RU2818554C1 - System for manipulating and securing of processed blade - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to machine building and can be used for manipulating and securing companion devices, for example, when processing blades. System comprises a companion device for placing the blade during its movement, a robot manipulator with a gripper configured to manipulate the companion device, and a device for securing the companion device, made in the form of a housing fixed on the post. At that, companion device is equipped with two sets of fingers, each of which includes clamping and coordinating finger, which are installed on its lower side and on one of lateral sides, and two cylindrical pins, one of which is made with recess, installed on its other side, wherein said housing is made with two holes having the possibility of entering said pins, and is equipped with a spring-loaded lock with a groove, which is made with the possibility of locking the said pin with the groove and, accordingly, fixing the companion device on the said housing. On the gripper of the robot manipulator there is a pressure plate with a protrusion having the possibility of interacting with the end of the spring lock protruding from the housing.

EFFECT: use of the invention increases reliability of attachment of the companion device without complicating the design of the system.

3 cl, 4 dwg

Description

The present invention relates to the field of mechanical engineering, and in particular to devices for securing blade companion devices during processing on grinding machines, washing, control on measuring machines, storage in address cells of warehouses and storage units, for interception in a device for securing (for changing position bottom/side grip).

Of the devices that are designed to secure satellite devices, the closest are:

“Device for installing satellite devices” (SU 1590318 A1, B23Q 3/00, 1978). The device contains a housing. On opposite sides, clamps with drives are movably installed. The clamps are equipped with locating rollers with V-shaped grooves designed to interact with the base pins of the satellite devices. Both clamps move along the tracking grooves of the housing guides. One roller is spring-loaded.

The disadvantages of this device include the difficulty of installing the satellite device. Installation must occur along a complex trajectory determined by the copy grooves. Another disadvantage is the uncertainty of the location of the satellite device due to the presence of a double guide.

A “device for securing satellite devices” is known (patent SU 1348130 A1, B23Q 3/00 1979). The invention relates to devices for fastening satellite devices on replaceable tables of metal-cutting machines. The invention expands the technological capabilities of the machine by loading the device with a robot both from above and from the side. The body contains swinging supports with transverse grooves and internal jumpers, which are hinged in brackets with a wedge-shaped base. The brackets are fixed to the body with the possibility of adjustable movement and have longitudinal grooves in which the working elements-plungers are located. Each clamp is made in the form of a bracket installed in a swinging support, spring-loaded with side and bottom adjustable stops. The drive elements are made in the form of spring-loaded pushers coaxially located in the housing.

The disadvantages of the device include the complexity of the design of the swinging supports, and therefore the difficulty of setting it up for the installation of satellites, as well as the need to synchronize the installation with all supports.

A “device for basing a satellite device” is known (patent SU 1516301 A1, B23 Q 3/00 1971). The invention relates to metalworking and can be used in machines such as machining centers.

The invention makes it possible to increase the locating accuracy by increasing the contact area of the locating elements. On the base of the satellite, fixing elements made in the form of fixed conical fingers are installed. In the satellite and cylindrical bores, conical bushings are placed with interference, interacting with the ends of the threaded plugs. The conical bushings are fixed in the bores with fasteners. When setting up the device, the satellite is mounted on the conical fingers of the base. In this case, the fastening elements are turned out of the threaded holes of the conical bushings, and the threaded plugs are installed with a gap between their ends and the supporting surfaces of the bushings.

By means of a hydraulic cylinder, the clamp with the satellite is lowered, the bushings are moved down, selecting a gap between the pins and the conical holes of the bushings with elements fixing their position.

The disadvantages include the need for additional adjustment of the satellite device. Complication of the design and the requirement for the presence of a hydraulic cylinder, which complicates the design and requires additional costs for its setup. Also, during operation of the satellite device, due to frequent replacement and installation of these basic elements, their wear will increase and, due to alternating loads, a gradual weakening of the fixing elements will occur.

The closest analogue, taken as a prototype, to the proposed invention is the flexible production module described in patent SU 1541017, B23Q 41/02, 02/07/1990. The flexible production module contains an industrial robot, a transport and storage system with a cassette, a module control system, a machine with rotation and tool feed drives located on its frame.

