SU1333532A1 - Charging device - Google Patents

Abstract

The invention relates to mechanical engineering and can be used for automatic orientation and visualization of flat parts with a complex contour to a gripping position of an industrial robot. The purpose of the invention is to expand the functionality of the device. The blanks are loaded into the bunker I, from where they are vibrated into the bowl 2. They are fed into the bowl 4. Under the influence of the vibratory drive, the blanks make a chaotic movement around the bowl 4 and move along its face. the surfaces fall into the grips that are embedded in the cup 4 and coincide in shape with the shape of the workpiece. The blanks caught in the grips fall onto the rotary disk located under the bowl. When the rotary disk is rotated, the blanks are transported to the dispensing window installed on the rotary device 7, where they form a stack for cooking, transferred step by step by the rotary device 7 to the position of their capture by the robot. 1 hp f-ly, 5 ill. - a (LP, 00 from 00 ate fig. f

Description

The invention refers to mechanical engineering and can be used for automatic orientation and piece issuing _{from the} captured position that e · industrial robot flat parts with a complicated circuit.

The purpose of the invention is the expansion of the functionality of the device. by providing automatic orientation and single-piece delivery of flat parts with a complex contour.

Figure 1 shows the boot device; figure 2 is a view And 15 figure 1; figure 3 is a section bB in figure 2; figure 4 is a structural diagram of a device control.

The loading device comprises a loading unit consisting of a bunker-20 pa 1, a vibratory tray 2 and an electromagnet 3 mounted above the bowl 4. A contactless sensor 6 is fixedly mounted on the rack 5 so that its working end faces inwardly of the bowl 4.

. A rotary device 7 is mounted under the bowl 4 in such a way that the gap A h ₁ between the disks is less than the thickness' of the workpiece. On the rotary device-30 ve 7, the non-contact sensor 8 is fixedly mounted upside down under the position of removal of the workpiece by the robot. As a drive for bowl 4, a universal vibrodrive 9 with independent excitation of vertical and horizontal vibrations 35 is used.

The rotary disk 10 of the bowl 4 with the grippers 11 located in it in the form of interchangeable inserts is rigidly attached to the output flange of the vibrodrive 9. Replaceable liners have through holes matching in shape with the contour of the orientated workpiece. A ring 45 12 is attached to the rotary disk 10. The vibrodrive 9 is mounted on a common plate 13 of the device. Racks 14 are installed on the same plate 13, on which a fixed ring 16 is rigidly fixed with bolts 15 so that §q so that the gap Дh _{z is} less than the thickness of the workpiece. In the stationary ring 16 there is one discharge window 17, and on the surface of the fixed ring 16 there is a rotary disk 18 with grippers 55. The disks 10 and 18 are connected to each other by means of spring rollers '20, forming an overrunning clutch. Grips 11 and 19 and the unloading window 17 have through holes matching in shape with the contour of the workpiece, and the heights of these inserts are a multiple of the height of the workpiece. Above the discharge window 17 there is no similar grip in the rotary disk 10. In the disk 21 of the rotary device 7, non-metallic inserts 22 are installed with a socket in the shape of the workpiece and a depth equal to the height of the workpiece. The contours of the socket of the liner 22 and the holes of the discharge window 17 match.

The device operates as follows.

From the hopper 1, the blanks are fed through the vibratory tray 2 to the bowl 4. The vibrodrive 9 sets the oscillatory movements of the rotary disk 10: torsional and vertical (as indicated by the arrows in FIG. 3) with a frequency of about 50 Hz in a constant mode.

