RU2510320C2 - Flexible production system - Google Patents

Abstract

FIELD: process engineering.

SUBSTANCE: proposed system comprises control system, computer-aided instrumental support system and at least one flexible production section. The latter comprises processing equipment supported by transport storaging system (TSS) including at least one carrier turning about vertical axis and having cellular sections arranged along carrier periphery to turn independently there about. Besides it comprises means to interchange cargoes between said carrier and processing equipment. To increase efficiency and quality of said interchange, said sections are configured by placing cargo-bearing cells in columns with access zone extending inside the carrier at its initial position or radially. Every said section is secured in turn holder case to turn independently about holder turn axis to horizontal position and further extension therefrom. Said cells are equipped with means to lock cargoes at preset position. Said carrier can turn to some preset positions in number of sections and is equipped with turn drive and controlled locking means. Said comprises means to interchange cargoes between said carrier and processing equipment comprises transceivers with at least one channel of sections extension and return arranged opposite the processing equipment and industrial robots.

EFFECT: higher efficiency, better cargo exchange.

7 cl, 12 dwg

Description

Flexible production system (GPS) is designed for serial engineering production and can be used in other industries with multinomenclature freight flows (pharmacology, trade and marketing organizations, etc.).

The effectiveness of the GPS is largely determined by the speed, variability, power, resource efficiency of the cargo exchange: blanks, parts, interoperational backlog, technological equipment (cutting, auxiliary tools,

fixtures). A significant increase in these indicators is the most important condition for the development of production systems for various purposes.

Known GPS based on a robotic warehouse system (RCC). It includes CNC machines, a shelf-type storage device, an industrial robot, a transceiver (PPU) [Malikov OB, Malkovich AR Warehouses of industrial enterprises: Ref. / Under the total. ed. ABOUT. Malikova. - L .: Engineering, Leningrad. Department, 1989. - S.136-137; Belyanin P.N. and other Flexible production systems / P.N. Belyanin, M.F. Izon, A.S. Zhogin. - M .: Engineering, 1988. - 256 p., S.78-79]. Cargo exchange by the piece. Technological equipment (TO) is placed along the load-bearing surface (hydraulic fracturing) of the storage device. Between them mounted robot and PPU. Load-bearing elements - address positions (AP) are placed as the elements are placed in a rectangular matrix, which ensures a high packing density of goods (blanks, parts, interoperation margin). The robot provides individualization of routes. The design of the load-bearing surface and the algorithm for controlling the search for APs in its conditions are relatively simple. Due to the above-mentioned advantages, DGC-based GPSs are most widely used. Their significant drawback is that hydraulic fracturing is static. Cargo exchange is spent on temporary, material, energy resources. When searching for one address position, the remaining APs of the load-bearing surface of the storage device are forced to participate in the cycle. The possibility of individualizing the routes provided by these devices is ensured by the high expenditures of time and electricity. The longest in time is the development of actuator movements relative to the OX and OY axes. The capacity of cargo flow, performance at the lower limit of possibilities. Racks with robots or stacker cranes are rather massive systems with not always justified content of a large current stock.

Known flexible production system Rota - F-125 (prototype), which implements flexible routes for moving goods inside the technological system [G. Shaumyan Integrated automation of production processes. M .: Engineering, 1973. - S.630-633]. GPS is designed for processing parts in small batches and includes maintenance with decentralized drives connected by an automatically operating rotary storage and transportation system located in its center. It contains a centralized drive equipped with lifts. The diameter of the drive - rotor, equal to 12 meters, is determined by the size of the technological front. The drive consists of nine rings mounted one above the other, rotating independently according to a given program. Rings moving above the machines serve simultaneously as drives and mechanisms for transporting workpieces, parts, interoperational margins along the annular part of the route. They are elements of the system that characterize its route flexibility. In fact, this is the best known solution for organizing short flexible transport links. In terms of indicator, the waiting time for service is also one of the best systems that reduces downtime of technological equipment to a minimum. These properties provide it with features of the drive morphology: the presence of parallel service channels (transport rings). The application for transferring the workpiece to the machine is first performed by the drive, which rotates around the vertical axis OY, the load moves along the ring route to the lift, then the lift, realizes a rectilinear movement parallel to the axis OY, lowering the workpiece, then it is transferred to the decentralized drive. Significant disadvantages of the considered GPS are the extremely undesirable effect that accompanies the dynamic conditions of cargo storage: when one piece or part is delivered along the transport ring, all the others are forcibly moved, which significantly increases the energy consumption of the search. Exchange of goods only piece by piece. The ring profile of the Rota - F-125 system is not very promising for its use in order to increase the number of technological equipment. It gives a loose structure with a low utilization rate. At the same time, the current stock of goods created in it is very large. Obviously, it is not dictated by the direct tasks of cargo exchange. The created cellular structure “attracts” excess masses of cargo. The formation of effective links between flexible production sites, which are based on their composition of ring drives of this design, is problematic.

