EP4038000A1 - Table vibrante et dispositif d'alimentation ayant une table vibrante - Google Patents

Table vibrante et dispositif d'alimentation ayant une table vibrante

Info

Publication number
EP4038000A1
EP4038000A1 EP20775361.7A EP20775361A EP4038000A1 EP 4038000 A1 EP4038000 A1 EP 4038000A1 EP 20775361 A EP20775361 A EP 20775361A EP 4038000 A1 EP4038000 A1 EP 4038000A1
Authority
EP
European Patent Office
Prior art keywords
parts
legs
drive
bunker
leg
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.)
Pending
Application number
EP20775361.7A
Other languages
German (de)
English (en)
Inventor
Felix Büchi
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.)
Flexfactory Ag
Original Assignee
Flexfactory Ag
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 Flexfactory Ag filed Critical Flexfactory Ag
Publication of EP4038000A1 publication Critical patent/EP4038000A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00—Jigging conveyors
    • B65G27/10—Applications of devices for generating or transmitting jigging movements
    • B65G27/16—Applications of devices for generating or transmitting jigging movements of vibrators, i.e. devices for producing movements of high frequency and small amplitude
    • B65G27/18—Mechanical devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00—Jigging conveyors
    • B65G27/04—Load carriers other than helical or spiral channels or conduits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00—Jigging conveyors
    • B65G27/10—Applications of devices for generating or transmitting jigging movements
    • B65G27/32—Applications of devices for generating or transmitting jigging movements with means for controlling direction, frequency or amplitude of vibration or shaking movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/04—Bulk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2812/00—Indexing codes relating to the kind or type of conveyors
    • B65G2812/03—Vibrating conveyors
    • B65G2812/0304—Driving means or auxiliary devices
    • B65G2812/0308—Driving means

Definitions

  • the invention relates to a vibrating table and a feed with a vibrating table according to the invention.
  • the invention relates to various methods for operating and setting up a vibrating table according to the invention and a feeder according to the invention.
  • Feeders are used to separate parts of a bulk material so that they can be picked up individually by a robot arm or other means and transported onwards. These are often small parts that are comparatively more complicated
  • Geometry such as screw terminals, lamp sockets, interdental brushes, needles, buttons, springs, cannulas, high-current contacts, gears, lids, toy parts, electrical chokes and the like.
  • the object of the invention is to create a vibration table belonging to the technical field mentioned at the outset, which carries out vibrations that are constant in amplitude and frequency regardless of its load and which enables bulk material to be spread out as well as targeted transport and parts of the bulk material to be turned .
  • the vibration table comprises a table top and a drive.
  • the drive includes four scissor mechanisms.
  • a scissor mechanism has a first and a second leg and a node. The nodes are attached to the table top. The first leg can be moved independently of the second leg.
  • the amplitude of the resulting oscillation can be varied by skillfully driving the two legs and thus optimally adjusted to the situation at hand.
  • the legs In their basic position, the legs preferably enclose an angle of approximately 90 °.
  • the amounts of the vertical and horizontal components of the movement of a leg are approximately the same when the eccentricity is small. It has been shown that with this geometry, the parts can be transported quickly and in a targeted manner.
  • each leg is rotatably attached to an eccentric disk.
  • the leg can be moved by turning the eccentric disc.
  • the leg has a circular hole which can accommodate the eccentric disc.
  • the center of this hole is referred to below as the center of the leg.
  • the attachment point is the point on the leg that is at the junction of the scissor mechanism.
  • the connection line between the center point of the leg and the attachment point is referred to below as the leg section.
  • the leg length is the length of the length of the leg.
  • the eccentric disc is a circular disc that can be accommodated in the hole in the leg. It has a center point and a piercing point on the axis of rotation. The point of penetration of the axis of rotation is itself referred to as the axis of rotation in the following.
  • the distance between the axis of rotation and the center of the eccentric disk is the eccentricity. It has the variable e.
  • the eccentric disc rotates around the axis of rotation when it is driven.
  • One revolution of the eccentric disk is also referred to below as a drive cycle.
  • the position of the axis of rotation with respect to the leg section defines a certain drive position.
  • the basic position which is the drive position in which the axis of rotation lies on this leg section, is of particular importance.
  • Another special drive position is the maximum position in which the axis of rotation lies on the extension of the leg section.
  • the drive phase is a contiguous part of the drive cycle.
  • the distance between the base-fixed axis of rotation and the vibration table-fixed node differs.
  • the distance between the axis of rotation and the node is referred to below as the effective length of a leg.
  • the effective length is equal to the leg length minus the eccentricity when the relevant leg of the scissor mechanism is in the basic position. This is the smallest effective length that occurs during a drive cycle. It is therefore also referred to below as the minimum effective length and has the variable a.
  • the effective length is equal to the leg length plus eccentricity when the relevant leg of the scissor mechanism is in the maximum position. This is the largest effective length that occurs during a drive cycle.
  • both legs of a scissor mechanism are in the basic position, the two axes of rotation and the node form an isosceles triangle.
  • the two equally long sides of this triangle have the minimum effective length.
  • the half opening angle of the sides of the same length a characterizes, together with the leg length and the eccentricity, the scissor mechanism.
  • both legs of a scissor mechanism are brought synchronously from the basic position to the maximum position, the junction is raised. This is the highest amplitude which can be achieved with the drive according to the invention. It is referred to below as the maximum amplitude.
  • the synchronous driving of both legs of a scissor mechanism is referred to below as double driving.
