The piston is a product that requires mass production, and requires surface treatment, turning, boring and milling in the entire production process. Between these processes, it is necessary to transport the piston from one machine tool to another for processing. It is necessary to transport the processed parts to the surface, and it is necessary to pack and transport the qualified products. The piston transfer work between these processes is very large, some processes with automatic loading and unloading operations only 8 seconds labor intensity, is very labor-intensive, artificial feeding efficiency is low and easy to produce quality problems (no piston installed), artificial cutting It also sometimes damages the piston surface. For this reason, some piston manufacturers use a palletizing robot manufactured by many German Bagra companies to accomplish these tasks, which not only improves work efficiency and output, but also improves product quality and economic efficiency. As an example, this article describes the standard palletizing robot MS600 of the Bagra company used by the Federal Mogul company in Tlunenburg, Germany.
Composition of a MS600
MS600 mainly consists of a feeding mechanism, a feeding mechanism, a tray handling mechanism and a two-dimensional handling robot. The MS600 palletizing robot completes the loading of the parts onto the machine tool every 8 seconds and cancels it from the machine tool. The pallet exchange is completed in 7 seconds. Its working efficiency is very high. The main parts are described below.
1 Feeding mechanism The feeding mechanism consists of an artificial trolley and a tray lifting section. There are 12 steel net baskets filled with pistons on the artificial trolley. The 12 steel net baskets are placed on top of each other in a specific position on the cart. The 12 steel mesh baskets are stable and firm when transported by hand. Each steel basket has a length×width×height of 545×310×95 mm, with 15 grids, each of which has a piston of approximately 350 grams. A total of 180 pistons are placed on a trolley. The total weight of the piston is approximately 63 kg. Manually push the cart into the feed track of the MS600 during work and push the front of the cart to a specific position sensor. When the pistons on the feeding trolley are all disposed of, the pistons above them and the 12 steel net baskets are transported to the feeding mechanism. The empty vehicles are to be manually pushed out, and a vehicle filled with the pistons is pushed into the supply. Material track.
2 The feeding mechanism is exactly the same as the feeding mechanism and the feeding mechanism, but it is empty when manually pushed into the feeding track of the MS600. There is no pushing plate and piston on it. When the tray piston on the feeding mechanism is completely processed and put back to its original position, the tray is placed on the blanking cart. When all the pistons in the 12 trays have been processed and placed on the unloading car, they must be pushed out by hand and sent away, and then an empty car is pushed into the blanking track.
3 Pallet Transport Mechanism The pallet transport mechanism consists of two pallet lifting axles and a pallet horizontal transport axis. Pallet lifting axis is composed of two PAS42BB parallel connected up and down axis, driving 12 tray lifting movement. The horizontal transport axis of the pallet consists of two PAS42BB parallel motion axes. All three axes of motion are controlled by servo motors.
4 Two-dimensional handling robots Since Federal Mogul used vertical CNC cars, Berger used a two-dimensional XZ robot. The X axis is PAS42BB and the Z axis is LM-A101. For ease of gripping, the piston has designed a 4-finger claw with auxiliary positioning. The X-axis robot has an X-axis travel of 1.2 m, a Z-axis of 0.4 m, an X-axis running speed of 2 m/s, and a Z-axis running speed of 1 m/s.
The working process of the second MS600 has the same tray lifting mechanism in the feeding mechanism and the feeding mechanism. When the feeding trolley is pushed into the track, the tray lifting mechanism starts dragging from the lowermost tray, and the full tray is lifted by one tray thickness each time as required to ensure that the top tray can be moved horizontally by the tray. Institutions drag on and move horizontally. When the tray lifting mechanism is working, the first tray at the top is lifted to a certain height above the horizontal axis, and then the tray horizontal movement mechanism moves to the first tray, so that the pallets of the horizontal movement mechanism of the tray are in the first position. Below a tray. Then the lifting mechanism is lowered so that the first tray is on the carriage of the horizontal movement mechanism. Then the lifting mechanism is raised by 10mm, and then the horizontal movement mechanism moves back to bring the tray to the front of the 2D XZ robot. The XZ 2D robots first transport the first row of parts one by one, and then return them to the original location after handling. After a row of parts has been processed, the horizontal axis of motion moves forward again so that the second row of parts is in a position where the robot can grasp. If it is worthwhile to finish processing the last row of parts, the horizontal movement axis will send the tray back to the lifting mechanism of the feeding mechanism, and the lifting mechanism will lower the height of one tray and wait for the next tray. At this time, the feeding mechanism is raised and the horizontal movement mechanism takes the next tray. This is the tray exchange process. After completing the pallet exchange, the parts of the next pallet are processed and this continues until all parts on the last pallet have been processed.
Three control system parts The entire robot control system adopts the TAGCC CAN bus control system and controls the movement of each axis through CANBus. The drive of each axis adopts the servo motor drive system TLC534 with CANBus bus control function. The TLCC, as a master station, can control dozens of slave stations (TLC534) through the CAN bus, with one control cycle every 10ms. Planetary gearboxes for each shaft are German PLE series precision planetary gearheads from Neugart. The entire system uses 5 PLE series precision planetary gearheads and 5 programmable TLC534 intelligent servo drive systems with motion control.
IV. Prospects This paper describes the application of palletizing robot systems in the piston production line. It also configures similar feeding and blanking robot systems for many types of parts such as cars, milling, grinding, and boring. This type of palletizing robot system is mainly composed of Cartesian robots. Their main features are simple, easy to understand, easy to control, practical, low cost, high efficiency, widely used in Europe and the United States in cosmetics, food, mobile phones, sensors, toys, Instrumentation and other production. It is hoped that the introduction of the palletizing robots in one of the above structures will allow the user to understand them. We also have more than 10 other structures for loading and unloading and palletizing robot systems. For hundreds of years, Bagra has produced thousands of sets of similar robots.