DE2940517A1 - PALLET FIT MECHANISM - Google Patents

Description

Pallet inserting mechanism

The invention relates to multiple station transfer mechanisms used for automation and in which use several workpiece-carrying pallets, which are moved to different stations, precisely fixed in place by a fitting or register device and clamped in place in order to start a special machining operation and finish.

In some types of automatic workpiece processing devices, workpieces are fixed in place and clamped in pallets that are placed on sliding rails or the like of a transfer machine be moved step by step from station to station with several stations. At each station, these pallets are precisely located and clamped in place by a mechanism called a pallet register or pallet register.

There has been a multitude in the industry for many decades of various types of pallet adapters in use. Some of these fitting mechanisms are shown in U.S. Patents 2,672,675, 2,673,386, 3,155,217, 3,571 Θ72 and 3,968,869. Rough

030017 / 07B1

Generally speaking, these and other mechanisms can be classified into two types: A first type in which each fitting device is operated by one or more hydraulic cylinders, and a second type in which several fitting mechanisms are coupled for synchronism and via a single drive source, for example a cylinder or a suitable mechanical drive device, are driven·

In the case of fitting mechanisms of the first type, which are self-propelled, positioning or fixing pins and clamps are used, which are fixed mechanically or via separate cylinders can be operated and which are characterized in that they have a relatively large possibility of movement of the clamping elements for the Have pallet. Fitting mechanisms of the second type in which a group of mechanisms is driven by a single drive device is driven, are characterized in that the positioning pins are actuated directly by the common drive device while the clamping elements are actuated by or via elastic elements, for example by relatively little work Springs, so that therefore the ranges of movement of the clamping elements are relatively small. Consequently, the degree of wear that occurs on the clamping element and / or the associated clamping surface on the pallets can be tolerated, very low. With other waiting, a relatively small one Degree of wear on the clamping elements or the associated clamping surface the pallet causes a large change in the clamping force

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or even causes that there is no clamping force at all. When the clamping surface of the pallet is one side of a horizontal Plate element, known as the pallet base, is and the opposite Side of the foot is the sliding surface on which the pallet slides from station to station as it normally does, then the wear increases on this pallet base sliding surface and / or the wear of the associated fixed rail the problem of a changing clamping force or a non-existent clamping force Further. The total wear on the slide rails, the pallet base, the pallet clamping surface and the clamping element has due to the small size of the available movement of the clamping element great impact on the clamping force. If the total wear exceeds this movement of the clamping element, the clamping force drops to zero away.

It is an object of the invention to provide a pallet fitting mechanism To provide, in which a group of fitting devices coupled for synchronization and by a single drive device can be driven, while at the same time a significantly larger range of motion of the clamping element than in the known Types of construction is made available.

In the known fitting mechanisms of the second type in which several fitting devices are driven by a single drive device are operated, the positioning pins in each fitting device are operated directly by this drive device. That's why

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causes a slight misorientation of a pallet in a particular register device that the entire drive device a component of the fitting device in question gets stuck or breaks, since the total force generated by the common drive device is concentrated on the fitting device in question.

It is therefore a further object of the invention to provide a pallet fitting- to provide a mechanism in which several register devices are operated by a common drive source, However, the positioning pins and the clamping elements are independent of one another by individual inner elastic elements operated when the common energy source is in operation.

In the systems currently in place, the clamping elements usually operated by straight or circular wedges or screws, which are low efficiency mechanisms. Of the low efficiency is due to the fact that the work (force times distance) produced by the mechanism is less than the work put into the mechanism, the loss being due to friction. The existing friction does not diminish only the theoretical output force of a wedge or screw is considerable, but it is also the case that changes in friction cause greater changes in the force generated

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than with mechanisms with higher efficiency.

It is therefore another object of the invention to provide a pallet fitting mechanism in which the clamping force of a power source is transmitted to the clamping elements by mechanisms with high efficiency, for example by simple Levers, joints and rolling contact.

With the currently existing fitting systems, these occur as a result the clamping forces on the positioning parts and structural Components of the fitting mechanism occurring reaction forces mainly manifested as bending forces.

Another object of the invention is to provide a fitting mechanism to make available, in which the as a result of Feetklemmens occurring bending loads are primarily limited to those elements, the deflection of which does not affect the accuracy of the pallet fixation, and in which act on the positioning parts and structural components of the mechanism Bending loads are kept to a minimum in order to achieve lower deflections per unit of clamping force.

This works with many currently existing fitting mechanisms Transfer system above and through the pallet fitting device. To replace a fitting device or register, it is therefore first necessary to use the transfer system or

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To remove parts of it, thereby increasing the labor and time required for maintenance purposes.