  • a complete drive cycle comprises four drive phases: Starting from the basic position, the node first goes up and in a first horizontal direction. Then the mean amplitude is reached. The first drive phase now changes into the second drive phase, in which the node sinks while it continues to move in the first horizontal direction. From the maximum position, the third drive phase begins, in which the horizontal direction of movement rotates and goes in a second horizontal direction, while the node point rises again in the vertical direction, up to the fleas of the medium amplitude. The fourth drive phase begins here. In this the node sinks and continues to move in the second horizontal direction. The mean amplitude can therefore be achieved twice per drive cycle.
  • the eccentricity is preferably selected in the range of) l +) ⁇ sin (a) 2 , since the
  • Drives can preferably be controlled individually and thus the described frequency doubling can also be achieved with a smaller eccentricity by a faster drive.
  • a large number of other drive options can be implemented. For example, a synchronous but phase-shifted drive of both legs of a scissors mechanism or an asynchronous drive in which one leg is driven faster than the other can generate a large number of additional vibrations.
  • a synchronous, phase-shifted drive both eccentric disks rotate at the same frequency, but their movement begins at different drive positions.
  • a doubling of the oscillation frequency compared to the drive frequency with a reduced amplitude in the vertical direction and an increased deflection in the horizontal direction can be achieved by a phase shift of 180 °.
  • the nodes are arranged in a front row and a rear row.
  • the front and back rows run parallel to each other.
  • the scissor mechanisms are aligned perpendicular to these rows.
  • the two nodes in the front row are attached to a linear guide on the table top.
  • the two nodes in the back row are firmly attached to the table top.
  • the scissor mechanism allows the legs to move in one plane or in two parallel planes. These levels should define the orientation of the scissor mechanism. Scissor mechanics are then aligned perpendicular to a row when the straight line that runs through the nodes of this row penetrates the plane or the planes of the scissors mechanics perpendicularly.
  • a linear guide allows the node in the front row to move to a certain extent parallel to the table top in the plane of the scissor mechanism concerned.
  • the distance between the nodes in the front row and the nodes in the back row is variable to a certain extent.
  • the minimum required expansion of the linear guide results preferably from the determination of the distance between the nodal points in the event that all legs of the scissor mechanisms of the front row are in the maximum position and all legs of the scissor mechanisms of the back row are in the basic position and vice versa, from the determination of the distance between the nodes in the case that the legs of all scissor mechanisms are in the basic position and in the event that the the outer legs are in the basic position and the inner legs are in the maximum position.
  • the outer legs are those legs that lie essentially outside the rectangle defined by the nodes, and the inner legs are those legs that lie essentially on the boundary lines or within the rectangle.
  • the nodes of the back row are preferably firmly attached to the table top, while all other nodes are guided in linear guides.
  • Such further nodes are preferably also arranged in rows which are parallel to the other rows and in each of which there are at least two nodes.
  • the same legs in the back row are considered to be inner or outer ones, as in the case of the back row with two rows. In all other rows, the legs are classified as inner or outer legs, as would be the case if there were only two rows, namely the row in question and the back row.
  • the linear guide described above can also be completely or partially replaced by a virtual linear guide in which the drives of the front and rear scissor mechanisms are coordinated with one another in such a way that the distances between the nodes remain essentially constant. In addition to a targeted drive of all scissor mechanisms, this can also be achieved in that non-driven scissor mechanisms are not braked, but can move freely with them.
  • four electronically synchronized motors drive the legs. They are preferably servomotors. Preferably each motor offsets the Eccentric discs of two legs each in rotation. In particular, the jointly driven legs are two opposing legs.
  • a motor drives all of the legs and this motor uses a mechanism that allows certain groups of legs not to be driven if necessary.
  • Opposite legs are legs whose connecting lines are perpendicular to the orientations of the scissor mechanisms. For example, the inner legs of the scissor mechanisms in the front row are opposite one another.
  • one motor drives two opposing legs, so that the rows are operated in the same way.
  • the vibrations are thus mirror-symmetrical to a plane which is a plane of symmetry of the nodal points and which lies parallel to the planes of the scissor mechanisms.
  • a horizontal movement parallel to this plane is a forward or
  • Embodiment in a simple manner, the complexity of the drive can be reduced without losing important functions.
  • each leg is driven by a motor. In this way, the parts of the bulk material can be moved in all directions.
  • the table top comprises a
  • the border includes an emptying flap.
  • the nodes are attached to the border.
  • the emptying flap can be brought into a closed and an open position by the flap drive.
  • the conveying surface or the border can be exchanged without having to detach the nodes.
  • the conveying surface With its color, transparency, structure and material, the conveying surface can thus be adapted to the parts of the bulk material to be conveyed.
  • a dark conveying surface helps identify the parts when illuminated from above.
  • dark parts on the other hand, a light conveying surface increases the contrast in this situation. If the lighting is from below, a transparent conveying surface that distributes the light as evenly as possible is helpful in many cases.
  • a structure that is finer than certain dimensions of the parts can prevent the parts from resting completely on the conveying surface and from sticking there. In addition, a structure can prevent undesired slipping of the parts.
  • the impulse transfer to the parts can be regulated and thus, for example, the parts jumping back after a jump caused by the vibration of the table , are largely suppressed.
  • Replacing the border can be particularly helpful if the type of parts to be guided is changed and this results in significant changes in the flight path.
  • a rather deep border allows a robot arm in many cases to travel shorter distances and thus to work faster.
  • a high border effectively prevents parts of the bulk material from jumping off the conveying surface.
  • the emptying flap can have two functions:
  • the conveying surface can be emptied automatically by opening it and during which a vibrating movement is carried out, which conveys the parts in the direction of the emptying flap.
  • This second safety device can, for example, be a lever that holds the conveying surface in a horizontal position to the right and left of the boundary sections of the border and which can be brought into a vertical position by Fland to exchange the conveying surface, in which the conveying surface is released and pulled out can be.
