RU2023571C1 - Control and sorting complex - Google Patents

Abstract

FIELD: robotics. SUBSTANCE: complex has loading device, measuring position with disk-distributer and located under it baffles, made as two catches manipulator transporting device and sorting joint. Manipulator is located in circumference arch center and is used for reorientation of pieces during their transportation for assembly. All working positions are located along arch of circumference. Measuring position has device of emergency opening of shutters, that close baffles of distributer. Manipulator, using one arm, move piece from loading device to measuring position, a another arm takes already measured piece and brings it to sorting joint. EFFECT: complex is used in robotics.

Description

 The invention relates to mechanical engineering and can be used in flexible production systems for automating control operations and sorting parts into quality groups, for example, for the subsequent assembly of precision pairs.

 Known rotary conveyor machine for the manufacture and control of products such as bodies of revolution, containing a transport chain with tick-shaped grippers of L-shape, distributed into successive groups with the number of grippers in each group equal to the number of product ranges, a spring-loaded frame that is installed with the possibility of interaction with copier and rollers of one group of captures.

 The disadvantage of this device is that sorting can be performed on a limited number of groups, limited by the length of the transport chain.

 Known transport system of a flexible automatic line containing a conveyor with parts in multi-seat cartridges and a positioning device in the form of a rotary drum, technological mechanisms and auto-operators installed along the conveyor.

 The disadvantage of this device is the design complexity and lack of flexibility (when switching to another cartridge size).

 A well-known store of satellite devices, containing a vertical ring-type drive, a stacker robot, drive tables for overloading satellites, technological equipment.

 A device for manipulating products during processing on machines is known, comprising a vertical storage warehouse, stacker manipulators, processing equipment.

 The disadvantage of these devices is the inability to work with parts installed in multi-seat cassettes.

 The closest in technical essence to the invention is a robotic complex selected as a prototype, containing technological equipment with accessories, a storage warehouse with a stacker crane, removable magazines with cartridges, a table with a rotary platform, mechanisms for the single-piece delivery of blanks from cartridges and piece-wise acceptance of finished products in cassettes with rods, an industrial robot with two hands.

 The disadvantage of the complex is the inability to work with precision parts due to the inevitability of damage to precision surfaces when filling cartridges. The necessary orientation of the parts in the cassette is provided only for parts with flat bearing surfaces. The drive table does not allow readjustment to other types of cassettes and has three degrees of mobility. In addition, if the measuring equipment is technological, then in the complex under consideration it is not possible to sort parts into groups.

 The aim of the invention is the expansion of technological capabilities by distributing parts into quality groups.

 This is achieved by the fact that the loading device of the parts is connected with technological equipment made in the form of a measuring and coding module and a device for sorting pre-encoded parts made in the form of a distributing disk mounted on a rack with the possibility of rotational movement with grooves windows evenly spaced around the circumference, covered spring-loaded curtains with drives, under which a drive is installed, containing channels with shutters associated with the drives, and collection trays, etc. This disk allocator associated read element distribution channels and parts of the robot and synchronization allocator disc.

 In FIG. 1 shows a general view of the complex; figure 2 - sorting device, plan; figure 3 is a section aa in figure 2, side view; figure 4 is a section bB in figure 2; figure 5 - drive table.

 The robotic measuring complex (Fig. 1) consists of a device 1 for piece loading a robot part 2, a device 3 for measuring and coding parts, a device 4 for sorting pre-coded parts, a reading element 5.

 The sorting device (FIGS. 2-4) contains a rack 6, in which a shaft 7 with a drive 8 is placed, rigidly connected to the distributor disk 9. The latter has grooves-windows 10 partially overlapped by spring-loaded shutters 11 with actuators 12 located on the rack around the circumference, as well as the emergency shutter opening device, made in the form of a roller 13 mounted on the axis.

 Under the rack, removable drives 14 are mounted in the form of shelving frames, each of which contains a channel 15 with shutters 16 connected to the actuators 17, and collection trays 18. At the same time, the shelving frame has a modular design that allows changing the number of storage trays depending on the required number of quality groups. It should be noted that the number of grooves in the distributor disk is selected depending on the speed of its rotation, limited by the cycle of the robot and the height of the part falling into the groove of the distributor disk when the jaw grips of the robot are expanded, determined by the dimensions of the part.

 The device of unit loading the robot with parts from multi-seat cartridges can be made (Fig. 5) in the form of a platform 19 with drives of longitudinal and lateral movements with guides 20 and mechanism 21 for fixing the cartridges 22 and parts 23 adjustable for the used cartridge size.

 Robot measuring complex operates as follows. Parts 23 in a multi-seat cassette 22 are moved by a transport mechanism (not shown) to the guides 20 of the platform 19 of the loading device 1 and fixed by the mechanism 21, after which the drive table begins to work out successive movements in two coordinates, supplying the next part in the cassette to the capture position of an industrial robot 2 , which transfers the part to the measuring and encoding device 3, on which the required dimensional characteristics of the part are measured, determining its group and assigning code group.

 Next, the robot transfers the measured part to the sorting device 4 and awaits the approach of the next slot-window 10 of the disk-distributor rotating at a constant speed 9. The readout element 5, when the slot-window 10 of the distributor-disk approaches, sends a command to expand the gripper of the robot 2, as a result of which the part it enters the groove 10 of the distributor disk blocked by the spring-loaded curtain 11 and transfers it to the corresponding channel code 15 of the drive 14 assigned when measuring, into which the part enters when the curtain 11 is opened by the corresponding drive 12.

 The operation of the sorting device is controlled by a reading element, which, after the part has hit the distributor disk, counts out the required number of slots corresponding to the part code (the disk from the drive 8 rotates at a constant speed), and sends a command to open the shutter 11. After the part enters the channel 15, it opens the shutter 16 corresponding to the part group, driven by the actuator 17, and the part enters the storage tray 18.

 The sorting device has a modular design and, if necessary, you can easily vary the number of storage trays, and the measurement and coding module allows them to be redistributed into groups depending on workload. If the part is rejected in the measuring and coding module, then the robot, taking it, unclenches the gripper, not reaching the distributor disk, and the part falls into the corresponding container. If for any reason the part from the distribution disk 9 did not fall into one of the channels 15 and remained on the disk, the emergency opening device 13 of the shutters 11 will release the distribution disk from it.

 After the cassette 1 is completely free of parts, the locking mechanism 21 is turned off and the transport mechanism displaces the empty cassette along the guides 20 from the platform 19 using the next cassette filled with parts. Thus, a continuous cycle of the proposed robotic measuring complex.

 The part in the complex is transported by an industrial robot as follows. With one hand, the robot moves the part from the boot to the measuring device, at the same time the other hand of the robot transfers the measured part from the measurement and coding module to the sorting device.

 Using the proposed complex will increase the productivity of control and sorting operations compared to existing tools, produce 100% product control with subsequent statistical processing of the results and predict product quality, sort parts into metrological groups for the purpose of subsequent selective assembly of paired pairs.

Claims (1)

 CONTROL AND SORTING COMPLEX, comprising a loading device connected to each other by a control system, a measuring position, a sorting unit, including a rotary distributor disk with trays with controlled shutters located under it along the perimeter, and a transport device, characterized in that, in order to expand operational capabilities by simplifying inter-structural connections and providing the possibility of reorienting parts, the transport device is made in the form of a two-gripper manipulator, and the work s position are arranged on a circle arc whose center is a manipulator, the sorting unit is provided with emergency opening device of the distributor flaps.

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