EP1256422A1 - Chambre de travail comprenant une ouverture étanchéifiable par télécommande pour l'introduction d'une main de robot - Google Patents

Chambre de travail comprenant une ouverture étanchéifiable par télécommande pour l'introduction d'une main de robot Download PDF

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Publication number
EP1256422A1
EP1256422A1 EP02004905A EP02004905A EP1256422A1 EP 1256422 A1 EP1256422 A1 EP 1256422A1 EP 02004905 A EP02004905 A EP 02004905A EP 02004905 A EP02004905 A EP 02004905A EP 1256422 A1 EP1256422 A1 EP 1256422A1
Authority
EP
European Patent Office
Prior art keywords
working chamber
elements
chamber system
coupling
robot hand
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP02004905A
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German (de)
English (en)
Other versions
EP1256422B1 (fr
Inventor
Reinhard Nadicksbernd
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SCHLICK-Roto-Jet Maschinenbau GmbH
Original Assignee
SCHLICK-Roto-Jet Maschinenbau GmbH
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
Priority claimed from DE2001120473 external-priority patent/DE10120473C1/de
Application filed by SCHLICK-Roto-Jet Maschinenbau GmbH filed Critical SCHLICK-Roto-Jet Maschinenbau GmbH
Publication of EP1256422A1 publication Critical patent/EP1256422A1/fr
Application granted granted Critical
Publication of EP1256422B1 publication Critical patent/EP1256422B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/04—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other stationary
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53096—Means to assemble or disassemble including means to provide a controlled environment

