Rotary device

Abstract

Rotary device (1) for receiving several processing and handling units (2), comprising at least one carrier body (3) with a hollow shaft element (4) rotatably mounted therein about a rotary or pivot axis (DA), wherein a rotating body (6) for receiving the processing and handling units (2) is arranged at a free end (E) and an opposing, outwardly projecting section (4.2) of the hollow shaft element (4) is received by a torque motor unit (7) which is designed for direct drive of the hollow shaft element (4) about the rotary or pivot axis (DA), characterized in that at least one locking device (9) is provided which interacts via a movable bolt element (9.1) with index openings (10) provided on the rotating body (6) and that the rotating body (6) has a central opening (6.1) for the passage of at least one flexible energy and / or data line (DL).

Description

[0001] The invention relates to a rotary device for accommodating several processing and handling units.

[0002] Such rotary devices, also known to those skilled in the art as rotary tables, are commonly used in the manufacture, machining, and / or processing of workpieces. In particular, such rotary devices are also used as rotary indexing tables for step-by-step work sequences and manufacturing processes, and are suitable for both horizontal and vertical operation. For example, rotary indexing tables are used in automotive production lines to lower vehicle bodies transported on carrier frames, particularly during individual assembly steps, from the carrier frames to indexed holding positions formed by machining and handling units at the corresponding assembly positions.

[0003] Therefore, such rotary devices can, among other things, have a rotating body that rotates around a rotary or swivel axis, on which, for example, several machining and handling units are arranged. For this purpose, the rotary devices can be driven by a controlled drive. In particular, the controlled drive movement must advance the rotating body by a very precisely defined incremental angle, i.e., rotate it further. In the subsequently reached holding position, in which, for example, the workpiece is then machined, the rotating body or the machining and handling units arranged on it must be locked with minimal play, i.e., in a fixed position.

[0004] Such rotary devices therefore require high accuracy and zero backlash in the drive, so that every required rotary or angular position of the rotating body or the multiple machining and handling units arranged on it can be approached with high precision. In particular, it is often also required that the approached rotary or angular position is maintained stably and exactly even when the drive is switched off.

[0005] From the applicant's publication DE 10 2013 109 307 A1, a rotary device with a receptacle for holding a workpiece or tool is known, in which the receptacle is pivotally or rotatably controlled about a receiving axis by a drive, and in which the drive comprises a torque motor as the drive element. Publication DE 10 2013 109 307 A1 is characterized by the fact that a drum cam is directly connected to an output shaft of the torque motor, the drum cam helically encircles an axis of the output shaft, and drivers connected to the output shaft engage with it. In other words, the receptacle, which is rotatably mounted about a receiving axis, is indirectly driven by the torque motor, which drives a drum cam rotating perpendicular to the receiving axis. The engagement of the receptacle with the drum cam occurs via the drivers in the manner of a gearbox.

[0006] Overall, redirecting the drive motion of the torque motor's output shaft to the driven fixture requires a relatively large installation space for the rotary device, for example, in a production line. Furthermore, it must be considered that the machining and handling units integrated into the fixture often require a power and / or data supply, for example, in the form of power and / or data supply lines, to operate them. Providing such lines, especially with a rotating workpiece, is therefore cumbersome and difficult to design effectively.

[0007] A rotary device for receiving several processing and handling units according to the preamble of claim 1 is known from publication DE 10 2014 205 097 A1.

[0008] The object of the invention is therefore to provide a rotary device for accommodating several processing and handling units, which, despite its reduced installation space, is characterized by highly precise and virtually tolerance-free rotation of the rotating body and simultaneously enables the simplest possible structural connection of lines for supplying power and / or data to the processing and handling units. The dependent claims relate to particularly advantageous embodiments of the invention.

[0009] The essential aspect of the present invention is to provide a rotary device for receiving several processing and handling units, comprising at least one carrier body with a hollow shaft element rotatably mounted therein about a rotary or pivot axis, in which a rotary body for receiving the processing and handling units is arranged at a free-end end and an opposite, outwardly projecting section of the hollow shaft element is received by a torque motor unit designed for direct driving of the hollow shaft element about the rotary or pivot axis.

