WO2019202192A1 - Automatic system for shot-blasting workpieces - Google Patents

Automatic system for shot-blasting workpieces Download PDF

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Publication number
WO2019202192A1
WO2019202192A1 PCT/ES2019/070263 ES2019070263W WO2019202192A1 WO 2019202192 A1 WO2019202192 A1 WO 2019202192A1 ES 2019070263 W ES2019070263 W ES 2019070263W WO 2019202192 A1 WO2019202192 A1 WO 2019202192A1
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WO
WIPO (PCT)
Prior art keywords
blasting
carriage
axis
shot
parts
Prior art date
Application number
PCT/ES2019/070263
Other languages
Spanish (es)
French (fr)
Inventor
Jon IRIGOYEN FRESNEDA
Iñaki MURGIA MENDIA
Original Assignee
Eseki, S.A.L.
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Publication date
Application filed by Eseki, S.A.L. filed Critical Eseki, S.A.L.
Publication of WO2019202192A1 publication Critical patent/WO2019202192A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present invention relates to an automatic system for blasting parts, robotic system, specifically intended for the blasting of steel parts intended for both the wind and rail sector, auto-motor industry and others, including a telematic maintenance system that allows generating a control and preventive maintenance service.
  • the object of the invention is to provide the steel blasting sector with a system capable of adopting multiple positions in order to significantly improve the blasting performance, and utilizing angular and metallic shot to achieve a better finish of the pieces.
  • spherical shot is used, being carried out in cabins with an inner EDPM rubber coating, for the protection of the impact of the shot, with the particularity that the cabins can be both manual and automatic, but in any case the Shot blasting is carried out by means of turbines, and in the best case with the collaboration of a robot that although it presents certain degrees of freedom, it is fixed with respect to a point of the cabin, so that its mobility is quite limited and consequently it is necessary to constantly change the position of the pieces to be shot, with the loss of time that this entails.
  • the system that is recommended solves in a completely satisfactory way the previously exposed problem, using angular shot, much more abrasive than conventional spherical shot, although it allows to use any type of shot, and even sand, allowing the shot of said shot from multiple positions , without having to constantly vary the position of the pieces to be shot.
  • the system of the invention includes a robot, capable of being located inside the cabin, allowing a large number of movements, both linear and angular displacement, to be carried out in order to allow the blasting of parts without having to change these position in said shot blasting process.
  • the cabin (internally) and the set of the machine elements is covered with poly-urea, which prevents the mobile elements of the system from being hitched, as is the case with rubber coatings.
  • the system comprises a series of commercial structural steel pillars, welded and custom machined, on whose pillars the X-axis beams are supported, these beams being designed from calibrated and machined steel plates and assembled by screws to avoid welding , thereby improving the final precision in the assembly.
  • the X-axis carriages are moved, which are transversely joined by the Y-axis beams, designed, manufactured and mounted using the same bolted system as the X-axis beams mentioned above.
  • the carriages of the Y axis are moved, which are joined by two beams that will support the Z axis.
  • This second carriage has a telescopic axis along the Z axis, also obtained from calibrated, machined and screwed steel sheets, so that said axis, being telescopic, has the ability to pick up and lengthen in function of the required application, incorporating polytetrafluoroethylene (PTFE) or nylatron® skates, in which several needle bushings are assembled, depending on the load to be supported, skates that are located between the steel tubes that form the Z axis itself , to facilitate the sliding between them.
  • PTFE polytetrafluoroethylene
  • nylatron® skates in which several needle bushings are assembled, depending on the load to be supported, skates that are located between the steel tubes that form the Z axis itself , to facilitate the sliding between them.
  • the lower extremity of said vertical telescopic axis will be finished off in the classic shot blasting robot, that is to say in an articulated arm with several degrees of freedom, and topped off in the corresponding shot nozzle.
  • the mechanism of movement in the X and Y axes is constituted from lower and upper guides through which the wheels of respective cars circulate, so that to be able to move
  • the whole system uses a rack-and-pinion system to which the torque is transmitted through a servomotor, a gearbox and an angular forwarding.