Definitions

  • seal automatically, for example can be effected via a program sequence control immediately before the process begins in the chamber. Intervention by operating personnel is not necessary.
  • To Completion of the work in the chamber can seal can be remotely released on the feed-through tube, so that the robot hand can move freely and with the Workpiece can be moved out of the chamber.
  • the working chambers allow movement in the Feed-through tube sealed lying robot hand in several Degrees of freedom.
  • those end axes are industrial robots and other manipulators referred to, for example a workpiece gripper or a machining tool is to be attached.
  • the robotic hand can with the working chamber system of the invention first entered the working chamber completely unhindered and out after the work is done.
  • the workpiece can pass through the bushing ring element be transported as far as the circumference of the workpiece is smaller is than the inside diameter of the grommet element.
  • the robot drives with his robot hand and one any workpiece gripper attached to it in one translational movement through the bushing ring element into the working chamber.
  • the control elements preferably Linear motors or pneumatic cylinders that either work on are arranged in the working chamber or on the robot the locking elements attached to it close to the coupling elements driven and then engaged with the coupling elements brought, creating a rigid connection between the bushing ring element in the working chamber and the robot hand will be produced.
  • this clutch is released again. This effect is achieved no matter whether the coupling elements on the bushing ring element and the locking and locking elements on the robot hand are arranged or vice versa.
  • At least one holding device for holding the bushing ring element arranged in a starting position is.
  • the bushing ring element is in one defined starting position that the robot held Approach this position exactly via a path control and the Establish coupling connection with the bushing ring element can.
  • Locking the robot hand with the feed-through ring element can be done via bolt, into the forked Engage latch elements.
  • the coupling elements are preferably designed as bolts which are a cylinder area and a front head area have, which are connected via a radial groove are.
  • the control elements are by at least two in one Coupling receptacle flap recesses formed, which each have a bolt passage recess and include an adjoining bolt bolt recess.
  • the coupling elements are electromagnets in this case and the coupling receiving flange has ferromagnetic Magnetic coupling areas.
  • the robot hand has a workpiece gripper with a screw-like, U-shaped bracket has, which at one end with a displaceable Clamping element is provided and at its other End has a support element.
  • a gripper is preferred arranged on the robot so that the clamping axis that extends between the clamping and the support element, approximately runs in the direction of the last robot axis.
  • the gripper and the workpiece to be clamped in it all arranged so that they match their respective Narrow sides due to the clear width of the bushing ring element into the interior of the working chamber can be.
  • the locking elements can be used as sliding locking elements be formed with a ramp have, which at least partially under the chamfered Cantilever edge can be inserted.
  • the sliding latch elements are for example attached to pneumatic cylinders and are direct insertable under the cantilever edge element.
  • the coupling elements are preferred each as a swivel bolt element with an arch edge formed, which arch edge is a run-up slope has and at least partially under the ramp the cantilever is pivotable.
  • swiveling the Swivel bolt elements is the one to be covered when locking Path along the edge of the arch is larger than one chamfered sliding locking element. Therefore, with less energy a firm lock can be achieved so that the Control elements can be made smaller.
  • a lever is created by an eccentric point of attack, so that the locking force is increased can be.
  • the invention also relates to a tightness monitoring device for a working chamber system of the aforementioned Art.
  • the task is therefore still a leak monitoring device specify with which a crack in the sealing element detected early and an exit from Abrasive from the working chamber can be prevented.
  • the one two-part sealing element which has a flexible inner layer and includes a flexible outer layer, which under Formation of an inner container are connected at the edges, wherein the inner container at least one in the lower area of the sealing element arranged outlet opening with at least has a particle sensor. If there is one heavy wear of the sealing element, the inner layer tears on, the outer layer an exit of the by the Cracked abrasive from the working chamber initially prevented. What has entered the inner container through the crack Blasting media gets into the by gravitational force exit opening provided below and there from the inner container out.
  • a magnetic sensor is advantageously used as the particle sensor Sensor selected when using blasting media made of ferrous materials become.
  • An optical sensor such as a light barrier, is suitable for all other abrasives, e.g. sand.
  • the Task by a seal monitoring device consisting Made of a two-part sealing element that is flexible Inner layer and a flexible outer layer includes which connected at the edge to form an inner container are, which with the formation of a gas-tight inner container are connected at the edge, and from a pressure sensor for gas pressure measurement in the inner container.
  • a seal monitoring device consisting Made of a two-part sealing element that is flexible Inner layer and a flexible outer layer includes which connected at the edge to form an inner container are, which with the formation of a gas-tight inner container are connected at the edge, and from a pressure sensor for gas pressure measurement in the inner container.
  • a working chamber 100 is shown in FIG. 1.
  • An industrial robot 200 is arranged outside the working chamber 100.
  • the industrial robot 200 has six axes of rotation 201 ... 206 and thus six degrees of freedom.
  • the 6-axis kinematics allows within the work area every point in space in any orientation of the last Robot member, for example the robot hand 216 with one Workpiece gripper 220 to start up.
  • the vertical axis 201 is an axis of rotation around which the entire Industrial robot 200 rotatable relative to a foundation 130 is.
  • Two articulation axes 202, 203 are arranged in succession, with which the so-called upper arm 212 and the forearm 213 can be inclined. This is what is called Wrist 205, which is another articulated joint, can be positioned in space.