  • the border preferably comprises four posts, two thin and two thick, a U-shaped frame, which can have stabilizing struts if necessary, and a rectangular frame, on one side of which the emptying flap is attached, and four side walls.
  • the U-shaped frame preferably has a groove into which the conveying surface can be pushed.
  • the side walls are preferably held by the posts and the two frames.
  • the two thick posts represent the delimitation posts for the emptying flap and contain the flap drive and, if necessary, guides for the emptying flap and preferably the second securing device for the conveying surface.
  • the nodes are preferably attached to the U-shaped frame.
  • the conveying surface can be pushed into the border.
  • the conveyor surface is connected to the other parts of the table top in a stable manner.
  • the conveying surface is held on a floor of the vibrating table with screws, clips or rods that snap into the side walls.
  • the vibration table comprises a distance sensor which is arranged between the scissor mechanisms.
  • the distance sensor detects the fleas on the tabletop.
  • the distance sensor is preferably an inductive analog sensor.
  • the distance sensor is preferably arranged in the middle between the nodes, that is to say at the intersection of the diagonals of the rectangle when the nodes are arranged in the rectangle.
  • a method for operating a vibrating table then also includes setting the basic position. The following steps are performed for the procedure:
  • a leg or a group of jointly driven legs is moved until the height of the table top has the lowest value that can be achieved by this movement. Meanwhile, all other legs remain in their current drive position. In the drive position in which the height of the table top assumes the lowest value, the moving leg or the moving group of jointly driven legs is in their basic position.
  • this first step is repeated with the other legs or groups of jointly driven legs. Repeat until all legs are in their basic position. Then the basic position of the vibration table is reached.
  • the height of the table top is recorded with the distance sensor. Since this is located between the scissor mechanisms, the basic position of each leg can be determined independently of the drive position of the other legs. Since, in addition, only the minimum is always sought, but not an absolute value, the calibration method is robust against falling or lifting from the sensor or the table top over time.
  • the first legs are all legs that represent the left or right legs of the scissor mechanisms for the viewer of the vibrating table from the side. Since all scissor mechanisms are driven simply, the table top experiences a vertical movement of the mean amplitude at all nodal points. Since these are only the first legs, the horizontal movement is also the same at all nodes. If there is a linear guide, this horizontal component is primarily transferred to the table top by the scissor mechanics of the series without a linear guide.
  • the drive cycle begins with a movement up and towards the second leg.
  • This phase of the drive cycle causes the parts on the conveyor platform to float in a second direction.
  • the drive cycle then continues with a movement downward and towards the first legs. In this second phase, however, there is little or no contact between the parts and the conveyor platform, since the parts are preferably still in the flight phase.
  • the parts are quickly transported in the direction of the second leg, that is, in the second direction.
  • the first half of the vibrating table can be the left or the right side of the vibrating table for the viewer from the side.
  • the second half is the half that is not the first half.
  • the selected scissor mechanisms are double-powered.
  • the nodes of these scissor mechanisms perform a movement with the maximum amplitude in the vertical direction, but no horizontal movement.
  • the other scissor mechanisms remain in their basic position.
  • the table top tilts up and down again and again to the horizontal.
  • the first half of the vibration table is repeatedly raised by the maximum amplitude at the nodes that are attached in the first half, while the nodes of the second half maintain their height and thus also keep the table top there low.
  • the parts that are located there are thrown up.
  • the parts in the second half are hardly thrown up because the amplitude of the vibration tends to be too small at their position.
  • the parts on the second half of the table top are therefore essentially stationary in this method.
  • Another method of operating a vibrating table makes it possible to turn parts on the first half of the vibrating table while the parts are jumping in the direction of the second half. Meanwhile, parts on the second half of the vibrating table move increasingly further away from the first half of the vibrating table.
  • the outer legs of the scissor mechanisms attached in the first half and preferably the inner legs of the scissor mechanisms attached in the first and second half are driven synchronously.
  • the outer legs of the scissor mechanisms attached in the second half remain in their basic position.
  • the nodes of the scissor mechanisms attached there are firmly attached to the table top. If only the outer leg is driven by these scissor mechanisms, this results in a vertical movement with the mean amplitude and a horizontal movement, the direction of which is directed forward in the first drive phase. In the first drive phase, the direction of movement of the vertical movement is upwards. The parts on the back half are pushed up and forward. In the area of the front half of the conveyor plate, the amplitude is significantly smaller in the vertical direction, but essentially the same in the horizontal direction. The parts located there also move forward with significantly smaller hops.
  • the rear node makes a vertical upward movement with the maximum amplitude in the first drive phase, however no horizontal movement.
  • the driving of the inner leg of the front scissor mechanism ensures that there is a vertical movement with the medium amplitude and a horizontal movement forwards in the first drive phase. This horizontal movement forwards is largely absorbed by the linear guide and is hardly passed on to the table top. But since all parts experience a vertical acceleration with which they jump into the air and they are on an inclined plane, there is still a movement forwards.
  • the transmissible impulse in the rear half is significantly greater than in the front half.
  • the drive frequency can therefore be chosen in such a way that the parts of the rear half fly high enough to turn, while this is not the case in the front half.
  • the nodes of the scissor mechanisms attached there are attached to the table top via the linear guides. If only the outer leg is driven by these scissor mechanisms, this results in a vertical movement with the mean amplitude and a horizontal movement, the direction of which is directed backwards in the first drive phase. In the first drive phase, the direction of movement of the vertical movement is upwards. The horizontal movement, however, is hardly transferred to the table top because it is picked up by the linear guide. The parts on the front half are pushed upwards. In the area of the rear half of the conveyor plate, the amplitude in the vertical direction is significantly smaller.
