DE3039495A1 - Automatic feeding of longitudinal rods into grid welding machine - by telescopic robot arm carrying pair of tongs - Google Patents

Abstract

The welding machine includes a row of inlet guide tubes; and each tube can be fed with a longitudinal rod by a robot arm, which is telescopic in a direction parallel with the longitudinal axes of the inlet guide tubes. The robot arm has a traverse along which a slide can be driven; and on the slide is a jib mounted on a horizontal pivot shaft. On the end of the jib is a pair of tongs, which lift a longitudinal rod so the latter can be fed into an inlet guide tube. More than one robot arm may be used in conjunction with the rod welding machine. The automatic robot arm eliminates the hand feeding of longitudinal rods into grid welding machines, so rapid mass prodn. is simplified.

Description

Process for the automatic feeding of longitudinal wires in citter welding

rnasehinen or the upstream intermediate feeds.

The invention described here relates to a method, line wires to separate from a disordered bundle of pre-aligned and pre-stretched longitudinal wires and this in the axial direction of an intermediate feeder upstream of the mesh welding machine, or a mesh welding machine directly, which cross - and - longitudinal wires crosswise welded together to a grid, automatically fed by means of robotic arms.

previously known inventions and processes provided that per line wire (up to 30 St.) at least one separating element had to be present, which is the The disadvantage was that, in order to make such a separating element work effectively, 1. a multiple of the required wire had to be available on a support table, 2. the wire diameter range was limited, 3. no different lengths per, The supplied wire share required for a grid could be supplied, 4. No different wire diameters over all longitudinal wire divisions could be fed in a targeted manner - for reasons of over the entire width of the r-machine (2.45 m e.g.) of distributed line wire quantity, still only one, for all separation elements available, common control / acknowledgment, which was missing just one wire, in one Separation element, of the possibly 30 required, all longitudinal wires released again and the time-consuming separation process for all separation elements had to start all over again, G. With a change in diameter, the one with special types of mats can / must take place several times per Taq, so far all separating elements have to be replaced or be set, which is time-consuming.

7. Up to now, you had to send the support table with new material & the plant was shut down, which in turn meant time.

8. Remnants of laid longitudinal wires had to be changed when changing the diameter / length be transported away, a question of time.

All this had the disadvantage that the known devices only for a certain number of standard grilles that are manufactured in larger numbers could be used lucratively, but not with the multitude of special grids, what is currently still poses a problem in grid manufacture. For these reasons in Europe only approx. 3% of the mesh welding machines are equipped with the known devices equipped, all the rest are still fed manually with longitudinal wires, i.e., that the operator still singles the line wires with their hand / arm today and feeds.

The invention described here creates the possibility of once the Closing the automation gap and eliminating the existing disadvantages of the known Devices with the following functionality: A hinged, The robot arm, which can be telescoped apart, has gripping tongs at its free end with an automatically adjustable diameter range, which after lowering to the Underneath the wire bundle out a rod captured, thereby equal to the success acknowledges and, after gripping and lifting, guides it into the feed funnel of the Intermediate feeder / welding machine on. If the acknowledgment is negative, the Raising again immediately lowering, i.e. the process is repeated until the positive one Acknowledgment. The robot arm can be in a vertical, fixed position A there seize stored longitudinal wires, thereby avoiding that the Längsdrähtc have to be spread out on the support table in a time-consuming manner, these 'can rather in containers with a prism-shaped floor training the robot arms be provided for separation.

The prism-shaped bottom design ensures withdrawals up to last rod. Since the line wires are fed in distributed over the entire width, i.e. the line wire division can e.g. 50 mm or a multiple, the robot arm must make transversal steps, which is done by a suitable drive.

Each process takes a certain amount of time, so it is possible, depending on the situation use one or more robot arms per welding system / feed system as required, to achieve the required number of line wires / minute.

F-i (t) f 1 shows an apparatus which, according to the method described is working.

The process is as follows: 1. The robot arm 3 moves with the Gripping pliers 2 down onto the rod collar 5 in position U.

2. The gripping pliers 2 grips a line wire 1 - this is done through the special training of the gripper 2 already the confirmation of success to the Machine control.

3. The robot arm moves up in Pcs.O. Repeated if the acknowledgment is negative Process 1 and 2.

4. The line wire 1 clamped in the gripper 2 is up to Height of the funnel axis raised - position O. From this position a transverse movement to - starting here - E.

. The telescopic robot arm 3 moves with the gripper 2 and the Line wire 1 clamped in it from position H to V and passes the line wire 1 into the funnel level E.

6. The gripper 2 releases the line wire 1.

7. The robot arm moves together again from pos. V to pos. H. It takes place again a transverse movement from E to A, i.e. from the funnel level E to Starting position A.

8. Now processes 1 - 3 are repeated.

9. Process 4 is repeated, but now only up to level D.

10. Process 5, 6 and 7 are repeated and then again all in all from the beginning.

The required line wire division can be preselected in the system control e.g. E-D-A.

With these processes, the line wire is always from a fixed receiving plane taken from the rod collar, which is advantageous for loading the support table is - see Figure 2 - that first of all all longitudinal wires are removed from e.g. container I. can, while the container II without interrupting the process against one with Line wires filled can be exchanged. The control of the processes is electronically stored and automatically changes the fixed or removal position from one container to the other.

The individual containers can be different depending on the type program of the grilles Have diameters or rod lengths.

The bypassing of the disadvantages of the existing ones described at the beginning Plant works as follows: 1. The robot can always come from one position ( here e.g. A) Remove the line wires from the container.

2. The line wire diameter range 4 - 12 mm can be due to the training the gripping pliers can be smeared with this experienced.

3. The different lengths of the line wires can be used in each Containers are brought to the isolation.

4. The different wire diameters can also be used in the individual containers are brought to the separation.

5. Each gripping of a line wire by the gripping pliers is immediate acknowledged after grasping.

6. The gripping tongs do not require any special setting for diameter waxes. Figure 3.

7. Resending can be done without interrupting the machine process take place, since there are 2 containers in one area of a robot arm one is taken, the other, if it is empty, can already be filled with a or one with another line wire diameter / length can be exchanged.

8. By removing from only one level, the last line wire can be reached can be removed because the bottom of the container is wedge-shaped - prism-shaped - is. Since there are 2 containers for one robot area, Diameter or length change of the line wires already 1 container with the new dimension during while the system is running.

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Claims (3)

P A T r N T A N S P R ii r ii 1. Automatic feeding method of line wires in mesh welding machines or their upstream intermediate feeds characterized in that one, guided by a robot arm gripping tongs Line wire recorded and this then through the operations of the robot arm into a Passing funnel level for further processing. 2. The method according to claim 1, characterized in that in the work area a robot arm at least one or more interchangeable containers for the reception the line wires to be separated can be present. 3. Process according to Claims 1 and 2, characterized in that eir or more robot arms for feeding the line wires to a mesh welding machine work.