  • the orientation of the wrist 205 in relation on the forearm 213 can still by a rotation axis 204 be changed.
  • the robot hand 216 is also connected via the rotation hand axis 206 the processing or clamping tool attached to it, for example the workpiece gripper 220, rotatable. Intended is that the robot hand 216 rotates the workpiece gripper 220 allows without restriction of the angle of rotation.
  • the endless rotation enables even workpiece handling with blasting agents and / or paints in the working chamber 100, because in contrast to finite angles of rotation the dead center a reversal of the direction of rotation is not necessary.
  • the workpiece gripper can be two or, especially for round ones Workpieces that have several clamping fingers and are electrical, be pneumatically or hydraulically operable, as is per se is known.
  • the wrist 205 and the robot hand 216 with the workpiece gripper 220 are in the shown in Figure 1 Work situation within one through the work chamber wall 110 lead-through ring element 40 and are rigidly coupled to this.
  • the coupled bushing ring element 40 acts as an extension of the robot hand 216 and can be rotated, moved as far as this and tilted like a flexible sealing element 20, that surrounds the lead-through ring element 40 allows this.
  • the bushing ring element 40 can be in the form, for example a circular ring, an elliptical ring or one Rectangle ring be formed.
  • the respective form, and thus connected the cross section of the recess 120 and / or the Sealing element 20 is chosen so that it is the largest possible Freedom of movement in the plane of the working chamber wall 110 for the respective application. So far the workpiece only rotates around the robot hand axis 206 the circular ring shape is a particularly suitable shape.
  • additional movements of the workpiece in the x and y directions required in the plane of the working chamber wall 110 are more extensive cross-sectional shapes like ellipses or Rectangles particularly suitable.
  • bushing ring element 40 can be tubular his.
  • the bushing ring element 40 is removed from the sealing element 20 included and is about this with the working chamber wall 110 connected.
  • the sealing element 20 can be bellows-like with additional folds of material around you greater freedom of movement of the inner bushing ring element 40 to allow. But it is preferred from flat blanks of a rubber material to form a funnel rolled, which results in a very simple manufacture. But it can also be an elastomeric ring with a slightly stretchable Foil be formed. It can also be segments of a circle be combined overlapping. If the sealing element is damaged 20 then only needs a single segment to be exchanged.
  • the sealing element can be used to automatically diagnose damage 20 be formed as a hollow body with Pressurized gas is applied. By monitoring the internal pressure can be a pressure drop due to damage is to be determined. This is a reaction of the Operating personnel and / or an automatic control device possible to leak media from inside to stop the working chamber 100 immediately.
  • the automatic diagnosis of damage can continue a tightness monitoring device shown in Figure 10 be provided.
  • This comprises a two-part Sealing element 20 with a flexible inner layer 22 and one flexible outer layer 21, which with the formation of an inner container are connected at the edge.
  • an outlet opening 94 In the area below of the sealing element 20 is an outlet opening 94 with at least a particle sensor 96 is provided. Kick abrasive through a crack 23 in the inner layer 22, it arrives due to gravity to the outlet opening 94 and becomes there optically by the operator or automatically by the particle sensor 96 recorded.
  • the bushing ring element 40 has a much smaller one Outer circumference than that introduced into the working chamber wall 110 Recess 120.
  • the ratio of the outer circumference of the Feed-through ring element 40 to the inner circumference of the recess edge is preferably about 1: 2 to 1: 5 ⁇ m for the To give robots the greatest possible freedom of movement.
  • the gap is bridged by the sealing element 20 and sealed so that dirt escapes from the inside the working chamber 100 is prevented.
  • the one from that Sealing element 20 thereby bridging distance can be circumferential be equal. But it can also be provided in the direction the flexible sealing element 20 in a main direction of movement to be made wider than in other areas of the circumference.
  • the recess 120 and the holding and sealing devices arranged thereon can in each of the walls 110 of the Working chamber 100 are introduced, that is, both in side walls as well as in the roof or floor of the chamber.
  • the Function of the coupling and sealing is in the inventive Working chamber system guaranteed regardless of position.
  • the bushing ring element 40 in all embodiments of the invention preferably from a holding device in a starting position held in the coupling and uncoupling the robot hand 216 to the feed-through ring element 40 is automated can be done.
  • the holding device comprises at least two actuating elements 30, for example pneumatic cylinders, which are arranged opposite to the recess 120 are, with extendable push rods 32, at the ends Centering elements 34 are provided. This can be Trade tapered or other shapes.
  • Receiving elements 44 are on the bushing ring element 40 attached, in which the compatible centering 34 of Intervene holding device.
  • the centering elements 34 are 3b shows, after coupling by a robot hand 216 and lead-through ring element 40 from the receiving elements 44 pulled out. This is the bushing ring element 40 movable and can be moved within the recess 120, be rotated or swiveled.
  • the one shown in Fig. 2b Embodiment are the recess, the sealing element 20 ' and the bushing ring element 40 'is also rectangular, lateral movements of the coupled robot hand 216 to facilitate.
  • FIG 3a shows the possible starting position of the bushing ring element 40 within the recess 120 in the working chamber wall 110 before coupling with the robot hand 216.
  • the robot hand 216 carries a workpiece gripper 220. Both can pass through the inside of the grommet element 40 are passed.
  • workpiece gripper 220 pushes a coupling receiving flange 50 with its recesses over the coupling elements 46.
  • the locking elements 54 via actuating elements 52 in engagement with the coupling elements 46 brought.
  • the coupling receiving flange can be wheel-shaped be and a hub portion and a ring portion have, which by at least two spoke sections are connected.
  • the coupling elements 46 are like 5 shows, preferably in the form of a bolt, a cylinder area 46.1 and a front head area 46.3, which have a radial groove 46.2 are connected.
  • the transition from the head area 46.3 to the groove 46.2 is provided with a run-up slope 46.4.
