DD293079A5

DD293079A5 - DEVICE FOR UNINTERRUPTED HANDLING OF CASTORS BY INDUSTRIAL ROBOT

Info

Publication number: DD293079A5
Application number: DD33916890A
Authority: DD
Inventors: Siegfried Ebert; Frank Proeger; Kerstin Waibel
Original assignee: Veb Leichtmetalwerk Rackwitz,De
Priority date: 1990-03-29
Filing date: 1990-03-29
Publication date: 1991-08-22

Abstract

Bei der Erfindung handelt es sich um eine Vorrichtung zum ununterbrochenen Handhaben von Guszteilen mittels Industrieroboter zur flexibel automatisierten Gusznachbehandlung. Sie ist einsetzbar vorrangig in Gieszereibetrieben. Die Vorrichtung ist dadurch gekennzeichnet, dasz am Unterarm eines Roboter-Fuehrungsgestelles eine drehbare Basis (3) angeordnet ist, an der ueber ein Schwenklager (4) ein pneumatisch oder hydraulisch bewegbarer Arbeitszylinder mit endseitig vorgesehenem Kolbenstangenkopf (6) befestigt ist. Die vorgeschlagene Loesung ermoeglicht die Funktionstrennung von Greifer und der aus Basis, Zylinder, Schwenklager und Kolbenstangenkopf bestehenden Andrueckeinrichtung derart, dasz vom Greifer die Handhabefunktionen Greifen, Drehen, Schwenken, Positionieren, Loesen und von der Andrueckeinrichtung die Funktionen Spannen, Entspannen realisiert werden. Fig. 1{Guszteile; Handhaben; Industrieroboter; Gusznachbehandlung; Basis; Schwenklager; Zylinder; Kolbenstangenkopf}The invention relates to a device for the continuous handling of cast parts by means of industrial robots for flexible automated Gusznachbehandlung. It can be used primarily in foundries. The device is characterized in that a rotatable base (3) is arranged on the lower arm of a robot guide rack, to which a pneumatically or hydraulically movable working cylinder with a piston rod end (6) provided at the end is fastened via a pivot bearing (4). The proposed solution makes it possible to separate the function of gripper and pressing device consisting of base, cylinder, pivot bearing and piston rod head in such a way that the gripping, handling, gripping, pivoting, positioning, releasing and clamping and relaxing functions of the gripper are realized. Fig. 1 {cast parts; Handling; Industrial robots; Gusznachbehandlung; Base; Pivot bearings; Cylinder; Piston rod head}

Description

Erfindungsgemäß wird dies dadurch erreicht, daß am Unterarm eines Roboter-Führungsgestelles eine drehbare Basis angeordnet ist, an der über ein Schwenklager ein pneumatisch oder hydraulisch bewegbarer Arbeitszylinder mit endseitig vorgesehenem Kolbenstangenkopf befestigt ist.According to the invention, this is achieved in that a rotatable base is arranged on the lower arm of a robot guide frame, to which a pneumatically or hydraulically movable working cylinder with a piston rod end provided at the end is fastened via a pivot bearing.

Die Wirkung der Vorrichtung besteht in der Funktionstrennung von Greifer und der aus Basis, Arbeitszylinder mit Schwenklager und Kolbenstangenkopf bestehenden Andrückeinrichtung derart, daß vom Greifer die Handhabefunktionen Greifen, Drehen, Schwenken, Positionieren und Lösen und von der Andrückeinrichtung die Funktionen Spannen und Entspannen realisiert werden. Der pneumatisch bzw. hydraulisch betätigbare Zylinder drückt über den Kolbenstangenkopf gegen das vom Greifer positionierte Gußteil, welches damit gegen die vorhandene Werkstückauflage gespannt wird.The effect of the device consists in the separation of functions of gripper and consisting of base, cylinder with pivot bearing and piston rod end Andrückeinrichtung such that the gripping the handling functions gripping, turning, pivoting, positioning and releasing and are realized by the pressing the functions clamping and relaxing. The pneumatically or hydraulically actuated cylinder presses on the piston rod head against the positioned by the gripper casting, which is thus clamped against the existing workpiece support.

embodiment

Die Erfindung soll an einem Ausführungsbeispiel erläutert werden. In der zugehörigen Zeichnung ist eine Seitenansicht der Vorrichtung dargestellt. Diese Vorrichtung dient zum ununterbrochenen Handhaben von Gußteilen mittels Industrieroboter beim Einsatz in der Gußnachbehandlung betreffs tdchnologischer Stufe „Trennen der Gieß· und Speisesysteme". Die Vorrichtung besteht aus einem über seine Wi' kflächen ausgleichfähigen, das Gußteil 2 aufnehmenden Greifer 1 sowie aus einer an dem Unterarm 7 des Roboter-Führung·;Gestelles drehbar angeordneten Basis 3, an welcher mittels eines Schwenklagers 4 ein pneumatisch betätigbarer Arbeitszylinder 5 mit einem Kolbenstangenkopf 6 befestigt ist. Der Greifer 1 realisiert über das Roboter-Handgelenk 10 die Handhabefunktion „Greifen" und „Positionieren", während die aus Basis 3, Schwenklager 4, Pneumatik-Zylinder 5 mit Kolbenstangenkopf 6 bestehende Andrückeinrichtung die Handhabefunktion „Spannen" realisiert.The invention will be explained using an exemplary embodiment. In the accompanying drawing, a side view of the device is shown. This device is used for the continuous handling of castings by means of industrial robots when used in the casting after-treatment concerning the technological step "separation of the casting and feeding systems." The device consists of a gripper 1 compensating over its walls, the casting 2 receiving the gripper 1 and one on the Forearm 7 of the robot guide · frame rotatably arranged base 3, to which by means of a pivot bearing 4, a pneumatically actuated working cylinder 5 is fastened with a piston rod head 6. The gripper 1 realized via the robot wrist 10, the handling function "gripping" and "positioning ", while the basis of 3, pivot bearing 4, pneumatic cylinder 5 with piston rod head 6 existing pressure device realized the handling function" clamping ".

