SU1456271A1 - Arrangement for piecewise dispense of billets - Google Patents

Abstract

The invention relates to the processing of metals by pressure. It m. used for pulling piece blanks from the store and feeding them into the working area of the press. The purpose of the invention is to increase reliability by stabilizing the force, pressure of the foot of the blanks on the gripper body of an industrial robot. The device contains a hollow stepped rack 4 installed on frame 1 and a rotary ring 7. The cassettes 1 1 are fixed on the latter with a change of blanks 14. The foot is lifted by means of a pusher 27 mounted on a lifting fork 26 mounted on console 20 The drive for lifting and piece-by-piece delivery of blanks from the foot is made in the form of a load 30 consisting of several parts and connected by means of flexible coupling with a lifting fork 26. The masses of each part, except the bottom, are equal to me, and the mass of the bottom is greater each and parts per weight of the parts connected thereto. Stream 20 is associated with a controllable ball lock 18, which releases the rod at the time the upper workpiece is gripped by the pneumatic gripper of an industrial robot arm. The device prevents the disruption of the normal functioning of the industrial robot. 5 il. tc w

Description

The acquisition relates to the field of metal forming, can be used to remove piece blanks from the store and feed them into the working area of the press.

The goal is to increase reliability by stabilizing the pressure of the foot of the billet on the gripping body of the industrial robot.

1 shows a device for the piece-by-piece delivery of blanks in the section; FIG. 2 is a view along arrow A in FIG. 1; on fig.Z - section along BB in figure 2, - on

Fig. 4 shows a section along B-B in Fig. 1 in Fig. 3; a section along G-D in Fig. 1.

The device comprises a hollow column 4 installed in the opening of the bed 1 with the possibility of vertical movement by the adjusting screw 2 and fixing in the desired position by the clamping element 3.

The cavity of the rack 4 is made stepped. At the length of each of the steps, the internal diameter of the pillar 4 cavity is of a constant size. The largest internal diameter has the upper side.

SP

35 S

s

N)

ten

15

20

25

Day, and Kakhscha from located below the stupas has a smaller internal. : The figure that is predisposed is located above.

On the rack 4, the pore disk 5 is fixedly mounted in such a way that the centers of the rack and the disk are aligned.

At the periphery of the supporting disk 5, the groove 6 is filled, on which the pivot ring 7 is pivotally rotated around the center of the rack 4 and fixed in the working position on the upper surface of the supporting disk 5 concentric to the ring 7 is fixed to the restrictive ring 8. On the rotating ring 7 Distances from each other are made of several eyeglass holes 9, on both sides of which in the body of the rotary ring 7 are pressed the shanks of the pins 10, designed to be fixed on the lower surface of the rotary ring 7 cash register 11, screws 12 which with their pointed ends are within the groove 13 formed on periphery 10 itiftov.

The inner section of the cassette 11, as well as the eyeglass holes 9, is shaped according to the shape of the individual sections of the con-traction of the blanks 14 with the condition of ensuring reliable orientation of the latter. The contour of the lower end of the cassettes and is provided with a collar 15 having a minimum width sufficient to hold 35 in the cassettes of the stacks of blanks 14.

At the upper end of the hollow rack 4, the bracket 16 is rigidly fixed, and at the last end the holder 17 controls a ball lock 18, which is made according to the principle of an overrunning ball clutch. A separator 19 is placed in the opening of the casing 17 with the possibility of free vertical movement, and a rod 20 is placed in the opening of the latter, having the possibility of free vertical movement and fixation in the working position by balls 21 located in the radial holes made Q. separator casing 19 .. For better adhesion of the balls 21 to the rod 20, as well as to ensure the vertical movement of the latter without turning, along the forming surface of the cylindrical surface of the rod 20 are made according to the number of balls of the groove 2 with a profile whose radius corresponds to the radius of the spherical surface

sha from ti 23 chi sv di

in and

see su no in ka n

-at

0

15

20

25

ZO 35

balls 21. The separator 19 is spring-loaded relative to the holder 17 by a compression spring 23. To transfer the force of the spring 23 to the holder 17 and a cup 24 is used to adjust the magnitude of this force, connected to the holder 17 by a threaded connection, counter-assembled

screw 25.

At the lower end of the rod 20, a lifting fork 26 is mounted console, carrying the pusher 27, which can be moved inside the cartridge 11, in which a vertical slot 28 is made to allow the lifting fork 26 to pass (Fig. 4). For the free passage of the rod 20 through the bearing disc 5, a hole 29 is made in the latter.

The force of the pusher 27 to directly act on the stack of pre-cast workpieces 14 is communicated by a load .30 connected by a flexible element 31 to a lifting fork 26.

Cargo 30 consists of several parts. The masses of all parts of the cargo, except for the bottom, are equal to each other.

The total mass of the cargo can be determined by the dependence:.

.

m

 (n - 1) + m

P

(one)

that - the mass of each of the parts, except the bottom, i 1,2,3 ... (p-1)

p - the number of parts of the cargo, ha - the mass of the lower part of the cargo. The mass of the lower part of the cargo is determined by the formula:

+ MT- +, (2)

e And - the mass of the pusher in the sum of the mass of the rod and the lifting

forks;

i; additional mass to overcome friction forces.

The total mass of the cargo is determined by the formula:

t "t .;

M.

M +

M

(3)

in where M is the mass of the foot blanks

set.