  • the parts jump up on the front half, albeit less high than in the case of a double drive in the front half with the same frequency.
  • the front node makes a vertical upward movement with the maximum amplitude in the first drive phase, but no horizontal movement.
  • the drive of the inner leg of the rear scissor mechanism ensures that there is a vertical movement in the first drive phase Movement with the medium amplitude occurs and a horizontal movement backwards.
  • This horizontal movement to the rear is passed on to the table top, because the rear nodes are firmly connected to it. All parts experience both a vertical acceleration, with which they jump into the air, and a horizontal movement. In addition, they are on an inclined plane. This results in an effective movement to the rear.
  • the transmissible pulse in the vertical direction is significantly greater in the front half than in the rear half, so that the drive frequency can be selected in such a way that the Fly parts of the front half high enough to turn while the back half does not.
  • the horizontal portion of the transmitted impulse also makes turning easier.
  • a feed system comprises a vibrating table according to the invention, a bunker and a return tank.
  • the return tank is at least partially below the bunker.
  • the vibration table and the return container are arranged in such a way that parts can slide and / or jump from the vibration table into the return container.
  • bunker, vibration table and return tank is particularly compact and it is sufficient that the user can access it from a single side, since he can access it from there can pour replenishment into the bunker as well as remove rejected parts from the return container.
  • the return tank can also be used to empty the vibration table and, if necessary, the bunker, which can be important, for example, when replacing parts.
  • the vibration table is preferably arranged in such a way that the front half is near the return tank.
  • This embodiment allows the parts to be transported quickly in the direction of the return tank without them jumping too high: it is sufficient to drive the outer legs of the rear scissor mechanism and to leave all the other legs in the basic position. Due to the fixed connection of the rear nodes with the table top, in addition to an upward impulse, an impulse for forward movement is also given and the parts quickly move towards the return tank without jumping too far or too high.
  • the vibration table is arranged in such a way that the rear half lies next to the return container and the parts can thus be transported into the return container by a backward movement.
  • a backward movement for example, an operating method in which all legs of the front row and the inner legs of the back row are driven, while the outer legs of the back row remain in their basic position. In this way, both the mean inclination of the conveyor plate and an impulse transfer between the parts in the direction of the return tank are achieved.
  • the bunker comprises a bunker drive and a feed flap.
  • the feed flap prevents parts from the bunker from falling onto the conveyor table at an unintended time.
  • the hopper drive preferably comprises an eccentric disk.
  • the bunker serves as a reservoir for the bulk material, which is then spread out on the vibrating table for removal by a robot arm, for example.
  • this is equipped with a similar, but preferably simpler, drive than the vibrating table.
  • an eccentric that generates a vibration movement is sufficient for the bunker drive also has a movement component in the direction of the feed flap during the upward movement.
  • several legs driven by this eccentric are preferably attached to the bunker, for example at its corner points. This prevents the bunker from tipping over, even if the bulk material is unfavorably distributed inside.
  • the bunker consists of a container receptacle which is connected to the bunker drive and a bulk goods container which can be connected to the container receptacle.
  • the bulk goods container is open towards the feed flap.
  • the feed flap is formed on the container receptacle.
  • the feed flap can be opened and closed automatically by a motor, the flap drive of the feed flap. It remains closed until additional parts are required on the vibrating table. If there is a need for more parts, the feed flap opens while the bunker drive is running. Parts in the bunker are moved through the opened feed flap by the vibrations caused by the bunker drive and from there fall onto the vibrating table. As soon as the desired quantity of parts is on the vibrating table, the feed flap is closed and the bunker drive is stopped.
  • the bunker comprises a rear and a central light barrier.
  • the rear light barrier observes a first area in front of the feed flap inside the bunker.
  • the middle light barrier observes the inside of the bunker in a second area, which has a fixed and known distance from the first area.
  • the rear light barrier makes it possible to determine whether parts are directly next to the feed flap. These parts will fall from the bunker onto the vibrating table within a short time when the feed flap is opened and the bunker drive is activated.
  • the feed system therefore preferably lets the bunker drive run with the feed flap closed and without a current request for more parts until the rear light barrier detects parts.
  • the time for removing a part differs depending on the shape, size, material and weight of the part.
  • the removal time i.e. the time from the original location in the bunker to removal from the vibrating table, can also depend on further parameters or external circumstances.
  • the rear and middle light barriers can be used to give the user a practical and relevant estimate of the time until refilling.
  • a teach-in process is carried out for this purpose. At this point, the point in time is determined from which the middle light barrier no longer detects any parts. From this point on, the removed parts are counted until the rear light barrier also no longer detects any parts.
  • the removal time for a part in the case of an emptying bunker, can be estimated by dividing the duration between the two times by the number of parts removed.
  • the duration per part can be divided by the remaining term. This gives an estimate of the number of parts still in the bunker for which the information should be given. If it is now known during operation how many parts have been filled into the bunker and how many of these parts have already been removed, the control can determine the remaining number of parts and inform the user at the desired time.
  • the method for teaching in a feed system that works together with a robot that removes bulk material from the conveyor table thus comprises the following steps:
  • the period from the last detection of a part by the middle light barrier to the last detection of a part by the rear light barrier is determined.
  • the duration of the period is divided by the number of parts. This result is saved.
  • the result is an average removal time per part when the bunker is not very full.
  • the method for operating a feed system comprises the step that, after bulk material has been filled, the bunker is driven by means of the bunker drive until the rear light barrier detects parts.
  • the method of operating a delivery system comprises the following steps:
  • the parts are preferably first moved away from the bunker somewhat by synchronously driving all legs pointing away from the bunker and then stimulated to higher jumps by synchronously driving all legs.