Another object of the invention is to provide a pallet fitting mechanism to make available, which due to its own properties \ two independent subunits are produced that can be mounted on either side of a substantially central transfer system on the machine bed, and at one side or the other side or both sides can be removed from the machine bed or replaced on the machine bed without to do this, the transfer system must be removed.

Other objects of the invention will become apparent from the description below and the claims in connection with the drawing, in which the operation of the invention together with details the same, the following description of the best mode presently suggested in practice regards. Show it:

Fig. 1 is a schematic force diagram in which the at a forces working with friction simple wedge are shown;

Fig. 2 is a graph showing the efficiency of the frictional wedges;

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ORIGINAL INSPECTED

3 is a plan view of the fitting mechanism according to the invention;

Fig. 4 is a vertical section taken along line 4-4 in Fig. 3; Fig. 5 is a vertical section taken along line 5-5 in Fig. 3; Fig. 6 is a vertical section taken along line 6-6 in Fig. 3;

Fig. 7 is a schematic side view of the connecting mechanism for a group of fitting devices;

Figure b is a partially schematic, exploded, isometric view of a fitting mechanism;

9 shows a section through a reciprocal spring cartridge mechanism; and

Fig. 10 is a section through a second reciprocal spring cartridge mechanism ·

As used herein, "high-efficiency mechanism; and "low-efficiency mechanism" means the efficiency of a mechanism as the ratio between that of a mechanism work done and the work put into the mechanism

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defined, where work equals force times distance. The efficiency a mechanism is accordingly

Efficiency - input force χ input path

High efficiency mechanisms are those that have an efficiency of 83) 4 or higher, while mechanisms with low efficiency have an efficiency of less than 89) 4. In the Considering basic types of mechanisms, joints, levers, gears, and rolling contact mechanisms show high efficiency while wedges and screws are considered to be low-efficiency mechanisms. The reduction in efficiency is on the occurring friction, ignoring lower losses due to lubricant movement or air resistance. Consequently, with high efficiency mechanisms, the friction losses are relatively small, i.e. 15% or less, while in mechanisms with low efficiency (wedges or screws) the friction losses are 15% or more, generally much more, be. In addition, for the mechanisms with low efficiency, not only is a large proportion of the output work done by the Frictional losses are nullified, but the inevitable volatile nature of the frictional changes causes a great deal of it Inconsistency of the initial work. That the relationship between the output path and the input path is determined by the fixed mechanical relationships of a certain mechanism, and therefore there

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the distance part of the above-mentioned ratio is fixed, the loss of effectiveness is to be regarded as a loss of output power and, in the case of mechanisms with a low degree of effectiveness, as Inconsistency of the initial force as well as a reduction of the same.

This is shown quantitatively in Fig. 1, which is a simple wedge time that works with friction. According to the guidelines on pages 126 and 12? The explanations given by Brandt's "Vectorial Mechanics" (John Wiley & Sons, Copyright 1930) about a wedge working with friction is the ratio of the input force P to the output force Q.

_P sin (d ^ + 0 + 0.) cos 0 _?

cos (d ^. + 0 + 0 ₂ J ^cos 0-1

d ^ the wedge angle,

0 is the angle of friction at the wedge boundary layer, 0. is the angle of friction of the driving wedge, 0 "the angle of friction of the driven wedge and

the angle of friction is the arc tang of the respective coefficient of friction are.

If one reasonably assumes that the three angles of friction are identical, ie 0 "■ 0 ■ 0, and if one reverses equation (1),

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the relationship between the output force and the input force to obtain, results in:

cos [<+ 2 | Z)) _m 1 (2)

sin (e ^ + 20) tan (o ^ + 20)

The output force Q is denoted as Q _p to indicate that there is friction in the system

This same equation can be used to calculate the output force Q to be determined when there is no friction, in which case the angle 0 is zero. Hence the ratio is between the output force Q and the input force P at zero friction

O)

The efficiency of a wedge working with friction is the ratio between the output force with friction to the output force without Friction or _F. This is found when one looks at equation (2)

^Q o
Equation (3) divides, giving:

.., j ι -ι ^Qfr tan ^ L (4)

Efficiency - - ~ -

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In Fig. 2 a diagram is shown in which the efficiency of a Wedge as a function of the coefficient of friction for a number of exemplary wedge angles is shown · It is clear that these Efficiencies are usually very low. With a wedge angle of 15 and a coefficient of friction of 0.15, the efficiency of the wedge is only 43%. In addition, it can be seen that Changes in the coefficient of friction caused by changes in the lubrication system, surface wear, etc. are large Cause changes in the already very low efficiency

Bolts can be thought of as circular wedges that have a have a low wedge or slope angle. This makes them self-locking. Screws usually have efficiencies that are approximate the 5-wedge angle curve of FIG. 2 or lower than these.

