CN104972008A - Board positioning and grabbing system and method applied to automatic production line - Google Patents
Board positioning and grabbing system and method applied to automatic production line Download PDFInfo
- Publication number
- CN104972008A CN104972008A CN201510317660.7A CN201510317660A CN104972008A CN 104972008 A CN104972008 A CN 104972008A CN 201510317660 A CN201510317660 A CN 201510317660A CN 104972008 A CN104972008 A CN 104972008A
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- Prior art keywords
- sheet metal
- sheet material
- production line
- location
- automatic production
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/20—Storage arrangements; Piling or unpiling
- B21D43/24—Devices for removing sheets from a stack
Abstract
The invention discloses a board positioning and grabbing system and method applied to an automatic production line. The board positioning and grabbing system comprises a material rack, a manipulator, a material fetching gripper, a positioning device, a numeral control system and a bending machine. The material fetching gripper comprises a material fetching frame, multiple vibration exciters, multiple electromagnets and multiple vacuum chucks. The inherent frequency of each vibration exciter is larger than that of a metal board. By the adoption of the structure and method, the vacuum chucks and the electromagnets are used alternately, the layering stability is met, and accuracy and high efficiency in the positioning and bending processes are also met. The vibration exciters and the metal board form a single-degree-of-freedom system. When the excitation frequency of the vibration exciters is the same as the inherent frequency of the board, layering of the metal board is achieved. The numerical control system judges whether the problems of excessive grabbing and leaked grabbing exist or not and can also sense the contact condition between the metal board and the finger in real time, so that the positioning precision of the positioning device is higher and mechanical interference and collision are avoided.
Description
Technical field
The present invention relates to the servicing unit in a kind of sheet metal machining production line and method, particularly a kind of sheet material location grasping system and location grasping means being applied to automatic production line.
Background technology
The fields such as automobile, electronics, five metals household electrical appliances, electrical equipment, engineering machinery need a large amount of sheet metal profiled members, have very important effect to the development of national economy numerous areas.As industrial 4.0 macro development trend in concrete the expanding and extending of sheet metal manufacture field, the demand of market to sheet metal automation machining production line grows with each passing day in recent years.Compared with traditional unit cooked mode, automatic production line is adopted not only to save labor cost, improve operating efficiency, the more important thing is the product quality to production process, delivery cycle has better controllability, and this is even more important for the day by day meticulous modern production pattern of the division of labor in society.
Sheet metal automation processing, abroad, especially automobile manufacturing field, five metals field of household appliances obtain large-scale application already, and technology is also ripe.But at home, for various reasons, starting is evening relatively, and the automobile manufacturing enterprise only having minority larger obtains application, and the domestic shortage in this field core technology is one of principal element causing this gap.And the plate in process accurately to locate with crawl technology be exactly one of core technology wherein.
In sheet metal automatic production line, last procedure in most cases terminates with bending and molding, and the plate before bending and molding captures and accurately location has decisive influence to machining accuracy.Therefore, the present invention is mainly applied in automatic production line, the accurate location before part bending and crawl, can also be applied in addition among other operations.
Mainly there is following several respects problem in the prior art of locating crawl in current production line:
1, sheet material positioning precision is not high
The method generally taked has several as follows:
1) if number of patent application is the patent application of 201420133612.3, it adopts an independently locating rack, and this locating rack is independent of feeding robot and bender, and first part is positioned over locating rack by robot, carry out secondary crawl behind location, after carry out bending again.
Above-mentioned patent application, on the one hand secondary captures process itself and there is error, and bending precision still depends on the repetitive positioning accuracy of robot on the other hand, positioning precision in this approach usually poor, and operating efficiency is very low.
2) mechanical position limitation or inductive switch are housed on robot as positioning datum, the method is method 1 comparatively) although lacked a secondary to capture process, its positioning precision has still depended on the positioning precision of robot, and precision is poor.
3) gear of the rear stock stop carried by numerical control bender refers to position, and the method is applicable to manual bending operation, and when adopting robot to carry out automatic charging, very easily occurs mechanical collision, causes security incident.
