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WO2019202192A1 - Système automatisé pour le sablage de pièces - Google Patents

Système automatisé pour le sablage de pièces Download PDF

Info

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
Authority
WO
WIPO (PCT)
Prior art keywords
blasting
carriage
axis
shot
parts
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/ES2019/070263
Other languages
English (en)
Spanish (es)
Inventor
Jon IRIGOYEN FRESNEDA
Iñaki MURGIA MENDIA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eseki SAL
Original Assignee
Eseki SAL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eseki SAL filed Critical Eseki SAL
Publication of WO2019202192A1 publication Critical patent/WO2019202192A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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.

Landscapes

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

Abstract

Le système selon l'invention, à partir d'un bras robotique de sablage classique, concentre ses caractéristiques sur le fait que lui-même, au lieu de présenter une position fixe et inamovible, se place sur un axe télescopique (3), déplaçable verticalement qui est à son tour déplaçable horizontalement, selon l'axe Y au moyen d'un second chariot (8'), lequel est à son tour déplaçable de manière commandée sur des guides longitudinaux dans la direction X, au moyen d'un premier chariot (8). De cette manière, il est possible de positionner le bras robotique pratiquement dans n'importe quelle position par rapport à la pièce à sabler, ce qui évite ainsi de devoir changer constamment de position pour mener à bien ledit processus de sablage.
PCT/ES2019/070263 2018-04-16 2019-04-16 Système automatisé pour le sablage de pièces Ceased WO2019202192A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201830374A ES2727675B2 (es) 2018-04-16 2018-04-16 Sistema automatico para granallado de piezas
ESP201830374 2018-04-16

Publications (1)

Publication Number Publication Date
WO2019202192A1 true WO2019202192A1 (fr) 2019-10-24

Family

ID=68172295

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2019/070263 Ceased WO2019202192A1 (fr) 2018-04-16 2019-04-16 Système automatisé pour le sablage de pièces

Country Status (2)

Country Link
ES (1) ES2727675B2 (fr)
WO (1) WO2019202192A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2304071A (en) * 1938-11-25 1942-12-08 Minnesota Mining & Mfg Sandblast booth
US3309818A (en) * 1964-06-05 1967-03-21 Brown Co D S Blast cleaning machines and removable panels therefor
US4866889A (en) * 1987-05-16 1989-09-19 Goldmann Klaus Dieter E Sand blasting cabin
EP0712694A1 (fr) * 1994-10-11 1996-05-22 G.M.P. Poliuretani S.r.l. Installation automatique de traitement des surfaces de produits
WO1998051452A1 (fr) * 1997-05-13 1998-11-19 Cae Electronics Ltd. Application d'une technologie d'automatisme industriel pour systeme automatise de decapage de peinture par milieu sec
CN105171620A (zh) * 2015-09-28 2015-12-23 上海广成涂装技术工程有限公司 一种三维机械臂自动喷砂系统
CN106141931A (zh) * 2016-08-23 2016-11-23 昆山开信精工机械股份有限公司 一种轴滑轨喷丸或喷砂机器人
RU170076U1 (ru) * 2016-06-22 2017-04-13 Федеральное государственное бюджетное образовательное учреждение высшего образования "Омский государственный университет путей сообщения" Автоматизированный комплекс дробеструйной очистки кузовов подвижного состава железных дорог

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2304071A (en) * 1938-11-25 1942-12-08 Minnesota Mining & Mfg Sandblast booth
US3309818A (en) * 1964-06-05 1967-03-21 Brown Co D S Blast cleaning machines and removable panels therefor
US4866889A (en) * 1987-05-16 1989-09-19 Goldmann Klaus Dieter E Sand blasting cabin
EP0712694A1 (fr) * 1994-10-11 1996-05-22 G.M.P. Poliuretani S.r.l. Installation automatique de traitement des surfaces de produits
WO1998051452A1 (fr) * 1997-05-13 1998-11-19 Cae Electronics Ltd. Application d'une technologie d'automatisme industriel pour systeme automatise de decapage de peinture par milieu sec
CN105171620A (zh) * 2015-09-28 2015-12-23 上海广成涂装技术工程有限公司 一种三维机械臂自动喷砂系统
RU170076U1 (ru) * 2016-06-22 2017-04-13 Федеральное государственное бюджетное образовательное учреждение высшего образования "Омский государственный университет путей сообщения" Автоматизированный комплекс дробеструйной очистки кузовов подвижного состава железных дорог
CN106141931A (zh) * 2016-08-23 2016-11-23 昆山开信精工机械股份有限公司 一种轴滑轨喷丸或喷砂机器人

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
BLASTMAN ROBOTICS LTD: "Robotic Blasting of Freight Cars", YOUTUBE, 10 February 2014 (2014-02-10), XP054979940, Retrieved from the Internet <URL:https://www.youtube.com/watch?timecontinue=2&v=gqsiyQtTXV0> [retrieved on 20190108] *
MIKA NIEMI: "Blastman blast cleaning solution for engine blocks", YOUTUBE, 15 May 2013 (2013-05-15), XP054979941, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=93zd6LfQ75g> [retrieved on 20190801] *
MIKA NIEMI: "Blastman blast cleaning solution for wind turbine hubs", YOUTUBE, 15 May 2013 (2013-05-15), Retrieved from the Internet <URL:https://www.youtube.com/watch?v=rV8ho95nz0> [retrieved on 20190801] *

Also Published As

Publication number Publication date
ES2727675A1 (es) 2019-10-17
ES2727675B2 (es) 2020-12-17

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