The primary objective of this brief analysis of the case of wedges and bolts occurring conditions is to quantitatively demonstrate the relatively low efficiency of such mechanisms When large input forces are available, this deficiency is only a minor disadvantage, but when a group of mechanisms is to be operated by a single drive source, this is it Mechanism efficiency of some importance.

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For this and other reasons there are no screws or bolts in the invention described below for generating the clamping force Wedges use. The other main reason for using only high efficiency mechanisms, such as levers and Joints, is that changes in friction are much less effective in changing the clamping force, so much more consistent clamping forces are obtained.

A top view of a register mechanism is shown in FIG. 3 shown. The mechanism consists of two identical housings 2, which are mounted on a machine bed 4. The one between the housings 2 available space is available for the passage of the transfer rod Available that moves the pallets step by step from station to station. In some applications, the two identical housings 2 ^ a single unit can be connected without this Operating behavior of the system is affected. The mechanism contained in the first housing 2 is identical to the mechanism contained in the second housing 2. Each mechanism is through a Push rod operated which is operated by a bell arm within the machine frame, which is described in connection with FIG. The use of two separate housings 2, which together form a complete fitting device, results in two advantages. On the one hand, the two housings 2 can be mounted on the machine bed at an increased distance so that larger pallets can be accommodated can, and on the other hand, the housing 2 for maintenance purposes or

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can be removed for replacement without the transfer system to disturb · In addition, by using a vertical Such an exchange is further facilitated for actuation.

As can be seen from FIG. 3, the housing 2 is at the upper end parallel transfer rails 6 mounted. On these fixed transfer rails 6, the pallets slide from one fitting device to the next by actuating a transfer rod. Four on the bottom of a pallet 10 (Fig. 6) mounted foot elements θ are in contact with the transfer rails 6 and are through these stored. Vertically movable positioning pins 14 can be provided with bores 12 in two of the pallet foot elements θ Engage to locate the pallet and four vertically movable clamping members 16 can be attached to the tops of the Pallet feet θ exert a downward force in order to clamp them to the transfer rails 6.

Details of the actuation mechanism for the positioning pins 14 and the clamping elements 16 are shown in the longitudinal sections of FIGS. 4 and 5 and the cross section of FIG. 6, during the entire Mechanism is shown in exploded isometric view in Fig. Θ.

4 shows a main lever 18 which is attached to a shaft 20 is articulated, which is mounted in the housing 2. This

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1 1 0 8 1 It 0 1 11 ORIQ-NAL INSPECTED

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The main lever actuates the positioning pin 14 in a direct manner over a spherical sector 22, which is with a cylindrical Recess 24 in the positioning pin 14 is engaged. An offset section 26 of the main lever 1Θ is located on a Wear pin 32 with the nosepiece 26 of a resilient cartridge engaged.

The resilient cartridge 30 includes a socket 34 for storage on Housing 2 is provided at one end 36 with a flange. Within the socket 34, a compression spring 3Θ is mounted, one end of which against the partially closed end of the bushing 34 and the other end of which is supported against a head 40 which is formed at the end of a tie rod 42 is. The other end of the pull rod 42 is screwed into the nosepiece 2Θ and interlocked with it. The compression spring 3Θ is during assembly before attachment of the nosepiece 28 or before the attachment of the head 40 to the tie rod 42 is relatively strongly biased. Although the spring 38 is a compression spring, the entire cartridge exerts between the flange 36 and the nosepiece 2Θ Train off. As a result, a clockwise moment is generated on the main lever 18 around the pin 20. The movement of the pull rod 42 according to on the right is limited by the distance defined by the nosepiece 28 which is in contact with the closed end of the socket 34 occurs in which position the spring 38 is still considerably biased. The preload is provided by an external fastening unit Standard execution generated, in which it is to compress the

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Spring 3Θ act as a simple arbor press during assembly can. The practical advantage of using a cartridge with a preloaded spring consists in that during the assembly of the Fitting device can be handled as a simple pack and retains the advantages of a preload. This results during of the working stroke of the cartridge 30 has a flatter force curve.

As mentioned above, the pulling force of the cartridge 30 creates a clockwise direction Acting moment on the main lever 18 and moves the positioning pin 14 upwards into engagement with the pallet base element θ off. This clockwise movement of the main lever also leads to an engagement of the clamping elements 16, such as described below. The positioning and clamping process is completed by the force and movement generated by the cartridge 30 carried out, the position shown in Fig. 4 is reached.

The end of the main lever 1b facing the spherical sector 22, is provided with a recess for adaptation to a push rod 44 with a cylindrical end, which is actuated from the outside. A slot is also formed in this side of the main lever 1b. With this slot 46 there is a pin 4b in FIG Engagement mounted on an arm 5U which is attached to a torsion tube 52 is attached, which slides on a shaft mounted in the housing 2.

