SU1600895A1 - Robotic complex for forming parts from unit blanks - Google Patents

Abstract

The invention relates to the processing of metals by pressure and can be used for stamping parts from piece blanks. The purpose of the invention is to increase reliability and expand technological capabilities by stacking parts in the foot. The robotic complex contains process equipment with a snap, a mechanism for moving parts and workpieces, a base, a rotary table mounted by means of a drive shaft on the base and connected with a rotational drive, at least two rotary shafts mounted on a rotary table vertically at equal distance from The drive shaft has two rotary disks, each of which is fixed on one of the rotary shafts horizontally. On the rotary disks there are stores around the circumference for placing stop blanks. On the turntable there is a drive for discrete rotation of the turntables at a given angle. A mechanism for moving the stack of blanks is installed at the issuing position. On the rotary disks, stores are mounted to accommodate the stop parts, located between the stores to accommodate the stop blanks. On the base, a column is mounted vertically and coaxially to the drive shaft, carrying a horizontally fixed beam. On the beam with the ability to rotate in a horizontal plane mounted rod with a hinge. The industrial robot equipped with two arms with grippers is movably placed on the rod. 17 il.

Description

the position of the rods, in which the cartridge of the replaceable magazine is fully loaded with finished products; in fig. 10 - rotary disk, top view; FIG. 11 is the same when turning y. view from above; in fig. 12 - turntable with rotary discs, top view; in fig. 13 is a view of FIG. 12; in fig. 14 - column; in fig. 15 is a section DD in FIG. 14; in fig. 16 is a section E-E of FIG. 14; in fig. 17 is a section of an LF in FIG. 12.

The robotic complex consists of an industrial robot 1 with two hands 2 and 3 with a center O of rotation of the hands of the robot, a sheet press forging press 4 with a punch 5, which have a common pressure axis Oi, a driving table 6 with a turntable 7 with a turning center 02 . On platform 7, rotary disks 8 are installed with the possibility of their discrete rotation around the center of Oz. The drive table 6 may occupy the position I of the overload of the demountable pallets 9, facing the reloading position of the vehicle 10, and the position AND of the piece overload from the pallets 9. The If position of the piece overload has position Pa of piece by piece 11 of the workpiece 11 and mechanism of piece piece 12 and piece fib of piece receiving finished products 13 with the mechanism of 14 piece-wise reception. Position f is facing the process equipment, i.e. to a stamp press 4. The pallets 9 are provided with stores (cassettes) 15 for blanks 11 and stores (cassettes) 16 for finished products 13. The centers O4 and Os of stores (cassettes) 15 and 16 lie on the same diameter. 1 / The shops 15 and 16 of the pallet are uniformly circumferentially equidistant from the center of rotation of the pallet 9, which is on the same axis as the rotary disk 8. The number of stores 15 for blanks 11 and stores 16 for finished products on the replaceable pallet 9 is equal.

The discrete rotations are determined by the angle y formed by two rays C exiting from the center Oz of rotation of the disk to the centers O and Os of the stores for blanks or finished products.

The rod 17 of the mechanism 12 of the piece delivery of the blanks 11 is aligned with the magazine 15 under the blanks 11, and the rod 18 of the mechanism 14 of the piece reception coaxially with the magazine t6 for finished products 13. The rotary disks 8 are equipped with fixing elements 19 for the replaceable pallets 9. The magazine of the replaceable pallet 9 is formed three vertical rods 20. The robot 1 is suspended on the rod 21 with the hinge 22 and has the ability to reciprocally move along it and rotate the rotary disk 8 around the center Oz. The rod 21 with the hinge 22 is mounted on an L-shaped column 23, the latter is mounted in the center of rotation of the platform 7 on the fixed rack 24 of the driving table 6.

The discs 8 for performing discrete turns are provided with gears 25 engaging with gears 26 (Figs. 12 and 13). The latter are fixed coaxially with the motor shaft 27, the stator of which is fixedly fixed to the rotary platform 7. To transmit the torque by the disk 8, the gears are fixed and coaxial with the disks 8. For the rotation of the platform 7 by 180 °, a pair of gear teeth is provided. from the wheel 28 and gear 29. mounted on the shaft of the engine 30. The motor housing 30 is mounted on a fixed rack 24. The wheel 28 is rigidly mounted on the swivel platform 7 coaxially with the axis 02.

To eliminate the relative movement of the rod 21 with the T-column during operation of the robot, a nut 31 is used, tightening the hinged connection (Fig. 15). The longitudinal movement of the robot 1 along the rod 21 (Fig. 16) is carried out along the guide 32 attached to the rod 21.

The robot 1 is provided with a slider 33, which moves along the guide 32. For fixing the robot 1 relative to the rod 21, a locking screw 34 is provided that cooperates with the guide 32.

Each time, the disks 8 are rotated relative to the center Oz by an angle y formed by two beams extending from the center Oz to the centers of the billets for blanks or finished products, p (Fig. 10), where f) is the angle formed by two beams emerging from the centers of adjacent cassettes for blanks and finished products to the center of Oz. Rays emanating from the center of rotation of the disk to the centers of the rods of the mechanism for issuing and receiving finished products form an angle of 0 p 9, where n takes odd numbers (1, 3.5, etc.), with FIG. 10 0 3, and in FIG. 11 in (p, -r.Q.,

Robotic complex works as follows.