  • the drive is carried out through a hoist to which the original motor is removed and a servo motor driven by the robot controller is attached.
  • the path of the different sections of the axis is controlled by an external axis of the robot console, as the smallest section of said telescopic structure is associated with the chain of the hoist.
  • the programming of the robot can be done by means of a screen, as is done conventionally, or by means of a CAD / CAM program, a tool used in the process automation programming with robotics.
  • the telematic system that incorporates the invention is intended to collect data as well as allow real-time access to the process, allowing an exhaustive evaluation of the operation as well as the establishment of an appropriate maintenance system, using information on the operation of each servo. engine and communicating with the dashboard to move said information on hours of use of wheels, bearings, guides, zippers, needle bushings, skates, etc., so that with this information you can define the hours of use of each component and generate alarms in the general screen when the maintenance or replacement of each component.
  • the system of the invention includes means for verifying the pieces by means of a sensor chamber that measures and compares the roughness of the treated surface, so that the process is terminated by giving the piece OK or re-treating it. If so required.
  • Figure 1 shows a perspective view of an automatic system for blasting parts made according to the object of the invention, in which a part to be treated is also represented, as well as the indication of the axes C, U, Z.
  • Figure 2. Shows a side elevation view of the assembly represented in the previous figure.
  • Figure 3. Shows an elevation view of the telescopic axis corresponding to the Z axis that participates in the system.
  • Figure 4. Shows a perspective view of one of the skates that incorporates the telescopic axis of the previous figure.
  • Figure 5. It shows an exploding detail of the shape and arrangement of the skates represented in the previous figure, in the telescopic structure of the vertical axis.
  • Figure 6. Shows a perspective view of the rack and pinion system that drives one of the carriages of the device, specifically the one corresponding to the X axis.
  • Figure 7 shows a longitudinal elevation view of the transmission system on the X axis of the system of the invention.
  • Figure 8. Shows an enlarged detail of the way of sliding the carriage corresponding to the X axis.
  • Figure 9. Shows a detailed view of the transmission system on the Y axis.
  • the automatic system for the blasting of pieces is constituted from a structure in which a series of steel struts or pillars (1) participate, which constitute a support for longitudinal bars (2), equipped with guides (6) through which a first carriage (8) can be moved.
  • Said carriage (8) is a carrier of beams or crossbars (2 ') with guides (6'), through which a second carriage (8 ') is movable, which is a carrier of a telescopic shaft (3), obtained from steel plates, in which different tubular sections of progressive smaller section are defined, related to each other through skates (4), with needle bushings (5) as rolling means.
  • the transmission of movement on the X axis It is determined by the displacement of the first carriage (8), based on a system of guides (6) superior and inferior to the longitudinal bars (2), through which the wheels (7) associated with the plates in which the top is finished first carriage (8), using for this displacement a rack-and-pinion system (9) associated with the longitudinal bars (2), operated by a servo motor (10), a reducer (11), with angular forwarding.
  • the displacement in the Z axis in which the telescopic axis (3) materializes, and which is topped off in the classic robotic arm (14) with six axes or degrees of freedom, as seen in Figures 1 and 2, and in which the shot nozzle of the shot is arranged it is achieved by means of a hoist that will be inserted into the second carriage (13), associated with a servo-motor governed by the system control electronics, hoist whose chain it is internally linked to the lower or smaller end of the telescopic sections that participate in the telescopic axis (3), so that through this element the telescopic extension and retraction of said axis is controlled.
  • the system is programmable by means of a screen or by means of a CAD / CAM program, including telematic means that collect data for the evaluation of the different parts that participate in the device. in order to maintain proper maintenance thereof, including also means of verifying the parts (12) by means of a sensor chamber that measures and compares the roughness of the treated surface.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)

Abstract

The system according to the invention, which is based on a conventional robotic shot-blasting arm, is essentially characterised in that, instead of occupying a fixed, stationary position, it is arranged on a vertically movable telescopic shaft (3), which can in turn be moved horizontally along the Y axis by means of a second carriage (8'), which can in turn be moved in a controlled manner along longitudinal guides in direction X by means a first carriage (8). This allows the robotic arm to be positioned in practically any position with respect to the workpiece to be shot-blasted, thus avoiding having to change the position of the workpiece constantly in order to carry out said shot-blasting process.

