SU1416244A1 - Robotic complex - Google Patents

Abstract

The invention relates to the automation of piece-by-piece delivery of blanks for capturing them with the scope of an industrial robot, feeding them into a press stamp, picking up stamped parts from a stamp and can. used in sheet-stamping production. purpose

Description

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reduction of metal consumption and increase in productivity by reducing the required amount of movement of the hands of an industrial robot. The device comprises a base on which a magazine device is mounted. It is a multi-position ring table 8 and is provided with a platform 3 on which an industrial robot 4 is installed. The magazine device and the robot 4 are mounted on a carriage by means of a base. The carriage is located opposite the press 6 with the stamp 7 so that the axes 32 and 33 of the arms 28 and 29 with the grips 30 and 31 intersect the stamp 7, the Hand 28 with the gripper 30 transfers the workpiece 16 from the foot 15 of the cassettes 14 to the stamp 7 of the press 6, the Hand 29 with gripper 31 captures the machined parts 34 and transfers them

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in cassette 35, the ring table is provided with a hollow step. It can be kinematically connected with the robot 4 by a two-stage cylindrical column, which is fixed on the base and passes inside the table 8, the floor hub serves as a bearing for supporting the table 8 on the column. A platform 3 with a robot 4 is mounted on the column. The kinematic ring connection of the table 8 with the robot 4 can be made as an annular support, inside which the robot 4 body is installed by means of an annular bracket. In this case, the annular table 8 is mounted on an annular support using a hollow hub can be rotated around the body of the robot 4, and the robot 4 is rigidly mounted on the base, 2 3, n, f-ly, 4 silt,

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The invention relates to the automation of piece-by-piece workpieces for gripping by an industrial robot arm (PR), feeding them into a press stamp, picking stamped blanks from a stamp, and laying them into a receiving device for stamped blanks, and can be used in cold sheet stamped production in automatic lines, areas, industrial-technology complexes based on PR using microprocessor control systems and computers,

Fig. 1 depicts a robotic complex, a general view; FIG. 2 is a section A-A in FIG. 1; Fig. 3 is a section A-A in Fig. 1, a variant (second embodiment of the connection of the turntable with the carriage); FIG. 4 is a view B in FIGS. 2 and 3;

The robotic complex contains a base 1, on which a store device 2 is mounted, the store device 2 is equipped with a platform 3, on which an industrial robot 4 is installed, a store device 2 and an industrial robot 4 are installed on the retractable carriage 5 by means of the base 1 opposite the press 6

with a work stamp 7, the magazine device 2 is a multi-position rotary ring.

table 8, equipped with a hollow hub 9, which serves as a bearing for supporting the table 8 on the column 10, which is fixed on the base 1 and passes through the annular rotary table 8,

column 10 is mounted and platform 3,

The connection of the annular turntable 8 with the carriage 5 can also be effected by means of an annular support.

The ring bearing 11 is made in the form of a ball bearing of various designs and is installed outside the housing 12 of the robot 4 by means of the ring bracket 13. In this design, the table 8 is rotated around the body 12 of the industrial robot 4 by means of a hollow hub 9 ,

At positions on one side of the turntable 8, interchangeable cassettes 14 are installed, each of which serves to house a stack of 15 blanks 16 on it for subsequent delivery

one by one for filing

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7 of the press 6 at the working position indicated by the index A, Position A is the working position for loading the press 6 by the source blanks 16. The cassette 14 is designed by means of pins 17, which are fixed on their bases 18 with through holes 19 in accordance with the dimensions and the configuration of the workpieces 16. The magazine device 2 has an actuator 20 for delivering the initial blanks 16 mounted under the turntable 8 on the base 1 at working position A, the actuator 20 is operating in a variable mode using a control unit (not shown). wok 16 on one piece and is made in the form of various mechanisms, such as a pneumatic cylinder with rod

21, on which the interchangeable support washer 22 is mounted, which serves as a support for the foot 15 when discharging the starting blanks 16,

In the turntable 8, at each of its positions, an opening 23 is made, which together with the opening 19 of the base 18 of the cassette 14 serves to pass the interchangeable support washer 22 when discharging the blanks 12 from the cassette 11

In the initial position, the washer 22 is in the lowest position below the turntable 8, so that it does not prevent its rotation in this position.

The rotational drive 24 of the table 8 is also mounted on the base 1 and rotates it with the cassettes 14 mounted on it by means of a gear, which consists of gear 25 mounted on the rotational drive shaft 26 24 and the gear 27 mounted on a hollow hub 9 backgrounds 8.

