DE19915915A1 - Sorting appts. - Google Patents

Abstract

The appts. has a manipulating appts. (28) e.g. a six axis robot with parallel grippers (30) mounted with a camera (26) to manipulate the components (20) positioned on the light grating (22). The light grating is downstream of a vibration rail. The camera is located above the grating and a lighting appts. (24) is beneath the grating. The light grating is tilted towards the horizontal level so an element (34) of the low lying edge (32) of the grating protrudes upwards. The grating has a surface contour adjusted to the shape of components to be sorted. It is driven by vibration and is made of an abrasion-proof metal or metal alloy. Next to the grating is a measurement and/or monitoring station (40) to measure and/or check the sorted component. The grating is exchangeable using the manipulation appts.

Description

The invention relates to a transport system for sorting parts for removal the sorting parts from a supply station, for transfer to and onward transport with a preferably linear vibration conveyor along a vibratable Straightening route with separation and alignment of the sorted parts as well as separation wrong sorting parts and finally to promote the sorting parts to one at the end the direction section arranged transfer station, which for the correct position and posi Precise transfer of the respective sorting part to a transfer station for the purpose Further transport or machining is set up, as in the preamble of the Claim 1 specified.

Transport systems with vibration conveyors come in a wide variety of designs known. The invention is preferably based on transport systems with vibration linear conveyor figure out how it emerges from the following documents that go back to the applicant hen: EP-B1-0 578 842 (1), DE-C2-41 23 776 (2) and DE-GM-298 06 891.5 (3).

In the supply station, this can e.g. B. include a bunker, there is one Bulk or a loose pile from the sorting parts, usually those from one Variety. But even if a sorting part of a different type or several of them is in the "crate" of the supply station, the generic transport system must be this process, d. H. can sort out the desired type of sorting part without it being too Traffic jams or damage could occur. There is a particular problem in the handling or handling of the sorting parts when they are on the vibrating direction take their way, namely in their isolation, in their orientation and exact positioning, in the respective verification of the dimensioned sorting part and recognizing whether a sorting part needs to be discarded because it doesn't either is true to size, is of a different type or because it is related to the previous one Sorting part overlaps.

The present invention has for its object a transport system to create in the preamble of claim 1 type with which the have the problems shown solved effectively.  

Another task is to provide the verification route with a verification facility assign, which can take over the function of a flexible automation cell, with in other words: the size and type control of the sorted parts can and above flexible and quick when changing the size or type of the parts to be conveyed Changeover or adjustment enabled.

One subtask is the handover station at the end of the direction train that an effective comparison between target and actual position of the sorting part and a transfer is always guaranteed in the target position.

Another sub-task is to use the straightening section as a buffer memory form the sorting parts so that when the sorting parts are fed irregularly at the beginning the guidance route nevertheless at the end of the guidance route or in the area of the transfer station largely continuous transfer of the sorting part is made possible.

According to the invention, the objects are solved by the following further features of claim 1:

• a) following an inlet section, preferably one of the pre-separation di end of the initial straightening section, runs through the respective sorting part in a predefined, stable and uniform transport position the test chamber of a verification tion cascade, the latter consisting of a plurality of successive in the conveying direction, Kas adjacent to each other and defining the target passage cross section adjustable caden elements;
• b) the individual cascade elements each define one in particular adjustable cross-section limiter in a first direction the maximum passable Thickness of the sorting part and feel with a particularly adjustable straightening element in in a second direction, deviating from the first, the presence of the sorting part and its width in the tolerance range;
• c) at the outlet end of the test chamber, the sorting part runs against the entry and exit baren end stop of a first stop device, which can be detected with first sensor means Identifying the presence of the sorting part, e.g. B. a light barrier is equipped so that - seen in the conveying direction of the sorting part - a reproducible, defined test position is given;
• d) the individual, adjacent cascade elements are with their Richtele elements to the permissible length of each in a test position on the end stop ends of the sorting part matched in such a way that those straightening elements behind the permissible  the length of the sorting part or follow it and accordingly on the straight in Check position located sorting part do not lie, can be set in oscillation, so that a following sorting part which already protrudes into the test chamber and is preferred is conveyed in a return loop;
• e) to let out the sorting part located in the test chamber and to remove it Onward transport on the straightening route, the end stop is briefly retracted or opened and after passing the sorting part past the sensor means again or closed, so that the test chamber for receiving the next sorting part again ready.

