SU1375548A1 - Apparatus for gripping and feeding flat articles - Google Patents

Abstract

The invention relates to process equipment for assembling transformer plate magnetic cores, can be used in the electrical industry as a device for gripping and feeding products and allows expanding the technological capabilities of the device. The stacker comprises a housing with a holder mounted therein with a plate pick-up head attached to it, kinematically connected with the driven link of the actuator, and a rack and pinion drive that is kinematically connected with the drive link of the actuator. Its housing is provided with two fixed, mutually parallel guide rolling pins for installing the driven link of the actuator, located in a vertical plane. The executive mechanism is made in the form of a toothed-kulisnogo planetary mechanism with long stops of the driven link. The slave link and the movable link with a groove located perpendicular to the axis of the guide rollers are mounted on the guide pins with the possibility of reciprocating movement along them. A slider installed in the groove of the moving link with the possibility of reciprocating movement along it was used as an executive link. The holder is fixed on the slider, and the drive with rack and pinion gear is made in the form of a gear-rocker mechanism with a rack. The crank of the drive and the rack-and-pinion rack are made with adjustable dpina their links. The sun wheel is installed in the housing with the ability to rotate around its axis and then fix it. The carrier with the toothed wheel mounted on it is installed in the housing with the possibility of reverse rotation. The satellite, with a crank rigidly fixed on it, is freely mounted on the carrier's finger and enters into internal engagement with the sun wheel, and the crank is pivotally connected to the slider. The drive crank mounted on the drive shaft of the assembly machine is equipped with a radially mounted screw without the possibility of its axial movement kinematically connected with the crank pin. The swinging rocker of the drive is pivotally mounted on the housing coaxially with the yoke, and the gear rack has a coupling, is installed in the swinging slideways with the possibility of reciprocating movement along its axis and the swinging movement together with the swinging slide around its axis, engages with a gear wheel and pivotally connected with a drive crank finger. 1 1 Il. S (L from SP 4 00

Description

The invention relates to process equipment for assembling transformer plate magnetic cores and can be used in electrical engineering as a device for picking up plates from cassettes, transferring them and laying them on guide elements of assembly equipment.

The purpose of the invention is the expansion of technological capabilities.

Figure 1 shows the stacker plates, the cut; FIG. 2 is a view A of FIG. 1; figure 3 - view B in figure 1; 4 shows the actuator of the plate handler; FIGS. 5-8 show the trajectory of movement of the stacker executive in various adjustments of the actuator and its drive; figure 9 - W-shaped plate of the magnetic circuit; Fig. 10 shows the closing plate of the magnetic circuit, on the gripping, transferring and stacking of which the proposed plate packer is used; on fig.P - trajectory of movement of the eccentric finger of the satellite corresponding to 1.5 revolutions of the carrier.

The plate stacker (Figures 1-4) comprises a housing 1 provided with two fixed, mutually parallel guides 2 and a tubular axis 3 rigidly connected to the housing 1 (or made in conjunction with it). A movable link 4 is installed on the guides 2, provided with two guiding strips 5, between which a groove 6 is formed. The movable link 4 can move along the guides 2. Between the guiding strips 5 a slider 7 is installed in the groove 6, which can move along the groove 6. On the slider 7 an axis 8 is fixed, equipped with a guide slot 9 and a cylindrical shank 10 with a thread at the end.

A cylindrical shank 10 is fitted with a holder 11 equipped with a sleeve 12 rigidly connected to it with a groove covering the guide slot 9. From the axial movement, the holder 11 is fixed with a nut 13 screwed on the threaded end of the cylindrical shank 10. In the groove 14 of the holder 11 is installed gripper head 1 5 and fastened with screws 16. In the direct gripper heads of the gripper 15 there are installed, for example, vacuum suction cups 17 - one for gripping the W-shaped plate of the magnetic circuit, the other for

capture the closing plate of the magnetic circuit (in figure 2 and 3 shows one suction cup). Vacuum suckers 1 7 are spring-loaded along their axes by springs 18.