Three kinds of methods of above-mentioned prior art all do not have to solve following two technological difficulties:
1) when sheet material generation parallel misalignment (as sheet material and Bending Mould cutting edge not parallel) time, effectively can not carry out detection and correct in time, let alone accurately located.
2) part needs to carry out changing face and adds man-hour sometimes, and the face process of changing can produce relatively large deviation, and the deviation that above-mentioned any one method all can not exchange face generation is revised quickly.
2, sheet material be adhered cause grab phenomenon by mistake
Metal blank adopts the mode of stacking in a pile to put usually, easily produce between sheet material and be adhered effect and be sticked together, manipulator may be caused once to capture multiple plate material parts mistakenly process, cause machinery equipment to be damaged and security incident, this must strictly stop in the middle of producing.
Prior art is usual, if application number is the patent application of 200420021412.5, it adopts magnetic force demixing technology, this technology by several have compared with high-intensity magnetic field magnet, sheet material is in a pile magnetized, make between plate surface, to produce the magnetic field force mutually repelled, and then reach the object of layering.
But the maximum problem that above-mentioned technology exists is exactly; comparatively high-intensity magnetic field is there is around magnet; when the electronic products such as Field Force's carrying mobile phone, computer, wrist-watch, digital camera near time; usually these electronic instruments can be damaged; also can have an impact to medicine equipments such as the pacemakers that human body carries in addition, even cause life danger.Above-mentioned employing the method can not detect " the grabbing " in crawl process and " leakage is grabbed " phenomenon fast in addition.
3, prior art is only piece together simple and mechanical to sheet material positioner, grabbing device, decker, and lack a system, science, efficiently method of work, result of use is not good enough.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, and a kind of sheet material location grasping system being applied to automatic production line is provided, organic combination can be carried out in the layering of sheet metal, crawl and location by this sheet material location grasping system being applied to automatic production line, layering is reliable, there will not be and grab by mistake, crawl precision is high, and positioning precision and efficiency high.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of sheet material location grasping system being applied to automatic production line, comprise the bin, manipulator and the feeding paw that is connected with manipulator that have and put district, it is characterized in that: described feeding paw comprises material-taking rack, several vibrators be arranged on material-taking rack corner, be arranged at several electromagnet on material-taking rack lower surface and several vacuum cups; Each vibrator includes the vertical guide rod of an energy along material-taking rack up-down vibration, and the bottom of the vertical guide rod of every root all arranges a described vacuum cup; The intrinsic frequency of each vibrator is all greater than the intrinsic frequency of sheet metal; Described bin is also provided with catching block.
Each described vibrator includes one and is arranged at vertical guide rod top and has the rotor of two output shafts, be arranged at the stator of rotor outer periphery and the two pieces of eccentric massblocks be connected with two output shafts of rotor respectively; The vertical guide rod being positioned at material-taking rack both sides is all set with a spring.
Also comprise digital control system, each vibrator is all connected with this digital control system.
Also comprise at least two positioners and sheet material rest area, location, all positioners are arranged on the front end side of sheet material rest area, location mutually abreast; Each positioner includes a finger being fixedly installed on the piezoelectric transducer on sheet material rest area, location and being arranged at piezoelectric transducer front end; Each piezoelectric transducer is all connected with digital control system.
Sheet material rest area, described location is the counterdie of bender.
The present invention also provides a kind of sheet material location grasping means being applied to automatic production line, organic combination can be carried out in the layering of sheet metal, crawl and location by this kind of sheet material location grasping means being applied to automatic production line, layering is reliable, there will not be and grab by mistake, crawl precision is high, and positioning precision and efficiency high.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
Be applied to a sheet material location grasping means for automatic production line, comprise the following steps:
The first step, prepares before capturing: be neatly stacked in by sheet metal and bin puts district;
Second step, plate layering: feeding paw moves in the first step and puts directly over district by manipulator, and moves down, makes the vacuum cup below feeding paw be pressed in and waits to capture on sheet metal, vacuum cup action, draw and wait to capture sheet metal, and upwards to promote; Meanwhile, the vibrator be positioned on feeding paw corner starts, treat crawl sheet metal to encourage, the driving frequency of vibrator is equal with the intrinsic frequency of sheet metal, wait to capture sheet metal under the excitation of vibrator, produce resonance, realize being separated with its lower metal sheet material be adhered mutually;
3rd step, plate captures: treating of realizing with lower metal sheet material in second step being separated is captured sheet metal by manipulator, and move and be placed on catching block, final vacuum sucker quits work, electromagnet energising, will treat that crawl sheet metal captures.