Description

SISTEMA AUTOMÁTICO PARA GRANALLADO DE PIEZAS
Figure imgf000003_0001
AUTOMATIC PARTS GRINDING SYSTEM
Figure imgf000003_0001
OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION
La presente invención se refiere a un sistema automático para granallado de piezas, sistema robotizado, previsto concretamente para el granallado de piezas de acero destinadas tanto al sector eólico como ferroviario, industria auto-motriz y otros, incluyendo un sistema telemático de mantenimiento que permite generar un servicio de control y mantenimiento preventivo. The present invention relates to an automatic system for blasting parts, robotic system, specifically intended for the blasting of steel parts intended for both the wind and rail sector, auto-motor industry and others, including a telematic maintenance system that allows generating a control and preventive maintenance service.
El objeto de la invención es proporcionar al sector del granallado de piezas de acero, un sistema capaz de adoptar múltiples posiciones en orden a mejorar sensiblemente las prestaciones de granallado, y que utilice granalla angular y metálica para conseguir un mejor acabado de las piezas. The object of the invention is to provide the steel blasting sector with a system capable of adopting multiple positions in order to significantly improve the blasting performance, and utilizing angular and metallic shot to achieve a better finish of the pieces.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
Normalmente en el granallado de piezas se utiliza granalla esférica, realizándose en cabinas con un recubrimiento interior de goma EDPM, para la protección del impacto de la granalla, con la particularidad de que las cabinas pueden ser tanto manuales como automáticas, pero en cualquier caso la propulsión de la granalla se realiza mediante turbinas, y en el mejor de los casos con la colaboración de un robot que si bien presenta ciertos grados de libertad, el mismo está fijo con respecto a un punto de la cabina, por lo que su movilidad es bastante limitada y consecuentemente es preciso cambiar constantemente de posición las piezas a granallar, con la pérdida de tiempo que ello supone. DESCRIPCIÓN DE LA INVENCIÓN Normally in the shot blasting, spherical shot is used, being carried out in cabins with an inner EDPM rubber coating, for the protection of the impact of the shot, with the particularity that the cabins can be both manual and automatic, but in any case the Shot blasting is carried out by means of turbines, and in the best case with the collaboration of a robot that although it presents certain degrees of freedom, it is fixed with respect to a point of the cabin, so that its mobility is quite limited and consequently it is necessary to constantly change the position of the pieces to be shot, with the loss of time that this entails. DESCRIPTION OF THE INVENTION
El sistema que se preconiza resuelve de forma plenamente satisfactoria la problemática anteriormente expuesta, utilizando granalla angular, mucho más abrasiva que la granalla esférica convencional, si bien permite utilizar cualquier tipo de granalla, e incluso arena, permitiendo la impulsión de dicha granalla desde múltiples posiciones, sin tener que estar constantemente variando la posición de las piezas a granallar. The system that is recommended solves in a completely satisfactory way the previously exposed problem, using angular shot, much more abrasive than conventional spherical shot, although it allows to use any type of shot, and even sand, allowing the shot of said shot from multiple positions , without having to constantly vary the position of the pieces to be shot.
Más concretamente, el sistema de la invención incluye un robot, susceptible de situarse en el interior de la cabina, permitiendo llevar a cabo un gran número de movimientos, tanto de desplazamiento lineal como angular, en orden a permitir el granallado de piezas sin tener que cambiar éstas de posición en dicho proceso de granallado. More specifically, the system of the invention includes a robot, capable of being located inside the cabin, allowing a large number of movements, both linear and angular displacement, to be carried out in order to allow the blasting of parts without having to change these position in said shot blasting process.
