DD233965A1 - Method and device for flexible chaining of machining machines - Google Patents

Method and device for flexible chaining of machining machines Download PDF

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Publication number
DD233965A1
DD233965A1 DD27275685A DD27275685A DD233965A1 DD 233965 A1 DD233965 A1 DD 233965A1 DD 27275685 A DD27275685 A DD 27275685A DD 27275685 A DD27275685 A DD 27275685A DD 233965 A1 DD233965 A1 DD 233965A1
Authority
DD
German Democratic Republic
Prior art keywords
processing
workpiece
different
processing machines
machines
Prior art date
Application number
DD27275685A
Other languages
German (de)
Inventor
Wolfgang Herfort
Eckhard Bruder
Wilfried Tetzlaff
Horst Wagner
Original Assignee
Berliner Bremsenwerk Veb
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Berliner Bremsenwerk Veb filed Critical Berliner Bremsenwerk Veb
Priority to DD27275685A priority Critical patent/DD233965A1/en
Publication of DD233965A1 publication Critical patent/DD233965A1/en

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Abstract

The invention relates to a method and apparatus for flexible, preferably linear concatenation of different processing machines for the complete mechanical processing of different, preferably prismatic workpieces from several sides in several Arbeitsgaengen. The goal is the development of a solution with optimal production conditions for the realization of a continuous processing of workpieces according to the required sequence of operations. According to the invention, the object is achieved by using, for the linking of the number and type of processing machines dependent on the workpiece, multi-arm manipulators and transfer tables in a special design and forming different production units that are linked to one another by control technology. Fig. 1