Der Arbeitszylinder 5 ist auf das Gußteil 2 gerichtet und drückt über den Kolbenstangenkopf 6 gegen das vom Greifer 1 positionierte Gußteil 2, das damit gegen eine Werkstückauflage 8 gespannt wird. In der dargestellten Bearbeitungslage ist die Hauptachse 9 des Roboter-Handgelenkes 10 um 90° gegenüber der Unterarmachse 11 gewinkelt. Vorteilhaft bei der erfindungsgemäßen Vorrichtung ist, daß sie in Umgehung des Roboter-Handgelenkes auf die Bearbeitungsbereiche des Gußteils oder auf Greiferbaugruppen in Nähe der Bearbeitungsbereiche gerichtet ist. Durch die Ausgleichsfähigkeit des Greifers werden Rückwirkungen der Vorrichtung auf das Roboter-Handgelenk, wie sie beispielsweise bei Positionierungenauigkeiten auftreten können, vermieden. Sie erzeugt Spannkräfte, die mehrfach größer sind als die durch das Roboter-Handgelenk begrenzten, der maximalen Handhabemasse und dem Abstand vom Drehpunkt entsprechenden Kräfte. Das gestattet die Anwendung leichter, hochbeweglicher und schneller Industrieroboter in hoher Rhythmik, wodurch ihre Wirtschaftlichkeit erhöht wird.The working cylinder 5 is directed to the casting 2 and presses on the piston rod head 6 against the position of the gripper 1 casting 2, which is thus clamped against a workpiece support 8. In the illustrated processing position, the main axis 9 of the robot wrist 10 is angled at 90 ° relative to the lower arm axis 11. An advantage of the device according to the invention is that it is directed in bypassing the robot wrist on the processing areas of the casting or on gripper assemblies in the vicinity of the processing areas. The compensating ability of the gripper avoids repercussions of the device on the robot wrist, as can occur, for example, in positioning inaccuracies. It generates clamping forces that are several times greater than those limited by the robot wrist, the maximum handling mass and the distance from the pivot corresponding forces. This allows the use of light, high-speed and fast industrial robots in high rhythm, which increases their profitability.

Claims

Device for the continuous handling of castings by means of industrial robots, consisting of a robot wrist-mounted gripper for receiving a casting with serving as a pressure pad workpiece support, characterized in that attached to the lower arm (7) of a robot guide frame a rotatable base (3) is, on a via a pivot bearing (4) a pneumatically or hydraulically actuated working cylinder (5) with associated piston rod head (G) for triggering a pressing movement of the casting to be machined (2) on the workpiece support (8) is arranged.

For this 1 page drawing

Field of application of the invention

The invention relates to a device for the continuous handling of castings for flexibly automated casting aftertreatment. The device is applicable to foundries for handling functions gripping, turning, pivoting, positioning, clamping, relaxing and releasing.

Characteristic of the known state of the art

On the handling of castings during Gußnachbehandlung specific requirements are made on the known handling of workpieces in terms of a conveying function addition. These result from the high rhythm of the machining, the often high number of different processing positions of the casting as well as the uninterrupted workpiece handling.

From DD-PS 212944 a device for gripping objects is known. It consists of a support element with two guide rails arranged at a distance from each other and parallel to one another, each with a hose attached thereto, extending along the guide rail and deformable by a pressure medium. The hoses are clamped on one side firmly with the guide rails, while each of the support element facing the ends against the action of a spring force in the axial direction of the hoses are movable relative to the guide rails. The hoses represent the pneumatically or by means of fluids actuated clamping means.

Furthermore, a pneumatic gripping device for the inner tap is known (DD-PS 226545), which is characterized in that a base body is provided with an elastomer and can be acted upon via corresponding supply lines with pressure media. In addition, the gripping device is assigned a compensation element made of elastomer for self-centering. With both gripping devices, it is indeed possible to realize the gripping, turning, pivoting, positioning, relaxing and loosening for all or from all processing positions under the specific condition of workpiece handling, it is not possible to clamp workpieces if their machining areas are not directly in near the device main axis or the gripper flange are, but castings / workpieces whose processing areas are further away from the device main axis or the Greiferflansch, due to their distance from the pivot point of the robot wrist when the machining tool unfavorable leverage conditions exist. These can be improved in uninterrupted workpiece handling, high rhythmic condition, only by increasing the pressing force for clamping, wherein the pressing force passes over the robot wrist. However, increasing the pressure force is limited according to the maximum load capacity of the wrist. If more robust robot guide frames are used to increase the load capacity, the dynamic conditions due to mass increase are impaired. The robot wrist is at risk of breakage, especially with regard to the load peaks emanating from the machining tool, and thus the safety at work is not guaranteed. This deficiency prevents the use of industrial robots for continuous, effective workpiece handling of castings in gel after-treatment. The technical reason for this lies in the joint realization of the positioning and clamping functions via the robot wrist and the gripping device, so that the robot wrist is loaded with torques during clamping.

Object of the invention

The aim of the invention is a device for continuous handling of castings by means of industrial robots, with the application areas, the flexibility and thus increases the efficiency and a safe and industrial robots not jeopardizing clamping of the castings can be achieved.

Explanation of the essence of the invention

The invention has for its object to develop a device for continuous handling of castings by means of industrial robots, which aftertreatment of castings, the processing areas are not directly in the vicinity of the device main axis or the gripper flange, and allows for clamping the robot wrist by function separation relieves the positioning or clamping realizing assemblies.