  • the one compatible locking elements 54 have two parallel spaced Forks, between which the coupling element 46 is insertable with its groove 46.2.
  • the forks are preferred also provided with a ramp.
  • FIG. 6 shows a disk-shaped locking element 60, which has locking recesses 62. Put this each from a bolt passage recess 62.1 and an adjoining bolt bolt recess 62.2 together.
  • the bolt-shaped coupling element 46 is approaching of robot arm and feed-through ring element 40 initially pushed through the bolt passage recess 62.1 until the annular groove 46.2 (see FIG. 5) at the level of the locking element 60 lies.
  • By rotating the locking element 60 the for example by rotating the robot axis that the locking element 60 carries, can be caused the bolt bolt recess 62.2 in the groove area 46.2 of the Coupling element 46 screwed in laterally. So there is a positive-locking connection.
  • Fig. 3a is the Coupling mounting flange 50 attached to robot hand 216, and the coupling elements 46 are on the grommet element 0 attached.
  • Fig. 4 shows an embodiment with a bushing ring element 40 "with short length. This leads to a reduction of the moving masses on the robot 200. Otherwise result there is no difference in the coupling and seal from the previous one described embodiment according to Figures 3a to 3c.
  • 3a is in the initial state shown the robot hand 216 inside the into the working chamber wall 110 used bushing ring element 40.
  • the coupling receiving flange 50 on robot hand 216 is already over the coupling elements 46 pushed.
  • the bushing ring element 40 is about the holding device with its centering elements 34 and the corresponding receiving elements 44 in one defined position held.
  • Figure 3c shows a possible pivoting of the robot hand 16.
  • the workpiece gripper 220 consists essentially of a screw clamp-like, U-shaped bracket, which on one end with a sliding clamping element 226 is provided and a support element 222 at its other end having. Between the clamping element 226 and the support element 22 workpieces can be clamped by the
  • Feed-through ring element 40 into working chamber 100 be introduced and removed.
  • the Bushing ring element 40 protects, especially in its tubular elongated design according to Figures 3a to 3c, the robot hand in the case of a beam attacking from the side 216 before the direct impact of jet particles. at the clamp-like design of the workpiece gripper 220 is the exposed, exposed surface minimized.
  • the bushing ring element 40 can also with a completely or in sections arranged on the circumference Cantilever edge element 80 may be provided. It can be for example, a profile with a U-shaped or L-shaped Act cross-section, with an outer leg of the profile as cantilever 82 with its open end inwards, that is to say Center of the bushing ring element 40 is directed.
  • the Cantilever edge 82 is preferably at its end with a run-up slope Mistake.
  • a coupling mounting flange 150 On a coupling mounting flange 150, which on the robot hand to be fastened, there are three swivel bolt elements 70.1, 70.2, 70.3 attached, each of which can be actuated by adjusting elements 152 are.
  • the adjusting elements 152 are preferably as Pneumatic cylinder designed and pivoted on pedestals 153 connected to the coupling receiving flange 150. Moreover they each have a bearing element at their other end on, via which a pivotable connection to the swivel bolt element 70.1 ... 70.3 exists.
  • the pivot bolt elements 70.1 ... 70.3 are, as shown in Fig. 9, especially as approximately semicircular discs formed, wherein an arc edge 73 with a run-up slope 71 is provided.
  • Each swivel bolt element is one Pivot 72 is rotatable, which is preferably outside the axis of symmetry 74 of the sheet edge 73 lies. This ensures that the sheet edge 73 to lock during the pivoting movement moves radially outwards and thereby the locking effect is increased.
  • Outside of axis of symmetry 74 and Pivot 72 is a point of engagement 76 for the bearing element of the control element 70.1 ... 70.3.
  • pivot bolt element 70.1 In a starting position, in the top right in FIG. 7 lying pivot bolt element 70.1 is outlined Bow edge 73 of the swivel bolt element 70.1 completely outside the cantilever 82.
  • the swivel bolt element 70.1 pivoted about the pivot point 72 which with a run-up slope 71 provided edge 73 under the cantilever 82 of the Cantilever elements 80 inserted on the feed-through tube 40 becomes.
  • This position is in the swivel bolt element 70.2 shown.
  • the sensor flag 78 also comes under Sensor holder element 90, attached to the known sensors are to the position of the sensor flag 78 and thus to detect the locking state of the swivel locking element. Also with the swivel bolt elements 70.1 and 70.3 such sensors are preferably arranged.
  • Swivel bolt elements in an opposite rotational orientation are preferred Swivel bolt elements in an opposite rotational orientation arranged. So are the swivel bolt elements in Figure 7 70.1 and 70.2 in the initial state in mirror image to each other arranged. This has the effect of being loosened the locking and a possible rotation of the entire coupling flange 50 occurs self-locking. No matter in which direction the loosened coupling flange is Should turn 50, he presses one of the opposite arranged swivel bolt elements 70.1, 70.2 under the Cantilever edge 82.
  • the sensor holder element has an additional optical control option 90 an indicator recess 92 to the Sensor flag to be visible when the swivel bar element 70.2 is in the locked position.
  • the locking state is schematically in section in Fig. 8 shown.
  • the locking elements 70.1 ... 70.3 in the cantilever element 80 there is also a seal between the robot hand not shown in detail in FIG. 8 216 and the bushing ring element 40 the coupling receiving flange 150 at least partially with a flexible sealing material 58 occupied.
  • the ramp 81, 71 on the swivel bolt elements 70.1 ... 70.3 or the cantilever 82 of the cantilever element 80 cause that with the insertion of the swivel bolt elements 70.1 ... 70.3 the Coupling mounting flange 50 with the associated robot hand 216 pressed onto the bushing ring element 40 becomes.
  • the shape of the working chamber system according to the invention manageable workpieces is almost arbitrary and only by clear width of the bushing ring element limited, so that came changeover times.
EP02004905A 2001-04-25 2002-03-05 Chambre de travail comprenant une ouverture étanchéifiable par télécommande pour l'introduction d'une main de robot Expired - Lifetime EP1256422B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10120473 2001-04-25
DE2001120473 DE10120473C1 (de) 2001-04-25 2001-04-25 Arbeitskammersystem
DE10162780A DE10162780C1 (de) 2001-04-25 2001-12-20 Arbeitskammersystem
DE10162780 2001-12-20

