translation axis T 2 The arrangement is such that the second robot arm is arranged relative to the rotation axis R 2 The second rotation axis is eccentrically moved so that the translation axis can perform a substantially circular movement about the second rotation axis. Thus, a change of orientation of the gripping tool combined with a change of position is possible. This eliminates the need to use a mechanically sensitive ball bearing screw as a combined axial-rotation axis to change the orientation of the gripping tool, as is the case with the SCARA robot described at the beginning.

[0027] Since in the arrangement according to the invention the second rotation axis R 2 Only the second linear axis T is guided above the operating space 2 Therefore, compared with the prior art, the number of open lubrication points of the present invention is reduced by 1 / 2, thereby greatly reducing the risk of contamination.

[0028] The kinematic chain T discussed at the beginning 1 T 2 T 3 R 1 and T 1 R 1 T 2R 2 R 3 In contrast, for the purposes of the present invention, the translation axis T in the kinematic chain 2 The rotation axis R is arranged in front 2 It will not increase the oscillation tendency caused by the aforementioned pendulum effect, so in the translation axis T 2 There is no effective load reduction. This will improve the energy balance.

[0029] Due to the vertical linear axis T 2 Thanks to the eccentric link with the operating device, there are no collision contours on the structure supporting the gripping tools, so that, especially in the case of long vertical component lengths, their operation is not disturbed.

[0030] Another advantage of the axis concept according to the invention is that an extension of the working space is thereby obtained, for example, the working space can be extended relative to the kinematic chain T 1 T 2 T 3 R 1 Around the entire linear axis T 1 It extends in an elliptical manner, whereby the working space is extended laterally and also rearwards, without the basic dimensions of the robot structure having to be increased.

[0031] It is clear from the above that by using the kinematic chain T according to the present invention 1 R 1 R 2 T 2 The design of the component manipulation device can achieve several advantages over the prior art manipulation robot concepts.

[0032] The dependent claims indicate preferred further embodiments of the component handling device according to the invention. For example, the substantially linear axis T 1 The substantially linear axis T extends distinctly horizontally, wherein in the application of the handling device for removing components from an injection molding machine, the substantially linear axis T 1 The arrangement can be arranged in different arrangements relative to the working space of the injection molding machine, for example transversely or parallel to the clamping direction of the injection molding machine, on the operator side or on the non-operator side of the injection molding machine, and on the fixed tool clamping plate or in the area of ​​the movable tool clamping plate. This ensures an optimal adaptation of the operating space to the spatial conditions in the production hall and accessibility of the operating space between the open tool clamping plates and to their sides for placing the components removed from the mold.

[0033] In a preferred further development of the object of the invention, the effective length of the first robot arm can be a multiple, in particular at least three times, preferably at least four times, particularly preferably at least five times, of the effective length of the second robot arm. Due to this length, in combination with the displaceability of the first rotation axis along the first translation axis, the operating device can cover a relatively large area.

[0034] Advantageously, the vertical linear axis T connected to the second robot arm 2 It is also possible to include a guide fixedly attached to the second robot arm, in which the vertical guide beam is displaceably mounted. This effectively avoids the risk of collision between the components held on the gripping tool and the structure of the operating device.

[0035] In order to realize five degrees of freedom in the operating device according to the invention, the kinematic chain T according to the prior art 1 T 2 T 3 R 1 and T 1 R 1 T 2 R 2 R 3 In contrast, it is sufficient to add a pivoting rotation axis at the lower end of the vertical linear axis. Whenever the vertical linear axis moves in the earth's gravity field, only this rotation axis must move with it, which in turn is beneficial to improve the energy balance.

[0036] Finally, the invention relates to an injection molding machine comprising an injection molding unit, a clamping unit with a fixed tool clamping plate and a movable tool clamping plate, and an above-described operating device according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, details and advantages of the present invention will become apparent from the description of exemplary embodiments with reference to the following drawings, in which:

[0038] Figure 1 A perspective schematic diagram showing a component handling device,

[0039] Figure 2 shows a top view of an open tool clamping plate in an injection molding machine with a connected component handling device in an exemplary assembled state,

[0040] Figure 3 and Figure 4 Shown according to Figure 2 Side view and top view of the component handling device,

[0041] Figure 5 shows a side view of an injection molding machine with a coupled part handling device during a part removal process,

[0042] Figure 6 shows a schematic top view of an operating device with a theoretical working space drawn in,

[0043] Figure 7 Shown with Figure 2 A compilation of top views of similar operating devices in various relative positions relative to the injection molding machine, and

[0044] Figure 8 shows the Figure 5 Side view of a similar component handling device according to the prior art. DETAILED DESCRIPTION

[0045] from Figure 1 As can be clearly seen in the drawing, the illustrated operating device 1 comprises a horizontal substantially linear axis T formed by a longitudinal guide 8. 1 A SCARA robot as a multi-axis device 9 is mounted on the horizontal substantially linear axis T 1 The multi-axis device 9 comprises a base head 10, in which a first vertical main rotation axis R is accommodated. 1 By means of the first robot arm 11, the main rotation axis R 1 A secondary rotation axis R is connected at a distance f. 2 , secondary rotation axis R 2 is also vertical and therefore parallel to the main axis of rotation R 1 , the secondary rotation axis R 2 The second robot arm 12 is in turn guided pivotably by a corresponding drive over the operating space HR, the horizontal range of which is Figure 1 Indicated by shading.