Also comprise the 4th step, plate is located: the sheet metal captured in the 3rd step is transferred to positioner place by manipulator, and sheet metal side to be positioned is touched mutually with the finger of wherein at least two positioners, the side to be positioned of sheet metal and the touching power of each finger are all in the deviation range set.
In described 4th step plate position fixing process, when the side to be positioned of sheet metal is only touched mutually with the finger of a positioner, the piezoelectric transducer of the positioner touched mutually with side to be positioned produces touches signal, and the touching power of touching signal and detection is passed to digital control system, the touching signal of reception and the parallelism error of touching power and setting compare by digital control system, after judgement, instruction manipulator is adjusted in real time to the position of sheet metal and attitude, until the side to be positioned of sheet metal is touched mutually with the finger of wherein at least two positioners, and touching power is all in the deviation range of setting.
Also comprise the 5th step, upset, positioning step: when the sheet metal captured has at least two sides to need to locate, manipulator, by completing the sheet metal of one article of side location in the 4th step, overturns, successively to the side needing location in addition, position according to the method for the 4th step.
In described 4th step, after plate has been located, digital control system will record the coordinate position of having located automatically, and using the first elements of a fix value of this coordinate position as next block sheet metal to be positioned.
After the present invention adopts said structure and method, there is following beneficial effect:
1. feeding paw is provided with vacuum cup and electromagnet, vacuum cup owing to self there is certain flexibility, and can not make sheet metal produce magnetization be adhered, in delaminating process to the crawl of sheet metal; Electromagnet due to suction force large, action response is rapid, there is not elastic deformation, is used in the crawl to sheet metal in location and Forging Process.Vacuum cup and electromagnet alternately with the use of, both met stability in delaminating process, can meet again in location and Forging Process precisely and efficiently.
2. vibrator feeding paw arranged and sheet metal form a single-mode system, when the driving frequency of vibrator is equal with the intrinsic frequency of sheet material, the layering of sheet metal can be realized, in addition, above-mentioned digital control system can also judge whether to there is " grabbing " and " leakage is grabbed " problem according to the output torque of motor more.Compared with prior art, efficiency is higher, better reliability, and without high-intensity magnetic field interference, therefore security is also higher.
3. the setting of above-mentioned positioner, has following several remarkable advantage:
1) by piezoelectric transducer sheet metal and at least two pointed between " contact force " Real-time Feedback to digital control system, digital control system adjusts the position of sheet metal and attitude in real time according to " contact force " signal of feedback again, whole location and adjustment process are real-time closed-loop control, digital control system can in real time " perception " sheet metal and finger between contact situation, therefore positioning precision is higher, and can not produce mechanical interference and collision.
2) due at least two fingers can respectively perception sheet material and gear refer between " contact force ", therefore, it is possible to realize measuring and adjustation is carried out to the parallelism error of sheet material.
3) positioner is as positioning datum, be fixedly connected with the counterdie of bender, fix relative to the coordinate system of bender, its positioning precision is not by the impact of robot self repetitive positioning accuracy, even if therefore there is the situations such as foundation crack (and the always existence in various degree in product process actually of these factors), sedimentation in process of production, even if the mutual alignment between robot and bender changes, location and machining accuracy still can be ensured.
4) front one-time positioning is carried out record to the coordinate position of sheet metal by digital control system, and as the first elements of a fix value that next working cycles sheet metal is located, the location of sheet metal can be realized more rapidly and accurately, to the raising of production efficiency clearly.
4. the application, for automation machining production line, is not only each functional module mechanically, simply combined, more needs the method for work of a system, science.Otherwise not only the efficiency of each functional module at utmost can not be brought into play, the precision of product can be affected on the contrary, even cause security incident.For this reason the present invention putting sheet material, capture, after layering, location, the functional module such as bending carry out classifying rationally, propose one more adding system, the method for work of science, adopt the method, redundant actions in process can be reduced to greatest extent, farthest can give play to the operating efficiency of production line, machining accuracy and security can also have been ensured simultaneously.The method of work of science determines each module position and layout, can reduce floor space.