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As can be seen in FIGS. 5 and 8, is on the torsion tube 52 also mounts a clamp drive arm 56 which, at its outer end, has a pin 50 with a clamp link 60 is connected. At its other end, the connecting member 60 is via a pin 62 to a compensating member 64 at or near his Midpoint connected. Both ends of the compensating member 64 are connected to clamping levers 6Ü and 6ü via pins 70 and 72. The clamping levers 66 and 6Θ are symmetrical about the longitudinal one Arranged center line and operate two identical clamping mechanisms, only one of which needs to be described.

A cylindrical convex element 74 is rigidly mounted on the clamping lever 66 and contacts a bearing cushion 76 mounted in the housing 2. On the opposite side, the clamping lever 66 is mounted on a second cylindrical convex element 78, which is in surface contact with a sliding element ÖO, the surface of which is designed to be concave to fit the convex element 78. The bottom of the sliding element Θ0 is convex and extends at right angles to the concave top. This convex underside of the sliding element 80 is adapted to a concave surface 82 of the clamping element 16. As can be seen from FIG. 6, the clamping element 16 is designed as a C-shaped element, the inner upper surface 84 of which is in contact with the pallet base element 8 and clamps the latter to the slide rail 6. The clamp member 16 is mounted in the housing 2 via a resilient bushing 8H which allows the clamp member 16 to move appropriately.

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Fig. Θ is a partially schematic isometric view and only serves to show the functional relationship between the individual elements of the mechanism. The housing 2 is has been completely omitted and various elements have been changed slightly for the sake of simplicity. Furthermore the sliding elements BO have also been completely omitted to better show the leverage of the clamping levers 66 and 6Θ.

As can be seen from Fig. 5, the contact line between the convex element and the reaction pad 76 is on the axis A., while the effective axis of the bearing between the convex element 7Θ and the sliding element 80 is along the axis A ₂₁ which is the clamping axis represents, extends. The clamping lever 66 acts as a simple lever which has a bearing point with respect to the housing 2 on the axis A and an output movement on the axis A _? as well as an input movement on the axis of the pin 70. It should be noted that there is a considerable increase in force or leverage between the downward force of the pin 70 and the downward force on the clamping element 16, which is transmitted as a clamping force via the surface 64 to the pallet foot element θ. This increase in force is achieved with a simple lever, which is a highly efficient mechanism.

The clamping action of the clamping lever 66 is the same as that of the Clamping lever 66, with the exception that it operates symmetrically

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ORIGINAL INSPECTED 030017/0761

is opposite. The pins 70 and 72 are on the Clamping lever 66 and 6fc) via the compensating member 64, which is through the Member 60 is pulled down as a result of a counterclockwise torque acting on the torsion tube and arm 56, in substantially equal downward clamping forces exerted. This counterclockwise torque acting on the torsion tube 52 is controlled by an arm 50 (FIGS. 4 and θ) as well a pin 48 is generated through the slot 46 in the main link as a result of the spring cartridge 30 on this main link 1Θ im Clockwise torque exerted is pressed down.

The force generated by the spring cartridge 30 is applied to the pins 72 and 72 (FIGS. 5 and θ) via simple levers with high efficiency transferred, in such a way that the work made available by the spring cartridge 30 (force times travel) by the friction only is slightly reduced when it appears at the pins 70 and 72, and is furthermore only slightly reduced by the high efficiency of the clamping levers 66 and 6Θ when it occurs as a clamping force on the surface Θ4 on the pallet foot element β.

In other words, there is a great mechanical advantage in the transmission of force from the spring cartridge 30 to the clamping surfaces 84, this advantage being only slightly smaller than the movement ratio of the spring cartridge 30 to that of the clamping surfaces. For

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ORIGINAL INSPECTED

030017 / 07B1.

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a mechanism with a 100/4 efficiency is obtained (derived from equation (1)):

Input movement output force
Output movement input force.

Therefore, in a system of simple levers and hinges that has minimal loss of work due to friction, the Ratio of forces only slightly smaller than the ratio of movement.

Turning back to Figure 5, it can be seen that the outer end of the lever 66 (and the symmetrically opposite lever 68) is formed into a cylindrical extension ΘΘ, which is in a elastic bush 90 is fitted, which is supported by the housing 2 is. The two elastic bushings 88 are made of neoprene or the like and serve to change the position (Fig. 5) of levers 66 and 6Θ and the balance member 64, but allow sufficient float to allow true rolling contact between to enable convex member 74 and reaction pad 76 to when this bearing interface reacts to the clamping forces. To one To enable real rolling contact at this same interface are the recesses in levers 66 and 68 and / or the corresponding ones Recesses in the compensating member 64 for the pins 70 and 72 are slightly elongated or oversized.