Disadvantages of the prototype.

1. The system is controlled by a hydraulic cylinder. Which leads to the need for a hydraulic system in the machine, or adding it to existing equipment. The control process becomes more complicated, stability and quality of positioning are lost. There may be loss of oil in the system and, as a result, a decrease in pressure and efficiency of movement of the actuators.

2. Configuration, installation and launch of the flexible production module is carried out manually each time by the operator, including preparing the workpiece and installing it into the satellite.

3. The accuracy of rotation of the vice is specified only by the coincidence of the axis of rotation and the base plane, since the necessary compensation elements are missing, it will be impossible to ensure their coordination and, consequently, the accuracy of rotation of the vice and the accuracy of the cut samples.

The advantage of the inventive system for manipulating and securing the blade being processed is the reliability of fastening the companion device with the blade thanks to the clamping mechanism, the ability to install, remove and intercept the satellite device with a robotic manipulator from the clamping fingers located on the side to the clamping fingers located below, and vice versa , there is no need to use complex electromechanical locking devices to securely fasten satellite devices with blades.

This is possible thanks to the design and operating principle of the clamping mechanism of the fastening device: a pressure bar mounted on the gripper of the robotic manipulator presses on the head of the spring lock, the recess of which is aligned with the hole and allows the pins of the satellite device to enter all the way into the body of the interception station, after withdrawal robot manipulator from the interception station, the spring pushes the spring lock, which, entering the recess of the pin of the satellite device, reliably blocks its movement in any direction.

The technical result of the invention is to increase the reliability of fastening the satellite device in the system for manipulating and securing the blade being processed.

The technical result is expressed in ensuring the reliability of fastening the satellite devices with blades, the ability to intercept the satellite device with a robot manipulator from the clamping fingers located on the side to the clamping fingers located below, and vice versa, there is no need to use complex electromechanical, pneumohydraulic and other locking devices. devices for reliable fastening of satellite devices with blades.

The technical result is achieved in that in a system for manipulating and securing the blade being processed, containing a satellite device for placing the blade during its movement, a robot manipulator with a gripper, configured to manipulate the satellite device, and a device for securing the satellite device, made in the form of a housing mounted on a stand, the satellite device is equipped with two sets of fingers, each of which includes a clamping and coordinating finger installed on its lower side and on one of the sides, and two cylindrical pins, one of which is made with with a recess installed on its side, wherein the said body is made with two holes capable of inserting the said pins into them, and is equipped with a spring-loaded lock with a recess installed in it, configured to block the said pin with a recess with the lock and, accordingly, secure the satellite device on said body, and with a handle for removing and/or installing a companion device when using the lower set of said fingers, wherein a pressure bar with a protrusion is installed on the grip of the robot manipulator, having the possibility of contact interaction with the end of the spring lock protruding from the body; at the end of the spring lock protruding from the body there is a spherical head; The handle of the spring-loaded lock is located in a groove made in the body with the ability to limit the movement of the handle and the lock and to prevent the lock from falling out of the body.

The system for manipulating and securing the blade being processed is presented in:

Fig. 1 - satellite device before installation by the robotic manipulator into the device for fastening;

Fig. 2 - satellite device after installation in the device for fastening and before undocking the grip of the robotic manipulator of the clamping finger located on the side;

Fig. 3 - section A-A in Fig. 2;

Fig. 4 - securing the robotic manipulator to the clamping finger of the companion device located below.

The companion device has mounting elements that allow the robotic arm to be mated to it in one of two positions: from below or from the side.