[0046] Will refer to Figure 3 Discussing in more detail the vertical linear axis T 2 , vertical linear axis T 2 Connected to the second robot arm 12 with an eccentric distance e. Figure 1 The gripping tool 5 of the component not shown in detail is pivoted via a third horizontal rotation axis R 3 Linked to vertical linear axis T 2 The lower end 13.

[0047] With the help of Figure 18 , the component can be manipulated by a path controller supported by a suitable program in an operating space HR in the Earth's gravity field g by means of a clamping tool 5 in order to, for example, remove an injection-molded component from an open mold and place it on a support (such as a bracket 6 ' according to FIG. 8 ).

[0048] exist Figures 2 to 5 In the figure, an operating device 1 is shown in an embodiment and in a near-realistic application. The operating device 1 is connected to a fixed clamping plate 2 in an injection molding machine via a socket 14. Figures 2 to 5 FIG. 1 also shows a fixed clamping plate 2 in an injection molding machine, wherein the substantially linear axis T 1 The first robot arm 11 extends parallel to the plane of the clamping plate 2, i.e. transversely to the clamping direction SR of the clamping plates 2 and 3. In the corresponding longitudinal guides 8, the base head 10 is guided for longitudinal displacement by corresponding drive motors 15. On the base head 10, the first robot arm 11 is mounted so as to rotate around the main rotation axis R by means of a drive motor 16. 1 Pivot. Secondary axis of rotation R 2 is arranged at the free end of the robot arm 11, passing through the secondary rotation axis R 2 , the second robot arm 12 is pivotally driven by another drive motor 17. The effective length L of the first robot arm 11 11 is the effective length L of the second robot arm 12 12 About five times as much.

[0049] Vertical linear axis T 2 is arranged at the free end of the second robot arm 12. In particular, Figure 3 As can be seen, the linear axis T 2 The guide 18 together with its drive motor 19 is fixedly arranged on the second robot arm 12 and guides the linear axis T 2 Finally, the pivot axis R 3 Mounted at the lower end 13 of the crossbar 20, the gripping tool 5 can be pivoted by the rotation axis R 3 Pivoting about a horizontal axis changes the orientation of a component held by the gripping tool 5 .

[0050] from Figure 5 As can be clearly seen in FIG. 1 , for example, the part BT protrudes greatly in the vertical direction and can be gripped by means of the gripping tool 5 and moved upwards out of the intermediate space between the clamping plates 2 and 3 without any risk of collision, since no part of the handling device 1 protrudes beyond the front side of the guide crossbar 20. In summary, Figure 2 Two different positions of the multi-axis device 9 and Figure 4 As shown in FIG. , by appropriately controlling the basic linear axis T in the X direction 1and two rotation axes R in the rotation directions α1 and α2 1 and R 2 , the clamping tool 5 can reach Figure 2 The operating space HR is hatched in FIG. Unlike the operating space in the operating device 1 ′ according to the prior art, this operating space also extends transversely to the substantially linear axis and to the rear side of the longitudinal guide 8 .

[0051] Figure 6 Shown with Figure 2 A similar view, but without the fastening jaws in an injection molding machine, wherein in this case the operating space HR behind the longitudinal guide 8 is located around the longitudinal guide 8. This represents the maximum theoretical operating space HR of the operating device 1 shown.

[0052] Figure 7 A to Figure 7 E shows a different arrangement variant of the handling device 1 according to the invention relative to the injection molding machine with its fixed clamping plate 2 and movable clamping plate 3 .

[0053] The local graph A corresponds to Figure 2 Here, the parts are placed on the BGS on the non-operator side of the machine.

[0054] In the partial view B, when the longitudinal guide 8 is arranged transversely to the clamping direction SR, the entire arrangement is mirrored around the central axis of the injection molding machine, so that the component is placed on the operator side BS of the injection molding machine. In this arrangement, the machine operator 21 shown in the figure is protected by appropriate measures (such as grid enclosures, etc.).

[0055] In the arrangement according to the detail C, the longitudinal guide 8 is positioned on the non-operator side BGS parallel to the clamping direction SR of the injection molding machine. Thus, spatial constraints in terms of width can be met.

[0056] In the partial views D and E, the longitudinal guide 8 in the operating device 1 is raised in each case in the region of the open movable clamping plate 3 transversely to the clamping direction SR onto the open movable clamping plate 3, so that the operating space HR extends to the non-operating side BGS ( Figure 7 D) or extended to the operating side BS ( Figure 7 E) In the case of extension to the operating side BS, a measure of protection is again provided for the machine operator 21 .