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The underside of the clamping element 16 is supported by an elastic bushing 92 , which is also made of neoprene or a similar material. This bushing 92 enables downward movement of the clamping element 16 during clamping, absorbs deflections of the clamping element 16 during its deflection under clamping loads and provides the restoring force on the clamping element 16 during release, as will be described below.

From Figure 5 it can be seen that the bearing axis A. is only slightly displaced with respect to the clamping axis A ″. This achieves two important objectives. On the one hand, a great mechanical advantage is achieved in the generation of the clamping force, as described above, and, on the other hand, very little reaction bending load is generated in the housing 2 . As a result of this small bending load in the housing 2, the resulting deflections in the housing are in turn kept to a minimum, which is of particular importance when great accuracy is required.

It can be seen from FIG. 6 that the clamping force which is applied to the clamping element 16 by the clamping lever 74 via the convex element 78 and the sliding element 80 is directly in line with the clamping surface 84, namely on the clamping axis A ₂ * Of course, this defines the C-shape of the clamping element 16. This clamping element 16 is through the clamping forces that it transmits,

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bent. Such a deflection of the clamping element 16 however, as a result of its assembly in the housing 2 via the elastic bushings 86 and 92, it causes negligibly small loads on the housing 2.

This clamping system therefore represents the theoretically most perfect system in order to keep the deflection of the housing 2 due to the clamping forces to a minimum. The greatest load on the housing 2 as a result the clamping forces is an almost pure pressure load, which acts as a reaction load between the reaction cushion 76 and the bearing rail 6 occurs.

From the above description it can be seen that the elastic work done by the spring cartridge 30, which causes a clockwise movement and a clockwise force to the Clamping on the main lever 18 exerts the positioning pins 14 extends and causes the clamping elements 16 to exert their clamping force on the pallet base elements 8. The ones to release and withdraw the force and movement required by the positioning pin 14 is provided by made available to a common external system. How one As can be seen from FIG. 7, spacers 100 are a series of Machine beds 4 connected together to form the central section of a transfer machine. On each of these machine beds 4 two fitting mechanisms 2 are mounted, or a single fitting mechanism if the two mechanisms are in a single housing

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are related to each other. There are only three machine beds 4 shown. It is clear that there are as many machine beds as there are stations in the machine. It doesn't even need to It should be emphasized that there are empty stations (no processing stations) between the individual processing stations which may or may not include a fitting mechanism for the pallets, or which may have fitting mechanisms, which only have positioning pins, the clamping parts of the mechanisms having been omitted.

Inside each machine bed 4 is below the position the fitting device a shaft 102 rotatably mounted. An actuator 104 is mounted on each shaft 102. The other ends of the actuating members 104 are articulated to one another via tie rods 106 connected, which correspond in length to the respective distance between the shafts 102. One of the actuating members 104 is via a Connecting rod 10Θ through a crank pin 112 with a crank arm 110 connected. This crank arm 110 is mounted on the output shaft 114 of a reduction gear 116. An electric motor 116 drives it Reduction gear via belts and pulleys 120 on. When the motor 118 drives the reduction gear 116, the crank arm operates 110 a reciprocation of the actuating members 104 about the shafts 102 in a substantially parallel movement. At the in In the position of the crank arm 110 shown in FIG. 7, the actuating members 104 are approximately in their middle position. If

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the crank arm 110 with respect to the center of the shaft 114 in FIG The 9 o'clock position, referred to as top center dead center, all of the actuators 104 are in with respect to the shafts 102 in their extreme clockwise position. When the crank arm 110 is at the 3 o'clock position relative to the shaft 114, which is referred to as bottom center dead center all actuators 104 assume their extreme counterclockwise position relative to their shafts 102.

In addition, two connecting members 122 are mounted approximately at right angles on each actuating member 104 and act as a bell arm. At the outer end of the connecting links 122, a push rod 44 is articulated, which connects to the main lever 18 of a fitting mechanism (Fig. 4) is in contact.

All main levers 1 ti of the fitting mechanisms are together against driven clockwise as the crank arm 110 moves from the 3 o'clock position to the 9 o'clock position due to the rotation of the links 104 and 122 clockwise, which act as a bell arm on the shafts 102, rotates, resulting in an upward movement of the push rods 44 results.

Within each fitting mechanism, the rotation of the Main lever 1Θ counterclockwise the positioning pin 14 (Fig. 4) withdrawn, the spring cartridge 30 expanded by compressing the spring 38, whereby work is stored therein, and the

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Arm 50 on the Toreion tube 52 through the pin 48 in the slot 46 in the Rotated clockwise.

