SU1458163A2 - Automatic conveyer-storage system - Google Patents

Abstract

The invention relates to mechanical engineering and can be used to automate metalworking. The aim of the invention is to expand the technical capabilities of the transport and storage system. The automated storage system contains a warehouse with a stacker crane and pick-up devices 7, made in the form of a dividing plate 14 and 15 horizontally installed in its housing 13 one above the other, kinematically connected with each other with the possibility of multidirectional movement in a horizontal plane along the directions Other slots 16 and 17, the upper plate 14 is provided with clamping elements 21 for mounting the cassette 5 and is provided with an opening for accommodating the receiving device installed in the housing 13. and 7 of the rotary-pitch mechanism 18 with a faceplate 25 provided with the clamping elements 24, and the bottom plate 15 is provided with sliders coaxially disposed therein with hooks intended to interact with the gripper of the stackers 8 and the copiers. The upper plate base elements 21 are made in the form of additional slider rods that have the ability to move vertically, and additional copier plates are mounted in the case of the receiving end of the device for mounting and removing cassettes 5 on the chuck 25 of the rotary-step mechanism 18. 10 Il., &Amp; S (L it joint venture X) C5 Od

Description

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FIG.

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The invention relates to mechanical engineering and can be used to automate metalworking.

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

The goal is provided with the ability to rotate containers, which can be used as swivel disk cassettes or magazines, on receiving and dispensing devices. Systems that interact in this case with loading devices or industrial robots installed on the process equipment.

Fig, 1 shows the THC, the plan; FIG. 2 is a view A of FIG. 1; FIG. 3 shows a receiving and receiving device Type B in FIG. 2; Fig, 4 is a section bb In Fig, 3; in Fig, 5 - the type of fig about 4; fig 6 is a section d-d of fig 4; FIGS. 7-10 are a sequence diagram of the operation of the capture and receiving and dispensing device,

The storage system consists of a rack 1 with cells 2, the number of which is determined mainly by the number of equipment 3 serviced by industrial robots 4. A disk cartridge -5 is used as a container, in the slots around the perimeter of which parts are placed evenly. or instrumental blocks. The disk cassette 5 is located at the receiving-position 6c with the receiving and receiving equipment 7 (FIG. 1), or in the racks 2 cells I the Piler 8 is installed with the possibility of horizontal movement along the transport path 9o. 8 contains an individual horizontal movement actuator, an individual vertical movement actuator, and sensors of all positions of the actuators associated with the control device. The carriage 10 (FIG. 2 is placed on the stacker 8 with the possibility of vertical movement along the rack 11. On the carriage 10 is installed with the possibility of entering a grab 1 12 in any cell 2 of the rack 1 (FIGS. 1 and 2), the receiving-dispensing device 7 (FIG. 3 and 4) is placed in the housing 13 and contains the upper plate 14 and the lower plate 15 mounted to move 1. along the guides to the grooves 16 and 17, made in the frame

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Ce 13, as well as a pivot and pivot mechanism 18, rigidly connected with a fixed HbiM base to the body 13. The body 13 is fixed in any cell of the rack 1 using, for example, threaded connections 19, the upper plate of complex shape contains an opening 20 for accommodating the gripper 12. and a pivot-stepping mechanism 18 and is provided with clamping elements 21 for mounting and orienting the disk cartridge 5, the lower part of which is based on 1x elements 21 made in the form of sliders with the possibility of vertical movement. The clamping elements 21 rest on a copy bar 22, rigidly connected to the housing 13, the Disk cassette 5, in turn, contains elements, for example, holes 23, for interacting with the clamping elements 21 of the upper plate 14, as well as with other basing elements 24 placed on the faceplate 25 of the rotary stepper mechanism 18 The bottom plate 15 has spring-loaded sliders 26 resting on the inner surface of the guide grooves 17, which have profile grooves 27 and 28 at the ends, t, which are made by copying Sliders 26 carry hooks 29 of the L-shape. The position of the bottom plate 15 and the faceplate 25 can be controlled by a sensor m connected to the control device. Plates 14 and 15 are kinematically coupled by a counter-movement mechanism (FIGS. 3, 4). Gear racks 30 mounted on plates 14 and 15 and interacting with each other by means of gear shaft 31 placed in housing 13c are used as a mechanism for oncoming movement.

