CN102009096A

CN102009096A - Elastic knurling tool of robot

Info

Publication number: CN102009096A
Application number: CN201010500730XA
Authority: CN
Inventors: 林巨广; 施成攀; 牛赵龙; 崔鹏; 邱峰; 韩慧; 王庆华; 孙顺; 汤东华
Original assignee: Anhui JEE Automation Equipment Co Ltd
Current assignee: Anhui Juyi Technology Co Ltd
Priority date: 2010-09-30
Filing date: 2010-09-30
Publication date: 2011-04-13
Anticipated expiration: 2030-09-30
Also published as: CN102009096B

Abstract

The invention discloses an elastic knurling tool of a robot, which is characterized in that a cover plate flange and a sleeve are fixedly connected by bolts; a pressure sensor is fixedly arranged on the cover plate flange by the bolts, a pressure head of the sensor is connected to the bottom of the pressure sensor by threads, a spring compressing block supports against the pressure head of the sensor by the upper end of a compressed spring, and the lower end of the compressed spring supports against the top end of a spline shaft; a roller wheel installing block for installing a blank-pressed roller wheel is arranged and is connected with the spline shaft by a connecting block, and the mutual rotation between the roller wheel installing block and the spline shaft is limited by a flat key of the spline shaft; and the rotation between the spline shaft and the sleeve is stopped by the flat key of the spline shaft. The elastic knurling tool has the advantage of simple structure, is easy to implement, and can meet the requirements of an elastic adjusting mechanism of a knurling system.

Description

Robot elasticity rolling instrument

Technical field

The present invention relates to realize in the robot binding system detect and adjust the robot elasticity rolling instrument of the pressure of roller and plate.

Background technology

Along with of the control of each automobile main frame maker to input cost, the press bound edge is the inner and outer plates wrapping process of part such as the vehicle body door closure that fades out gradually owing to once drop into high, flexible difference, and by comparison robot binding system because its less investment, flexible high, be maintained as advantages such as written or printed documents is low, paid close attention to by each automobile main frame maker gradually.In robot binding system, for preventing the excessive or insufficient pressure of pair of rollers plate build-up of pressure, cause plate rolling poor quality, need to keep rolling pressure in certain scope and so on, and the size of pressure when monitoring rolling at any time.

In binding system, neat, attractive in appearance in order to guarantee the plate flange, usually need be divided into three steps and carry out rolling, as shown in Figure 1, from the reset condition of Fig. 1 a, pass through successively: with 30 ° (shown in Fig. 1 b) of outside plate 21 upsets, 60 ° (shown in Fig. 1 c) and 90 ° (shown in Fig. 1 d).According to sheet material material matter and technological requirement commonly used, the rapid turn-up process of first two steps roughly needs F _PreThe pressure of=700～800N can be with the outside plate bending; Last one step need about F _FinThe pressure of=1500～1600N could flatten outside plate 21, and bound edge is on inner panel 22, and pressure can not surpass 1600N usually, otherwise plate may be extruded impression.Need simultaneously to guarantee that the rolling instrument is non-rigid stressed, prolong tool life.

In order to guarantee such pressure limit, one cover need be set adjust and to monitor the mechanism of current pressure, guarantee that first two steps operation pressure is no more than 800N, and the nearly 1600N of the pressure of three-procedure, but relevant complete set of equipments complex structure, the cost of using is quite high at present, is unfavorable for widespread usage.

Summary of the invention

The present invention is for avoiding above-mentioned existing in prior technology weak point, providing a kind of robot elasticity rolling instrument simple in structure, easy to implement, to adapt to the requirement of binding system elastic adjusting mechanism.

Technical solution problem of the present invention adopts following technical scheme:

The design feature of robot of the present invention elasticity rolling instrument is:

Be provided with between cover plate flange and the sleeve be for bolt fixed; Pressure sensor is arranged on the cover plate flange by bolting, and the sensor pressure head is that the upper end of stage clip is butted on the sensor pressure head with the spring compression piece with the bottom that is threaded in pressure sensor, and the lower end of stage clip is butted on the top of splined shaft;

Be provided for installing the roller mounting blocks of flanging roller, described roller mounting blocks is connected with splined shaft by contiguous block, by the mutual rotation between splined shaft flat key restriction roller mounting blocks and the splined shaft; Spline housing place restrictions on by the spline housing flat key and sleeve between rotation.

The design feature of robot of the present invention elasticity rolling instrument also is to be provided with respectively the big footpath roller and the path roller of different-diameter, and described big footpath roller and path roller are installed in the both sides, end of roller mounting blocks respectively.