La cabina (interiormente) y el conjunto de los elementos de la máquina se recubre con poli-urea, que impide que los elementos móviles del sistema puedan sufrir enganchones como ocurre con los recubrimientos de goma. The cabin (internally) and the set of the machine elements is covered with poly-urea, which prevents the mobile elements of the system from being hitched, as is the case with rubber coatings.
Estructuralmente el sistema comprende una serie de pilares de acero estructural comercial, soldados y mecanizados a medida, sobre cuyos pilares van soportadas las vigas del eje X, estando estas vigas diseñadas a partir de planchas de acero calibrado y mecanizado y ensambladas mediante tornillería para evitar soldaduras, mejorando con ello la precisión final en el ensamblaje. Sobre dichas vigas se desplazan los carros del eje X, los cuales están unidos transversalmente mediante las vigas del eje Y, diseñadas, fabricadas y montadas empleando el mismo sistema atornillado que las vigas del eje X mencionadas anteriormente. Sobre las vigas del eje Y, se desplazan los carros del eje Y, los cuales están unidos mediante dos vigas que soportarán el eje Z. Structurally the system comprises a series of commercial structural steel pillars, welded and custom machined, on whose pillars the X-axis beams are supported, these beams being designed from calibrated and machined steel plates and assembled by screws to avoid welding , thereby improving the final precision in the assembly. On said beams, the X-axis carriages are moved, which are transversely joined by the Y-axis beams, designed, manufactured and mounted using the same bolted system as the X-axis beams mentioned above. On the beams of the Y axis, the carriages of the Y axis are moved, which are joined by two beams that will support the Z axis.
Este segundo carro cuenta con un eje telescópico según el eje Z, obtenido también a partir de chapas de acero calibrado, mecanizado y atornillado, de manera que dicho eje al ser telescópico tiene la capacidad de recogerse y alargarse en función de la aplicación requerida, incorporando unos patines de politetrafluoretileno (PTFE) o nylatrón®, en los que se ensamblan varios casquillos de agujas, dependiendo de la carga a soportar, patines que van situados entre los tubos de acero que forman el propio eje Z, para facilitar el deslizamiento entre ellos. This second carriage has a telescopic axis along the Z axis, also obtained from calibrated, machined and screwed steel sheets, so that said axis, being telescopic, has the ability to pick up and lengthen in function of the required application, incorporating polytetrafluoroethylene (PTFE) or nylatron® skates, in which several needle bushings are assembled, depending on the load to be supported, skates that are located between the steel tubes that form the Z axis itself , to facilitate the sliding between them.
La extremidad inferior de dicho eje telescópico vertical se rematará en el clásico robot de granallado, es decir en un brazo articulado con varios grados de libertad, y rematado en la correspondiente boquilla de expulsión de la granalla. The lower extremity of said vertical telescopic axis will be finished off in the classic shot blasting robot, that is to say in an articulated arm with several degrees of freedom, and topped off in the corresponding shot nozzle.
En cuanto a los movimientos de los diferentes carros y eje Z, decir que el mecanismo de movimiento en los ejes X e Y, se constituye a partir de guías inferiores y superiores por donde circulan las ruedas de respectivos carros, de manera que para poder trasladar todo el sistema se utiliza un sistema de piñón- cremallera al que se le transmite el par a través de un servomotor, una reductora y un reenvío angular. As for the movements of the different cars and Z axis, say that the mechanism of movement in the X and Y axes, is constituted from lower and upper guides through which the wheels of respective cars circulate, so that to be able to move The whole system uses a rack-and-pinion system to which the torque is transmitted through a servomotor, a gearbox and an angular forwarding.
En cuanto al eje telescópico vertical o eje Z, el accionamiento se lleva a cabo a través de un polipasto al que se le extrae el motor original y se le acopla un servo- motor accionado por el controlador del robot. De este modo se controla el recorrido de los diferentes tramos del eje mediante un eje externo de la consola del robot, al estar el tramo más pequeño de dicha estructura telescópica asociado a la cadena del polipasto. As for the vertical telescopic axis or Z axis, the drive is carried out through a hoist to which the original motor is removed and a servo motor driven by the robot controller is attached. In this way, the path of the different sections of the axis is controlled by an external axis of the robot console, as the smallest section of said telescopic structure is associated with the chain of the hoist.