The technical effect of the proposed GPS is to increase its productivity, flexibility, resource efficiency by improving the properties of cargo exchange: variability, power, spatio-temporal characteristics, reducing energy consumption.

The specified technical effect is achieved by the fact that a flexible production system (GPS) containing a control system, an automated tooling system, at least one flexible production site, including technological equipment (MOT), served by a transport and storage system (HPS), having, at least one cage rotatable relative to the vertical axis, with autonomously rotated cellular sections located at its periphery, and means for exchanging goods between the cage th and technological equipment is equipped with a holder, the sections of which are formed by vertical placement of load-bearing cells in columns, with an access area deployed inside the holder, in its initial position, or radially, while each of the sections is fixed in the housing of the rotary holder with the possibility of autonomous rotation relative to the axis of rotation of the holder in a horizontal position and subsequent extension from the housing, while the axis of rotation of the holder is passed through coaxial holes made at the ends of the bracket connected to its center the flange part with a common rack, while the heel of the holder is pivotally connected in its lower part with a rotation drive relative to its axis of rotation mounted on the rack, the cells are equipped with means for securing loads in a given position, the clip has the ability to rotate in a number of predetermined positions, by the number of sections, and is equipped with a rotation drive and controlled fixing means, as a means of exchanging sections between the casing casings and the process equipment, the HPS includes transceivers (PPU) with at least one a section extension channel equipped with a drive of a section extension and return device located opposite the MOT working areas, as well as industrial robots, while the section rotation horizontal drive is hydraulic, while the section extension and return device is made in the form of a gear train and includes a rail, mounted on the outer side of the section with the possibility of engagement with the gear of the drive, while the device extension and return sections made in the form of a reverse gear with a pulling element, on installed by a carrier, with the possibility of interacting with a groove made on the outside of the section, the stroke of which is limited by limit switches, in addition, the rotary cage is mounted on a trolley with an inductive drive, while the load-carrying cells in the columns are placed in at least one row, while sections in the rotary cage are installed with functionally minimal structural gaps between them along the inner contour formed by their faces.

The list of figures drawings.

Figure 1. GPS with one mobile clip (one-sided arrangement option);

Figure 2. The clip in the initial position with a section extension device, made in the form of a gear transmission;

Figure 3. Clip in open position;

Figure 4. Options for placing access zones in a cell;

Figure 5. Section extension phases

6. GPS with one stationary clip (option of a bilateral arrangement);

7. GPS with one stationary clip (option of a ring arrangement);

Fig. 8. GPS with one mobile clip (option of a bilateral arrangement);

Fig.9. GPS with two mobile clips (option of one-sided arrangement);

Figure 10. GPS with three movable clips (a variant of the composition of one-sided and two-sided layouts);

11. GPS with a mobile clip and a transceiver (PPU) with two channels for moving sections with sequential placement of TO;

Fig. 12. GPS with a mobile cage and PPU with two channels for moving sections with parallel placement of TO.