Accompanying drawing explanation
Fig. 1 shows a kind of structural representation being applied to the sheet material location grasping system of automatic production line of the present invention;
Fig. 2 shows the structure for amplifying schematic diagram of feeding paw in Fig. 1;
Fig. 3 shows the structure for amplifying schematic diagram of encircled interior locating device in Fig. 1;
Fig. 4 shows the perspective view of vibrator;
Fig. 5 shows the internal sectional structure schematic diagram of vibrator;
Fig. 6 shows single dynamics calculate model schematic;
Fig. 7 shows the time dependent relation of periodic excitation load suffered by eccentric massblock;
Fig. 8 shows the variation relation between amplitude and driving frequency that sheet metal vibrates with vibrator;
Fig. 9 shows structural representation during plate layering;
Figure 10 shows the structural representation that sheet metal is placed on the catching block of bin by feeding paw;
Figure 11 shows the structural representation of sheet metal depth of parallelism adjustment;
Figure 12 shows the schematic diagram that sheet metal is located in X direction;
Figure 13 shows the schematic diagram that sheet metal is located along Y-direction;
Figure 14 shows the schematic diagram of sheet metal location in Forging Process;
Figure 15 shows the schematic diagram of sheet metal feeding in Forging Process;
Figure 16 shows the schematic diagram of sheet metal bending;
Figure 17 shows a kind of schematic flow sheet being applied to the sheet material location grasping means of automatic production line.
Wherein have:
1. feeding paw;
11. material-taking racks; 111. guide pad; 112. guide pad;
12. adpting flanges;
13. electromagnet;
14. vibrators; 141. stator; 142. rotor; 143. eccentric massblock; 144. vertical guide rods; 145. spring;
2. positioner;
21. piezoelectric transducers; 22. fingers; 23. supports;
3. bin;
31. sheet metals; 311.X is to side to be positioned; 312.Y is to side to be positioned; 32. put district; 33. catching blocks;
4. bender;
41. fuselages; 42. slide blocks; 43. patrixes; 44. counterdies.
Detailed description of the invention
The sheet material location grasping system being applied to automatic production line of the application and location grasping means, be preferably applied to the accurate location before part bending and crawl, certainly, also can also be applied among other operations.
Below with regard to the accurate location before part bending and capture as specific embodiment, the application is described in further detail.
As shown in Figure 1, a kind of sheet material location grasping system being applied to automatic production line, comprises manipulator, bin 3, feeding paw 1, at least two positioners 2, bender 4 and digital control systems.
Above-mentioned bender 4 is prior art, and as shown in Figure 1, it comprises fuselage 41, slide block 42, patrix 43 and counterdie 44.Wherein, counterdie 44 position is fixed, and is also the sheet material rest area, location in the application.Patrix 43 is arranged on slide block 42, can slide up and down.
As shown in Figure 1 and Figure 4, above-mentioned bin 3 comprises puts district 32 and catching block 33, puts in district 32 and has neatly stacked some sheet metals 31.
As shown in Figure 12 and Figure 13, be the needs that subsequent processes illustrates, in the application, every sheet sheet metal 31 all has an X to side 311 to be positioned and a Y-direction side 312 to be positioned.Certainly, according to the needs of Forging Process, sheet metal 31 only can have an X to location side 311, also only can have a Y-direction location side 312, many can also be had to locate side.
Each above-mentioned positioner 2 is arranged on the front end side of sheet material rest area, location (being also the counterdie 44 of bender 4) mutually abreast.Positioner 2 is as positioning datum, be fixedly connected with the counterdie 44 of bender 4, fix relative to the coordinate system of bender 4, its positioning precision is not by the impact of robot self repetitive positioning accuracy, even if therefore there is the situations such as foundation crack (and the always existence in various degree in product process actually of these factors), sedimentation in process of production, even if the mutual alignment between robot and bender 4 changes, location and machining accuracy still can be ensured.