In the housing 1, the sun wheel 19 is installed coaxially with the tubular axis 3 and can be rotated around its axis and then fixed with screws 20. The sun wheel 19 is provided with grooves 21. A carrier 23 is installed on the rolling bearings 22, inside the tubular axis 3 and a finger 25. On the carrier 23 a gear wheel 26 is fixed, and on the finger 25 a satellite 27 is freely mounted with a crank 28 rigidly connected with it equipped with a finger 29. The satellite 27 enters into internal engagement with the sun wheel 19, and the crank 28 by means of a finger 29 sharn angles to the slide 7. The housing 1 by means of the rack 30 is fixed to the housing actuator assembly 31 of the machine. At the output end of the shaft 32 of the assembly machine drive, a crankshaft 33 is fixed, secured against axial movement by nut 34 with a washer 35. Crank 33 is equipped with a diametrical groove 36, in which a screw 37 is radially mounted with a bar 38 and a block 39. From axial movement, a screw 37 is held by a block 39, and fixed by a nut 40 from turning around its axis. On the screw 37, a slider 41 is fitted with a crank finger 42. The slider 41 with its side faces rests on the guide walls of the diametral groove 36 and on the slats 43 fixed to rivoship 33 along diametral groove 36, with screws 44.

On tubular axis 3 on bearings

The rail is mounted coaxially with the shaft 23 swiveling from the rocker 46, equipped with guides 47 (for example, bushings), in which the gear rail 48 is installed, equipped with a swivel head 49, tension coupling 50 and nuts 51 and 52. The gear rail 48 has the ability move back- but progressively along its axis and swing along with the swinging arm

46 around its axis. The threads of the opposite direction (left and right) are made inside the tight coupling 50 at its ends. On the cylindrical shank 53 of the toothed rack 48 and on the cylindrical shank 54 of the hinged head 49, the threads are also made in the opposite direction. The same applies to the nuts 51 and 52. The toothed rack 48 engages with the toothed wheel 26 and is pivotally connected by means of a hinge head 49 to the crank pin 42.

The sun wheel 19 and satellite 27 are made with a gear ratio

where Z and Z p - the number of s -

the teeth of the sun wheel and satellite respectively. The length of the crank 28 is made in accordance with the dependence

H

2

L g {

where 1 is the length of the crank 28;

the distance from the place of capture of the plates to the place of their laying (the distance to which the plates are transferred); the radius of the crank 24 drove 23,

The following adjustments are provided on the stacker.

When simultaneously changing the length of the radius of the crank 23 and the rack 48, the length of the trajectory of the slide 7 on the vertical sections of it (Figures 5 and 6) changes. Figure 5 shows the solid line 55 of the movement of the slide 7 as the length of the radius of the crank 33 decreases and the length of the rack 48, as well as the path 56 when the length of the radius of the crank 33 increases and the length of the rack 48. In this case, the plates are gripped and stacked. at the same level and in the second case - at a deeper level than the first.

When turning the sun wheel 19 (Fig. 4) around its axis counterclockwise, followed by fixing it with screws 20, without changing the length of the radius of the crank 33 and the length of the rack 48 (Fig. 1), the satellite 27, the entrance shy into engagement with the sun wheel 19, when the carrier 23 is stationary, turns on the finger 25, the carrier 23 rotates its axis also counterclockwise clockwise. Together with the satellite 27, the crank 28 rigidly connected with it rotates

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4, the slider 7 is lowered down the groove 6 of the moving link 4. As a result, the slider 7 moves along the path 57 shown in FIG. 7 by a solid line when the mechanism is operating. In this case, the plates will be laid at a lower level than their capture (at various levels in height). When turning the sun wheel 19 (Fig. 4) clockwise, the positions in the links of the mechanism change in the opposite direction, as a result of which the slider 7 will move along the trajectory 58 shown in Fig. 8 by a solid line. In this case, the capture plates will be carried out at a deeper level than laying them (at different levels in height). In this case, in all the cases indicated, the length L of the transfer of the plates (Figures 5-8) does not change, and the level of gripping and laying the plates in height varies. This allows the plates to be captured and stacked both at the same level (Figures 5 and 6) and at different levels in height (Figs. 7 and 8), which expands the technological capabilities of the stacker and allows it to be used during operation. with various technological equipment.

The plate handler works as follows.