Equating (1) and (3), we find the number of parts of the cargo:

w; (n - 1) + IT .; - M, - M. Mz

M, + m

“D (n - 1)

+ m; Mj

ha.- nM 3

--Ef (4,

The value of m is selected by a smaller maximum allowable force on the gripping PR body, which, in turn, is determined by the capacity of the latter.

For example, for the robot MP-9S T71. 330.017, with a load capacity of 0.2 kg, the specified force will be 0.2 kg.

The mass of the parts, except for the bottom, will be equal to:

mj 0.2 kg.

Mass of foot of preparations: Mz 0,8kg. The number of pieces of cargo will be equal to:

n -9gO 0.2

four.

The mass of the pusher in the sum of the mass of the rod and the lifting fork:

M 0.75 kg.

The additional weight for overcoming the friction force is determined experimentally and in our case is equal to: M 0.5 kg. The mass of the lower part of the load is thus equal to:

ha - 0.2 + 0.75 + 0.5 1.45. kg Total weight of the load is: M 0.2.3 + 1.45 2.05 kg

The number of steps in the cavity of the rack 4 is equal to the number of parts of the load 30.

I

The outer diameters of the parts of the load 30 are chosen in such a way that each of them has the ability to move within the limits of the respective step and higher, and its further advance down is blocked by the protrusion of the next lower step. That is, the largest outer diameter has the upper part of the load, and each of the lower parts has a smaller outer diameter than the previous one, located higher.

All parts of the load 30 are interconnected by means of a flexible element 31 passing through openings located in the center of each of the parts.

- e. 15

20

14562716

The flexible element 31 is thrown over the roller 32 mounted with its bracket 33 on the bracket 16. The operation of the ball lock 18 of the axle 1 is controlled by the lever 34, which is articulated by one support with the axle 35 fixedly mounted in the tide of the cup 24, and the second support - 0, 0, a reel mounted axes 36 on it with a separator 19. The right end of the lever 34 has the possibility of contacting the arm of the robot 37.

The fixing in the working position of the cassettes 11 is carried out on the supporting disk 5 and retainer 38 spring-loaded relative to the latter, which interacts with one of several holes 39 made in the rotary ring 7 against each eyeglass hole 9. The operation of the clamp 38 is controlled by the pedal 40 with it a flexible element 41.

25 The initial position of the lifting fork 26 is below the lower end of the cassettes 11, so that it does not prevent the latter from rotating in this position. The suction pad 42 of the arm of the robot 37 is 30 working positions to take the workpiece 14 from the cassette and transfer it to the press stamp (not shown). Suction cup 42 is a gripping organ.

The device works as follows. i

Before starting work, they load stacks of blanks 14 of cassette 11. Operated by pedal 40, fix with 38 in the working position one of cassettes 11, after which the pusher 27 is inserted into the lower part of the latter, controlled by a ball lock 18 by acting on lever 34 and at the same time keeping the stack of blanks 14 in position, so that the upper blank is recessed relative to the upper surface of the rotary ring 7 by 2. .. 3 mm. Release the lever 34 and under the influence of the spring 23 balls 21 wedge 50 in this position, the rod 20.

When inserted into the upper part of the cartridge 11 of the suction cup 42 of the robot arm's grip under its influence, the lever 34 together with the separator 19 is empty, wedging 55 balls 21 and releasing the rod 20, which, under the influence of the load 30, will lift the stack of blanks 14 and press it to the suction cup 42 grips the hands of the robot 37. At this moment in the suction cup 42 creates 35

40

With the vacuum and the top, the workpiece is pressed to its lower plane.

When the robot arm 37 is retracted, the balls 21 under the action of the spring 23 again retract the rod 20.

Thus, as the number of blanks in a cassette decreases, their level remains constant.

In addition, as the number of blanks in the cassette 11 decreases, the weight of the | 30 moves down the cavity of the rack 4. When the weight 30 passes the first step of the cavity, its upper part will be separated from the rest and set on the ledge of the first step. Next, the load 30 moves down without the top part, and when the second stage passes, the next part will separate and settle on the ledge of the second stage. So on, until one lower part of the load 30 remains.

Thus, when a part of the blanks is consumed in a cassette, the weight is reduced by the mass of one of its parts, respectively.

After the entire stack of blanks is used up, another cassette 11 loaded with blanks is installed in the working position.

In this way, the lower part of the load 30 rises up, the remaining parts are alternately strung on it and the load assumes the initial upper position.

Then the cycle of operation is repeated.

For convenience, cassettes are loaded not every time immediately after emptying one cassette, but after emptying several cassettes, but in such a way that it would not be necessary to stop the operation of the entire line.

Claims (1)

Formulaisation Eteni Device for piece workpiece blanks a, c. P 1456271, characterized in that, in order to increase reliability due to the stabilization of the pressure increase from the bottom of the foot of blanks on the gripping body of an industrial robot, the load is made of several parts, the masses of which, except the bottom, are equal, and the weight of the bottom is greater than each parts to the mass of the pusher connected to it, the rod and the lifting fork, while in the rack cavity there are stepped stops according to the number of parts of the load. L 20 nineteen P Shchi2.1 Vida FIG. 2 Shg. 6-6 1ShYAMMVV "B1 .ten . sh ten li 11 12 Schig.Z gd 20 36 3 Schi g, 5