COMPONENT HANDLING DEVICE FOR COMPONENT HANDLING, AND INJECTION-MOULDING MACHINE EQUIPPED THEREWITH

Abstract

A component handling device for component handling in working or process machines, in particular injection moulding machines, comprises a basic linear axis running outside or inside the handling space of the handling device, a multi-axis arrangement, which is translationally displaceable on the basic linear axis, with a main rotational axis orthogonal to the basic linear axis, a secondary rotational axis directed parallel thereto and linked to the main rotational axis via a first robot arm, which guides a second robot arm pivotably over the handling space, and a vertical linear axis linked to the second robot arm eccentrically to the secondary rotational axis, and a gripping device linked to the vertical linear axis for a component to be handled.

Claims

1.- 10. (canceled)

11. A component handling device for component handling in working or process machines, comprising a basic linear axis (T.sup.1) running outside or inside a handling space (HR) of the handling device, a multi-axis arrangement (9), which is translationally displaceable on the basic linear axis (T.sup.1), with a main rotational axis (R.sup.1) orthogonal to the basic linear axis (T.sup.1), a secondary rotational axis (R.sup.2) directed parallel thereto and linked to the main rotational axis (R.sup.1) via a first robot arm (11), which guides a second robot arm (12) pivotably over the handling space (HR), and a vertical linear axis (T.sup.2) linked to the second robot arm (12) eccentrically to the secondary rotational axis (R.sup.2), and a gripping device (5) linked to the vertical linear axis (T.sup.2) for a component (BT) to be handled.

12. An injection moulding machine comprising the component handling device according to claim 11.

13. The handling device according to claim 11, wherein the handling space (HR) extends in an oval-shaped manner at least partially around the basic linear axis (T.sup.1).

14. The handling device according to claim 11, wherein the handling space (HR) extends in an oval-shaped manner around the entire basic linear axis (T.sup.1).

15. The handling device according to claim 11, wherein the basic linear axis (T.sup.1) runs horizontally.

16. The handling device according to claim 11, for removing components from an injection moulding machine, wherein the basic linear axis (T.sup.1) is arranged transversely or parallel to the clamping direction (SR) on the operator side or non-operator side of the injection moulding machine and in the adjustment range of the movable clamping plate (3).

17. The handling device according to claim 11, for removing components from an injection moulding machine, wherein the basic linear axis (T.sup.1) can be coupled on a fixed clamping plate (2) of the injection moulding machine.

18. The handling device according to claim 11, wherein an effective length (L.sub.11) of the first robot arm (11) is a multiple of an effective length (L.sub.12) of the second robot arm (12).

19. The handling device according to claim 18, wherein the effective length (L.sub.11) of the first robot arm (11) is at least three times the effective length (L.sub.12) of the second robot arm (12).

20. The handling device according to claim 18, wherein the effective length (L.sub.11) of the first robot arm (11) is at least four times the effective length (L.sub.12) of the second robot arm (12).

21. The handling device according to claim 18, wherein the effective length (L.sub.11) of the first robot arm (11) is at least five times the effective length (L.sub.12) of the second robot arm (12).

22. The handling device according to claim 11, wherein the vertical linear axis (T.sup.2) linked to the second robot arm (12) has a guide (18) which is fixedly attached to the second robot arm (12) and in which a vertical guide crossmember (20) is displaceably mounted.

23. The handling device according to claim 11, wherein the gripping device (5) is linked to the vertical linear axis (T.sup.2) by means of a pivot rotational axis (R.sup.3) mounted at one end of the vertical linear axis (T.sup.2) of the multi-axis arrangement (9) and orthogonal thereto.

24. The handling device according to claim 23, wherein the gripping device (5) with the pivot rotational axis (R.sup.3) is arranged at the lower end (13) of the vertical linear axis (T.sup.2).

25. An injection moulding machine, comprising an injection unit, a clamping unit with a fixed and a movable tool clamping plate (2, 3), and the handling device (1) according to claim 11.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG. 1 shows a perspective schematic representation of a component handling device,

[0039] FIG. 2 shows a top view onto the open tool clamping plates of an injection moulding machine with a coupled component handling device in an exemplary set-up situation,

[0040] FIGS. 3 and 4 show a side view and a top view of the component handling device according to FIG. 2,

[0041] FIG. 5 shows a side view of an injection moulding machine with a coupled component handling device during the component removal process,

[0042] FIG. 6 shows a schematic top view onto a handling device with the theoretical working space drawn in,

[0043] FIG. 7 shows a compilation of top views, analogous to FIG. 2, of various relative positions of the handling device to the injection moulding machine, and

[0044] FIG. 8 shows a side view analogous to FIG. 5 with a component handling device according to the prior art.

DESCRIPTION OF THE PREFERRED EMBODIMENT

[0045] As becomes clear from FIG. 1, the handling device 1 shown comprises a horizontal basic linear axis T.sup.1 formed by a longitudinal guide 8. A type of SCARA robot is mounted thereon as a multi-axis arrangement 9 so as to be translationally displaceable in the direction of this axis. The displacement drive, which is not shown, takes place, for example, via electric motor-gear units in combination with toothed belts or toothed racks, or directly via linear motors in the longitudinal guide 8. The multi-axis arrangement 9 comprises a base head 10, in which the drive for a first vertical main rotational axis R.sup.1 is accommodated. Via a first robot arm 11, at a distance f from the main rotational axis R.sup.1, a secondary rotational axis R.sup.2, which is also vertical and thus parallel to the main rotational axis R.sup.1, is linked, which in turn, by means of a corresponding drive, guides a second robot arm 12 pivotably over the handling space HR, the horizontal extent of which is indicated by hatching in FIG. 1.