  • all legs or only those legs whose nodes are attached to the side of the table top remote from the bunker are preferably driven synchronously
  • all legs pointing to the return tank are preferably driven synchronously.
  • Legs pointing away from the bunker are legs where, in the basic position, the horizontal distance between the attachment point and the bunker is greater than the horizontal distance from the center of the leg to the bunker.
  • legs on the return tank indicate when, in the basic position, the horizontal distance between the attachment point and the return tank is smaller than the horizontal distance from the center of the leg and the return tank.
  • Fig. 1a A vibration table in a view obliquely from above
  • Fig. 1b A vibrating table in a side view Fig. 1c
  • the vibration table of Fig. 1b in a view from above, without a table top
  • Figure 2 is a schematic drawing of a delivery system
  • FIG. 3 shows a schematic drawing of a leg of a scissor mechanism
  • FIG. 4a A sketch of the functioning of the scissors mechanism in
  • FIG. 4b A sketch of the functioning of the scissors mechanism in
  • FIG. 1a shows a vibrating table 1 in an oblique view from above.
  • the view falls on the table top 2, which has a flat and rectangular conveying surface 21 which is surrounded by a border 24.
  • the border 24 has a certain amount of fleas, but this is significantly smaller than the length or the width of the conveying surface 21 and thus also than the length and width of the border 24.
  • One of the short sides of the border 24 is designed as an emptying flap 23. It can be pivoted into an open position in which the relevant short side of the conveying surface 21 is exposed and is not separated from the environment by a border 24 or other boundary.
  • the emptying flap 23 limits the conveying surface 21, just like the other sides of the border 24, and thus prevents parts from jumping off the conveying surface 21.
  • the emptying flap 23 is brought into the open or closed position by a flap drive 22.
  • the flap drive 22 is accommodated in the two posts which flank the relevant narrow side of the border 24 and thus also the emptying flap 23.
  • the vibration table 1 also includes a drive 3.
  • the drive 3 is located below the table top 2. In the view shown, only one half of the drive 3 can be seen.
  • the drive 3 includes a total of four scissor mechanisms 41, 42, 43 and 44 and four motors 61,62,63,64. In the view shown, however, only two scissor mechanisms 41, 42 and two motors 61, 62 can be seen.
  • the scissor mechanisms each include a first leg 41.1, 42.1, a second leg 41.2, 42.2 and a node 41.3, 42.3.
  • the first and second legs 41.1, 41.2, 42.1, 42.2 come together in the respective node point 41.3, 42.3.
  • the legs 41.1, 41.2, 42.1, 42.2 are attached to eccentric disks 41.1 1, 41.21, 41.21, 42.21.
  • the axes of rotation 9 of the eccentric disks 41.1 1, 41.21, 41.21, 42.21 lie in a plane which, when the scissor mechanisms are all in their basic position, lies parallel to the conveying surface 21.
  • the legs 41.1, 41.2, 42.1, 42.2 of the scissor mechanisms 41, 42 each span a triangle. Both triangles are in the same plane. This plane is parallel to the planes in which the long sides of the border 24 lie.
  • the nodes 41.3, 42.3 are attached to the border 24.
  • Figure 1b shows a vibrating table 1 from the side.
  • the table top 2 is only indicated and no details can be seen.
  • the drive 3 with its scissor mechanisms 41 and 42, which can be seen here, and the motors 61 and 62, however, is shown.
  • the eccentric disks 41.1, 1.41.21, 42.1 1 and 42.21 can be seen clearly.
  • two contiguous circles can be seen.
  • a concentric, smaller, second circle is drawn in one of them.
  • This double circle marks the center point of the eccentric disks 41.1, 1.41.21, 42.1 1 and 42.21.
  • the center of each leg is at the same point as the center of the respective eccentric disk.
  • the empty circle however, marks the axis of rotation 9.
  • the center point is offset from the axis of rotation 9 by the eccentricity e.
  • Figure 1b shows all legs 41.1, 41.2, 41.2, 42.2 and eccentric discs 41.1 1, 41.21, 42.1 1, 42.21 in their basic position:
  • the leg length corresponds to the distance from the center of the eccentric discs 41.1, 1.41.21, 42.1 1, 42.21 to the respective Node 41.3, 42.3, since the attachment point of the leg in question lies at the corresponding node and the center of the eccentric disc in question is at the center of the leg in question.
  • In the basic position is the Axis of rotation 9 on the line and thus between the center point of the eccentric disks 41.1, 1.41.21, 42.1 1, 42.21 and the corresponding node point 41.3, 42.3.
  • the node 41.3 or 42.3 represents an axis around which the two legs 41.1, 41.2 or 42.1, 42.2 of the relevant scissor mechanism 41 or 42 can rotate at least in a certain angular range.
  • this axis is gripped by a sleeve with a flat upper side which is essentially open on three sides parallel to the axis and thus does not restrict the rotation of the legs 41.1, 41.2 or 42.1, 42.2 in regular use.
  • the scissors mechanism 41 is in the back row and the scissors mechanism 42 in the front row.
  • the scissors mechanism 41 of the front row is firmly connected with its node 41.3 to the table top 2, for example by the flat top of the sleeve being glued or screwed to the table top 2.
  • An adapter piece or a spacer can also establish a fixed connection between table top 2 and node 41.3.
  • the scissors mechanism 42 of the rear row is fastened with its node 42.3 to the table top 2 by means of a linear guide 5.
  • the linear guide 5 is realized here by a T-beam, which is held parallel to the table top at a certain distance.
  • the T-beam lies in the plane that is defined by the scissor mechanism 42.
  • the carrier points away from the table top 2.
  • the sleeve which is used to attach the node 42.3, comprises a guide on its flat surface.