The industrial robot 4 with the housing 12, mounted on the platform 3, has two arms 28 and 29 with tongs 30 and 31 and OSYa1 of their attachment 32 and 33, respectively. Hand 28 with the tong

30 serves to capture the blanks 16 from the foot 15 of the cassettes 14 and feed them into the stamp 7 of the press 6, Hand 29 with a gripper

31 serves to grip the machined parts 34, remove them from the stamp 7, transfer the layering to the receiving device of the parts 34 made in the form of cassettes 35 for receiving the machined parts 34 mounted on the multi-position turntable 8

The device 2, and the actuator 36 for receiving stamped blanks 34, mounted on the base 1 under the turntable S of the magazine device 2 at the working position of receiving and laying the machined parts 34 of the stamp 7 in the foot 37, indicated by the index B.

The cassette 35 for receiving the machined parts 35 and the cassette 14 for the workpieces 16 may be similar in design and also consist of pins 17, which are fixed on their bases 18 with through holes - w 19 according to the dimensions and configuration of the machined parts.

34, These parts 34 are laid between the pins 17 and form a foot 37,

The drive 36 nppi using a control unit (not shown) operates in the mode of receiving parts 34 one by one and is made in the form of various mechanisms.

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the form of a pneumatic cylinder, on which a removable support washer 39 is mounted; which serves as a support for the foot 37 when receiving parts 34, Support washer 39 as well as support washer 22 can pass through the opening 23 of the table 8 and through the hole 19 of the base of the cassette 35 when receiving parts 34. In the initial position the washer 39 is located in the lowest position under the turntable 8 so that it does not prevent its rotation in this position.

With this design and layout of the robotic complex, the cassettes 14 and 35 at the working positions A and B, located on the turntable 8, are located in the space between the press 6 and the industrial robot 4, Hands 28 and 29 of the industrial robot 4 are located in the plan at an angle each to - a friend, so that their axes intersect over the stamp 7,

With such a constructive solution and layout, the hands 28 and 29 do not need to perform unnecessary turning movements and straight-line movements in order to grip and feed the original blanks 11 to the punch 7. and pull them out of the punching punch to the receiving device. Hands 28 and 29 for moving workpieces 16 and 34 make only the necessary linear movements.

Due to the twisting of the hands and the extra right linear movement

the trajectories of movement of the blanks become the shortest and the productivity of the complex increases dramatically.

Robotic complex works as follows.

On one side of the turntable 8 can be loaded with replacement cassettes 14 with stops 15 blanks 16. On the opposite side, cartridges 35 are removed with stops 37 of used parts 34 "The cartridges 35 can be removed from the same side, from which t loading the table with 8 cassettes 14. For this, table 8 must perform an appropriate number of turns each time for a certain turning step.

The cassettes 14 can be loaded with the blanks 16 directly on the turntable 8. The cassettes 14 for dispensing the blanks 16 are arranged at an angle oi to one another with the top

the angle on the geometric axis O of the rotation of the table 8, i.e. The angle oiL is the central angle. The cassettes 14 filled with blanks 16, empty cassettes 35 prepared for receiving the parts 34 are installed in pairs on the turntable 8, In this case, the angle of rotation of the table 8 by the angular step and must be equal to 2oi, i.e. J3 2oi.

In the particular case, with some punching operations that do not change the external configuration and dimensions of the original billet 16, for example, when piercing holes, the cassettes 14 can also be used to receive the machined parts 34. In other words, the cassettes 14 can serve as issuing blanks 16 and for receiving parts 34, i.e. in this case, the cassettes 14 can serve as cassettes 35. In this case, the rotation angle {b of the table 8 should be equal to the angle oi, i.e. jb,

The operation of the robotic complex is performed equally regardless of the location of the cassettes 14 and 35 on the turntable 8. The difference will be only in the angle of rotation of the table 8 at one or another angular step 1, p, corresponding to a particular option.

We describe the work of the robotic complex at an angle of rotation of the table 8

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on the angular step / 3 as the most optimal. Denote the position of the table 8 indexes I-VIII. Suppose that positions I-IV are loaded with cassettes 14 with original blanks 16. At positions VI-VIII, cassettes 35 are loaded with processed parts 34, They can be removed from table 8 and transmitted

0 (to transport) further along the technological process. At position V, the cassette 35 may be empty or, only filled with parts 34, At the working position of feeding the blanks 16 into the die

5 7 indicated by the index A, there is a cassette 14 with the original blanks 16 position IV of the table 8. At the receiving and placing position in the cassette 35 in the foot 37 of parts 34 of the stamp 7, indicated by the index 5, the cassette 35 of position V of the table 8, Grip 30 arms -28 of industrial robot 4 are above cassette 14, position IV of table 8, at working position A of feed

5 of the original blanks 16 in the die 7 of the press 6. The grip 31 of the arm 29 is above the cassette 35 of the position V of the table 8 at the working position B of receiving and stacking the parts 34 into the foot 37 of the cassette 35.