The workpieces under the influence of vibration make a random movement around the circle along the ring 12 along the surface of the rotary disk 10. During the movement of the workpiece, the workpieces constantly change their position and, moving from the grip 11 to the grip 19, fall into them when the contours coincide., With a sufficiently large amplitude of horizontal vibrations the effect of ejecting an incorrectly oriented workpiece occurs. The workpieces that fall into the holes of the grippers 11 lie on the surface of the rotary disk 18, which through the rollers 20 perceives rotation in only one direction (indicated by the arrow in FIG. 2) from the oscillatory movement of the rotary disk 10. When the rotary disk 18 is rotated, the grippers 11 and 19 are combined and the oriented blanks fall into the grippers 19, moving with them along the surface of the stationary ring 16. Thus, the rotary disk 18 transports the blanks, while maintaining their orientation to the discharge window 17. When the billets are inserted into the opening of the unloading window 17, they form a stack (cassette) without losing orientation, and the lower workpiece rests immediately in the socket of the insert 22. The rotary device 7 rotates the disk 21 step by step at an angle ^ -, taking out the oriented workpieces individually at the position of their capture by the robot ( figure 2).

Changing the device to a part of a different configuration or size comes down to replacing the inserts.

The performance of the device depends, mainly, on the number of parts in the bowl 4 and the number of jaws on the rotary disk 10, i.e. disc diameter. When the level of parts in the bowl 4 is increased, which is controlled by the sensor · 1, the electric magnet 3 is switched off through the control device (Fig. 4), thus maintaining a constant and high performance of the device. 1

To prevent performance degradation due to one-time short-term. faults in orientation and piece-by-piece delivery of blanks by the control circuit (Fig. 4) by sensor 8 provides control of the presence of the workpiece at the position of its capture by the robot, as well as automatic rotation of the device 7 in steps 4 by command from the control device in the absence of a workpiece, 2 Rotary device 7 rotates the disk 21 step by step until the part appears at the position of capture of the part by the robot. If there are no parts in the unloading window 17 after a certain number of cycles of the rotary device, the control system turns off the power to the entire installation.

Claims (2)