The clockwise rotation of the torsion tube 52 (FIG. 5) causes the arm 56 to raise the link 60 through the pin 58, causing the balance link 64 to be raised by the pin 62. The clamping lever 66 rotates counterclockwise about its fulcrum on the axis A ₁ , and the elastic bushing 92 lifts the clamping element 16 to provide a distance between the surface 84 (FIG. 6) and the pallet base 84. The retraction of all positioning pins 14 and the lifting of the clamping elements 16 is therefore effected by rotating the crank arm 110 from the 3 o'clock position to the 9 o'clock position, whereby work is also stored in the spring cartridges 30. The direction of rotation of the crank arm 110 is irrelevant.

To the extension of the positioning pins 14 and the engagement of the To effect clamping elements 16, the crank arm 110 rotates out of it 9 o'clock position to its 3 o'clock position, again the direction of rotation has no meaning. As a result, move on all push rods 44 downwards. This allows the spring cartridges 30 to rotate the main levers 18 in a clockwise direction.

During about the first two thirds of this movement, the Positioning pins 14 extended while the clamping elements move through the available space before they come into contact with the pallet feet 6. After the clamping elements 16 with

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the pallet foot elements θ have come into contact, finds a slight additional rotation of a main lever 1Θ instead of the deflections of the clamping elements 16 and the other in the lever system existing elements as well as the slight play that occurs in all pin connections.

The exact point or position at which each fitting mechanism develops its full clamping force also depends on the various dimensional errors and wear that occur in all elements of the mechanism, including the pallet foot elements θ and the slide rails 6, which are subject to increasing wear which is not necessarily uniform have to be. However, within a very wide range of such wear and tear, the spring cartridge 30 and any clamping mechanism will jam holds a pallet with a substantially uniform force. When each mechanism reaches its full clamping force and thus its rest position, the spring cartridge 30 stops moving and the force generated is generated by the force generated by the clamping surfaces Θ4 Forces balanced, these forces being much more reproducible due to the high efficiency mechanisms used are considered in conjunction with wedges or screws.

The full equilibrium scleraition can be due to the foregoing The wear factors mentioned vary from mechanism to mechanism. When each fitting mechanism has its own equilibrium position reached, his main lever 18 stops rotating. The associated

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However, push rod 44 continues to move downward through its full stroke of travel. Between the upper end of the push rod 44 and its associated recessed contact surface on the Main lever 18 creates a gap that changes from one mechanism to another, even with a given register of Pallet to pallet can vary. This has no consequences, since it is closed with the next upwardly directed release movement of the push rod 44.

All clamps and positioning pins are therefore supported by the outer drive system driven to a common retracted position. The positioning pins 14 are, however, by a inner elastic drive system, namely the spring cartridges 30, extended, and the clamps are operated by this system, so that each fitting mechanism can find its own equilibrium position independently of the other mechanisms.

In an exemplary practical situation, the working stroke is of the spring cartridge 30 1 1/4 inches with an output force of 800 lbs. Therefore, the total work is 1000 lbs χ inches. The total movement of the clamp is 0.060 inches. Since the generated Work is divided equally between the two clamping elements, is the theoretical generated on each clamping element Force 1000/2 / 0.060 - Θ333 lbs. The practical strength that is in everyone

Clamping element is 7500 lbs. The whole

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theoretical stroke of each clamping element, which is 0.060 inches, is divided into the following orphan: 0.035 inch play to theoretical Pallet foot surface when the clamping elements are complete are raised; 0.010 inch deflection of the clamping element and the inner linkage elements as well as overall play; and 0.015 inches not Utilized stroke that is available to compensate for wear on the pallet base and the slide rail. In other words, 0, U15 inches of total wear and tear can be found on the pallet feet or the Slides are tolerated while a substantially constant clamping force is still maintained by the register mechanism. This wear is several times greater than the wear that can be tolerated by the currently existing fitting mechanisms.

In Figure 7, the connecting rod 10B is shown, which is connected to the actuator 104, which is located at the end of the row of a plurality of actuators 104 is located. By the reduction gear 116 is shifted away from the row of interconnected links 106 to one side or the other, The connecting rod 108 can be connected to one of the intermediate links 104 get connected. In addition, the entire, from engine, reduction gear and crank arm existing drive system can be replaced by any other suitable main motion system that is in is able to move the links 104 over the required angular range. There are simple fluid actuators in it included that on one or the other link 104