As shown in Figure 3, each positioner 2 includes a piezoelectric transducer 21, finger 22 and a support 23.Support 23 is preferably triangular in shape, is fixedly installed on the front end side of counterdie 44.Piezoelectric transducer 21 is connected with digital control system, and above-mentioned finger 22 is arranged on the front end of piezoelectric transducer 21, and finger 22 can contact with the side to be positioned of sheet metal and collide.
As shown in Figure 2, feeding paw 1 comprises material-taking rack 11, several vibrators 14 be arranged on material-taking rack 11 corner, is arranged at several electromagnet 13 on material-taking rack 11 lower surface and several vacuum cups 15.
Vacuum cup 15 owing to self there is certain flexibility, and can not make sheet metal 31 produce magnetization to be adhered, in delaminating process to the crawl of sheet metal 31; Electromagnet 13 due to suction force large, action response is rapid, there is not elastic deformation, is used in the crawl to sheet metal in location and Forging Process.Vacuum cup 15 and electromagnet 13 alternately with the use of, both met stability in delaminating process, can meet again in location and Forging Process precisely and efficiently.
The top of shown material-taking rack 11 is provided with an adpting flange be connected with manipulator 12.Above-mentioned vibrator 14 is preferably four.Be fixedly installed a guide pad 111 with pilot hole 112 respectively at four edges of material-taking rack 11, as replacement, also directly a pilot hole can be respectively set at four edges of material-taking rack 11.
As shown in Figure 4 and Figure 5, each vibrator 14 includes the vertical guide rod 144 of an energy along material-taking rack 11 up-down vibration, and the bottom of the vertical guide rod 144 of every root all arranges a vacuum cup 15; The intrinsic frequency of each vibrator 14 is all greater than the intrinsic frequency of sheet metal 31.
Each vibrator 14 preferably includes one and is arranged at vertical guide rod 144 top and has the rotor 142 of two output shafts, be arranged at the stator 141 of rotor 142 periphery and the two pieces of eccentric massblocks 143 be connected with two output shafts of rotor 142 respectively, and the vertical guide rod 144 being positioned at material-taking rack 11 both sides is all set with a spring 145.
Further, each vibrator 14 is all preferably connected with this digital control system.
It is as follows that vibrator 14 drives sheet metal 31 to carry out the principle Analysis of plate layering:
Vibrator 14 and sheet metal 31 can be reduced to single dynamics calculate model as shown in Figure 6.In figure 6, m representative model mass, namely its weight be also equivalent to the weight of vibrator 14 in the application and the weight sum of sheet metal 31.K is spring rate, and C represents damping, and F (t) represents rotor 142 when rotating with ω angular speed, the excitation cycle load of the generation of eccentric massblock 143, and F (t) is in sinusoidal waveform change as shown in Figure 7, wherein:
F(t)＝Asin(ωt)
Spring rate K is general comparatively large, and model quality block m is usually less, and therefore the intrinsic frequency of this system is usually higher, will want high a lot of compared with the intrinsic frequency of sheet metal 31 self.
This vibrator 14 can adjust intrinsic frequency by the rotating speed of adjustment drive motors (being also stator 141 and rotor 142), under normal circumstances, motor carries out rapid frequency-sweeping, when the intrinsic frequency of vibrator 14 is identical with the intrinsic frequency of sheet metal 31, sheet metal 31 can produce resonance.When sheet metal 31 resonates, can produce and significantly vibrate, thus be conducive to the layering realizing sheet metal 31.
In fig. 8, f (n) represents the intrinsic frequency of vibrator 14, and U represents the working range of driving frequency lower than the intrinsic frequency of vibrator 14 of vibrator 14.
When the intrinsic frequency of vibrator 14 is apparently higher than the intrinsic frequency of sheet metal 31, vibrator 14 can work under its intrinsic frequency all the time, namely, in Fig. 8 in " U " scope, vibrator 14 own dynamics characteristic can be avoided the impact of arousal effect, be conducive to provide stable exciting force.
Be applied to a sheet material location grasping means for automatic production line, as shown in figure 17, comprise the following steps:
The first step, prepares before capturing: sheet metal 31 is neatly stacked in putting in district 32 on bin 3.