Flexible production system 1 (Fig. 1) includes a control system (not shown), at least one flexible production area with technological equipment 2 and a transport and storage system 3. HPS 3 has at least one cage rotatable relative to the vertical axis 4, with autonomously rotating cellular sections 5 located on its periphery, and means of exchanging goods between the clip 4 and the processing equipment 2: transceiver 6 and the industrial robot 7. The clip is shown in the initial position fig. 2 and in the open position in figure 3. Section 5 of the cage 4 is formed by the vertical arrangement of load-bearing cells - address positions 8, mainly in one or two columns, with an access zone 9, deployed inside the cage 4, in its original position, or radially. Options for placing access zones in a cell are shown in FIG. 4. The dimensions of the gaps between sections 5 along the inner contour formed by their faces are reduced to functionally minimal. In sections 5, both processing objects and a processing tool can be placed, that is, it can be used as a component of an automated tooling system. Each of the sections 5 is installed in the housing 10 of the rotary holder 11 and pinched by two side latches 12. Each section 5 has the possibility of autonomous rotation relative to the axis of rotation 13 of the holder 11, in a horizontal position and subsequent extension from the housing 10. The axis of rotation 13 of the holder 11 is passed through coaxial holes 14 made at the ends of the bracket 15. The bracket 15 is connected by its central part to a common stand 16, while the heel 17 of the holder 11 is pivotally connected, in its lower part, to the hydraulic actuator rod of rotation 18 mounted on 16. oyke cells 8 are provided with fixation means cargo at a predetermined position, the shape and size of which are determined by structural and technological parameters parts. In the proposed embodiment, the set of means includes a shutter 19 common to the section with a profiled inner surface, a sealant and magnetic latches (not shown). The shutter 19 is mounted on the upper edge of the rear wall of section 5 with the possibility of rotation and the formation of a closed volume to accommodate goods. The shutter 19 is moved by an industrial robot 7. The holder 4 has the ability to rotate in a number of established positions, by the number of sections 5, and is equipped with a rotary drive 20 and controlled locking means 21. PPU 6 is equipped with a reversible drive 22 of the extension and return device 23 sections 5. Extension phases sections 5 are shown in FIG. Two variants of the extension and return device of 23 sections are proposed 5. According to the first embodiment, the extension and return device of 23 sections 5 is made in the form of a gear train and includes a rack 24 mounted on the outer side of section 5 with the possibility of engagement with the gear 25 of the drive 22 exiting its upper part into the channel 26 of the PPU 6. According to the second variant, the device for extending and returning the sections 5 is made in the form of a transmission with a pulling element 27 on which the carrier 28 is mounted, with the possibility of interaction with a groove 29 made on the outside section 5, the stroke of which is limited by limit switches 30. To be able to move the cage 4 in the GPS 1 it can be equipped with a trolley with an inductive drive 31.

GPS work. Flexible production system 1 can operate in various modes: in the mode of complementarity of technological equipment, interchangeability, autonomous, combined. Figure 1, 6-13 shows several different structural - layout schemes of GPS - linear, ring, one-sided, two-sided, combined. Their functional organization is disclosed below on the example of a GPS with a stationary holder, with a linear two-sided arrangement of technological equipment.

A GPS option with a stationary holder, with a linear two-sided arrangement of technological equipment is shown in Fig.6. Ferrule 4 serves both external and internal cargo flows. Fully performs the functions of delivering goods to machines 2. There are three modes of operation: Mutual complementation, interchangeability, autonomous. In the mode of complementarity, the clip 4 additionally implements inter-station communication by rotation about a vertical axis. As shown in FIG. 6, the stationary clip 4 serves two parallel machines located on its sides of the machine 2. When a control signal is received by the drive 20, the clip 4 with vertically mounted mesh sections 5 is rotated relative to its vertical axis to the transmission position of the desired section 5 of the transceiver device 6. The combination of the position of section 5 and PUF 6 is controlled by sensors (not shown). After stopping, the clip 4 is locked in position using the fixing means 21: a retractable center located in the clip 4 and the socket made on the PUF 6. After section 5 is in the transmitting position of the transceiver 6, the stand-alone mounted on the rack 16 is turned on the hydraulic drive of rotation 18 of section 5 relative to the swing axis 13 of its holder 11. The rod of the hydraulic drive of rotation 18 rises and pulls the holder 11. pivotally connected to it by the fifth 17. The holder 11 is held by a bracket 15 connected centrally th part with a common rack 16, rotates relative to the swing axis 13, passed through coaxial holes 14, made at the ends of the bracket 15, in a horizontal position. Thanks to the two side latches 12, the section 5 maintains a stable position in the holder body 11. The position of the loads in the cell is fixed by a shutter 19 common to section 5 with a profiled inner surface, a sealant and magnetic latches (not shown). There are two options for extending and returning sections 5. According to the first embodiment, a gear train is used as an extension and return device of 23 sections 5. The rail 24 mounted on the outside of the section 5, when it is turned into a horizontal position, engages with the gear 25 of the actuator 22 mounted in the control panel 6. At the moment of engagement, the sensors are activated (not shown in Fig.), The device actuator 22 is turned on by their signal , the rotary movement is communicated to the gear 25, which is converted by a rack-and-pinion transmission into the translational movement of section 5. Section 5 is completely extended from the housing to the PUF 6. The load exchange between the yoke 4 and the PUF 6 is group. After the transfer of section 5, the holder 11 belonging to it, in its expectation, either retains the occupied working position or is returned to its original position to be able to exchange the clip 4 with another control unit 6. After opening the shutter 19, the portal robot 7 gets access to the loads placed in section 5: cutting tool. The capture and removal of goods is carried out depending on the location of the access zone either on top or on the side of section 5. After processing and laying the last of the parts located in section 5, the portal robot 7 closes the shutter 19. According to the control signal, the required rotary holder 11 of the section It is delivered by a rotary holder 4 to the transmission position. The combination of the position of the rotary holder 11 and the PUF 6 is controlled by sensors (not shown). After stopping, the yoke 4 is locked in position using the fixing means 21: a sliding center located in the yoke 4 and a socket made on the PUF 6. Then, the drive 22 of the extension and return device 23 of the sections 5 is turned on. The gear 25 is rotationally moved in the direction opposite to that which was set when extending section 5. The rotation of gear 25 is converted by rack-and-pinion gear into translational movement of section 5. Section 5 enters the housing 10 of the rotary holder 11 of the holder 4 and latches of the two sides with side latches 12. After that, the stand-alone rotary drive 18 of section 5 mounted on the stand 16 is turned on relative to the swing axis 13 of its holder 11. The rotation hydraulic actuator rod 18 is lowered and pulls the holder 11. pivotally connected to it by the fifth 11. The holder 11, held the bracket 15 connected to the common rack 16, rotates relative to the swing axis 13, passed through the holes 14, at the ends of the bracket 15, in the original vertical position. Next, the clip 4 is released and rotated to move the next section 5 to the transmission position.