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or connected to the links 106. the Actuating members 104 are made noticeably longer than the connecting members 122, namely about five times longer than in FIG. 7 shown. The reason for this aspect ratio is a reduction in the forces in the links 106 compared to FIG the forces in the push rods 44 to search. Of course it will by a longer stroke in the connecting links 106 in comparison with the stroke of the push rods 44 exactly proportional to the Power reduction balanced. A reduction in the forces in the connecting links 106 is advantageous because it increases the size the reaction force exerted by the spacers 100 must be supplied. These reaction forces add up over the length of the machine. A great hub of communicating with each other Standing links are also desirable, as deflections, play and overall wear in connection with a large stroke are more likely can be tolerated as in conjunction with a small. In the spring cartridge shown in Figure 4 there is a helical spring Made of wire use that acts as a compression spring. Another embodiment of a spring cartridge is shown in FIG. At this Embodiment, the elastic element consists of a stack of disc springs, which are also referred to as Belleville springs. As can be seen in FIG. 9, a pull rod 130 is connected to the Nose piece 2Θ (as in Figure 4) connected. The other end of the pull rod 130 is shaped into a head 132. A stack of disc springs 134 is arranged concentrically around the pull rod 130 and

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294051 "?

biased between the head 132 and an inner flange 136 on a bushing 13Θ. The other end of the socket 136 faces an outer flange 140 mounted in the housing 2. Each disc spring 134 is a conical shaped washer formed, which assumes an almost flat shape under pressure. A stack of disc springs 134 as shown in Figure 9 is normally made of wire over a more conventional coil spring preferred, since a larger amount of work or energy can be stored in it for a given volume.

Another embodiment for the spring cartridge, in which, however disc springs are also used, is shown in FIG. In this case, the stationary sleeve 142 is via a Extension 146 screwed to a disk-shaped mounting plate 144. The disk 144 is mounted on the housing 2. The other end of the Bushing 142 is formed into an outer flange 14Θ. A row of disc springs 150 is stacked on the outside of the socket 142 and supported against the flange 14Θ.

At the other end of the socket 142 is this stack of disc springs 150 biased against a shouldered washer 152. The washer 152 is made by a thin flat Retainer 154 held in place which extends across a diameter of washer 152 through two long longitudinal slots 156 in the socket 142 and beyond through a slot 15Θ in a

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Pull rod 160 extends. A η at its other end supports the tie rod 160 the nose piece 26. The one occurring in the pull rod 160 Tensile load is applied via the retainer 154, which acts as a carrier, in a compressive load on the stack of disc springs 150 is converted. When the pull rod 160 moves beyond its stroke of movement, determined by the mechanism, the retainer 154 remains in the loaded state against the right side of the slot in the pull rod 160, but moves freely through the play slots 156 in the socket

As has been described in connection with FIGS. 5 and 6, the elastic bushing 92 is used to return the clamping element 16 to its released position with play after the clamping force generated by the lever 66 has been released. It is clear that other elastic return systems can also be used to provide the same return force. Instead of the bushing 92, for example, a short stack of disc springs can be used. Furthermore, a simple, conventional coil spring made of wire can be used to return the clamping element 16.

In connection with Figure 7, an embodiment of an outer Mechanism described which was suitable for actuating the push rods vertically upwards. Another way to do it these same movements is to put a long torsion tube in

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030017/0751

To assemble lengthways through the machine beds and to be rotatably mounted in a suitable manner therein, which pivots back and forth over a small angle about a horizontal axis. At every station One arm is attached to the torsion tube, the outer end of each arm having a push rod 44 moving in the vertical direction drives via an articulated connection. The torsion tube in turn is supported by a suitable arm, a connecting rod and an eccentric o.a. driven. Two torsion tube units are required one to operate the push rods on one side of the register line and a second to drive the push rod on the other Side of the register line.

In a further embodiment for actuating the fitting device with a single external mechanism, no push rods are required. A downward arm can do anyone Main lever 16 can be added. The lower outer ends of this Extensions can then be connected to one another via connecting links which are driven via a mechanism as shown in FIG are connected to thereby all main lever extensions and To be able to operate fitting devices synchronously.

030017/0751

Claims (1)