Por su parte, la programación del robot puede hacerse mediante pantalla, como se realiza convencionalmente, o bien mediante un programa de CAD/CAM, herramienta utilizada en las programaciones de automatizaciones de procesos con rob ótica. For its part, the programming of the robot can be done by means of a screen, as is done conventionally, or by means of a CAD / CAM program, a tool used in the process automation programming with robotics.
El sistema telemático que incorpora la invención está previsto para recoger datos así como permitir el acceso en tiempo real al proceso, permitiendo realizar una exhaustiva evaluación del funcionamiento así como el establecimiento de un sistema de mantenimiento apropiado, empleándose la información del funcionamiento de cada servo-motor y comunicándose con el cuadro de mandos para trasladar dicha información en horas de uso de ruedas, rodamientos, guías, cremalleras, casquillos de agujas, patines, etc., de manera que con dicha información se puede delimitar las horas de uso de cada componente y generar alarmas en la pantalla general cuando sea preciso el mantenimiento o sustitución de cada componente. The telematic system that incorporates the invention is intended to collect data as well as allow real-time access to the process, allowing an exhaustive evaluation of the operation as well as the establishment of an appropriate maintenance system, using information on the operation of each servo. engine and communicating with the dashboard to move said information on hours of use of wheels, bearings, guides, zippers, needle bushings, skates, etc., so that with this information you can define the hours of use of each component and generate alarms in the general screen when the maintenance or replacement of each component.
Por último decir que el sistema de la invención incluye medios de verificación de las piezas mediante una cámara sensórica que mide y compara la rugosidad de la superficie tratada, para que de esta manera se termine el proceso dando el OK a la pieza o volviendo a tratarla si así lo requiere. Finally, to say that the system of the invention includes means for verifying the pieces by means of a sensor chamber that measures and compares the roughness of the treated surface, so that the process is terminated by giving the piece OK or re-treating it. If so required.
DESCRIPCIÓN DE LOS DIBUJOS DESCRIPTION OF THE DRAWINGS
Para complementar la descripción que seguidamente se va a realizar y con objeto de ayudar a una mejor comprensión de las características del invento, de acuerdo con un ejemplo preferente de realización práctica del mismo, se acompaña como parte integrante de dicha descripción, un juego de planos en donde con carácter ilustrativo y no limitativo, se ha representado lo siguiente: To complement the description that will then be made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
La figura 1.- Muestra una vista en perspectiva de un sistema automático para granallado de piezas realizado de acuerdo con el objeto de la invención, en el que aparece igualmente representada una pieza a tratar, así como la indicación de los ejes C,U,Z. Figure 1 shows a perspective view of an automatic system for blasting parts made according to the object of the invention, in which a part to be treated is also represented, as well as the indication of the axes C, U, Z.
La figura 2.- Muestra una vista en alzado lateral del conjunto representado en la figura anterior. Figure 2.- Shows a side elevation view of the assembly represented in the previous figure.
La figura 3.- Muestra una vista en alzado del eje telescópico correspondiente al eje Z que participa en el sistema. Figure 3.- Shows an elevation view of the telescopic axis corresponding to the Z axis that participates in the system.
La figura 4.- Muestra una vista en perspectiva de uno de los patines que incorpora el eje telescópico de la figura anterior. La figura 5.- Muestra un detalle en explosión de la forma y disposición de los patines representados en la figura anterior, en la estructura telescópica del eje vertical. La figura 6.- Muestra una vista en perspectiva del sistema piñón cremallera que acciona uno de los carros del dispositivo, en concreto el correspondiente al eje X. Figure 4.- Shows a perspective view of one of the skates that incorporates the telescopic axis of the previous figure. Figure 5.- It shows an exploding detail of the shape and arrangement of the skates represented in the previous figure, in the telescopic structure of the vertical axis. Figure 6.- Shows a perspective view of the rack and pinion system that drives one of the carriages of the device, specifically the one corresponding to the X axis.