  • This guidance can be realized by two parallel grooves, the largest distance between which is slightly larger than the width of the roof and the smallest distance is smaller than the width of the roof but larger than the width of the "stem" of the T-shape.
  • the guide picks up the roof from the T of the linear guide 5.
  • the linear guide 5 is in turn firmly connected to the table top 2.
  • connections of the nodes 41.3 and 42.3 are dimensioned such that in the basic position of all scissor mechanisms 41, 42, 43, 44 the table top 2 is parallel to the The plane is defined by the axes of rotation 9 of all eccentric disks 41.1 1, 41.21, 42.1 1, 42.21.
  • Figure 1c shows the drive 3 of the vibrating table 1 obliquely from above.
  • the table top 2 is not shown.
  • All four scissor mechanisms 41, 42, 43, 44 can be seen. Each has a node 41.3, 42.3, 43.3, 44.3.
  • All first legs 41.1, 42.1, 43.1 and 44.1 are in the view from above on the left side of the junction of the relevant scissor mechanism 41, 42, 43 or 44.
  • All second legs 41.2, 42.2, 43.2, 44.2 are in the view of above on the right side of the junction of the relevant scissor mechanism 41, 42, 43 or 44.
  • the nodes 41.3, 42.3, 43.3, 44.3 are in the basic position in two parallel rows 13.2 and 13.1.
  • the nodes 41.3, 42.3, 43.3, 44.3 span a rectangle 13.3 in their basic position.
  • the second legs of the rear row 43.2 and 41.2 and the first legs of the front row 42.1 and 44.1 lie within the rectangle 13.3 and are therefore inner legs.
  • the first legs of the rear row 43.1 and 41.1 and the second legs of the front row 42.2 and 44.2 lie outside the rectangle 13.3 and are therefore outer legs.
  • the motor 61 is arranged below the scissors mechanism 41.
  • the rotation generated by the motor 61 is transmitted to the drive axle 61.1 by means of a belt.
  • the drive axis 61.1 is perpendicular to the planes of the scissor mechanisms. If the drive axle 61.1 rotates, it sets the eccentric disks 41.21 and 43.21 into rotation about their axis of rotation 9.
  • the second legs 43.2 and 41.2 of the two rear scissor mechanisms 41 and 43 are set in motion by the same motor 61.
  • a motor 63 which is arranged below the scissor mechanism 43, drives a drive axle 63.1 and above it the two first legs 41.1 and 43.1 of the two rear scissor mechanisms 41 and 43.
  • the drive of the first two legs 42.1 and 44.1 of the front scissor mechanisms 44 and 42 is implemented analogously by the motor 64 and the drive axle 64.1.
  • the drive of the two second legs 42.2 and 44.2 of the front scissor mechanisms 44 and 42 is implemented analogously by the motor 62 and the drive axle 62.1.
  • the nodes 41.3 and 43.3 of the back row 13.2 are firmly connected to the table top 2.
  • the sleeves in which the nodes 41.3 and 43.3 lie are provided with a bar with screw holes.
  • the beam can be fastened to the table top 2 through the screw holes by screwing screws into the table top 2 through the screw holes.
  • the sleeve and thus also the node 41.3, 43.3 are then firmly attached to the table top 2.
  • the nodes 44.3 and 42.3 of the front row 13.1 are connected to the table top 2 via a linear guide 5.
  • the sleeve with the guide can be seen in the form of two parallel grooves.
  • the part of the linear guide 5 which is actually also fastened to the table top with screws can be seen, which has a T-beam, the roof of which can just be received by the grooves in the sleeve.
  • the motors 61, 62, 63, 64 and the drive axes 61.1, 62.1, 63.1, 64.1 and the rotation axes 9 of the eccentric disks 41.1 1, 41.21, 42.1 1, 42.21, 43.1 1, 43.21, 44.1 1, 44.21 are attached to a common frame , which represents a base with respect to which the table top 2 can be moved.
  • a distance sensor 7 which can measure the distance or the change in the distance from the table top 2, is also arranged between all the scissor mechanisms 41, 42, 43, 44, approximately in the middle of the rectangle 13.3.
  • the distance sensor 7 is also attached to the common frame.
  • FIG. 2 shows a schematic drawing of a feed system according to the invention.
  • the feed system comprises a vibration table 1 according to the invention, a bunker 16 and a return tank 17.
  • the path of the parts of the bulk material through the feed system is marked by arrows:
  • the bulk material is placed in the bunker 16 and from there transported in small portions to the vibrating table 2.
  • the parts are spread out.
  • their position is recorded with the camera 15.
  • the correctly positioned parts are gripped by the robot 14 and sent to their destination.
  • the position of the Parts changed, the situation captured again with the camera 15 and all suitable parts removed by the robot 14.
  • the emptying flap 23 is opened by the flap drive 22 and the vibrating table 1 is operated in such a way that the parts are passed through the opened emptying flap 23 wander and fall from there into the return tank 17.
  • the vibration table 2 is brought into the basic position.
  • the height of the table top 2 is observed with the aid of the distance sensor 7.
  • Each jointly driven pair of eccentric disks is moved one after the other until the height of the table top 2 is at the lowest point of the drive cycle.
  • the bunker 16 After the bulk material has been filled into the bunker 16, the bunker 16 is moved by the bunker drive 16.1 until parts are detected at the rearmost light barrier 16.23. There, the feed flap 16.3 prevents the parts from falling onto the vibrating table 2 at an undesired time.
  • the feed flap 16.3 can be opened and closed by a flap drive 16.31.
  • the front light barrier 21.1 detects that bulk material has been refilled in the bunker 16 at all.
  • the removal time per part can be estimated when the bunker 16 is almost empty and thus a time until it is necessary to refill can be determined.