[0010] This makes it particularly advantageous to drive the rotating body without the need for an intermediate gear unit, since the hollow shaft element driving the rotating body is directly integrated into the torque motor unit, which in turn directly drives the hollow shaft element. This also makes it particularly advantageous that the axis of rotation or pivoting of the hollow shaft element coincides with the axis of rotation of the rotor of the torque motor unit. A redirection of the rotational motion is therefore unnecessary, meaning that the rotating device according to the invention requires significantly less installation space than a comparable rotating device known from the prior art.Furthermore, the rotating body can have a central opening aligned with the shaft opening for the passage of supply lines or the like, thus enabling a simple structural connection of lines for energy and / or data supply to the processing and handling units of the rotating body.

[0011] Advantageously, the multiple processing and handling units can be arranged on the rotating body at uniform or approximately uniform angular intervals around the axis of rotation or swiveling.

[0012] According to the invention, the rotating body has a central opening for the passage of at least one flexible energy and / or data cable. The central opening can be aligned with a hollow shaft opening. Furthermore, it is advantageous that, for the purpose of supplying energy and / or data to the multiple processing and handling units, the at least one flexible energy and / or data cable is guided in the hollow shaft opening of the hollow shaft element to the central opening of the rotating body and through this opening to a corresponding processing and handling unit.

[0013] In an advantageous embodiment, the torque motor unit can be provided laterally on the support body along the axis of rotation or pivoting, such that the torque motor unit radially surrounds the hollow shaft element in the area of ​​the section.

[0014] Preferably, the torque motor unit can also be arranged to be directly adjacent to the support body along the axis of rotation and pivoting, specifically on the side facing away from the rotating body. Advantageously, the torque motor unit (7) is attached to the support body.

[0015] The torque motor unit can advantageously comprise at least one stator and a rotor rotatable relative to it about a drive axis. Furthermore, the rotor can advantageously be fixedly mounted to the section of the hollow shaft element, in particular, attached to that section. According to an alternative embodiment of the invention, the section can be designed as the rotor of the torque motor unit. It can also be advantageously provided that the rotor of the torque motor unit rotates about a drive axis that coincides with the axis of rotation and pivoting.

[0016] Furthermore, it may be advantageous to provide a sensor device that detects the rotational position of the rotating body and / or the torque motor unit.

[0017] Finally, according to the invention, at least one locking device is provided which interacts via a movable bolt element with index openings provided on the rotating body.

[0018] In the context of the present invention, "clocked" refers to intermittent movements which, in contrast to continuous movements, are characterized by stepwise or periodically recurring movement sequences, with a standstill before or after each movement step. An intermittently moving element, which could, for example, be an output shaft of a torque motor unit rotating through a certain angular amount, performs a movement profile in which the output shaft is periodically accelerated almost without jolting or jerking to a certain angular velocity and then decelerated again.

[0019] The expression “essentially” or “approximately” or “about” means, within the meaning of the invention, deviations from the respective exact value by + / - 10%, preferably by + / - 5% and / or deviations in the form of changes that are insignificant for the function.

[0020] Further developments, advantages, and possible applications of the invention will also become apparent from the following description of exemplary embodiments and from the figures. All features described and / or illustrated are, individually or in any combination, fundamentally the subject matter of the invention, irrespective of their compilation in the claims or their cross-reference. The content of the claims is also incorporated into the description.

[0021] The invention will be explained in more detail below with reference to the figures, using an exemplary embodiment. The figures show: Fig. 1 in simplified perspective representation an exemplary embodiment of a rotary device according to the invention; Fig. 2 in side view a schematic sectional view in the area of ​​the hollow shaft element of a rotary device according to Fig. 1, Fig. Figure 3 shows a further schematic sectional view in the side view of the locking device of a rotary device according to Fig. 1.