By vehicle 10, a pallet 9 with magazines of blanks 11 is mounted on a rotary disk 8 of a driving table 6 to the position I of an overload of pallets and fixed by fixing elements 19 from axial and

angular displacement. After loading the disk 8 with the pallet 9 with the workpiece shops, the vehicle 10 leaves the loading position of the disk 8 to pick up another pallet with the work shops. The drive table rotates the platform 7 around the axis 02 by 180 °, where the pallet with the workpiece stores 11 is set to position II of the unit overload, the store with the stack of workpieces 11 takes the position On, and the empty store under the stack of articles 13 takes the position of lib (Fig 2). When the atom rods of the mechanisms for the sample delivery of blanks and reception of finished products are in the lowest position and do not prevent the rotation of the platform 7.

Then the rods 17 and 18 come to the initial position (Fig. 8), and the stem 17 of the mechanism 12 of the piece output of the blanks 11 is in the lower position, and the stem 18 of the mechanism 14 of the piece reception of finished products 13 is in the extreme upper position. Next, the dispensing mechanism 12 lifts the stem 17 by an amount of the thickness of the workpiece, and the stem 18 of the receiving mechanism 14 is lowered by an amount equal to the thickness of the finished product (Fig. 5). The delivery stem lift cycles are performed as long as there is a bale on the stem. When there are no blanks on the rod (Fig. 9), the rods 17 and 18 occupy the lowest position that does not prevent the rotation of the disk 8. The lowering cycles of the stem of the finished goods receiving mechanism are carried out until the full complex of finished products is on the rod. in the store (Fig. 9). When all the shops on the pallet are filled with finished products, the rods 17 and 18 again go to the lowest position, which does not prevent the platform 7 from rotating by 180 °.

Meanwhile, vehicle 10 has already loaded the pallet with stores of workpieces, a swivel disk 8 located at position I. After turning platform 7 by 180 and, accordingly, moving the pallet with stores of workpieces to position II, and the pallet with stops of finished products to position I, the transport The tool 10 takes the pallet with the stores and sets it to a different technological position (not shown). The vehicle then takes the pallet with the workpiece stores and installs it on the rotary dial 8 of position I. Then the work cycle repeats.

The loading and unloading of piece goods is carried out by an industrial robot 1. With one hand 2 the industrial robot removes the workpiece from the position Pa and sets

in the stamp, simultaneously with the other hand 3 removes the finished product from the stamp 5 and lays it on the position of Mb. After the magazine at the Pa position is fully unloaded, and the magazine at the lib position is fully loaded, the drive table performs one discrete rotation of the disk through an angle of 90 °. found on P.'s position by an amount equal to 10 the distance between the stores where the blanks or finished products are located (Fig. 3). clockwise.

As a result of the rotation of the pallet, the magazine at position Pa is again loaded with blanks, 15 and the magazine at position lib is again ready to receive the finished products after processing on a press-forging press.

Claims (1)

Claims of the Invention Robotic complex for the stamping of parts from piece blanks, containing technological equipment with accessories, mechanism for moving parts and blanks, base, turntable mounted with the help of a drive shaft 25 on the base and associated with a turn actuator, at least two rotary shafts mounted on a rotary table vertically at equal distance from the drive shaft, two rotary disks, each of which is mounted on one of the rotary shafts horizontally, shops for placing a stack of blanks mounted on each of the rotary disks and located at a circle at an equal distance of 35 from the rotary shaft, driving a discrete rotation of the rotary shafts at a predetermined angle mounted on the rotary table and the mechanism for moving the stack of blanks mounted at the output position under the plane of rotation of the rotary. drives different in that. what. in order to increase reliability and expand technological capabilities by stacking parts in the foot, it is equipped with a column mounted vertically and coaxially on the base with a drive shaft, a beam; mounted on a column, a horizontal bar mounted on the beam can be rotated in a horizontal plane using a hinge located from the axis of the drive shaft at a distance equal to the distance between the turning and driving shafts, additional magazines to accommodate the stop 5 parts mounted on pivoting discs between shops, for placing workpieces, and an additional mechanism for moving a stack of parts mounted on the position of receiving parts under the plane of rotation of pivoting disks, than the mechanism for moving parts and sticking with two arms with girths, the arrangements are made in the form of an industrial rotor horizontally at an angle one relation movably mounted on the rod and the other relatively. 22 If21 D, 5 2 fa8.1 22 ten 3 5-B Fy / J 7J FIG. 6 7J ; i 7  IL /;} v ///. FIG. eight 20 -7B -20 V // 7r one b  B U / TA 122222 FIG. 9 2i u h Jt W /// L U / TA. nf) 6 26 25 FIG. 77 28 23 / X .F 25 oj CD dd I // 7 / u 13 yy Qz d 4J Fig.SP 22 25 g -J7 Phage 15 J2  7 MF 5-j ///// j QI 29