SU1301531A1 - Robot for sheet-stamping press - Google Patents

Abstract

The invention relates to mechanical engineering, namely to robots. The invention can be used in work-making complexes of sheet metal forming. The invention solves the problem of smoothly and accurately setting the sheet blanks into a press stamp, removing and stacking parts, as well as dumping waste. The aim of the invention is to simplify the design of the robot and improve the accuracy of positioning his hands while ensuring smooth movement of the workpieces. The robot consists of a bed,. arms (P) with electromagnets, lifting actuator P, turning actuator P, including a gear-lever mechanism (ZRI) of a three-wheel four-link with stand-up driven link and uncontrolled brakes installed in the extreme angular positions of P. and interacting with the last link of the drive rotation or directly from P. The use of the three-wheel four-wheel articulator's SPM allows the desired (approximately sinusoidal) rotation law P of the robot, and the presence of uncontrolled brakes in the extreme angles of rotation is set x P allows accurately record P in the x Reported installation preform Schtamp taken five blank from the stack, removal of the embossed parts with the die and stapling components. At these moments, the slave link of the three-wheeled, four-linkage SPM performs an uphill. 4 il .. with el oo o JV OO

Description

one

The invention relates to mechanical engineering, in particular to robots operating in conjunction with heavy stamping presses.

The purpose of the invention is to simplify the design and improve positioning accuracy.

FIG. 1 schematically shows the proposed device, a general view, in FIG. 2 shows section A-A in FIG. one; in fig. 3 shows a section BB in FIG. 7, n, 4 shows the functions of changing the speed and angle of rotation of the driven link, depending on the angle of rotation of the driving link and the direction of its rotation.

The robot comprises a fixed frame 1, a swing frame 2 rotating in bearings 3 and 4 of the bed, the drive which comprises an engine 5, a belt drive 6, a gearbox 7 and a gear mechanism 8 of a three-wheel four-wheel drive gear. The motor shaft 5 is connected to the drive shaft of the gearbox by a belt drive 6. The output shaft of the gearbox is connected to the crank b of the mechanism 8 of the three-wheel four-link. The crank b is connected through the connecting rod e, rocker arm m and gear c with the output link d of the three-wheel four-link mechanism. Gear is mounted on output shaft d of mechanism 8

9, engaging with sector

10 fixed to the frame 2. A carriage is installed in the guides of the frame 2

11, the cylin 12 is vertically moved. On the carriage 11 by means of a bol 13 and a hinge 14, a light brown one is installed from an arrow 15 and a rod fixed with bolts 17 in terminals 18. At the end of the rod there is a plate 19 with holes, dd for fastening magnets 20 leaf blank 21 is picked up, Pozissey 22 is stamped, In the extreme positions the swivel frame together with the arm is fixed by uncontrolled e1 with the 1st brake 2

The hand of the robot has the following positions fixed in the angle of rotation (Fig. 2):

I- hand position above the foot of the blanks J

II- hand over waste containers

III hand over the stamp.

rum tov, 16,

 - p - the angle of rotation of the leading link angle of rotation v d Jii

 b chenie gear ratio gear travel Bai: a,

instant sign

five

0

five

three-wheel linkage lever mechanism, i. j - the average gear ratio per revolution (Fig. 4). The arrows in the graphs show the direction of change of the values. Without arrows shown theoretical characteristics.

The robot works as follows.

The starting position is position II. Position II corresponds to f 360 °, d 360 ° i, j, bbd

  0 (Fig. 4). After the slide stroke

b

At the moment of its stopping at the upper dead center, the press turns on the drive of the rotation of the frame 2 and the frame together with the carriage 11 and the arm moves to the position I. In FIG. 4 this corresponds to the dwell mechanism until the choice of gaps in the joints, corresponding to their point o. , smooth acceleration and stop. At point a, the discontinuity of the velocity function is depicted, which is explained by some acceleration of the leading links during the selection of the gap. No income to position I at an angle. (point g according to the characteristic), the arm turning unit, in this case sector 10, begins to slow down with the right-hand e-brake 23. At the point S, the hand stops W.

is held by an uncontrolled brake.

The drive continues

5 m to operate until the engine shut-off sensor 5 triggers and the brake is applied. This sensor is located on the driving link of the three-wheel four-wheel gearshift mechanism. The inertial coasting, the variation in the response time of the apparatus, which switches off the drive, does not affect the stopping accuracy, since the mechanism lasts a sufficient amount of time and the hand is held by an uncontrolled brake during this time. In position I, the carriage 11 with the hand CG, switches on the power supply of the electromagnets 20, which attract the part

c and waste, then the carriage is lifted with the boom, the stamped part and the waste, and the boom moves to position II. FIG. 4 this corresponds to the dwell mechanism

J choice of gaps in the connection in the direction opposite to the previous movement.

Oh pj oh

The gap is selected to point E, then

smooth ka hands happen - point 6

Acceleration and stop-stop, plot

 position II. During the time without turning off the rotation drive (section e-g), the power of the magnets 20 holding the waste is turned off, and they fall into the container. After selecting the gaps (point 3), the hand smoothly rotates to position III. Not income up to the third position at the angle y, rm (point J), the sector begins to slow down with an uncontrolled brake 23.

Wd

hand stops:

about

point and

 s

 0, 720, 4). The drive continues for some time until the engine 5 is activated and the brake is applied. The inertial run-up time variation of the equipment turning off the drive does not affect the stopping accuracy, since the mechanism lasts a sufficient amount of time and the arm is held by an uncontrolled brake at this time. After the arm stops, the carriage 11 with the boom 15 is lowered (Setting the part on the foot, turning off the electromagnets 20 and lifting the carriage 11 with the boom 15. Then the turn to position II takes place

O

0

five

new one (dot k) and waiting for the end of the next press run.

The use of the proposed robot will improve the movement dynamics of the robot arm, which will make it possible to increase labor productivity} to obtain high positioning accuracy without the use of special additional devices (damper, latches, catchers), which greatly simplifies the design.

Claims (1)

Invention Formula A robot for sheet metal press containing a hand-mounted arm with a gripping body, a hand-lift mechanism and a four-arm hand-turning mechanism, which is upright, and a hand fixation unit in positions that are different, in order to simplify the design and improve positioning accuracy , the arm fixing unit is made in the form of elastic elements according to the number of positions in height, mounted on the frame with the ability to interact with the arm of the industrial robot. lg Editor N.Egorova ftsg.4 Compiled by I. ment gova Tehred I.Popovich Proofreader A.Zimokosov 23 STVNXNTVXA. JC X ULL / UCHCHUHUH 1177/11 Circulation 733 Subscription VNII11I State Committee of the USSR for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4