[0022] Identical reference numerals are used in the figures for identical or similarly functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals necessary for describing the respective figure are shown in the individual figures.

[0023] Figure 1 shows an exemplary embodiment of a rotary device according to the invention for receiving several processing and handling units 2, comprising at least one support body 3 with a hollow shaft element 4 rotatably mounted therein about a rotary or pivot axis DA. The processing and handling units 2, shown only stylized in the figures, can in particular be floor clamps, which are used, for example, to lower vehicle bodies transported on support frames along an assembly line, particularly during the individual assembly steps, from the support frames onto the corresponding floor clamps arranged on a rotary device 1 at the respective assembly positions.

[0024] Typically, depending on the vehicle type or body, between four and six floor clamps, and thus also four to six rotary devices 1, are required, arranged around a support frame in a mounting position. Preferably, two rotary devices 1 are provided at opposite positions along the longitudinal side of the support frame, for example, such that the corresponding body can be lowered in both its front and rear areas onto two opposing or substantially opposing support points.

[0025] Preferably, several processing and handling units 2, for example different floor clamps, can be provided on a rotary device 1, which are adapted, for example, to different dimensions of the vehicle bodies or vehicle types. According to the invention, the several processing and handling units 2 are fixedly but interchangeably arranged on a rotating body 6, for example by screws. The several processing and handling units 2 can be arranged on the rotating body 6 at uniform or approximately uniform angular intervals around the axis of rotation or pivot DA, for example at an equal radial distance from the axis of rotation or pivot DA. It is particularly advantageous to provide four processing and handling units 2 on the rotating body 6, wherein the processing and handling units 2 are arranged in pairs opposite each other on the rotating body 6.

[0026] It may be necessary to supply the processing and handling units 2 with energy and / or data. The provision and / or supply of the energy and / or data required for operating the respective processing and handling units 2 can be carried out via preferably flexible energy and / or data lines DL, which can be routed from outside the corresponding rotary device 1, via or within the hollow shaft element 4, to the respective processing and handling units 2.

[0027] The support body 3 is made of a stable material, for example a metallic material, and is designed to hold or accommodate the individual, preferably all, components or assemblies of the rotary device 1. In particular, the support body can have a mounting section 3.1 by means of which the rotary device 1 can be attached to, for example, an assembly frame of an automotive production line. The mounting section 3.1 can be designed as a mounting plate, which is preferably formed integrally with the support body 3.

[0028] Furthermore, the support body 3 accommodates within it the hollow shaft element 4, which is rotatably mounted about the axis of rotation or pivot DA and which may preferably be designed as a metallic hollow shaft with a free internal volume, i.e., not solid. Bearing devices 5, for example rolling bearings, may be provided for the rotatable mounting of the hollow shaft element 4 in the support body 3. These bearing devices 5 may be provided in a contact-locking manner between the outer surface of the first section 4.1 of the hollow shaft element 4, which is accommodated in the support body 3, and the support body 3. In particular, the bearing devices 5 bear in contact-locking manner against the outer surface of the hollow shaft element 4, such that the bearing devices preferably completely enclose the outer surface of the support body 3 concentrically about the axis of rotation or pivot DA. According to the illustrated embodiment of the Fig.2 The rotary device 1 has two bearing devices 5, namely a first and a second bearing device 5.1, 5.2, which can be spaced apart from each other along the axis of rotation or pivoting DA.

[0029] According to the invention, a rotating body 6 for receiving the processing and handling units 2 is arranged at a free end E of the hollow shaft element 4. In particular, the rotating body 6 is provided at the free end E in a rotationally fixed, i.e., kinematically coupled, manner to the hollow shaft element 4, for example, fixedly but detachably, in particular by screws. The rotating body 6 can be designed as rotationally symmetrical to the axis of rotation or pivot DA, for example, disc-shaped, and can be made of a metallic material. For example, the rotating body 6 is designed as a metallic, disc-shaped plate, preferably as a rotary disk. Furthermore, the rotating body 6 can have a central, i.e., middle, opening 6.1 for the passage of supply lines in the form of flexible energy and / or data lines DL, wherein the opening 6.1 is preferably connected to a hollow shaft opening 4.3, i.e., the free internal volume of the hollow shaft element 4, is aligned.