A GPS option with a stationary clip, the layout is annular one-sided, shown in Fig.7. The implementation of the four above-mentioned modes of operation of technological equipment is possible. The number of sections 5 installed in the holder 4 mainly exceeds the number of PPU 6, or equal to it. In the first embodiment, the dimensions of the gaps between sections 5 along the inner contour formed by their faces are functionally minimal. The advantages of the structural-layout solution of the clip 4 are used in two ways, both in the implementation of coordinate (rotary) movements, and in the implementation of inter-station communications in the mode of complementation. In a number of compatible solutions, ferrule 4 can serve two to three applications in parallel or in parallel-succession. The rest of the work of GPS 1 is similar to the solution considered above.

A GPS option with one movable clip (a two-sided arrangement option) is given in FIG. 1. The clip 4 performs the functions of storage (accumulation), tilting, transportation of sections 5. Section 5, being in the clip 4, implements the function of centralized storage (accumulation), while at the machine 2, it implements the function of decentralized accumulation. It is possible to implement four modes of operation of technological equipment. The variant differs from previous solutions by the free movement of the cage 4 over the entire space occupied by the GPS 1. It easily moves inside the system 1 with the load raised by vertical sections 5 along narrow transport highways, while simultaneously making turns in predetermined positions, to each unit of equipment serviced 2. Turning around to them, quickly distributes, quickly picks up sections 5, implements group exchange of goods.

A GPS option with two movable clips, a linear one-sided arrangement is shown in FIG. 9. It is possible to implement four modes of operation of technological equipment. It differs from the solution given in figure 1 by the functional organization of cargo exchange. The functions between the clips 4 are divided as follows. The first serves the incoming freight traffic, the second - the outgoing freight traffic.

A GPS with three movable clips (a variant of a linear composition of one-sided and two-sided arrangements) is shown in FIG. 10. It differs from the solution given in figure 1 and figure 9 by the functional organization of cargo exchange. The functions between the clips 4 are divided as follows. The first serves the incoming cargo flow, the second - inter-station communications between the first and second line maintenance, the cargo flow entering the second line from the external connection, the third - the outgoing cargo flow.

GPS options differing in the number of sections moving channels are shown in two figures: in FIG. 11 GPS with a mobile cage and PPU with two sections moving channels with sequential maintenance; on Fig GPS with a mobile cage and PPU with two channels for moving sections with parallel placement of TO. In these embodiments, the cage 4 is mounted on a trolley with an inductive drive 31 and performs mini-movements to combine the required position of the rotary holder with one of the channels 26 of movement of section 5. In both GPS 1, at least two machines 2 are connected by one PPU 6.

The formed set of structural features of the clip has a number of strong, previously inaccessible advantages.