La figura 7.- Muestra una vista en alzado longitudinal del sistema de transmisión en el eje X del sistema de la invención. Figure 7 shows a longitudinal elevation view of the transmission system on the X axis of the system of the invention.
La figura 8.- Muestra un detalle ampliado de la forma de deslizarse el carro correspondiente al eje X. La figura 9.- Muestra una vista en detalle del sistema de transmisión en el eje Y. Figure 8.- Shows an enlarged detail of the way of sliding the carriage corresponding to the X axis. Figure 9.- Shows a detailed view of the transmission system on the Y axis.
REALIZACIÓN PREFERENTE DE LA INVENCIÓN PREFERRED EMBODIMENT OF THE INVENTION
A la vista de las figuras reseñadas, puede observarse cómo el sistema automático para el granallado de piezas se constituye a partir de una estructura en la que participan una serie de puntales o pilares (1) de acero, que constituyen un soporte para unas barras longitudinales (2), dotadas de guías (6) por las que es desplazable un primer carro (8). In view of the figures outlined, it can be seen how the automatic system for the blasting of pieces is constituted from a structure in which a series of steel struts or pillars (1) participate, which constitute a support for longitudinal bars (2), equipped with guides (6) through which a first carriage (8) can be moved.
Dicho carro (8) es portador de unas vigas o barras transversales (2’) con unas guías (6’), por las que es desplazable un segundo carro (8’), el cual es portador de un eje telescópico (3), obtenido a partir de chapas de acero, en el que se definen diferentes tramos tubulares de progresiva menor sección, relacionados entre sí a través de patines (4), con casquillos de agujas (5) como medios de rodadura. Said carriage (8) is a carrier of beams or crossbars (2 ') with guides (6'), through which a second carriage (8 ') is movable, which is a carrier of a telescopic shaft (3), obtained from steel plates, in which different tubular sections of progressive smaller section are defined, related to each other through skates (4), with needle bushings (5) as rolling means.
A partir de esta estructuración, la transmisión de movimiento en el eje X, viene determinada por el desplazamiento del primer carro (8), basándose en un sistema de guías (6) superiores e inferiores a las barras longitudinales (2), por las que circulan las ruedas (7) asociadas a las pletinas en que se remata el primer carro (8), utilizando para dicho desplazamiento un sistema de piñón-cremallera (9) asociado a las barras longitudinales (2), actuado por un servo-motor (10), una reductora (11), con reenvío angular. From this structuring, the transmission of movement on the X axis, It is determined by the displacement of the first carriage (8), based on a system of guides (6) superior and inferior to the longitudinal bars (2), through which the wheels (7) associated with the plates in which the top is finished first carriage (8), using for this displacement a rack-and-pinion system (9) associated with the longitudinal bars (2), operated by a servo motor (10), a reducer (11), with angular forwarding.
El desplazamiento en el eje Y, es decir del segundo carro (8’) con respecto a las barras transversales (2’) que se establecen entre ambos extremos del primer carro (8), será análogo al anteriormente descrito, es decir, incorporando igualmente dichas barras transversales (2’) cremalleras para el desplazamiento del carro a través de un piñón asociado a un grupo moto-reductor con servo-motor (10’) y reductora (1 E). The displacement in the Y axis, that is to say of the second carriage (8 ') with respect to the crossbars (2') that are established between both ends of the first carriage (8), will be analogous to the one described above, that is, also incorporating said crossbars (2 ') zippers for moving the car through a pinion associated with a motor-reducer group with servo-motor (10') and reducer (1 E).