Publications (2)

Publication Number Publication Date
EP1256422A1 true EP1256422A1 (fr) 2002-11-13
EP1256422B1 EP1256422B1 (fr) 2007-09-12

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EP02004905A Expired - Lifetime EP1256422B1 (fr) 2001-04-25 2002-03-05 Chambre de travail comprenant une ouverture étanchéifiable par télécommande pour l'introduction d'une main de robot

Country Status (4)

Country Link
US (1) US6732424B2 (fr)
EP (1) EP1256422B1 (fr)
AT (1) ATE372858T1 (fr)
DE (3) DE10162780C1 (fr)

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WO2004080666A1 (fr) * 2003-03-12 2004-09-23 Schlick Roto-Jet Maschinenbau Gesellschaft Mit Beschränkter Haftung Systeme d'accouplement destine a un accouplement telecommande et desacoupplement d'un robot dote d'un element d'etancheite
WO2004080667A1 (fr) * 2003-03-12 2004-09-23 Schlick Roto-Jet Maschinenbau Gesellschaft Mit Beschrankter Haftung Dispositif de fixation permettant de tenir un element annulaire de traversee sur un element d'etancheite annulaire flexible
EP1905553A1 (fr) * 2006-09-27 2008-04-02 DISA Industrie AG Chambre de travail avec un bras manipulateur étanchéifiable
EP2002947A1 (fr) * 2007-06-11 2008-12-17 DISA Industrie AG Dispositif destiné au traitement simultané de diverses pièces à usiner pour un robot
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CN114966170B (zh) * 2022-06-22 2023-05-26 杭州三福节能科技有限公司 一种铁塔发电检测器用连接探头

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WO2004080666A1 (fr) * 2003-03-12 2004-09-23 Schlick Roto-Jet Maschinenbau Gesellschaft Mit Beschränkter Haftung Systeme d'accouplement destine a un accouplement telecommande et desacoupplement d'un robot dote d'un element d'etancheite
WO2004080667A1 (fr) * 2003-03-12 2004-09-23 Schlick Roto-Jet Maschinenbau Gesellschaft Mit Beschrankter Haftung Dispositif de fixation permettant de tenir un element annulaire de traversee sur un element d'etancheite annulaire flexible
DE10311298B4 (de) * 2003-03-12 2007-07-12 Schlick Roto-Jet Maschinenbau Gmbh Kupplungssystem zum fernbetätigbaren Kuppeln und Entkuppeln eines Roboters mit einer Dichtung
DE10311107B4 (de) * 2003-03-12 2013-02-07 Wheelabrator Group Gmbh Haltevorrichtung zum Halten eines Durchführungsringelements an einem ringförmigen flexiblen Dichtungselement
EP1905553A1 (fr) * 2006-09-27 2008-04-02 DISA Industrie AG Chambre de travail avec un bras manipulateur étanchéifiable
EP2002947A1 (fr) * 2007-06-11 2008-12-17 DISA Industrie AG Dispositif destiné au traitement simultané de diverses pièces à usiner pour un robot
CN106141931A (zh) * 2016-08-23 2016-11-23 昆山开信精工机械股份有限公司 一种轴滑轨喷丸或喷砂机器人
CN111958502A (zh) * 2020-07-27 2020-11-20 浙江广慈医疗器械有限公司 一种种植体表面形貌处理装置

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US6732424B2 (en) 2004-05-11
US20020159868A1 (en) 2002-10-31
ATE372858T1 (de) 2007-09-15
DE20200702U1 (de) 2002-04-18
EP1256422B1 (fr) 2007-09-12
DE10162780C1 (de) 2002-11-21
DE50210867D1 (de) 2007-10-25

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