Advantageous further developments, which also serve to solve the subtasks, are specified in subclaims 2 to 6. - The advantages that can be achieved with the invention can be seen above all in that the verification cascade, depending on the desired effort and the desired degree of flexibility, enables:

• A) Fixed adjustment for one type,
• B) Manual adjustment, such as setting gauges,
• C) Digitized parameter control, in which the width and height of the Sorting part stored and automatically the straightening element or also the type selection "Slide" as well as the cross-section limiter or the "wedge" via stepper motors are adjustable.

Other features and advantages of the subject of the invention and its structure and Mode of operation will be explained in the following using an embodiment shown in the drawing Example explained in more detail. In the drawing shows in z. T. schematic representation leaving out the parts that are not necessary for understanding the invention:

Figure 1 shows a transport system according to the invention in elevation in "transparent representation".

Figure 2 shows the partial section along the section plane AA of Figure 1, ie the cross section through a cascade element and through a vibration rail.

Figure 3 shows the section along the section plane BB of Figure 1, ie a cross section through the vibration rail before a subsequent Schleu chamber with light barrier. and

Fig. 4 shows a section according to the section plane CC of FIG. 1, that is, a light grating with illumination arrangement and the camera device, as well as robot for positionally correct positioning of the sorting items.

Fig. 5-7 three different versions of the light grid according to the shape of the sorting part.

The transport system according to the invention - compare first FIGS. 1 and 2 - promotes sorting parts 3 , which are processed as bulk goods, from the storage station or the bulk goods storage board 2 (e.g. raw parts for pliers halves 3 or, in general, castings, such as fitting parts etc.) via the step sorting device "EUROSORT" ™ 1 and upside down onto the vibrating rail or sorting rail 5 (further designations: "VIB rail" or straightening section), mechanically roughly aligned using the straightening aids according to Fig. 2; on the one hand via the cross-section limiter or wedge 21 and on the other hand via the straightening element or the slide 22 . The slide 22 is adjustable in width and the wedge 21 is adjustable in height. The VIB rail is dealt with in the aforementioned documents (1) and (2); a more detailed explanation can therefore not be given here. The ejection function of the plunger ST ( FIG. 2) could also be taken over by air nozzles (not shown).

This rough adjustment of the straightening aids is very simple to set up leads, as described below, the entire system as a flexible automation cell you can see.

The rough adjustment can, as already mentioned, be provided as follows: A) Fixed adjustment for a type, B) Manual adjustment, such as setting gauges, C) Digitized parameter (as provided in FIG. 2), the width and the The height of the sorting part is stored and, when the type is selected, the slide 22 and the wedge 21 are adjusted accordingly via stepper motors 20 .

After adjusting the wedge 21 or the slide 22 to another type of sorting part, the wedge and slide are clamped to the base base (not shown) or the frame by means of a clamping cylinder 25 . In this area, the sorting parts 3 are prepared with, for example, a light barrier with a reflector 5.1 . ( Fig. 1) recognized so that they abut the first adjustable stop 6.1 ver, then the ejector 4.1 . . . 4 .n preselected and a further sorting part 3 that is present according to the length of the sorting part located in the test chamber is pushed off, the parts 3 that are in one another according to ( 3.1 ) also being ejected via the cascade elements and returned via return chute 14 into the funnel of the level sorter 1 become. In the subsequent lock chambers a, b, c, which are each formed between the adjustable stops 6.1 , 6.2 to 6 .n, only one sorting part 3 is stored and buffered in a cascade form and passed on. In the individual lock chambers a, b, c batches of different parts sizes such as. B. pliers halves and molded parts come to be processed without the need for retrofitting when changing types.

The distance between the individual lock chambers a, b, c is adjustable and depends on the longest sorting part. This means "flexible automation cell" very high availability of the system, since the parts can be identified using the camera system is executed and is not dependent on the part shape to be processed.

This is a basic requirement for any automatic process, and often the weak point of an automatic system with previous systems, whether this is Processing or assembly processes.

A large area of application is also the handling of fittings in X, T, V or H shape to a processing machine.

The vibrating rail 5 is shown in FIG. 3 of the basic structure according to 33, which is described in (1) and (2), and the structure angle 34, which underlies a simple angle geometry for directing the sorting parts after the center of gravity, wherein the sorting part 3 aligned by the inclined shape of the mounting bracket 34 according to the preferred position, without having to provide an adjustment or corresponding guide aids.