Second step, plate layering: feeding paw 1 moves in the first step and puts directly over district 32 by manipulator, and moves down, makes the vacuum cup 15 below feeding paw 1 be pressed in and waits to capture on sheet metal 31, vacuum cup 15 action, draw and wait to capture sheet metal 31, and upwards to promote; Meanwhile, the vibrator 14 be positioned on feeding paw 1 corner starts, treat crawl sheet metal 31 to encourage, the driving frequency of vibrator 14 is equal with the intrinsic frequency of sheet metal 31, wait to capture sheet metal 31 under the excitation of vibrator 14, produce resonance, as shown in Figure 9, realize being separated with its lower metal sheet material 31 be adhered mutually.
In above-mentioned plate stratification step, vibrator 14 and sheet metal 31 form a single-mode system, the driving frequency produced by vibrator 14 is identical with the intrinsic frequency of sheet metal 31, and sheet metal 31 generation resonance is realized, once the robot multiple sheet metal 31 (or not being drawn to sheet metal 31) of disposable absorption mistakenly, the natural frequency of vibration of sheet metal 31 will change, the output torque of motor will change, digital control system can according to this change, at once judge that sheet metal 31 draws mistake, the concurrent warning that makes mistake, waste product is in batches avoided to be the generation of security incident.Also namely, above by the method for resonance excitation to carrying out effective layering by plate, the problems such as " grabbing " or " leakage is grabbed " that process occurs can also be captured to plate more, carry out monitoring and reporting to the police.
3rd step, plate captures: waiting of realizing with lower metal sheet material 31 in second step being separated is captured sheet metal 31 by manipulator, moves and is placed on catching block 33, as shown in Figure 10.Final vacuum sucker 15 quits work, and electromagnet 13 is energized, and will wait that capturing sheet metal 31 captures.
4th step, plate is located: one article of side to be positioned of sheet metal 31 that manipulator will capture in the 3rd step, X is as shown in figure 12 to side 311 to be positioned, be transferred to positioner 2 place, and X is touched to finger 22 phase of side 311 to be positioned with wherein at least two positioners 2, and X to the touching power of side 311 to be positioned and each finger 22 all in the deviation range set.
When carrying out the bending of plate location, the parallelism error between plate and die point exists often, very large on machining accuracy impact, therefore significant with adjustment to the Aulomatizeted Detect of this parallelism error.
As shown in figure 11, there is parallelism error value between the side to be positioned of sheet metal 31 and the cutting edge of counterdie 44, be the angle a in Figure 11.
When feeding paw 1 capture sheet metal 31 position time, the side to be positioned of sheet metal 31 only can be touched with the finger of a positioner 2 mutually, now only have the piezoelectric transducer 21 of the positioner 2 touched mutually with side to be positioned to produce and touch signal, and the touching power of touching signal and detection is passed to digital control system, the touching signal of reception and the parallelism error of touching power and setting compare by digital control system, after judgement, instruction manipulator is adjusted in real time to the position of sheet metal 31 and attitude, until the side to be positioned of sheet metal 31 is touched with finger 22 phase of wherein at least two positioners 2, and touching power is all in the deviation range of setting, parallelism error then adjusts complete.
After plate has been located, digital control system will record the coordinate position of having located automatically, and using the first elements of a fix value of this coordinate position as next block sheet metal to be positioned 31.Thus, the location of sheet metal can be realized more rapidly and accurately, to the raising of production efficiency clearly.
5th step, upset, positioning step: when the sheet metal 31 captured has at least two sides to need to locate, manipulator will complete the sheet metal 31 of one article of side location in the 4th step, overturn, after upset as shown in figure 13, now the Y-direction of sheet metal 31 side 312 to be positioned is just to positioner 2, then, again positions Y-direction side 312 to be positioned according to the method for the 4th step.According to needs such as bendings, if also deposit other desired location side, more successively to the side needing location in addition, carry out plate location according to the method for the 4th step.