  • the point in time at which the last part passes the middle light barrier 16.22 is determined. From this point in time, the parts removed by the robot 14 are recorded. The counting is stopped at the moment when the last part has passed the rear light barrier 16.23. The number of parts counted is N. For the removal of N parts, the time difference between the last detection in the middle light barrier 16.22 and the last detection in the rear light barrier 16.23 is required. It is also known in this way that when the bunker is almost empty, there are N parts between the two light barriers. Since the removal time per part is At / N, a user who is to be warned of a remaining time T before refilling should be warned precisely when if there are still NT / D ⁇ parts in the bunker.
  • the controller 18 receives the data from all light barriers 16.21, 16.22, 16.23, the robot arm 14, the drives 3, 22, 16.31, 16.1 and the camera 15.
  • the data lines are indicated with dashed lines.
  • the data for determining the time until the need for refilling are also stored in the controller 18 and used to notify the user at the desired point in time.
  • the controller 18 also determines the type and duration of operation of the vibration table 1 as a function of the signals from the camera 15 and the type and duration of operation of the bunker drive 16.1 as a function of the signals from the light barriers 16.23, 16.22 and 16.21.
  • the controller 18 can also take into account inputs from the user.
  • the hopper drive 16.1 comprises an eccentric disk 16.1 1, a leg 16.12 and a motor 16.13.
  • the motor 16.13 drives the eccentric disk 16.1 1 in such a way that the bunker 16 moves upwards and in the direction of the feed flap 16.3 in a first drive phase and back to the starting position in the second drive phase. Since the momentum transfer to the parts is greater in the first drive phase than in the second drive phase, the parts in the bunker move towards the feed flap 16.3 and, when it is open, through it.
  • FIG. 3 shows a sketch of a leg 4x.y of a scissor mechanism.
  • the leg 4x.y is sketched as a triangle. One of its corners is the attachment point 4x.y4. Just above the base to this corner, leg 4x.y has a circular hole in which an eccentric disc 4x.y1 is let. The center of the eccentric disk and the center of the leg 4x.y2 are in the same place.
  • the axis of rotation 9 is also shown.
  • the distance between the center point of the eccentric disk and the axis of rotation 9 is the eccentricity 82.
  • the distance between the fastening point 4x.y4 and the center point of the leg 4x.ys is the length 81 of the leg 4x.y.
  • the section between these two points shown here with a dash-dotted line, is the leg section 4x.y3.
  • the leg 4x.y is in the basic position.
  • the minimum effective length, a, 83 is equal to the leg length 81 minus the eccentricity 82.
  • the distance between the axis of rotation 9 and the attachment point 4x.y4 is the effective length and it increases to the leg length 81 plus the eccentricity 82 when the eccentric disk has rotated 180 °.
  • the effective length of the leg 4x.y i.e. the length beyond the axis of rotation 9, changes as a result of the rotation of the
  • FIG. 4a shows a scissor mechanism with two legs of the type from FIG. 3, the eccentric disks of which rotate synchronously. It is a double drive. At the junction, the two legs are connected at their attachment points. The axes of rotation 9 are both stationary and thus have during the entire
  • the position of the two legs in the basic position 10.0 is shown in solid lines.
  • the situation can be described by a triangle, the corners of which form the axes of rotation 9 and the node. Since both legs are in the basic position and both legs are dimensioned the same, the triangle is isosceles.
  • the sides of the triangle In the basic position, the sides of the triangle have the lengths a, a and G.
  • the base side of this triangle is the distance between the two axes of rotation and has the length G.
  • a is the minimum effective length.
  • the fleas of the triangle corresponds to the smallest distance that the node can have from the base side.
  • the effective length of the legs increases until they have the maximum effective length of a + 2e, where e is the eccentricity.
  • This situation is sketched with dashed lines.
  • the node now has its greatest height. This is the position with the maximum amplitude 10.2.
  • the triangle the corners of which form the axes of rotation 9 and the node, is still isosceles, but its opening angle has decreased compared to the triangle of the basic position.
  • the side lengths are a + 2e, a + 2e and G.
  • the maximum amplitude 11.2 of this oscillation is the distance between the height of the node in the position with the maximum amplitude 10.2 and the height of the node in the basic position.
  • the movement of the node 12 is purely vertical and is shown in FIG. 4a with a double arrow.
  • Figure 4b shows a similar situation.
  • the same legs are shown in the same basic position as in FIG. 4a in solid lines.
  • the node point lies on the symmetry line of the triangle and at the same height as in FIG. 4a.
  • FIG. 4b The situation is shown in dashed lines in FIG. 4b in which the right leg has a maximum effective length in the case of a single drive. After a 180 ° rotation of the eccentric disc compared to the basic position, i.e. after half a drive cycle, the resulting triangle between the axes of rotation and the node point has the side lengths a, a + 2e and G and is therefore no longer isosceles. Its height is less than in the case of FIG. 4a.
  • the node moves up and down in the vertical direction between the height of the basic position and the mean height shown in FIG. 4b.
  • the amplitude of this oscillation is the mean amplitude 11.1.
  • the movement of the node 12 is limited by the non-driven, here left, leg:
  • the attachment point of the left leg can only be on move a circle with a radius equal to the effective length of the left leg around the left axis of rotation.
  • the effective length of the left leg remains the same throughout the drive cycle. This circle is shown in FIG. 4b.
  • the right leg changes its effective length during the drive cycle.
  • the attachment point of the right leg must always lie on a circle around the right axis of rotation, the radius of which corresponds to the effective length of the right leg to the corresponding point in the drive cycle. Depending on the point in the drive cycle, this circle has a different radius.
  • Figure 4b both the small and the largest of these circles are.