FIGS. 7-10 show a sequence diagram of the operation of the gripper 12, in particular, FIGS. 7 and 10 correspond to the initial positions of the gripper 12, FIGS. 8 and 9 show the position of the gripper in the receiving and dispensing positions 7. Position in FIG. 9 corresponds to the position of the faceplate 25 basing elements 21 and sliders 26 with hooks 29 shown in figs 3-6. The end of the gripper has a complex step shape with dimensions of steps 1, 6 fig. 6o. The distance from the end of the slide 26 in contact with the copier surface of the slots 17 , until the end of the hook 29 is marked 1e, and the distance

between the profile grooves 28 - L, and 27 - Lj. The base elements 24 on the faceplate 25 have a height h, the distance from the face of the faceplate to the top end of the base elements 21 - h,. The vertical stroke of the base elements 21 when the sliders fall into the profiled grooves in contact with them of the bar 22 but the normal operation of the system corresponds the following ratios of the above geometric dimensions;

li 1 ,; (L, - 21z) (L, - 21e) L, L.i; (Lj - 21) 1; (h, + hi) N.

The transport-storage system works as follows, the computer instructs to install a cassette on the processor that controls the operation of the transmitter 8, as a result of which the piler 8 moves along transport route 9, and the gripper 12 in the rack 11 takes it out of the specified computer 2 disk cassette 5 and feeds it to one of the receiving and firing positions 6o. This moment corresponds to position 1 of the gripper 12 in FIG. 7. The height of the carriage 10 is controlled by one of the sensors placed on the stacker 8. The upper part 14 is positioned between the racks of the rack position III, which is also monitored by the sensors.

At the command of the computer, the gripper 12 is moved into the opening of the upper plate 14 to the position W (Fig. 8). Next, the grip 12 is lowered down until the pop falls into the zone of action of the hooks 29, the position AND (Fig. 9). When lowering the grip 12, the disk cassette 5 is mounted on the clamping elements 21 of the upper plate 15 ((position Sh), orienting them with the holes 23 (Fig. 4). At the command of the ELM, the grip 12 begins to move to its original position (Fig. 10). In the process of moving, the slides 26 emerge from the profile grooves 27, into the hooks 29 tightly enclose the end of the grip 12 of size Ij. The bottom plate 15 moves together with the grip 12 into the inside of the rack 1. Moving it through the toothed racks 30 and the gear shaft 31 transmits movement in the opposite direction of the upper PL 14. you based elements 21 placed on fire

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Those 14, in contact with the copiers 22, flow into the grooves of size H, and the cassette 5 installs the holes 23 on the base elements 24 of the faceplate 25. The sliders 26 then sink into the profile grooves 28 and release the grip 12, allowing the stacker 8 to perform subsequent The movements provided by the computer program. The disc cassette 5, being outside the rack 1 on the faceplate 25 of the rotary-dividing mechanism 18, performs, in conjunction with the faceplate, the rotary-dividing movement mechanism, coordinated with the robot 4, which ensures that the technological equipment is loaded with 3 new parts or tool blocks. In the sockets vacated on the cassette 5, the machined parts and the used tool blocks are installed. After the replacement of the instrumental blocks in the process equipment 3 or the filling of the cassettes with the processed parts, they are returned to the rack cells in the reverse of the stated form. On a command from the computer, the stacker 8 with the cartridge-free gripper 12 shifts it to the receiving-dispensing position 6, position P, and stops (Fig 10). Further, the gripper with dimensions of steps 1 and 1 (FIG. 6) does not

interfering with the engagement of the gripper 12 into the hooks 29 (FIG. 6), moves the plates 15 beyond the limits of the rack 1 (FIG. 9, position IV). The top plate 14, which is kinematically coupled to the plate 15, moves in this direction in the double direction. In the process of its movement, the clamping elements 21 emerge from the profiled grooves of the copiers 22 and, moving 5 up, remove the disk cartridge 5 from the base elements 24 of the faceplate 25 of the stepping mechanism 18 and, moving further along the copier 22, insert the cartridge 5 into the interior of the rack 1 in the zone of action of capture 12 (position III). Next, the gripper 12 is moved upward to position I (Fig. 8) j, and the gripper 29 is removed from the action area of the hooks 29. In its movement, the gripper removes the cassette 5 from the clamping elements 21. position I (Fig.7). In accordance with the program on the team

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de from the computer, the robot stacker installs the spent cassette 5 into any free cell of the rack 1 according to

cyclogram of THC.

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Claims (1)

Invention Formula Automated transport and storage system for auth. No. 1351750, differing from IQ in that, in order to expand technological capabilities by using as a container for products of rotary disk cassettes or mag63 Each of the receptacle-lined devices is equipped with a rotary-step mechanism installed in the device case and made in the form of a face plate that can be rotated in the opening of the upper plate, the container-based elements of which are made in the form of vertically arranged and vertically movable slider rods positioned with interaction with the movement of the plate with a copy of the straps attached to the housing. 6ua / 4 fig.g  22 2t AT Fi.e srig.5 / J 15  tiZ / / sreeb 28 Fiyo, 7 i / a8