[0046] A vertical linear axis T.sup.2, to be discussed in greater detail with reference to FIG. 3, is linked to the second robot arm 12 with an eccentricity e. A gripping tool 5 for a component not shown in greater detail in FIG. 1 is linked to the lower end 13 of the vertical linear axis T.sup.2 via a third, horizontal pivot rotational axis R.sup.3.

[0047] With the aid of the handling device 1 shown in FIG. 1, a component can be manoeuvred within the handling space HR in the earth gravity field g by means of the gripping tool 5 by an appropriately program-supported path control, in order, for example, to remove an injection-moulded component from an open mould and to deposit it on a support, such as the carrier 6′ according to FIG. 8.

[0048] In FIGS. 2 to 5, the handling device 1 is shown in an embodiment and application close to reality. It is coupled via a socket 14 on the fixed clamping plate 2 of the injection moulding machine also drawn in FIGS. 2 and 5, wherein the basic linear axis T.sup.1 runs parallel to the plane of the clamping plate 2, i.e. transversely to the clamping direction SR clamping platens 2, 3. In the corresponding longitudinal guide 8, the base head 10 is guided for longitudinal displacement by means of a corresponding drive motor 15. On the base head 10, the first robot arm 11 is mounted as to be pivoted about the main rotational axis R.sup.1 by means of a drive motor 16. At the free end of the robot arm 11 the secondary rotational axis R.sup.2 is arranged, by means of which the second robot arm 12 is driven pivotably mounted via a further drive motor 17. The effective length L.sub.11 of the first robot arm 11 corresponds to approximately five times the effective length L.sub.12 of the second robot arm 12.

[0049] The vertical linear axis T.sup.2 is arranged at the free end of the second robot arm 12. As can be seen in particular from FIG. 3, the guide 18 of this linear axis T.sup.2 with its drive motor 19 is fixedly arranged at the second robot arm 12 and guides the vertical guide crossmember 20 of the linear axis T.sup.2. Finally, at the lower end 13 of this crossmember 20, the pivot rotational axis R.sup.3 is mounted, by means of which the gripping tool 5 can pivot about a horizontal axis for changing the orientation of a component held by it.

[0050] As becomes clear from FIG. 5, for example, a component BT which is very protruding in the vertical direction can be gripped with the aid of the gripping tool 5 and moved upwards out of the intermediate space between the clamping plates 2, 3 without any risk of collision, since no part of the handling device 1 protrudes beyond the front side of the guide crossmember 20. Overall, as indicated in FIG. 2 by two different positions of the multi-axis arrangement 9 and in FIG. 4, the handling space HR outlined in hatched lines in FIG. 2 can be reached by the gripping tool 5 by appropriate control of the basic linear axis T.sup.1 in the X-direction and the two rotational axes R.sup.1, R.sup.2 in the rotational directions α.sub.1, α.sub.2. This handling space—unlike the handling space in handling devices 1′ according to the prior art—also extends laterally of the basic linear axis and to the rear side of the longitudinal guide 8.

[0051] In FIG. 6, an illustration analogous to FIG. 2 is shown without the fixed clamping plate of an injection moulding machine, wherein in this case the handling space HR at the rear side of the longitudinal guide 8 is located around same. This represents the maximum theoretical handling space HR of the handling device 1 shown.

[0052] In FIG. 7 A to E, different arrangement variants of the handling device 1 according to the invention relative to an injection moulding machine with its fixed and movable clamping plates 2, 3 are shown.

[0053] Partial figure A corresponds to FIG. 2. Here, the component is deposited on the non-operator side BGS of the machine.

[0054] In partial figure B, the entire arrangement is mirrored about the central axis of the injection moulding machine when the longitudinal guide 8 is arranged transversely to the clamping direction SR, so that the component is deposited on the operator side BS of the injection moulding machine. In this arrangement, the machine operator 21 indicated in the drawing is protected by appropriate measures, such as a grid enclosure or the like.

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

[0056] In partial figures D and E, the longitudinal guide 8 of the handling device 1 is elevated transversely to the clamping direction SR in each case in the region of the open, movable clamping plate 3 above the latter in such a way that the handling space HR extends either to the non-operator side BGS (FIG. 7 D) or the operator side BS (FIG. 7 E). In the latter case, protective measures are again provided for the machine operator 21.

[0057] For the sake of completeness, reference should also be made to FIG. 7 F, in which the handling device 1′ according to the prior art shown in FIG. 8 is illustrated with its significantly smaller handling space HR′ with significantly larger space requirements of the multi-axis arrangement.

[0058] In summary, a large number of advantages can be mentioned for the handling device 1 shown, in particular when used on plastic injection moulding machines: [0059] optimised component removal with small injection moulding machines and low hall heights [0060] no interfering contours above the plasticizing unit with the same personal safety [0061] higher payload (e.g. >20%) on the vertical axis [0062] greater flexibility due to lateral and also rear side component handling [0063] smaller dead zones of the handling device due to the vertical arrangement of the drive motors 15, 16, 17 [0064] larger working space (e.g. >46%) due to the axis overlays according to the invention [0065] higher dynamics due to a vectorial velocity overlay in the X-direction by the axes T.sup.1R.sup.1 [0066] the number of axes with open linear guides is significantly reduced with a proportionally corresponding reduction in the risk of contamination of the tool and the component depositing region [0067] higher energy efficiency due to lower material input and the reduction of cyclically moving masses in the earth gravity field g.