The slot 32 , which extends over the entire length of the sorting rail 5 or the successor to the buffer section with the individual lock chambers, is designed to be adjustable and it fulfills two functions:

• 1) First of all, the presence of the sorting part 3 in the lock chamber a, b, c is perceived by means of a light barrier with a reflector according to ( 5.1 ,... To 5. n) ( FIG. 1),
• 2) Dirt particles and small foreign parts are disposed of via slot 32 according to arrow f1 in a vibrating channel 31 , at the end of this channel these parts fall into a separate ratio 30 ( FIG. 3).

As can be seen from FIG. 1, the vibrating rail 5 is arranged according to a light grating 12 , under which - as can be seen from FIG. 4 - an illumination device 40 and above which a camera device 7 is provided in order to separate the individual sorting part 3 on the light grating 12 to be able to observe in the transmitted light method. A manipulation device 11 is interconnected with the camera device 7 for transmitted light observation of the respective sorting part 3 located on the light grating 12, which manipulation device 11 is, for example, a robot with several robot axes. The manipulation device 11 is, for. B. formed with a parallel jaw gripper 43 with action area 13 .

As can be seen from FIGS. 4 to 7, not only the vibration rail 5 (see FIG. 7) but also the light grating 12 is provided inclined to the horizontal plane. From the deeply lying longitudinal edge 32 of the light grating 12 there is an abutment element 34 b for the individual sorting part 3 upwards. The contact element 34 b is formed with a recess 35 so as not to impair the access of the jaw grippers of the manipulation device 11 to the individual sorting parts 3 located on the light grating 12 .

FIGS. 4 to 7 also illustrate that the optical grating 12 has a surface contour 36 which is adapted respectively to be manipulated sorting parts 3 to the contour. For this purpose, it is preferred if the light grating 12 is provided interchangeably. This exchange can take place with the aid of the manipulation device 11 .

As can be seen from FIGS. 1 and 4, a measuring or control station 41 is provided on the side next to the light grating 12 . This measuring or control station 41 is used for measuring or for checking the respective sorting part 3 located on the light grating 12 . The measuring or control station 41 is designed in such a way that the measurement-relevant areas of the outer contour of the respective sorting part 3 are freely accessible, so that the measurement or control of the said sorting part 3 is in no way impaired.

As can be seen from FIG. 7, the vibrating rail 5 has an angular rail 34 with a base 34 a and with a contact surface 34 b projecting from the base. The base 34 a is slightly inclined to the horizontal plane in order to bring the sorting parts 3 to the contact surface 34 b due to vibration and gravity. In Fig. 7 a circular sorting part 3 a, a rectangular sorting part 3 b and a crescent or semicircular sorting part 3 c are schematically illustrated. The circular sorting part 3 a is also shown in FIG. 5 and the crescent-shaped or semicircular sorting part 3 c is also shown in FIG. 6.

As far as not already recognizable from the above, the radio is again in the following tion of the transport system according to the invention summarized.

Figs. 1 to 3 show a transport system for sorting parts 3 for removing the Sor animal parts from a supply station 1, 2 to the handover to one and further transport to a preferably linear vibrating conveyor along a direction pointing in the conveying direction straightening section 5 under separation and alignment of the sorting parts 3 as well as segregation Fal lying sorting parts, e.g. B. ( 3.1 ), and finally to promote the sorting parts 3 to an arranged at the end of the straightening section 5 transfer station 11 , 12 , 41 , which is set up for the correct and positionally accurate transfer of the respective sorting part 3 to a takeover station 10 for the purpose of further transport or machining is. The individual functional steps and associated design features are as follows:

• a) Following an inlet section, preferably one of the pre-singling the nenden initial straightening section e1, the respective sorting part 3 passes through the test chamber TK of a verification cascade K, the latter consisting of a plurality, in a predefined, stable and uniform transport position of cascade elements k1, k2, which adjoin one another in the conveying direction and which define one another and define the desired passage cross section in an adjustable manner. . .
• b) The individual cascade elements k1, k2,. . . Define in each case with a particularly adjustable cross-sectional limiter 21 in a first direction the maximum thickness of the sorting part 3 that can be passed through and feel with an in particular also an adjustable straightening element 22 in a second direction that differs from the first, the presence of the sorting part 3 and its im Tolerance range from the width.
• c) At the outlet end of the test chamber TK, the sorting part 3 runs against the in and out movable end stop 6.1 of a first stop device which is equipped with first sensor means for detecting the presence of the sorting part, e.g. B. a light barrier 5.1 , so that - seen in the conveying direction of the sorting part 3 - there is a reproducible, defined test position for each of these.
• d) The individual, adjacent cascade elements k1, k2,. . . are aligned with their straightening elements 21 , 22 to the permissible length of the sorting part 3 present in a test position on the end stop 6.1 so that those straightening elements which lie behind the permissible length of the sorting part 3 or follow them and accordingly on the straight in Check position located sorting part 3 are not present, can be set in oscillation ver, so that a following sorting part 3.1 already protruding into the test chamber is conveyed separately and preferably into a return loop 14 .
• e) To let out the sorting part 3 located in the test chamber TK and to transport it further on the straightening section 5 , the end stop 6.1 is briefly driven in or opened and after passing the sorting part 3 past the sensor means 5.1 again extended or closed, so that the test chamber TK is ready to receive the next sorting part 3 again.