Description

from an orderly provision on the multi-arm manipulators, special transfer tables and different processing machines in preferably linearly offset direction, each manipulator handles only the raw or finished part and the individual processing machines with their associated manipulator form a technological unit, which via the transfer tables are linked together.
Further features of the method are that the chaining of different processing machines with different working table heights is made possible by the special transfer tables and that the feed of the processing machines by a certain position of the manipulator arms to each other. Furthermore, the method allows the concatenation of parallel processing machines and thus the elimination of otherwise disruptive by lengthy operations in the concatenation productivity bottlenecks.
The apparatuses for carrying out the method are characterized in that the multi-arm manipulators are preferably designed as two-armed manipulators, with right-angled mutually fixed manipulator arms and that the multi-arm manipulators for the loading of parallel processing machines preferably as two-armed manipulators with oppositely fixed manipulator arms ,
Furthermore, the devices are characterized in that serving for linking the technological units special transfer tables have replaceable according to the contour of the workpiece designed workpiece determining elements and to compensate for the different working table heights of the processing machines controlled rotational and lifting movements in defined adjustable switching stages executes.
The displacement of the reversal handling and the height compensation from the manipulator into the transfer table simplifies and reduces the manipulation considerably and can be carried out with very simple means of the now designed as a transfer table, otherwise also required as Zwischenablagetisch. This considerably simplifies the handling process and, in addition to the consequent advantages for the linking already described, brings about a not inconsiderable economic advantage.
embodiment
The invention is illustrated below using an exemplary embodiment. The accompanying drawings show in Figure 1: Top view of a possible variant of the concatenation of processing machines according to the manner described in the invention
Figure 2: the schematic representation of the transfer table It shows the following arrangement:
The embodiment shown in Figure 1 represents only one possible variant of the concatenation of processing machines for complete processing of workpieces.
In each case, a different type of processing machine (3, 6, 13) forms, together with a respective manipulator 2, 5, 12, a production unit A or B or D, the number of which is determined by the number of working operations on the workpiece, such as their arrangement relative to one another or to a production unit C, which consists of two or more similar processing machines 9,11 and two or more manipulators 8,10.
All processing machines of the individual production units A, B, C, D may have different heights of the work tables and thus corresponding working heights of the manipulators 2, 5, 8, 10, 12. For linking between the production units A, B, C, D transfer tables 4, 7 are provided, which are provided with elements 16 for determining the position of a workpiece 15 according to Figure 2, both defined in the working plane and in the working height positionable. Serves provided at the transfer table 4 or 7, the respective work tasks adapted lifting device, pivoting device 18 and each adjustable stops 19, 20th
The arrangement of the arms 2.1 to 10.2 of the manipulators 2, 5, 8, 10 takes place at linear concatenation within the processing system E preferably 90 ° offset from each other in the production units A, B, D, with different types of processing machines or 180 ° offset from each other in the manufacturing units C with several similar processing machines. An altered, special spatial conditions corresponding arrangement of the production units A, B, C, D is possible in that the arrangement of the arms of the manipulators takes place at a different angle to each other. Depending on requirements, individual or all production units A, B, C, D are supplemented by cleaning devices 21 and / or control devices 22. The following function results:
From the stock store 1, the manipulator 2 with its arm 2.1 removes a blank while at the same time the arm 2.2 grips the workpiece 3 finished on the machine 3. After a rotation of the two, at 90 ° firmly connected arms and 2.2 to the C-axis of the manipulator by 90 °, the arm 2.1 comes before the machine 3 and the arm 2.2 in front of the transfer table 4 to stand. Now, the manipulator places each of the blank in the machine 3 and the finished part on the transfer table 4 and turns back into the initial position shown. The workpiece on the transfer table 4 is taken by the manipulator 5 with the arm 5.1 after rotation and stroke, while the arm 5.2 engages the finished workpiece from the machine tool 6. After completed rotation of the manipulator about the C-axis, the workpiece located in the arm 5.1 is inserted into the processing machine 6, while the finished part is placed on the transfer table 7. The following 3rd work cycle is longer in time than the other upstream or downstream work. For this reason, this process is now carried out in parallel on a plurality of similar processing machines 9, 11, so that no economically disadvantageous change in working stroke of the entire chaining occurs. Depending on which manipulator 8 or 10 is the first to be ready to grasp a blank, the workpiece is pivoted on the transfer table 7 into the positioning direction 7.1 or 7.2 after the stroke has been completed. The finished by the respective manipulator 8 or 10 already stored on the transfer table 7 finished part of the processing machines 9 or 11 in front of the arm 12.1 is needed and can now be supplied by the manipulator 12 after removal of the finished part of the processing machine 13 of this. The finished part of machine 13 is simultaneously stored in the precast store 14.
The respective manipulator 8 or 10 grips the blank lying on the transfer table 7 and pivots through 180 °. He then places the blank in the processing machine 9 or 11 and the finished part after the return of the transfer table 7 on this from.
If a production unit cleaning and / or control devices 21, 22 assigned, results in a change in the power strokes.
Shown on the example of the production unit B results: The arm 5.1 grips the lying on the transfer table 4 blank, at the same time the finished part of the processing machine 6 is removed by the arm 5.2. The manipulator 5 pivots in a first cycle by 45 ° with the blank to the cleaning device 21 and with the finished part to the control device 22 and puts it there. After cleaning or inspection, the parts are taken again and fed to the processing machine 6 or the transfer table 7.
The operation of the processing system E is controlled as a sequential circuit influenced by the workpiece, the individual production units A, B, C, D respectively forming programmed electronic circuits which, coupled together, are connected to an electronically controlled unit.
The transfer table 4 or 7 shown schematically in Figure 2 secures once by the provided, the concrete conditions adaptable and specially to be arranged elements 16 for workpiece and position determination a the following operation corresponding storage of workpieces, which thus simultaneously fulfill control functions.
It is also possible, using the defined adjustable and provided in accordance with the specific working requirements provided number of stops 19, 20, the transfer table, in accordance with the control, both in height and in the plane in any predeterminable position, step by step, stepped, repeatable to the beat.

Claims (4)