0 At a certain moment, the control system of the robotic complex turns on the 2Q actuator for dispensing workpieces 16 and the actuator 36 for receiving parts 34. The actuator 20 is turned on

,, mode of issuing blanks 16 of the foot

15 in one piece to grip them from a constant level with the gripper 30 of the arm 28 of the industrial robot 4 and transfer them to the stamp 7 of the press 6 "Stock 21

0 a removable bearing washer 22 from the lowermost position is raised and, resting with the washer 22 on the lower workpiece 16, lifts the entire foot 15 laid in the cassette 14 by such a stroke height as long as the upper workpiece

16 stops will not reach the level from which the upper workpiece is seized by the 16 grip 30 of the arm 28 of the industrial robot 4. After that,

The water Q 20 stops along with the foot 15, keeping the top blank 16 at a predetermined capture level. Thus, the actuator 20 operates upward until it is, and the entire assembly of the stack 15 of the blanks 16 is fully fastened at the working position of the loading of the press 6.

The actuator 36 is included in the mode of reception of the processed parts 34 and styling

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in the foot 37, one at a given level by the tong 31 of the arm 29 of the industrial robot 4, the rod 38 with the interchangeable washer 39 rises from the lowest position to the extreme upper position, which corresponds to the predetermined level of installation of the parts 34.

After the workpiece 16 will be stamped in the stamp 7 of the press 6 and turned into a machined part 34, the arm 29 with a tong 31 grips it, transfers it from the stamp 7 to the position above the cassette 35, puts the part 34 on the support washer 39 of the rod 38 of the actuator 36. Drive 36 is triggered downward by the stroke value corresponding to the thickness (height) of the part 34, i.e. the lowering of the foot 37 is performed until the previously laid piece 34 reaches a predetermined constant level, at which the pieces 34 are stacked in the stack 37. At this level, the grip 31 places the pieces 34 first on the support washer 39 when the cassette 35 is empty, or, on the item 34, which is already more evenly laid, to form a foot 37. After that, the actuator 36 stops together with the foot 37, keeping the top part 34 at a given constant level,

Thus, the level of stacking (receiving) of the parts 34, which serves as the top surface of each part 34, is kept constant for the entire time of stacking the foot 37. Thus, the actuator 36 works down until the entire number of parts 34 equal to the number of blanks 16 that were in the foot 15 of the cassette 14, does not fit into the foot 37 of the cassette 35,

After the cassette 14 on the loading position A of the stamp 7 is completely emptied from the foot 15 of the blanks 16, and the cassette 35 on the position 6 of receiving and stacking the parts 34 is completely filled with the foot 37 of the parts 34, the drives 20 and 36 operate downward. The rods 21 and 8 together with the bearing washers 22 and 39 occupy the lowest position below table 8 so that they do not interfere with its rotation.

The rotational drive 24 of the table 8 by means of a gear 25 mounted on the shaft 26 of this drive 24 and a gear wheel 27 mounted on the hollow hub 9 of the table 8, turn it on the angular step of rotation / 5 (b1.3g).

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The cassette 35 loaded with the parts 34, marked with the V index of the position B, moves in a clockwise direction by an angular step of rotation / 3. In its place, at position B, from position: D, the cartridge 14 is empty, marked with the index IV, In place of the cartridge IV, the cartridge 14 is fitted with blanks 16, indicated by the index III, etc.

Then the cycle repeats.

On the turntable 8, on the loading side of the table, cassettes 14 with blanks 16 are installed in advance. On the opposite side of the table 8, sets 35, filled with parts 34, can be removed to transfer the processed parts 34 further along the technological route,

On the loading side, as the cassettes 14 are used up, the table is loaded with 8 cassettes 14 filled with blanks 16, 5

Claims (1)

Invention Formula 1, Robotic complex containing associated single system 0 control press, a robot mounted for movement relative to a press and having a body, two arms with grippers, a turning magazine with workpiece holders with means for lifting workpieces in the shop, and a machining part cartridge, characterized in that in order to reduce metal consumption and increase in productivity, the rotary magazine is made in the form of an annular table, in the center of which is placed the body of the robot, cassettes for workpieces and machined parts are mounted on an annular table, and 5, the arms of the robot are set in plan at an angle to one another so that their axes intersect the press die, the rotary table being kinematically connected with the robot. Q 2, Pop-1 complex, characterized in that the kinematic connection of the annular table with the robot is made in the form of a base rigidly mounted on a carriage, a two-hundred foam cylindrical column placed inside the annular table and mounted on the base of a larger diameter cylinder, while the robot body mounted on the front 9 141624410 the surface of the column cylinder is less filled in the form of a base, rigidly of our diameter, attached to the carriage, an annular I brackets connected by 3i The complex according to claim 1, 1, o tl and h a-ring support with an annular table, y u u and with the fact that kinematic. at the same time, the body of the robot is rigidly attached to the annular table with the robot and is ground on the base. fig.Z //////// 7 ////// Y figl