The straightening section 5 of the vibration conveyor is designed as a vibration rail 33 , 34 . In the end region of the straightening section 5 or vibrating rail 33 , 34 as part of the transfer station 11 , a light grating 12 is arranged, with a lighting arrangement 40 below and with a camera device 7 above the light grating 12 , the camera device 7 being operatively connected to a manipulator 11 stands and a setpoint-actual value comparator is provided which, depending on a comparison of the camera position representing the actual position of the sorting part 3 and a stored nominal position picture, controls the manipulator 11 in the sense of a displacement of the sorting part 3 into the desired position .

FIGS. 3 and FIGS. 5 to 7, show that the vibrating rail 33, 34 and the light grating 12 each having an inclined against the horizontal plane bearing surface 34 a have to achieve a pre-defined stable and uniform transport position for the sorting parts 3, wherein the lower-lying longitudinal edge 34 c of the bearing surface 34 a is a contact element 34 b, preferably at an angle, upwards.

In particular, Fig. 1 illustrates that between the verification cascade K and the transfer station 11 several successive and spaced lock chambers a, b, c are arranged in the conveying direction, each of the lock chambers for position control of the respective sorting part 3 passing through a second stop device with retractable and extendable stop 6.2 , 6.2,. . . 6 .n and second sensor means 5.2 , 5.3 ,. . . 5 .n, e.g. B. in the form of a light barrier, wherein after detection of the presence of the sorting part 3 at the end stop 6.2 , 6.3,. . . 6 .n through the sensor means 5.2 , 5.3 ,. . . 5 .n control the stop device for briefly retracting and extending the stop, so that the respective sorting part 3 located in the lock chamber a, b, c sluices out and the currently emptied lock chamber a, b, c for receiving the on the straightening path 5 next or following sorting part 3 is prepared.

It has also proven to be advantageous if the cascade elements k1, k2,... For fine scanning of the respective sorting part 3 located in the test chamber TK. . . including their plunger elements ST have a width in the conveying direction in the range of 5 to 20 mm. ( 8 ) and ( 9 ) designate, corresponding to ( 14 ), ( 1 ), a disposal or return device.

Reference list

1

Step sorter

2nd

Bulk stock

3rd

Sorting parts

5

Vibration / sorting rail or straightening section

21

wedge

22

Straightening element or slide
ST pestle

20th

Stepper motors

25th

Clamping cylinder

4.1

,. . .

4th

.n ejector

5.1

Photoelectric sensor with reflector

6.1

first adjustable stop

3.1

Sorting part, another

14

Return slide or return loop

6.1

,. . .

6

.n adjustable stops
a, b, c lock chambers

32

slot

33

Basic structure of (

5

)

34

Installation angle or angle rail from (

5

)
f1 directional arrow

30th

container

11

Manipulation device

12th

Light grid

13

Action range from (

11

)

40

Lighting device

7

Camera setup

43

Jaw gripper by (

11

)

34

a footprint of (

34

)

34

b contact element or contact surface of (

34

)

34

c lower longitudinal edge of (

34

)

35

Recess

36

Surface contour of (

12th

)

41

Measuring or control station

3rd

a Sorting part, circular

3rd

b Sorting part, rectangular

3rd

c Sorting part, crescent or semicircular

5.2

,

5.3

,. . .