Compared with the prior art, beneficial effect of the present invention is embodied in:

The present invention is simple in structure, easy to implement, can adapt to the requirement of binding system elastic adjusting mechanism.

Description of drawings

Fig. 1 is a rolling step schematic diagram.

Fig. 2 is a structural representation of the present invention.

Number in the figure: 1 cover plate flange, 2 sleeves, 3 sensor pressure heads, 4 spring compression pieces, 5 spline housings, 6 splined shafts, 7 bottom end covers, 8 contiguous blocks, 9 roller mounting blocks, 10 big footpath rollers, 11 ball bearings, 12 big footpath roller shafts, 13 bearings, 14 path rollers, 15 bolts, 16 splined shaft flat keys, 17 pressure sensors, 18 spline housing flat keys, 19 stage clips.

The specific embodiment

Referring to Fig. 1, present embodiment be provided with between cover plate flange 1 and the sleeve 2 be for bolt fixed; Pressure sensor 17 is arranged on the cover plate flange 1 by bolting, and sensor pressure head 3 is that the upper end of stage clip 19 is butted on sensor pressure head 3 with spring compression piece 4 with the bottom that is threaded in pressure sensor 17, and the lower end of stage clip 19 is butted on the top of splined shaft 6;

Roller mounting blocks 9 is set, and big footpath roller 10 and path roller 14 are installed in the both sides, end of roller mounting blocks 9 respectively; Roller mounting blocks 9 is to be connected with splined shaft 6 by contiguous block 8, by the mutual rotation between splined shaft flat key 16 restriction roller mounting blocks 9 and the splined shaft 6; Spline housing 5 place restrictions on by spline housing flat key 18 and sleeve 2 between rotation, lower cover 7 is by being bolted on the sleeve 2.

Big footpath roller 10 is used for finishing the rolling work of smooth plate, and the place that occurs the bigger radian of curvature for plate uses big footpath roller 14 to carry out rolling.Shown in Figure 2, big footpath roller 10 is to be installed on the roller mounting blocks 9 by big footpath roller shaft 12, and ball bearing 11 is equipped with in the centre, and path roller 14 is to be installed on the roller mounting blocks 9 by bearing 13, and bearing 13 also is to adopt ball bearing.

The pressure instant playback that pressure sensor 17 can record is on external display screen.

With stage clip 19 precommpression 2mm, wherein the coefficient of elasticity of stage clip 19 is 400N/mm by splined shaft 6, so system is under off working state, and the precompression that stage clip 19 produces is 800N.

The course of work:

When whole system carries out the first two steps bound edge, roller roll extrusion plate, with power step by step to being uploaded on the stage clip, because the edge knurling process of preceding two steps is just with the plate bending, the power that needs is generally 500-600N, so first two steps operation stage clip 19 does not produce compression, pressure sensor 17 detects spring pressure and is always 800N at this moment.

When system carried out for the 3rd step bound edge the time, roller need be with the exterior panel compacting on interior plate, the pressure that needs nearly 1600N, when roller pressure surpasses 800N, stage clip begins to continue compression by original 2mm precompressed, the detected pressure of pressure sensor this moment can increase along with the increase of roller pressure, neglect measure error, the numerical value that pressure sensor shows is current rolling actual pressure substantially, therefore, the depression distance of the numerically controlled machine human arm that shows according to pressure sensor can guarantee that the final pressure force of plate is no more than the 1600N of technological requirement.

Claims

1. robot elasticity rolling instrument is characterized in that:

Be provided with between cover plate flange (1) and the sleeve (2) be for bolt fixed; Pressure sensor (17) is arranged on the cover plate flange (1) by bolting, sensor pressure head (3) is with the bottom that is threaded in pressure sensor (17), the upper end of stage clip (19) is butted on sensor pressure head (3) with spring compression piece (4), and the lower end of stage clip (19) is butted on the top of splined shaft (6);

Be provided for installing the roller mounting blocks (9) of flanging roller, described roller mounting blocks (9) is connected with splined shaft (6) by contiguous block (8), by the mutual rotation between splined shaft flat key restriction roller mounting blocks (9) and the splined shaft (6); Spline housing (5) place restrictions on by spline housing flat key (18) and sleeve (2) between rotation.

2. robot according to claim 1 elasticity rolling instrument, it is characterized in that: the big footpath roller (10) and the path roller (14) of different-diameter are set respectively, and described big footpath roller (10) and path roller (14) are installed in the both sides, end of roller mounting blocks (9) respectively.