Pateitinwilti Dipi. lrg. H. Hajck Dipl. Pbys. W. Schmitz _{Λ Λ} , _{Λ r} * f7 Dipl. Ing. E. Graalfs £ 9 4 U 5 Ί . u υ _{QOC1, C} ^D 'P' * ^ln 9 · W. Wehnert John Henry BREMS _{Djp | Pnys w} Carstens Dr.-lng. W. Döring 32Θ6? White Oaks Trail * Mozart Street 23 _. . . ... . /, un-in nc 80OO Munich 2 Birmingham, Michigan 4Ü010, USA M-5053 September 25, 1979 Claims / i. Transfer machine with several stations for the workpieces fixed and stored in pallets and in which the pallets are moved one after the other through the machine, labeled by a register mechanism for clamping the pallets which includes a register frame, a Clamp for the pallet, which is movably mounted in the frame and has a first section so that a pallet is in clamping engagement can step with one side of a relatively rigid section, and which has a second section that absorbs a clamping force can to move the first section into the clamping position, the second section on top of that of the first section opposite side of the frame section is arranged, as well as mechanical means to engage the clamp with of the pallet having a clamp operating lever articulated to the frame, a first Bearing section on the lever for contacting the second section of the clamp along a first axis, the articulated connection 030Ö17 / 07B1 a reaction bearing section between the lever and the frame on the lever for contacting the frame on one side of the frame section opposite one side along a second axis, which is substantially parallel to and located close to the first axis, about the portion between the pallet and the reaction storage portion to put under pressure and thereby the reaction torque exerted by the clamp on the register frame to a minimum bring. 2. EinpaB Mechanism according to claim 1, characterized in that the clamp comprises a C-shaped member having a main part extending transversely to opposite sides of the frame portion, the first portion having a first extension extending transversely to the The main portion extends on one side of the frame portion, the second portion having a second extension extending transversely to the main portion on the opposite side of the frame portion and being substantially coplanar with the first extension, wherein the first and second portions are on an axis extending substantially parallel to the body and the first and second axes. 3. Fitting mechanism according to claim 1, characterized in that the lever is articulated to the R & nrnen at one end and that 030017 / 07B1 Drive means for pivoting the lever are connected to the opposite end thereof, the first bearing section between the opposite ends of the lever and connected to the drive means End is located away. 4. fitting mechanism according to claim 1, characterized in that the clamp is mounted on the frame by means of elastically bendable devices, so that negligibly small loads are exerted on the frame by bending of the clamp. 5. fitting mechanism according to claim 1, characterized in that it has one or more positioning pins which are slidably mounted in the frame for engaging corresponding positioning bores in the pallet Frame energy storage devices are provided and that the mechanical devices with the energy storage devices Positioning pins and connect with the clamp actuation lever to sequentially position the positioning pin with to bring a positioning hole in the pallet into engagement and to clamp the pallet to the register frame, with the mechanical devices external drive devices are connected to the clamp operating lever for retracting the clamp from the pallet and then disengaging the positioning pin from the positioning hole in the pallet actuate. 03001 7/0751 6. fitting mechanism according to claim 5, characterized in that that the mechanical devices comprise a first lever joint which is mounted in the frame and has four connection devices which have a first connection to the positioning pin, a second connection to the energy storage devices, a third connection to the external drive devices and a fourth connection to the clamp operating lever, and that the clamp operating lever on a End is hinged to the frame via the reaction bearing section and at its other end to the fourth connection and at an intermediate point to the second section connected to the terminal. 7. fitting mechanism according to claim 5, characterized in that it has two clamps and two clamp operating levers which are symmetrically arranged that the mechanical devices have a first lever joint which is mounted in the frame and has four connecting devices, a first connection to the positioning pin, a second connection to the Energy storage devices, a third connection to the outer drive devices and a fourth connection to an intermediate lever, which is hingedly mounted in the frame and on its other end is articulated to one end of a link which is articulated at its other end approximately to the center of a compensating lever which is attached to each 030017/0751 End hinged to one of the two clamp actuation levers, each of the clamp actuation levers on one end articulated to the frame via the reaction bearing section and articulated to the balance lever at its other end and at an intermediate point to the second section connected to the terminal. Θ. Fitting mechanism according to claim 5, characterized in that the energy storage devices comprise a first elongate member, a second elongate member slidably in the first elongate member is mounted, a resilient spring which is arranged between the elongate elements, and means which limit the relative movement between the two elongate elements, so that the elastic spring a can not reach fully relaxed position, the working stroke of the energy storage devices between a partially bent position of the elastic spring and a the more bent position of the elastic spring is 9. fitting mechanism according to claim 5, characterized in that a plurality of fitting mechanisms is mounted on a machine bed and that the external drive means have a shaft include, which is mounted in the machine bed under each fitting mechanism, that a bell arm rotatable on each of the shafts is mounted, which has a short arm with an outer end 030017/0751 which is arranged at a distance from the shaft, and a long arm and that a push rod the outer ends of each short arm of the bell arms and the mechanical devices of each fitting mechanism, with means for connecting and driving the several long arms of the bell arms are provided below the fitting mechanisms. 10. A plurality of fitting mechanisms according to claim 10, characterized characterized in that the means for connecting and driving comprise drive means associated with one of the long arms the bell arms are connected to pivot the bell arm back and forth about the shaft and that a plurality of links connect one or more long arms of the bell arms, so that all long arms of the bell arms swing together 030017 / 07B1