Bending installation and manipulator with rotatable gripper arrangement

Patent metadata

Field	Value
Publication number	US-12594592-B2
Application number	US-202118039788-A
Country	US
Kind code	B2
Filing date	Dec 21, 2021
Priority date	Dec 23, 2020
Publication date	Apr 7, 2026
Grant date	Apr 7, 2026

Abstract

A manipulator for components, in particular sheet metal parts, includes a base body mountable stationarily or movable along a guide arrangement, a first pivot arm pivotally coupled to the base body via a horizontal first pivot axis, a second pivot arm pivotally coupled to the first pivot arm via a horizontal second pivot axis and a third pivot arm pivotally coupled to the second pivot arm via a horizontal third pivot axis. A first axis of rotation extending radially to the third pivot axis is formed on the third pivot arm. A gripper support arm is rotatably coupled to the third pivot arm via the first axis of rotation and extends radially to the first axis of rotation. A gripping arrangement is rotatably coupled to the gripper support arm via a second axis of rotation spaced from the first axis of rotation. A bending installation includes the manipulator.

First claim

The invention claimed is:

1 . A manipulator for components, wherein the manipulator is configured to pick up, transport, hold and set down a component, comprising:
a base body, which can be mounted in a stationary manner or moved along a guide arrangement; a first pivot arm pivotally coupled to the base body via a horizontal first pivot axis; a second pivot arm pivotally coupled to the first pivot arm via a horizontal second pivot axis; and a third pivot arm pivotally coupled to the second pivot arm via a horizontal third pivot axis; wherein a first axis of rotation extending radially to the third pivot axis is formed on the third pivot arm; wherein a gripper support arm rotatably coupled to the third pivot arm via the first axis of rotation is formed, wherein the gripper support arm extends radially with respect to the first axis of rotation, and wherein a gripping arrangement is rotatably coupled to the gripper support arm via a second axis of rotation, which is spaced apart from the first axis of rotation, wherein the gripper support arm comprises a first support arm portion and a second support arm portion, the first support arm portion and the second support arm portion being arranged offset to one another in the direction of the first axis of rotation or the second axis of rotation.

2 . The manipulator according to claim 1 , wherein the first axis of rotation and the second axis of rotation are formed parallel to one another.

3 . The manipulator according to claim 1 , wherein the gripping arrangement comprises a base element rotatably mounted on the gripper support arm and a gripper element, which can be coupled to the base element as required.

4 . The manipulator according to claim 3 , wherein the gripper element comprises a pincer gripper and/or a magnetic gripper.

5 . The manipulator according to claim 3 , wherein the base element comprises at least two gripper-element support arms having a respective first end portion and a respective second end portion, said gripper-element support arms being radially spaced apart from the second axis of rotation, and said gripper-element support arms being adjustably guided at the respective first end portion of said gripper-element support arms in guide portions in the base element of the gripping arrangement and being releasably fixed, and said gripper-element support arms having a gripper element at the respective second end section of said gripper-element support arms.

6 . The manipulator according to claim 5 , wherein the at least two gripper-element support arms comprise a fixing lever configured to releasably fix the at least two gripper-element support arms relative to the base element.

7 . The manipulator according to claim 3 , wherein the gripper element comprises a negative-pressure gripper and wherein at least one negative-pressure gripper element is formed on the negative-pressure gripper.

8 . The manipulator according to claim 7 , wherein the at least one negative-pressure gripper element comprises a vacuum line with a fluidic shut-off element.

9 . The manipulator according to claim 7 , further comprising a vacuum line acting as a rotary union in a transition portion between the third pivot arm and the gripper support arm and/or in a transition portion between the gripper support arm and the gripping arrangement.

10 . The manipulator according to claim 1 , wherein the gripper support arm is rotatably coupled to the third pivot arm and by means of a first pivot bearing via a coupling, which can be activated and deactivated as required.

11 . The manipulator according to claim 1 , wherein the gripping arrangement is rotatably coupled to the gripper support arm by means of a second pivot bearing.

12 . The manipulator according to claim 1 , wherein a torque support is arranged on the third pivot arm.

13 . The manipulator according to claim 1 , further comprising a toothed belt transmission comprising a first gear, which is rotationally fixed relative to the first axis of rotation and comprising a second gear, which is rotatable about the second axis of rotation, and said toothed belt transmission comprising a belt, which couples the first gear and the second gear in terms of movement.

14 . The manipulator according to claim 13 , wherein the first gear has a larger diameter than the second gear.

15 . The manipulator according to claim 1 , wherein a first rotary drive is configured to rotate the gripper support arm about the first axis of rotation, and wherein a second rotary drive, which acts independently of the first rotary drive, is configured to rotate the gripping arrangement about the second axis of rotation.

16 . The manipulator according to claim 15 , wherein the second rotary drive is configured as an electromotive actuator, or wherein the second rotary drive is configured as a pneumatic actuator, and wherein the second rotary drive is fastened to the gripper support arm.

17 . The manipulator according to claim 15 , wherein the second rotary drive is configured to rotate the gripping arrangement between a first end stop and a second end stop, a rotational movement being possible, to be carried out between the first end stop and the second end stop.

18 . The manipulator according to claim 1 , further comprising a spur gear transmission comprising a first spur gear, which is rotatable about the first axis of rotation and comprising a second spur gear, which is rotatable about the second axis of rotation, wherein the first and the second spur gears interact directly or indirectly in a movement-coupled manner.

19 . The manipulator according to claim 1 , wherein the gripper support arm, including the gripping arrangement held on the gripper support arm, projects by a maximum height less than a structural height of a lower tool relative to a bending table of a bending machine.

20 . The manipulator according to claim 1 , wherein the gripper support arm has a support arm length extending between the first axis of rotation and the second axis of rotation, wherein the support arm length is shorter than a length of the first, second and/or third pivot arm.

21 . The manipulator according to claim 1 , wherein, with respect to its the first, second, and third pivot axes, the manipulator exclusively comprises said horizontal first pivot axis, said horizontal second pivot axis, said horizontal third pivot axis, said first axis of rotation and said second axis of rotation.

22 . A bending installation comprising a bending machine, the at least one manipulator according to claim 1 , a guide arrangement with a guide axis, the at least one manipulator being movable along said guide axis, or a fixed anchoring for the at least one manipulator, and an installation control, which is configured to predefine movements and/or movement sequences of the at least one manipulator.

23 . The bending installation according to claim 22 , wherein the bending machine comprises a bending table and a press beam, which can be adjusted relative to the bending table, and in that wherein at least one lower tool is positioned within outer boundary edges of the bending table, and comprises a component support plane for the vertical support of at least one component to be machined.

Assignees

• Trumpf Maschinen Austria Gmbh & Co Kg

Inventors

• Angerer Gerhard
• Schernhammer Michael
• Hausmann Florian
• Maier Florian
• Hoerl Matthias
• Theis Helmut
• Kovjenic Nenad
• Steininger Verena
• Freudenthaler Klemens
• Edlbauer Richard
• Keplinger Walter
• Gugler Gerhard
• Austaller Alois

Classifications

• B25J15/06

  with vacuum or magnetic holding means · CPC title

• B25J9/046 Primary

  Revolute coordinate type · CPC title

• B21D5/0281

  Workpiece supporting devices · CPC title

• B21D5/002

  Positioning devices · CPC title

• B21D5/02

  on press brakes without making use of clamping means · CPC title