[0030] The hollow shaft element 4 therefore also has a section 4.2 opposite the free end E, projecting outwards, i.e., extending laterally beyond or projecting beyond the support body 3, which is received by a torque motor unit 7 designed to directly drive the hollow shaft element 4 about the axis of rotation or pivot DA. In particular, the torque motor unit 7 can be detachably attached laterally to the support body 3, for example, by flange mounting, such that the torque motor unit 7 radially surrounds the hollow shaft element 4 in the region of section 4.2. Preferably, the torque motor unit 7 is thus directly adjacent to the support body 3 along the axis of rotation and pivot DA, specifically on the side facing away from the rotating body 6.

[0031] The hollow shaft element 4 is directly, i.e., gearless, driven by the torque motor unit 7 in both directions of rotation, i.e., both clockwise and counterclockwise, preferably by at least 360° in each direction. The hollow shaft element 4 can be driven in a pulsed and / or continuous manner by means of the torque motor unit 7. In particular, the rotational movement of the hollow shaft element 4 is pulsed, for example, continuously or substantially continuously, or controllable and / or adjustable in very small steps, whereby a pulse can correspond to a predefinable step angle, i.e., a fixed rotational angle of the hollow shaft element 4. Furthermore, the angular velocities achieved by the torque motor unit 7 during each pulse are also controllable and / or adjustable. Preferably, the torque motor unit 7 is supplied with electrical energy only during the actual drive or rotational movement.

[0032] The torque motor unit 7 comprises at least one stator 7.1 and a rotor 7.2 rotating relative to it about the axis of rotation and pivoting (DA). In a preferred embodiment, the torque motor unit 7 is rigidly connected to the support body 3 via its stator 7.1, or arranged on it, in particular flanged to it. Furthermore, the rotor 7.2 is rigidly, in particular rotationally fixed, connected to the section 4.2 of the hollow shaft element 4 and thus transmits the rotary motion directly to the hollow shaft element 4. In an alternative embodiment of the invention, the section 4.2 of the hollow shaft element 4 can also form the rotor 7.2 of the torque motor unit 7. It is particularly advantageous for the rotor 7.2 of the torque motor unit 7 to rotate about a drive axis AS that coincides with the axis of rotation and / or pivoting DA.

[0033] The control of the torque motor unit 7 can be effected via an electrical and / or electronic control device (not shown in detail), preferably by incorporating or being dependent on the signal of at least one sensor device 8 that detects the respective rotational position of the torque motor unit 7. The sensor device 8 can, for example, be designed as an incremental encoder.

[0034] Furthermore, the rotary device 1 has a locking device 9 for locking or mechanically securing the rotating body 6 in its respective angular position. In other words, the locking device 9 allows the rotating body 6 to be secured against rotation about the axis of rotation or pivot DA. For this purpose, the rotating body 6 can have several index openings 10, which are preferably radially spaced around the opening 6.1, or the axis of rotation or pivot DA.

[0035] Preferably, the index openings 10 are distributed at uniform or approximately uniform angular intervals on an identical radius around the axis of rotation or pivoting DA. Furthermore, the index openings 10 are designed such that they completely penetrate the thickness of the rotating body 6.

[0036] The locking device 9 comprises at least one bolt element 9.1, which can be displaced, for example, via the control unit and / or regulated. This bolt element can be designed, in particular, as an index pin. To lock the rotating body 6, it can be at least partially retracted into a corresponding index opening 10 (detent or locking position) and / or fully extended from the index opening 10 (release position). In the retracted detent position, where the bolt element 9.1 preferably fully engages the index opening 10, the rotating body 6 is mechanically fixed in position, i.e., secured against rotation about the axis of rotation or pivot DA. In the extended release position, the bolt element 9.1 fully releases the rotating body 6 for one further rotation through a predetermined angle of rotation, i.e., it does not mechanically block it.