Finalmente, el desplazamiento en el eje Z en que se materializa el eje telescópico (3), y que se remata inferiormente en el clásico brazo robótico (14) con seis ejes o grados de libertad, como se aprecia en las figuras 1 y 2, y en el que se dispone la tobera de impulsión de la granalla, se consigue mediante un polipasto que quedará inserto en el seno del segundo carro (13), asociado a un servo-motor gobernado por la electrónica de control del sistema, polipasto cuya cadena se vincula internamente al extremo inferior o más pequeño de los tramos telescópicos que participan en el eje telescópico (3), de manera que a través de este elemento se controla la extensión y retracción telescópica de dicho eje. Finally, the displacement in the Z axis in which the telescopic axis (3) materializes, and which is topped off in the classic robotic arm (14) with six axes or degrees of freedom, as seen in Figures 1 and 2, and in which the shot nozzle of the shot is arranged, it is achieved by means of a hoist that will be inserted into the second carriage (13), associated with a servo-motor governed by the system control electronics, hoist whose chain it is internally linked to the lower or smaller end of the telescopic sections that participate in the telescopic axis (3), so that through this element the telescopic extension and retraction of said axis is controlled.
Solo resta señalar por último que, tal y como se ha dicho con anterioridad, el sistema es programable mediante pantalla o bien mediante un programa de CAD/CAM, incluyendo medios telemáticos que recogen datos para la evaluación de las diferentes piezas que participan en el dispositivo en orden a llevar un adecuado mantenimiento del mismo, incluyendo igualmente medios de verificación de las piezas (12) mediante una cámara sensórica que mide y compara la rugosidad de la superficie tratada. It only remains to point out finally that, as previously stated, the system is programmable by means of a screen or by means of a CAD / CAM program, including telematic means that collect data for the evaluation of the different parts that participate in the device. in order to maintain proper maintenance thereof, including also means of verifying the parts (12) by means of a sensor chamber that measures and compares the roughness of the treated surface.

Claims

1.- Sistema automático para granallado de piezas, que partiendo de un brazo robótico con varios grados de libertad, en el que se dispone una tobera de impulsión de la granalla, dicho brazo va montado sobre un sistema de desplazamiento en los ejes X, Y, Z, en el que participan una serie de puntales o pilares (1) de acero, que constituyen un soporte para unas barras longitudinales (2), dotadas de guías (6) por las que es desplazable un primer carro (8) portador de unas barras transversales (2’) por las que es desplazable un segundo carro (8’), el cual es portador de un eje telescópico (3), cuya extremidad inferior se remata en el brazo robótico de granallado, incluyendo el primer carro (8), el segundo carro (8’) y el eje telescópico (3), medios de desplazamiento controlados electrónicamente a través de un sistema programable mediante pantalla y/o bien mediante un programa de CAD/CAM, caracterizado por que el brazo robótico (14) dispone de seis ejes o grados de libertad que se suman a los 3 ejes X, Y, Z antes señalados y por que el sistema de desplazamiento en los tres ejes se integra en el seno de una cabina de granallado, cabina que está revestida con poli-urea. 1.- Automatic system for blasting parts, which, starting from a robotic arm with several degrees of freedom, in which a shot nozzle of the shot is arranged, said arm is mounted on a displacement system in the X, Y axes , Z, in which a series of steel struts or pillars (1) participate, which constitute a support for longitudinal bars (2), provided with guides (6) through which a first carriage (8) carrying transverse bars (2 ') for which a second carriage (8') is movable, which is a carrier of a telescopic axle (3), whose lower end is finished off in the robotic blasting arm, including the first carriage (8 ), the second carriage (8 ') and the telescopic axis (3), electronically controlled means of movement through a programmable system by means of a screen and / or by means of a CAD / CAM program, characterized by the robotic arm (14 ) has six axes or degrees of freedom qu e are added to the 3 axes X, Y, Z mentioned above and because the three-axis displacement system is integrated into a shot blasting booth, a cabin that is lined with poly-urea.
2.- Sistema automático para granallado de piezas, según reivindicación 1, caracterizado por que el eje telescópico (3) está obtenido a partir de chapas de acero, en el que se definen diferentes tramos tubulares de progresiva menor sección, relacionados entre sí a través de patines (4), con casquillos de agujas (5) como medios de rodadura. 2. Automatic system for blasting parts, according to claim 1, characterized in that the telescopic axis (3) is obtained from steel sheets, in which different tubular sections of progressive smaller section are defined, related to each other through of skates (4), with needle bushings (5) as rolling means.