In the design of one device - clips, the principle of spatio-temporal integration and differentiation of functions is implemented. This allowed radical changes in the functional organization of cargo exchange. Unnecessary functions are excluded - transport, transmission, extra technical means. Functionality is simplified. The performance of some functions is combined. For the first time, the clip can be everywhere at the same time, performing its tasks at each GPS point, being present in them with its own separate sections, turning unit, or the whole can be in one place. As a result, in accordance with the tasks of the technological environment, the clip can quickly distribute sections according to requirements, quickly assemble them, and operate mobile. For the first time, a clip and a centralized and attached drive simultaneously. A short turn time when moving to maintenance, virtuosity, lightness is ensured by small capacity, small size and large transmission volume. The system has a scheme for eliminating downtime, which includes both a decrease in the intensity of the flow of applications, ensured by the amount of transferred data, the formation of a reserve, and an increase in the intensity of servicing applications by activating cargo exchange.

All sections are rarely present in the clip, it is constantly in whole groups, in the sections it sends the required loads, discards the unnecessary - already completed tasks. Its unloaded state when performing turns, linear movements very positively affects the reduction of energy consumption. This is a mobile, dynamic node "receiver-distributor": received and quickly sent. The clip standing near the machine is at least “6 valence, high-speed communication” with other units of technological equipment.

The clip has a vertical development. The radius of the cage is extremely compressed in order to form on its basis compact "nodal" or otherwise "point-linear" HPS with the upper development of cargo exchange and, accordingly, structural-layout schemes of GPS. This leads to a comprehensive improvement in the spatio-temporal characteristics of the GPS: to the rational use of the production area, to reduce transportation routes and transportation time and, accordingly, to reduce the cost of kW of energy per meter.

When servicing the prototype section - the ROTA system, its vertical coordinate during the removal and stacking of cargo is converted into sixty ascents and descents of the elevator, which is considered as a disadvantage. In the proposed solution, with one rotary movement of the holder, we simultaneously move (“reset”) all the AP sections to the level of the working area of the maintenance unit. With its honeycomb structure, the section differentiates the horizontal movements of the robot into small steps, making them invisible in the service time of the application. He does not need to practice a long linear coordinate. The disadvantage is translated, by using the installation rotary movement of the sections, in the advantage.

Claims (7)

1. A flexible production system (GPS), containing a control system, an automated tooling system, at least one flexible production site, including technological equipment (TO), served by a transport and storage system (HPS) having at least one rotary relative to the vertical axis of the cage with autonomous rotary cellular sections located on its periphery, and means of exchange of goods between the cage and technological equipment, characterized by m, that the sections are formed by the vertical arrangement of load-bearing cells in columns with an access zone deployed inside the cage in its initial position or radially, while each of the sections is fixed in the housing of the rotary holder with the possibility of autonomous rotation relative to the axis of rotation of the holder in a horizontal position and subsequent extension from case, while the axis of rotation of the holder is passed through coaxial holes made at the ends of the bracket connected by its central part to a common rack, while the heel of the holder is a ball it is connected in its lower part to the rotation drive relative to its axis of rotation mounted on the rack, the cells are equipped with means for securing goods in a given position, the clip has the ability to rotate in a number of predetermined positions by the number of sections and is equipped with a rotation drive and controllable locking means, while as a means of exchanging sections between the casings of the cage and the technological equipment, the HPS includes transceiver devices (PPU) with at least one channel for extending the sections, equipped with a drive troystva nomination and return sections and placed in front of the working TO zones and industrial robots. 2. The system according to claim 1, characterized in that the drive turning the sections in a horizontal position is made hydraulic. 3. The system according to claim 1, characterized in that the device for extending and returning the sections is made in the form of a gear transmission and includes a rail mounted on the outer side of the section with the possibility of engagement with the drive gear. 4. The system according to claim 1, characterized in that the device for extending and returning the sections is made in the form of a reverse gear with a pulling element on which a carrier is mounted with the possibility of interaction with a groove made on the outside of the section, the course of which is limited by limit switches. 5. The system according to claim 1, characterized in that the rotary cage is mounted on a trolley with an inductive drive. 6. The system according to claim 1, characterized in that the load-bearing cells in the columns are placed in at least one row. 7. The system according to claim 1, characterized in that the sections in the rotary holder are installed with functionally minimal structural gaps between them along the inner contour formed by their faces.

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