[0037] For example, the locking device 9 for moving the bolt element 9 can comprise a controlled and / or regulated working cylinder device 9.2, which has at least one piston 9.4 movably mounted in a cylinder 9.3 and which interacts forcefully with the bolt element 9.1. The working cylinder device 9.2 can, for example, be pneumatically or electrically operated.

[0038] The invention has been described above using an exemplary embodiment. It is understood that numerous modifications are possible without departing from the underlying inventive concept. Reference symbol list 1 Rotary device 2 Processing and handling unit 3 carrier bodies 3.1 Fastening section 4 Hollow shaft element 4.1 first section 4.2 Overhanging section 4.3 Hollow shaft opening 5 Storage facility 5.1 First storage facility 5.2 Second storage facility 6 Rotating Bodies 6.1 Opening 7 Torque Motor Unit 7.1 Stator 7.2 Rotor 8 Sensor device 9 Locking device 9.1 Bolt element 9.2 Working cylinder assembly 9.3 cylinders 9.4 Piston 10 Index opening AS drive axle DA Rotary or swivel axis DL power or data line E free end

Claims

[1] Rotary device (1) for receiving several processing and handling units (2), comprising at least one carrier body (3) with a hollow shaft element (4) rotatably mounted therein about a rotary or pivot axis (DA), wherein a rotating body (6) for receiving the processing and handling units (2) is arranged at a free end (E) and an opposing, outwardly projecting section (4.2) of the hollow shaft element (4) is received by a torque motor unit (7) designed for direct driving of the hollow shaft element (4) about the rotary or pivot axis (DA), characterized by , that at least one locking device (9) is provided which interacts via a movable bolt element (9.1) with index openings (10) provided on the rotating body (6) and that the rotating body (6) has a central opening (6.1) for the passage of at least one flexible energy and / or data line (DL). [2] Rotary device according to claim 1, characterized by , that the multiple processing and handling units (2) are arranged on the rotating body (6) at uniform or approximately uniform angular intervals around the axis of rotation or swiveling (DA). [3] Rotating device according to claim 1 or 2, characterized by , that the central opening (6.1) is aligned with a hollow shaft opening (4.3). [4] Rotating device according to claim 1 or 3, characterized by , that to supply the several processing and handling units (2) with energy and / or data, at least one flexible energy and / or data line (DL) is led in the hollow shaft opening (4.3) of the hollow shaft element (4) to the central opening (6.1) of the rotating body (6) and through this to a corresponding processing and handling unit (2). [5] Rotating device according to one of the preceding claims, characterized by, that the torque motor unit (7) is provided laterally on the support body (3) along the axis of rotation or pivoting (DA) in such a way that the torque motor unit (7) radially surrounds the hollow shaft element (4) in the area of ​​section (4.2). [6] Rotating device according to one of the preceding claims, characterized by , that the torque motor unit (7) is attached directly adjacent to the support body (3) along the axis of rotation and pivoting (DA), on the side facing away from the rotating body (6). [7] Rotating device according to one of the preceding claims, characterized by , that the torque motor unit (7) is attached to the carrier body (3). [8] Rotating device according to one of the preceding claims, characterized by , that the torque motor unit (7) has at least one stator (7.1) and a rotor (7.2) rotatable relative to it about a drive axis (AS). [9] Rotary device according to claim 8, characterized by, that the rotor (7.2) is fixed to the section (4.2) of the hollow shaft element (4) in a rotationally fixed manner, in particular to the section (4.2). [10] Rotary device according to claim 8, characterized by , that section (4.2) is designed as rotor (7.2) of the torque motor unit (7). [11] Rotating device according to any one of claims 8 to 10, characterized by , that the rotor (7.2) of the torque motor unit (7) rotates about a drive axis (AS) which coincides with the rotation and pivot axis (DA). [12] Rotating device according to one of the preceding claims, characterized by a sensor device (8) detecting the rotational position of the rotating body (6) and / or the torque motor unit (7).

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