6th step, the plate location in Forging Process and feeding, the course of work is as follows:
As shown in figure 14, finger 22 is d with the cutting edge centre distance horizontal direction of counterdie 44 foremost, and the cutting edge of counterdie 44 is h at vertical direction, and wherein d and h is through and measures and calibrated, and its dimensional discrepancy is controlled in rational scope.Need the curved of in the distance that distance sheet metal 31 apart from front end side is e value folding one 90 °.
Sheet metal 31 is under the drive of robot, and move up distance h, then move horizontally distance e+d to the right, and the slide block 42 meanwhile on bender 4 moves downward, until the cutting edge on patrix 43 is just pressed on bending line, as shown in figure 15.
Then, as shown in figure 16, slide block 42 continues to move downward, and under the acting in conjunction of patrix 43 and counterdie 44, will complete the bending and molding of sheet metal 31.
7th step, finished product is put: the 6th step is completed the sheet metal 31 of bending and molding by manipulator, is also finished product, neatly puts.Then, repeat second step to the 7th step, complete automated job.
For automation machining production line, each functional module mechanically, simply combines by the application, more needs the method for work of a system, science.Otherwise not only the efficiency of each functional module at utmost can not be brought into play, the precision of product can be affected on the contrary, even cause security incident.
For this reason the present invention putting sheet metal, capture, after layering, location, the functional module such as bending carry out classifying rationally, propose one more adding system, the method for work of science, adopt the method, redundant actions in process can be reduced to greatest extent, farthest can give play to the operating efficiency of production line, machining accuracy and security can also have been ensured simultaneously.The method of work of science determines each module position and layout, can reduce floor space.
More than describe the preferred embodiment of the present invention in detail; but the present invention is not limited to the detail in above-mentioned embodiment, within the scope of technical conceive of the present invention; can carry out multiple equivalents to technical scheme of the present invention, these equivalents all belong to protection scope of the present invention.
Claims (10)
1. one kind is applied to the sheet material location grasping system of automatic production line, comprise the bin, manipulator and the feeding paw that is connected with manipulator that have and put district, it is characterized in that: described feeding paw comprises material-taking rack, several vibrators be arranged on material-taking rack corner, be arranged at several electromagnet on material-taking rack lower surface and several vacuum cups; Each vibrator includes the vertical guide rod of an energy along material-taking rack up-down vibration, and the bottom of the vertical guide rod of every root all arranges a described vacuum cup; The intrinsic frequency of each vibrator is all greater than the intrinsic frequency of sheet metal; Described bin is also provided with catching block.
2. the sheet material location grasping system being applied to automatic production line according to claim 1, is characterized in that: each described vibrator includes one and is arranged at vertical guide rod top and has the rotor of two output shafts, be arranged at the stator of rotor outer periphery and the two pieces of eccentric massblocks be connected with two output shafts of rotor respectively; The vertical guide rod being positioned at material-taking rack both sides is all set with a spring.
3. the sheet material location grasping system being applied to automatic production line according to claim 1, it is characterized in that: also comprise digital control system, each vibrator is all connected with this digital control system.
4. the sheet material location grasping system being applied to automatic production line according to claim 3, it is characterized in that: also comprise at least two positioners and sheet material rest area, location, all positioners are arranged on the front end side of sheet material rest area, location mutually abreast; Each positioner includes a finger being fixedly installed on the piezoelectric transducer on sheet material rest area, location and being arranged at piezoelectric transducer front end; Each piezoelectric transducer is all connected with digital control system.
5. the sheet material location grasping system being applied to automatic production line according to claim 4, is characterized in that: sheet material rest area, described location is the counterdie of bender.
6. be applied to a sheet material location grasping means for automatic production line, it is characterized in that: comprise the following steps:
The first step, prepares before capturing: be neatly stacked in by sheet metal and bin puts district;
Second step, plate layering: feeding paw moves in the first step and puts directly over district by manipulator, and moves down, makes the vacuum cup below feeding paw be pressed in and waits to capture on sheet metal, vacuum cup action, draw and wait to capture sheet metal, and upwards to promote; Meanwhile, the vibrator be positioned on feeding paw corner starts, treat crawl sheet metal to encourage, the driving frequency of vibrator is equal with the intrinsic frequency of sheet metal, wait to capture sheet metal under the excitation of vibrator, produce resonance, realize being separated with its lower metal sheet material be adhered mutually;
3rd step, plate captures: treating of realizing with lower metal sheet material in second step being separated is captured sheet metal by manipulator, and move and be placed on catching block, final vacuum sucker quits work, electromagnet energising, will treat that crawl sheet metal captures.