one The invention relates to mechanical engineering and can be used for automatic orientation and single delivery of flat parts with a complex contour to a gripping position of an industrial robot. The purpose of the invention is to expand the functionality of the device13335322 The ki have through holes, coinciding in shape with the contour of the workpiece, and the heights of these liners are multiples of the workpiece height. Above the unloading window 17 there is no similar capture in the rotary disk 10. The rotary device 7 disk 21 has non-metallic inserts 22 with a socket Noah height of the workpiece. The contours of the nest liner 22 and the opening of the unloading window I7 coincide. At the expense of providing an automatic shape of the workpiece and depth, proper orientation and single piece construction of flat parts with a complex contour. Figure 1 shows the boot device; figure 2 is a view of And figure 1; figure 3 - section bb in figure 2; Fig. 4 is a block diagram of device control. Boot device contains 15 The device works in the following way. From the hopper 1, the vibrating tray 2 receives the blanks into the bowl 4, the bi-drive 9 sets the oscillatory movements of the loading unit consisting of a bunker- 20 swivel disk 10: torsional and ra 1, vibrating tray 2 and an electromagnet vertical (as indicated by arrows 3, mounted above bowl 4. In FIG. 3) with a frequency of about 50 Hz, a non-contact sensor 6 is fixedly fixed in a rack 5 in such a way that its working end faces inwards 2-5 shi 4, . Under the bowl 4, the rotator 7 is mounted so that the gap & B between the discs is less than the blank thickness. On the rotary device-30 from the grip 11 to the grip 19, the sink 7 is filled with the working end upward of the position in them when the contours coincide. constant mode. The workpieces under the action of vibration make a chaotically moving around the circumference along the ring 12 along the surface of the rotary disk 10. During the movement of the workpiece, they constantly change their position and, moving A non-contact sensor 8 is fixed to it for removal of the workpiece by a robot. A vibrating drive 9, universal with independent excitation of vertical and horizontal oscillations, is used as the drive for bowl 4. To the output flange of the vibrodrive 9, the rotary disk 10 of the bowl 4 is rigidly attached with the grippers 1 1 arranged in it in the form of interchangeable inserts. Replaceable liners have CKBO3iib e holes that coincide in shape with the contour of the oriented blank. A ring 12 is attached to the turntable 10. The bi-actuator 9 is mounted on a common plate 13 of the device. On the same plate 13 racks 14 are installed, on which the fixed ring 16 is rigidly fixed with the help of bolts 15 so that the gap Ahj is less than the thickness of the workpiece. In the fixed ring 16 there is one unloading window 17, and on the surface of the fixed ring 16 there is a rotary disk 18 with grippers 19. The disks 10 and 18 are connected to each other by means of spring-loaded rollers 20, forming an overrunning clutch. Grips 11 and 19 and the window 17 is the discharge height of the workpiece. The contours of the nest liner 22 and the opening of the unloading window I7 coincide.  billet shape and depth, ravg From the hopper 1, the vibrating tray 2 receives the blanks into the bowl 4, the bi-drive 9 sets the oscillatory movements of the rotary disk 10: torsional and vertical (as indicated by arrows in FIG. 3) with a frequency of about 50 Hz in from capture 11 to capture 19, sink into them when the contours coincide., When constant mode. The workpieces under the action of vibration make a chaotically moving around the circumference along the ring 12 along the surface of the rotary disk 10. During the movement of the workpiece, they constantly change their position and, moving five a sufficiently large amplitude of horizontal oscillations results in the ejection of an incorrectly oriented workpiece. Blanks caught in the holes of the grippers 11 lie on the surface of the rotary disk 18, which through the rollers 20 perceives rotation in only one 0 direction (indicated by the arrow in FIG. 2) from the oscillatory movement of the rotary disk 10. When the rotary disk 18 is rotated, the grippers II and 19 are aligned and the oriented blanks fall into the grippers 19, moving together with them along the surface of the fixed ring 16. Thus, the swivel the disk 18 transports the blanks, preserving their orientation to the unloading window 17. West into the opening of the unloading window 17, the blanks form a stack (cassette), without termination of orientation, with the bottom blank immediately placed in the nest of the insert 22. 5 The rotary device 7 rotates the disc 21 incrementally at an angle “-, carrying away the oriented blanks individually to the position of their gripping by the robot (FIG. 2). five 0 313 Changing the device to a part of a different configuration or size is reduced to replacing the plug-in. The performance of the device depends mainly on the number of parts in the bowl 4 and the number of grips on the swivel disk 10, i.e. disk diameter. With an increase in the level of parts in the cup 4, which is controlled by the sensor 6, the electric magnet 3 is turned off via the control device (Fig. 4), thus maintaining a constant and high performance of the device. To prevent performance degradation due to one-time short-term failures in orientation and piece-by-piece delivery of blanks by the control circuit (FIG. 4), sensor 8 ensures 20; -: in the form of the bottom of which control of the presence of the workpiece is taken by the capture position of the robot as well as automatic rotation of the device 7 to a step about by a command from the control device in the absence of a workpiece, the Turning device 7 rotates the disk 21 incrementally until the part doesn’t look at the position of the robot. In the absence of detail25 the arms are evenly located grippers with the possibility of combining with the grips of the rotary disk mounted coaxially with the cup under its bottom, 2. The device according to claim 1, characterized in that the turning disk and the bowl are connected to each other by the nose, by means of the additionally introduced overrunning clutch after the number of cycles of the rotator, the control system shuts off the power of the entire installation. Invention Formula i. A loading device containing a rotatable disk with interchangeable grippers and a bunker on its periphery, a fixed ring with an unloading window installed coaxially with the rotary disk, which differs from the fact that, for the purpose of functional capabilities of the device, the bunker is installed with the possibility of torsional vibrations and oscillations B of the vertical plane and execute; -: in the form in the bottom of which the arms are evenly located grippers with the possibility of combining with the grips of the rotary disk mounted coaxially with the cup under its bottom, 2. The device according to claim 1, characterized in that the turning disk and the bowl are connected to each other by the nose, by means of the additionally introduced overrunning clutch Fi, 2 Order 3910/15 Circulation 785 Subscription BNIIPI USSR State Committee for inventions and discoveries 113035, Moscow,} K-35, Raushsk nab. 4/5 Production and printing company, city of city, st. Project, 4