From the shaft 32 of the drive 31 of the assembly machine, the rotation is received by the crank 33, from which by means of a rack-and-pinion gear 48.26, the carrier 23 is rotated into reverse rotation (1.5-2 turns in this and the other direction depending on the set length of the crank radius 33). The satellite 27, rolling around the inner gear of the sun wheel 19, simultaneously rotates about an axis on the finger 25 of the carrier 23 together with the crank 28, as a result of which the finger 29 of the crank 28 moves along a rectangular path 55-58 with rounded corners (Fig. 5- eight). At the same time, the slider .7 with the holder 11 fixed on it with a gripping head 15, equipped with vacuum suction cups I 7, moves along the same trajectory of movement. In the vertical portions of the movement path 55-58, the slider 7 moves along the groove 6 of the moving link.

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4, the rocker at the same time immobile. In the horizontal section of the movement path 55-58, the movable link 4 moves along the guides 2, the slider 7 moves with the movable link 4, and relative to the groove 6 of the movable link 4 it does not move. When the slide 7 moves to the right vertical section of the trajectory 55-58, a vacuum is automatically turned on, the suction cups 17 are lowered along the vertical straight in. a cassette (not shown) and taking from its compartments one W-shaped plate (FIG. 9) and one closing plate (FIG. 10) of the magnetic conductor.

As the suction cups 17 move backward, the gripped plates are taken out of the cassette in a vertical straight upward direction, then transferred to the laying position along a horizontal portion of the trajectory 55-58. Above the laying position, the vacuum suckers 17 are lowered along the left vertical section of the trajectory 55-58 downward and the plates are placed on the guiding elements of the assembly flock (not shown). At this time, the vacuum is automatically turned off, the suction cups 17 are raised vertically straight up and move along the trajectory 55-58 in the opposite direction to capture the next pair of plates from the cassette compartments. Then the cycle of operation is repeated.

Thus, placing the driven link of the actuator (movable link) on the fixed guide rollers in the stacker plate provides directional movement of the movable link and eliminates its displacement in a plane perpendicular to its movement path, which ensures reliability in operation.

The execution of the actuator of the stacker in the form of a gear-link planetary mechanism with long stops of the driven link (moving link) and the use in it of a crawler installed in the slot of the moveable link as an executive link on which the holder is mounted with a plastics gripping head mounted on it, Straight vertical movement of the pick-up head of the plates over the positions of the gripping of the plates and their laying.

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which prevents the plates from detaching from the gripping head under the action of the fixed walls of the cassette and guiding elements of the assembly machine and, thus, increases the reliability of the stacker operation.

The installation of the sun wheel in the stacker's case with the possibility of rotation around its axis and its subsequent fixation provides the possibility of stopping the executive link (slider) on the vertical sections of its movement trajectory at various levels in height. This allows the gripping of the plates and their laying, respectively, at different levels in height, which increases the technological capabilities of the stacker.

The execution of the stacker drive in the form of a toothed-cam link mechanism with a rail allows for reverse rotation of the carrier, which is necessary for the return movement of the actuator (slider). Performing the drive crank and the toothed rack with an adjustable length of their links allows you to change the stroke of the toothed rack and, thus, makes it possible to stop the actuator (slider) in the vertical sections of its movement path at a different level in height. This allows the plates to be gripped and stacked at different levels in height, which also expands the technological capabilities of the stacker.

Claims (1)

Invention Formula A device for gripping and feeding flat products, comprising grippers holders installed in the housing and drive-related means for moving the grippers holders along a predetermined contour, having a planetary gear with a fixed sun wheel, whose satellite is connected to the carrier on one side, kinematis. is connected to the drive by means of a crankshaft, and on the other hand by means of another crank with a slider carrying the gripper holder, and the slider is installed in the guide carriage, characterized in that, in order to expand the technological possibilities, the means for moving the gripper holders along a predetermined contour has a toothed-cam link mechanism with a rail, the rocker of which is hingedly mounted in the housing of the carrier and its crank is made adjustable in length and connected to the drive, while the sun wheel of the planetary gear is mounted with the possibility of adjusting the initial position of the gripper holder and has a means for fixing it. 234 Z 2819 27ZttZ2 22  g g: s8 0 FIG.  Grip plates FIG. five J Plate inserts FIG. FIG. 6 Laying plates tab plates .l 9 Fi.11 H SaxSam FIG. 8 pacstin 8 ... Y5 Fyo