  • the radius is equal to the maximum effective length and thus the leg length plus the eccentricity.
  • the radius is equal to the smallest effective length and thus the leg length minus the eccentricity.
  • the node Since the node is common to both legs, it must always lie on the intersection of the circle of the left leg and the circle of the right leg. So it follows the circle around the non-driven leg.
  • the movement of the node 12 is therefore shown both vertically and horizontally and is shown in FIG. 4b with a double arrow.
  • the oscillation does not follow the whole circle, but only a section of the circle.
  • the circle segment is limited by the intersection points with the smallest and with the largest circle of the right leg.
  • a vibration table can also have more than four scissor mechanisms, for example six or eight.
  • the arrangement of the nodes can also be trapezoidal instead of rectangular. It is possible to drive each eccentric disc individually and independently of all others, instead of combining them in pairs.
  • the legs can also be driven in other ways, for example a linear motor can replace the eccentric disks and the motors. Instead of coming together at a node, the legs can also be kept at a fixed distance from one another with a connecting web at their fastening points.
  • the linear guide can be used at the front or at the rear.
  • the feed system can have a different bunker drive.
  • a conveyor belt can transport the parts in the bunker or a comb can push them in the desired direction.
  • the bunker drive can also include scissor mechanisms, as they are known from the vibration table.
  • the bunker is realized by a two vibrating table.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jigging Conveyors (AREA)
  • Feeding Of Articles To Conveyors (AREA)
  • Manipulator (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

L'invention concerne une table vibrante (1) qui comprend un plateau (2) et un dispositif d'entraînement (3), le dispositif d'entraînement (3) comportant quatre mécanismes de ciseaux (41, 42, 43, 44) ayant chacun un premier (41.1, 42.1, 43.1, 44.1) et un deuxième membre (41.2, 42.2, 43.2 et 44.2) et un moyeu (41.3, 42.3, 43.3, 44.3), les moyeux (41.3, 42.3, 43.3, 44.3) étant fixés au plateau (2) et le premier membre (41.1.42.1. 43.1. 44.1) pouvant être déplacé indépendamment du deuxième membre 41.2, 42.2, 43.2, 44.2).
EP20775361.7A 2019-10-02 2020-09-25 Table vibrante et dispositif d'alimentation ayant une table vibrante Pending EP4038000A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP19201155.9A EP3800147A1 (fr) 2019-10-02 2019-10-02 Table vibrante et acheminement au moyen de la table vibrante
PCT/EP2020/076990 WO2021063843A1 (fr) 2019-10-02 2020-09-25 Table vibrante et dispositif d'alimentation ayant une table vibrante

Publications (1)

Publication Number Publication Date
EP4038000A1 true EP4038000A1 (fr) 2022-08-10

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP19201155.9A Withdrawn EP3800147A1 (fr) 2019-10-02 2019-10-02 Table vibrante et acheminement au moyen de la table vibrante
EP20775361.7A Pending EP4038000A1 (fr) 2019-10-02 2020-09-25 Table vibrante et dispositif d'alimentation ayant une table vibrante

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP19201155.9A Withdrawn EP3800147A1 (fr) 2019-10-02 2019-10-02 Table vibrante et acheminement au moyen de la table vibrante

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US (1) US20240051763A1 (fr)
EP (2) EP3800147A1 (fr)
JP (1) JP2022551857A (fr)
KR (1) KR20220127805A (fr)
CA (1) CA3160112A1 (fr)
WO (1) WO2021063843A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11939168B2 (en) 2021-10-08 2024-03-26 TriDelta Systems, LLC Servo-driven vibratory conveyor
DE202022103096U1 (de) * 2022-06-01 2022-06-20 Taktomat Kurvengesteuerte Antriebssysteme Gmbh System zur Handhabung von Schüttgütern

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5992813A (ja) * 1982-11-15 1984-05-29 Shinko Electric Co Ltd 振動装置
JPH01303218A (ja) * 1988-01-22 1989-12-07 Kitada Sukeele Kk コンベアー
US5404996A (en) * 1992-06-23 1995-04-11 Carrier Vibrating Equipment, Inc. Vibratory drive system for a vibratory conveyor apparatus and a conveyor apparatus having same
US5602433A (en) * 1994-11-10 1997-02-11 Fmc Corporation Modular drive component for a vibratory feeder device
GB9511677D0 (en) * 1995-05-24 1995-08-02 British American Tobacco Co Conveying tobacco
US5615763A (en) * 1995-08-18 1997-04-01 Carrier Vibrating Equipment, Inc. Vibratory conveyor system for adjusting the periodic resultant forces supplied to a conveyor trough
US5816386A (en) * 1996-07-15 1998-10-06 Allan M. Carlyle Fluidizer conveyor
JPH11165846A (ja) * 1997-11-29 1999-06-22 Haimeka Kk 部品の振込方法および振込装置
US6276518B1 (en) * 1999-08-30 2001-08-21 Key Technology, Inc. Vibratory drive for a vibratory conveyor
DK1513749T3 (da) * 2002-06-06 2006-10-09 Flexfactory Ag Fremföring af rystegodsdele
CH700371B1 (fr) 2009-02-05 2013-11-15 Asyril Sa Système d'alimentation en composants.
JP5793942B2 (ja) * 2011-04-27 2015-10-14 シンフォニアテクノロジー株式会社 物品分別装置

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Publication number Publication date
US20240051763A1 (en) 2024-02-15
EP3800147A1 (fr) 2021-04-07
JP2022551857A (ja) 2022-12-14
CA3160112A1 (fr) 2021-04-08
WO2021063843A1 (fr) 2021-04-08
KR20220127805A (ko) 2022-09-20

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