  1. Invention claim:
    1. A method and apparatus for flexible, preferably linear concatenation of processing machines, in particular for processing different prismatic workpieces from several sides in different operations on different machines with multi-arm manipulators, rotary transfer tables and workpiece storage, characterized in that production units (A, B, D) consisting respectively of a different processing machine (3, 6, 13) and a multi-armed, preferably two-armed manipulator (2, 5, 12), whose arms (2.1, 2.2, 5.1, 5.2, and 12.1, 12.2, respectively) are at right angles to each other , fixed, and manufacturing units (C), consisting of two or more similar processing machines (9,11) and a plurality of multi-armed, preferably two-armed manipulators (8,10) with opposite to each other, fixedly arranged arms (8.1, 8.2 and 10.1, 10.2), a processing system (E) form, offset from each other angeo rdnet, and are determined in their number and arrangement to each other by the number of operations to be performed on the workpiece (15) that within the respective manufacturing unit (A or B or C or D) between the processing machines and the associated manipulators match in a working plane X exists, but this between the production levels (A, B, C, D) may be different, that for balancing the different working levels X between the production units (A, B, C, D) and for linking together transfer tables (4, 7) are provided are formed rotatable and adjustable in height, the work processes defined adaptable, formed that at the beginning of the processing system (E) a stock store (1) and at its completion a precast store (14) is arranged and that the control as a sequential circuit, influenced by the workpiece (15) via in each case the production units (A, B, C, D) to be assigned programmed electronic n circuits are connected to each other to an electronically controlled unit.
  2. 2. Method and device according to item 1, characterized in that in the manipulators (2, 5, 8, 10, 12) one arm (2.1, 5, 8, 1, 10, 1, 12, 1) constantly holds the blank of the processing machine (3, 6, 9,11,13), while the other arm (2.2, 5.2, 8.2, 10.2, 12.2) is reserved for the removal of the finished parts.
  3. 3. The method and apparatus according to item 1, characterized in that serving for concatenating transfer tables (4, 7) interchangeable elements (16) whose configuration and arrangement corresponds to the contours of the workpiece (15) in the respectively provided work postion.
  4. 4. The method and apparatus according to item 1, characterized in that the transfer tables (4, 7) stops (19, 20) whose number and defined arrangement allows horizontal and vertical movements of the transfer tables (4, 7) in defined switching stages.
    For this 2 pages drawings
    Field of application of the invention
    The invention relates to a method and apparatus for flexible, preferably linear processing units, cleaning and control devices, in particular for complete mechanical processing preferably different prismatic workpieces from several sides in several operations.
    Characteristic of known technical solutions
    In practice, a variety of methods for linking machine tools and devices used therefor are known. Thus, in DE 2 209 233 for a press line extensive and complicated and therefore associated with high costs conveyor and each press a separate feed and a discharge device proposed. Other solutions place special conditions on the processing machines. Thus, DE 1 627 278 requires that the worktables of the processing machines are arranged at a uniform height or DE 3,146,630 proposes a special design with a passage in the middle of the processing machine. However, these conditions considerably limit the linking options of different processing machines. And a concatenation on special workpiece carrier and workpiece carrier conveyors as in DE 2 814 046 is very costly and advantageous only for rigid links for large series. The method proposed in DD 155 309 for the flexible linking of processing machines is based on its own geometry limits with regard to the ability to expand the chaining set. The DD 213 159 describes a solution of an automatic Wechselfließreihe using processing machines, pallet storage, cleaning equipment and robots with one arm, combined to form an electronically controlled unit in which the balance of individual working heights economically complicated by the use of pallet storage and by the type the robot is done. The workpiece influence is interrupted by the memory.
    Object of the invention
    The aim of the invention is to avoid the disadvantages of the known chaining and to provide methods and devices to an economically viable solution for the flexible chaining of different working machines, preferably for the complete machining of prismatic workpieces from several sides and in several elaboration * c 'Sngen.
    Explanation of the essence of the invention
    The invention has for its object to provide for the processing of preferably prismatic workpieces from different sides in a plurality of operations using conventional and / or specially designed machine tools with work tables at different heights a solution that a, the specificity of the workpiece corresponding number of machining operations analogous number of processing machines combined with specially designed manipulators and transfer tables provides, thereby allowing controlled from the workpiece to the complete processing workpiece flow and flexible possibilities of arrangement, combined with other facilities permitted. According to the invention the object is achieved in that are provided for the concatenation of the workpiece-dependent number and type of processing machines multi-arm manipulators with transfer tables special type that the workpiece flow
DD27275685A 1985-01-25 1985-01-25 Method and device for flexible chaining of machining machines DD233965A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DD27275685A DD233965A1 (en) 1985-01-25 1985-01-25 Method and device for flexible chaining of machining machines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DD27275685A DD233965A1 (en) 1985-01-25 1985-01-25 Method and device for flexible chaining of machining machines

Publications (1)

Publication Number Publication Date
DD233965A1 true DD233965A1 (en) 1986-03-19

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Application Number Title Priority Date Filing Date
DD27275685A DD233965A1 (en) 1985-01-25 1985-01-25 Method and device for flexible chaining of machining machines

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DD (1) DD233965A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19739635A1 (en) * 1997-09-10 1999-03-11 Volkswagen Ag Rotary hammering installation
DE29804850U1 (en) * 1998-03-18 1999-08-26 Kuka Schweissanlagen Gmbh Processing system
DE19948139A1 (en) * 1999-10-07 2001-04-12 Volkswagen Ag Flexible production line or processing system has a number of different types of machine tool and a number of the same type of machine tool with each tool having a workpiece storage area, all controlled according to loading level

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19739635A1 (en) * 1997-09-10 1999-03-11 Volkswagen Ag Rotary hammering installation
DE29804850U1 (en) * 1998-03-18 1999-08-26 Kuka Schweissanlagen Gmbh Processing system
DE19948139A1 (en) * 1999-10-07 2001-04-12 Volkswagen Ag Flexible production line or processing system has a number of different types of machine tool and a number of the same type of machine tool with each tool having a workpiece storage area, all controlled according to loading level

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