5

.n light barriers, further

10th

Transfer station
e1 initial straightening distance
TK test chamber
K verification cascade
k1, k2,. . . Cascade elements

8th

,

9

Separation or return device

Claims (6)

1. Transport system for sorting parts ( 3 ) for removing the sorting parts from a stock station ( 1 , 2 ) for transfer to and onward transport with a preferably linear Vi brationsförderer along a direction in the conveying direction ( 5 ) with separation and alignment of the sorting parts ( 3 ) as well as sorting out wrong sorting parts ( 3 ) and finally for conveying the sorting parts to a transfer station ( 11 , 12 , 41 ) arranged at the end of the straightening section ( 5 ), which transfer the respective sorting part ( 3 ) to a transfer station in the correct position and position ( 10 ) is set up for further transport or machining, with the following additional features:

• a) following an inlet section, preferably one of the pre-separation de initial straightening section (e1), the respective sorting part ( 3 ) passes through the test chamber (TK) of a verification cascade (K.) in a predefined, stable and uniform transport position ), the latter consisting of a plurality of Kaska den elements (k1, k2,...);
• b) the individual cascade elements (k1, k2,...) each define the maximum thickness of the sorting part ( 3 ) that can be passed through with a cross-section limiter ( 21 ) that can be adjusted in particular in a first direction and feel with a directional element that is also particularly adjustable ( 22 ) in a second direction deviating from the first, the presence of the sorting part ( 3 ) and its width lying in the tolerance range;
• c) at the outlet end of the test chamber (TC), the sorting part ( 3 ) runs against the retractable and extendable end stop ( 6.1 ) of a first stop device, which is equipped with first sensor means for detecting the presence of the sorting part, e.g. B., a light barrier ( 5.1 ), so that - seen in the conveying direction of the sorting part ( 3 ) - there is a reproducible, defined test position for this;
• d) the individual, adjacent cascade elements (k1, k2,...) are aligned with their directional elements ( 21 , 22 ) to the permissible length of the respective sorting part ( 3 ) in a test position at the end stop ( 6.1 ) that those straightening elements ( 21 , 22 ) which lie behind or follow the permissible length of the sorting part ( 3 ) and which are not in contact with the sorting part ( 3 ) currently in the test position can be set into oscillation, so that a the following sorting part ( 3.1 ), which already protrudes into the test chamber (TK), and is preferably conveyed into a return loop ( 14 );
• e) to let out the sorting part ( 3 ) located in the test chamber (TK) and to convey it further on the straightening path ( 5 ), the end stop ( 6.1 ) is briefly moved in or opened and, after passing through the sorting part ( 3 ), past the sensor means ( 5.1 ) extended or closed again so that the test chamber (TK) is ready to receive the next sorting part ( 3 ) again.

2. Transport system according to claim 1, characterized in that the Richtstrec ke ( 5 ) of the vibration conveyor is designed as a vibration rail ( 33 , 34 ). 3. Transport system according to claim 1 or 2, characterized in that a light grating ( 12 ) is arranged in the end region of the straightening section ( 5 ) or vibration rail ( 33 , 34 ) as part of the transfer station ( 11 , 12 , 41 ) with an illumination arrangement (40) below, and depends to a camera device (7) above the light grating (12), said camera means (7) is connected to a manipulator (11) in operative connection and a target value-actual value comparator is provided, soft the manipulator ( 11 ) controls the manipulation ( 11 ) in the sense of a displacement of the sorting part ( 3 ) into the target position by comparing the camera image representing the actual position of the sorting part and a stored target position image. 4. Transport system according to claim 2 and 3, characterized in that the Vi brationsschiene ( 33 , 34 ) and the light grating ( 12 ) to achieve a predefined stable and uniform transport position each inclined against the horizontal plane Aufla surface ( 34 a) for the sorting parts ( 3 ), whereby from the lower longitudinal edge ( 34 c) of the support surface ( 34 a) a contact element ( 34 b), preferably at an angle, stands up. 5. Transport system according to one of claims 1 to 4, characterized in that between the verification cascade (K) and the transfer station ( 11 ) a plurality of successive and spaced-apart lock chambers (a, b, c) are arranged on , with each of the lock chambers for position control of the respective sorting part ( 3 ) passing through, a second stop device with a retractable and extendable stop ( 6.2 , 6.2 ,... 6 .n) and second sensor means ( 5.2 , 5.3 ,... 5 .n ), e.g. B. in the form of a light barrier, which after detection of the presence of the sorting part ( 3 ) at the end stop ( 6.2 , 6.3 ,.... 6 .n) by the sensor means ( 5.2 , 5.3 ,... 5 .n) this the Control the stop device for briefly retracting and extending the stop so that the respective sorting part ( 3 ) located in the lock chamber (a, b, c) is discharged and the currently emptied lock chamber (a, b, c) for receiving the one on the straightening section ( 5 ) next or following sorting part ( 3 ) is prepared. 6. Transport system according to one of claims 1 to 5, characterized in that the cascade elements (k1, k2,...) Including their plunger elements (ST) for fine scanning of the respective sorting part ( 3 ) located in the test chamber (TK) Width in the conveying direction in the range of 5 to 20 mm.