[0057] For completeness, reference should also be made to Figure 7 F, wherein the operating device 1 ′ according to the prior art shown in FIG. 8 is shown to have a significantly smaller operating space HR′, and the multi-axis device requires significantly more space.

[0058] In summary, a number of advantages can be mentioned for the handling device 1 shown, in particular when it is used on a plastic injection molding machine:

[0059] - Optimized component removal with small injection molding machines and low hall heights

[0060] - No interfering contours above the plasticizing unit while maintaining personal safety

[0061] - Higher payload on vertical axis (e.g. >20%)

[0062] - Side and rear part operation for greater flexibility

[0063] - The vertical arrangement of the drive motors 15, 16 and 17 results in a smaller blind spot for the operating device

[0064] - The overlap of the axes according to the invention allows a larger working space (eg > 46%)

[0065] - With the help of axis T 1 and R 1 Vector velocity superposition in the X direction enables higher dynamic characteristics

[0066] -The number of axes with open linear guides is significantly reduced, and the risk of contamination in the tool and component placement areas is proportionally reduced

[0067] - Less material input and less mass moving around in the Earth's gravitational field g make for higher energy efficiency.

Claims

1. An injection molding machine, comprising: - Injection unit, a clamping unit having a fixed tool clamping plate and a movable tool clamping plate, and - a handling device (1) for removing components from the injection molding machine, the handling device (1) comprising -- Longitudinal guide (8), forming a substantially linear axis (T 1 ), said substantially linear axis extending outside or inside a handling volume (HR) of said handling device, - a multi-axis device (9) having a plurality of axes (T) 1 ) can be displaced in translation and has = Base head (10), accommodating the main rotation axis (R 1 ) of the drive, the main rotating shaft (R 1 ) and the basic linear axis (T 1 ) is orthogonal, the first robot arm (11) is mounted around the main rotation axis (R 1 ) pivots, = Secondary rotation axis (R 2 ), the secondary rotation axis (R 2 ) is guided parallel to the main rotation axis and is linked to the main rotation axis (R) via the first robot arm (11) 1 ), The secondary rotation axis (R 2 ) is arranged at the free end of the first mechanical arm (11), the secondary rotation axis (R 2 ) is pivotably guided above the operating space (HR) by a second robot arm (12), the second robot arm (12) comprising a first end and a second end as a free end, the free end of the first robot arm (11) and the secondary rotation axis (R 2 ) is linked to the first end of the second robotic arm (12), and =Vertical linear axis (T 2 ), the vertical linear axis (T 2 ) with the secondary rotation axis (R 2 ) is eccentrically linked to the second robot arm (12), the vertical linear axis (T 2 ) is arranged at the second end of the second robotic arm (12), and - a clamping device (5) linked to the vertical linear axis (T 2 ) for the part to be operated (BT), - wherein the clamping device (5) is pivoted by an axis of rotation (R 3 ) is linked to the vertical linear axis (T 2 ), the pivot axis (R 3 ) is mounted on the vertical linear axis (T 2 ) and is perpendicular to the linear axis (T 2 ) are orthogonal, thereby realizing five degrees of freedom in the operating device (1).

2. The injection molding machine according to claim 1, characterized in that The operating space (HR) at least partially surrounds the substantially linear axis (T 1 ) extends in an elliptical manner.

3. The injection molding machine according to claim 1 or 2, characterized in that: The basic linear axis (T 1 ) extends horizontally.

4. The injection molding machine according to claim 1 or 2, characterized in that: The basic linear axis (T 1 ) is arranged transversely or parallel to the clamping direction (SR) on the operator side or non-operator side of the injection molding machine and can be connected to the fixed clamping plate (2) of the injection molding machine or within the adjustment range of the movable clamping plate (3).

5. The injection molding machine according to claim 1 or 2, characterized in that: The effective length (L) of the first mechanical arm (11) 11 ) is the effective length (L) of the second robot arm (12) 12 ) multiples.

6. The injection molding machine according to claim 5, characterized in that The effective length (L) of the first mechanical arm (11) 11 ) is the effective length (L) of the second robot arm (12) 12 ) at least three times.

7. The injection molding machine according to claim 5, characterized in that: The effective length (L) of the first mechanical arm (11) 11 ) is the effective length (L) of the second robot arm (12) 12 ) at least four times.

8. The injection molding machine according to claim 5, characterized in that: The effective length (L) of the first mechanical arm (11) 11 ) is the effective length (L) of the second robot arm (12) 12 ) at least five times.

9. The injection molding machine according to claim 1 or 2, characterized in that: The vertical linear axis (T 2 ) has a guide (18) fixedly attached to the second robot arm (12), and a vertical guide beam (20) is displaceably mounted in the guide (18).

10. The injection molding machine according to claim 1, characterized in that Having the pivot axis (R 3 ) is arranged on the vertical linear axis (T 2 ) at the lower end (13).

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