The system for manipulating and securing the blade being processed includes:

The flange of the robotic manipulator 1, the satellite device 2 with a blade, the device 3 for securing and intercepting the satellite devices with blades by the robot manipulator (Fig. 1). Device 3 for securing and intercepting satellite devices with blades by a robot manipulator includes a housing 5 mounted on a rack 4, with a spring lock 6 located in it with a handle 7 for removing and/or installing the satellite device 2 and a spring 8. Housing 5 has a groove in which the handle 7 is located, the width of the groove limits the movement of the handle and the spring lock and prevents it from falling out of the body under the action of the spring. Companion device 2 with a smooth pin 9 and a pin 10 with a groove for fixation, clamping fingers 11 and coordinating fingers 12 installed in it (Fig. 4). Companion fixture 2 has two sets of clamping fingers. The satellite device 2 has two cylindrical pins, one of which is made with a recess for fastening in the device. Gripper 13 (Fig. 1) with a pressure bar 14 and a projection 15, mounted on the flange 1 of the robotic manipulator (the robotic manipulator is not shown).

The system diagram for manipulating and securing the blade being processed works as follows: the flange 1 of the robot manipulator aligns the smooth pin 9 and the pin 10 of the satellite device 2 with the holes of the body 5 of the device for securing 3, then the satellite device 2 is moved by the robot manipulator to the device for securing 3, in such a way that the smooth pin 9 and pin 10 enter the holes of the housing 5, while the protrusion 15 of the pressure bar 14 installed on the gripper 13 of the robot manipulator presses the spherical head of the spring lock 6, the groove of which is aligned with the hole of the housing 5 and allows the pin 10 of the satellite device 2 to enter all the way into the body 5 (Fig. 2), after the gripper 13 of the robot manipulator moves away from the device for fastening 3, the spring 8 pushes the spring lock 6, which, entering the recess of the pin 10 of the satellite device, blocks its movement in any direction. Handle 7, located in the groove of housing 5, limits the stroke of spring lock 6 (see Fig. 3).

To remove the companion device 2 by the clamping pin 11 located on the side, the trajectory of movement of the gripper of the robotic manipulator is the opposite of that described above.

To remove the companion device 2 by the clamping pin 11 located at the bottom (see Fig. 3), the gripping flange of the robotic manipulator, moving, does not reach the end of the clamping pin 11, the edge of the pressure bar 14, mounted on the gripper 13 of the robotic manipulator, moves the handle 7 of the spring lock 6 until the axes of the gripper holes 13 are aligned with the axes of the fingers 11, 12 located below, while the recess of the spring lock 6 is aligned with the hole in the body of the device 3 for securing and intercepting the satellite devices with blades by the robot manipulator, after which the gripper 13 of the robotic manipulator moves all the way into the body of the satellite device 2 (Fig. 4), fixes the clamping pin 11 and, moving along the axes of the pins 9, 10, removes the satellite device 2 from the interception station.

To install the companion device 2 into the device for securing 3 to the clamping pin 11 located below, the grip 13 of the robot manipulator first moves the handle 7 with the edge of the pressure bar 14 until the recess of the spring lock 6 aligns with the housing hole, then, moving along the axis of the handle 7, it aligns the axes of the pins 9, 10 with the holes of the body 5, inserts the pins all the way into the body, undocks from the clamping pin 11, moves away from the handle 7 to secure the pin 10 with a spring lock 6.

Claims (3)

1. A system for manipulating and securing the blade being processed, containing a satellite device for placing the blade during its movement, a robotic manipulator with a gripper configured to manipulate the satellite device, and a device for securing the satellite device, made in the form of a body fixed on a stand, characterized in that the companion device is equipped with two sets of fingers, each of which includes a clamping and coordinating finger installed on its lower side and on one of the sides, and two cylindrical pins, one of which is made with a recess, installed on its other side, wherein said body is made with two holes allowing said pins to fit into them, and is equipped with a spring-loaded lock with a recess installed in it, configured to block the said pin with a recess with the lock and, accordingly, secure the companion device to the said housing, and with a handle for removing and/or installing a companion device when using the lower set of said fingers, wherein a pressure bar with a protrusion is installed on the grip of the robot manipulator, having the possibility of contact interaction with the end of the spring lock protruding from the housing. 2. The system according to claim 1, characterized in that at the end of the spring lock protruding from the body there is a spherical head. 3. The system according to claim 1, characterized in that the handle of the spring-loaded lock is located in a groove made in the body with the ability to limit the movement of the handle and the lock and to prevent the lock from falling out of the body.