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Fig. 3 and 4. Two gripper proto- types were used. The yellow lines indicate the direc- tion of travel of the electromagnet heads.


图3和图4:所使 用的两个机械手 原型。黄线表明 电磁铁头部的移 动方向。


Handling the parts once they arrived at the machine was also important. Implementing machine flexibility with the use of robots with reconfigurable grippers and intelligent interfaces (flexible workspace, vision system etc.), automatic tool changers and multi-axis robots helped to enhance material handling flexibility at the most affordable price. Figures 3 and 4 show two gripper prototypes used in the iron facility. Te yellow lines indicate the direction of travel of the electromagnet heads to enable part handling encompassing different workspaces.


Case Study Two: Modular Concept for Part Handling & Fixture Flexibility in an Aluminum Casting Facility


In the second case study, an aluminum casting facil-


ity wanted to analyze how and where it could use modular components for handling automation. It wanted to look into pallets and overhead conveyors for the internal transport of castings, which would require significant investment and maintenance costs because they would be specially tai- lored for each new product. During production, parts were transported around the facility on pallets that were linked to different assembly lines. For robotic grippers to handle the parts, they would have to be positioned securely. Moreover, handling sand cores required additional


constraints to ensure they were not worn or cracked during transport. Te fixture blocks were adapted to the sand core shapes to ensure enough rest area was available and they would be fixed properly on the pallet. In the tested automated pick-and-place cell, various manual and motor-propelled jigs and fixtures rotated parts and assem-


换工装夹具和多轴机器人帮助提高了材料的传输灵活 性。图3和图4所示为用于铸铁件的两个机械手原型。 黄线表示电磁铁头部的移动方向,使铸件环绕不同的 工作空间传输。


案例分析2:铝合金铸造厂铸件传输和夹具灵活 性的模块化概念


在第二个案例研究中,铝合金铸造厂想要分析如 何使用、在什么位置使用模块化装置,实现传输自动 化。该厂计划研究将托盘和悬挂式传输机用于铸件的 内部运输,它们需适合于每个新产品,因此,需要巨 额的投资和维护成本。在生产过程中,零件通过与不 同组装生产线连接的托盘进行运输。为了使机器人能 够可靠抓取铸件,这些铸件必须安稳地定位放置。 此外,砂芯的运输还有更多要求,必须确保它们 在运输过程中不破损或开裂。夹具应适合于砂芯形 状,以保证有足够的空间使它们可以恰当地固定在托 盘上。


在测试的自动化装卸单元上,各种手动和机动的工 装夹具和固定装置通过几个轴旋转部件和组装件,并 且满足大量装配件的需要。托盘夹具的灵活性决定了


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