7. the sheet material location grasping means being applied to automatic production line according to claim 6, it is characterized in that: also comprise the 4th step, plate is located: the sheet metal captured in the 3rd step is transferred to positioner place by manipulator, and sheet metal side to be positioned is touched mutually with the finger of wherein at least two positioners, the side to be positioned of sheet metal and the touching power of each finger are all in the deviation range set.
8. the sheet material location grasping means being applied to automatic production line according to claim 7, it is characterized in that: in described 4th step plate position fixing process, when the side to be positioned of sheet metal is only touched mutually with the finger of a positioner, the piezoelectric transducer of the positioner touched mutually with side to be positioned produces touches signal, and the touching power of touching signal and detection is passed to digital control system, the touching signal of reception and the parallelism error of touching power and setting compare by digital control system, after judgement, instruction manipulator is adjusted in real time to the position of sheet metal and attitude, until the side to be positioned of sheet metal is touched mutually with the finger of wherein at least two positioners, and touching power is all in the deviation range of setting.
9. the sheet material location grasping means being applied to automatic production line according to claim 8, it is characterized in that: also comprise the 5th step, upset, positioning step: when the sheet metal captured has at least two sides to need to locate, manipulator will complete the sheet metal of one article of side location in the 4th step, overturn, successively to the side needing location in addition, position according to the method for the 4th step.
10. the sheet material location grasping means being applied to automatic production line according to claim 9, it is characterized in that: in described 4th step, after plate has been located, digital control system will record the coordinate position of having located automatically, and using the first elements of a fix value of this coordinate position as next block sheet metal to be positioned.
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| CN201510317660.7A CN104972008B (en) | 2015-06-10 | 2015-06-10 | A kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means |
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| CN201510317660.7A CN104972008B (en) | 2015-06-10 | 2015-06-10 | A kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means |
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| CN105903787A (en) * | 2016-04-14 | 2016-08-31 | 佛山市广工大数控装备技术发展有限公司 | Robot-based small doorplate four-edge eight knife bending method |
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| CN109333570A (en) * | 2018-11-30 | 2019-02-15 | 深圳市拍档科技有限公司 | A kind of automatic catching robot |
| CN110757463A (en) * | 2019-11-20 | 2020-02-07 | 贵州大学 | Manipulator grabbing force control method and device |
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| CN106849533B (en) * | 2015-12-07 | 2019-01-08 | 东方电气集团东方电机有限公司 | A kind of motor stator core outer closed assembly method and device thereof automatically |
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| CN107876650A (en) * | 2017-09-29 | 2018-04-06 | 南京邮电大学 | A kind of variation rigidity part suction device and sheet material draw bending method |
| CN107876650B (en) * | 2017-09-29 | 2019-02-19 | 南京邮电大学 | A kind of variation rigidity part suction device and plate draw bending method |
| CN108674911A (en) * | 2018-07-19 | 2018-10-19 | 安徽美诺福科技有限公司 | A kind of cold rolling high-strength steel feeding system and steel plate system of processing |
| CN109333570A (en) * | 2018-11-30 | 2019-02-15 | 深圳市拍档科技有限公司 | A kind of automatic catching robot |
| CN110757463A (en) * | 2019-11-20 | 2020-02-07 | 贵州大学 | Manipulator grabbing force control method and device |
| CN110757463B (en) * | 2019-11-20 | 2023-06-27 | 贵州大学 | Mechanical arm grabbing force control method and device |
| CN111672993A (en) * | 2020-07-01 | 2020-09-18 | 上海发那科机器人有限公司 | High-precision bending rear material blocking and positioning device |
| CN111940548A (en) * | 2020-08-11 | 2020-11-17 | 上海发那科机器人有限公司 | Rear material blocking positioning correction system and method |
| CN111940548B (en) * | 2020-08-11 | 2022-08-19 | 上海发那科机器人有限公司 | Rear material blocking, positioning and correcting system and method |
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