3.- Sistema automático para granallado de piezas, según reivindicación 1, caracterizado por que los medios de transmisión de movimiento en el eje X se materializan en un sistema de guías (6) superiores e inferiores a las barras longitudinales (2), por las que circulan las ruedas (7) asociadas a las pletinas en que se remata el primer carro (8), desplazamiento que se lleva a cabo a través de un sistema de piñón-cremallera (9), en el que la cremallera es solidaria a las barras longitudinales (2), y el piñón es actuado por un servo-motor (10) y una reductora (11), con reenvío angular. 3. Automatic system for blasting parts, according to claim 1, characterized in that the motion transmission means in the X axis are embodied in a system of guides (6) superior and inferior to the longitudinal bars (2), by the circulating the wheels (7) associated with the plates in which the first carriage (8) is finished, displacement that is carried out through a rack-and-pinion system (9), in which the rack is integral with the longitudinal bars (2), and the pinion is operated by a servo motor (10) and a reducer (11), with angular forwarding.
4.- Sistema automático para granallado de piezas, según reivindicación 1, caracterizado por que los medios de transmisión de movimiento en el eje Y se materializa en un sistema de barras transversales (2’) por las que es desplazable el segundo carro (8’) a través de cremalleras solidarias a guías (6’), en las que engrana un piñón asociado a un grupo moto-reductor (lO’-l G) con reenvío angular. 4.- Automatic system for blasting parts, according to claim 1, characterized in that the motion transmission means in the Y axis is embodied in a system of crossbars (2 ') through which the second carriage (8' is movable) ) through racks in solidarity with guides (6 '), in which a pinion gear associated with a motor-reducer group (10'-1G) with angular forwarding is engaged.
5.- Sistema automático para granallado de piezas, según reivindicaciones 1 y 2, caracterizado por que el eje telescópico (3), se acciona mediante un polipasto inserto en el seno del segundo carro (8’), asociado a un servo-motor (10’) gobernado por la electrónica de control del sistema, polipasto cuya cadena se vincula internamente al extremo inferior o más pequeño de los tramos telescópicos que participan en dicho eje telescópico (3). 5. Automatic system for blasting parts, according to claims 1 and 2, characterized in that the telescopic shaft (3), is operated by a hoist inserted into the second carriage (8 '), associated with a servo motor ( 10 ') governed by the system control electronics, hoist whose chain is internally linked to the lower or smaller end of the telescopic sections that participate in said telescopic axis (3).
6.- Sistema automático para granallado de piezas, según reivindicaciones anteriores, caracterizado por que el sistema incluye medios telemáticos de recogida de datos relativos al tiempo de trabajo de las diferentes piezas que participan en el dispositivo, así como de generación de señales de alarma cuando el mantenimiento de dichas piezas sea necesario. 6. Automatic system for blasting parts, according to previous claims, characterized in that the system includes telematic means for collecting data related to the working time of the different parts involved in the device, as well as generating alarm signals when maintenance of these parts is necessary.
7.- Sistema automático para granallado de piezas, según reivindicaciones anteriores, caracterizado por que el sistema incluye medios de verificación de las piezas mediante una cámara sensórica de medición y comparación de la rugosidad de la superficie tratada. 7.- Automatic system for blasting parts, according to previous claims, characterized in that the system includes means for verifying the pieces by means of a sensor measuring chamber and comparing the roughness of the treated surface.
8.- Sistema automático para granallado de piezas, según reivindicaciones anteriores, caracterizado por que utiliza granalla angular. 8.- Automatic system for blasting parts, according to previous claims, characterized in that it uses angular shot.
PCT/ES2019/070263 2018-04-16 2019-04-16 Automatic system for shot-blasting workpieces WO2019202192A1 (en)

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