CN102646142A - Simulation aided design method for automated stamping end picking-up devices - Google Patents
Simulation aided design method for automated stamping end picking-up devices Download PDFInfo
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Abstract
The invention discloses a simulation design method for automated stamping end picking-up devices, and a complete idea of designing end picking-up devices. The whole manufacturing and debugging operation of an end picking-up device is completed through computer simulation, and the computer simulation comprises an operation of simulation solving before an operation of modeling is performed and an operation of simulation verification after the operation of modeling is performed. Compared with the prior art, according to the method disclosed by the invention, the design, manufacturing and virtual online debugging of the end picking-up device are all implemented through DELMIA V5 and CATIA V5 (Computer Aided Tri-Dimensional Interface Application Version 5) software, through the convenient and reliable simulation means, the layout situations of a two-level bar system and a three-level bar system of the end picking-up device can be rapidly determined for stamping process parts, and the spatial attitudes and lengths thereof can be rapidly determined, so that the quality and design and production efficiencies of the end picking-up device can be obviously improved, and the cost of debugging can be greatly reduced.
Description
Technical field
The present invention relates to the punching automation terminal-collecting machine, specifically, the present invention relates to a kind of emulation auxiliary design method of punching automation terminal-collecting machine.
Background technology
In recent years, along with punching automation the popularizing fast of each big automobile group machine factory, the use of terminal-collecting machine is also more and more.Terminal-collecting machine itself has one-to-one relationship with stamping procedure spare, and each station of each stamping parts all will design a terminal-collecting machine separately.This has determined that also body in white sheet metal component quantity of required terminal-collecting machine in punching production is very huge.As last ring of Auto-body Panel production planning, can terminal-collecting machine be made and realized both fast and sound, with the ordinary production that directly has influence on press workshop.At present, all site test is made the terminal-collecting machine major part of punching automation production line in the workshop, and this mode disadvantage takies production line exactly, and efficient is lower, and employee's labor capacity is big, is difficult to satisfy factory's lean production requirement.In view of this, terminal-collecting machine is from being designed into making, and related commissioning work, is badly in need of the effective scheme of a cover.
Summary of the invention
Technical matters to be solved by this invention provides a kind of emulation auxiliary design method of punching automation terminal-collecting machine, with the design that reaches the Rapid Realization terminal-collecting machine and the purpose of debugging, increases work efficiency.
In order to solve the problems of the technologies described above; The technical scheme that the present invention adopted is: a kind of method for designing of punching automation terminal-collecting machine, said terminal-collecting machine comprise mobile jib, secondary bar, three grades of bars and sucker, and mobile jib links to each other with mechanical arm; Three grades of bars are connected with sucker; Secondary bar one end is connected with mobile jib through binding clasp, and the other end is connected with three grades of bars through adapter, and the step of the method for designing of said terminal-collecting machine is following:
1) utilization Dassault Systemes DELMIA V5 software is made the rod member entire assembly model in DELMIA V5 software, and concrete rod member entire assembly model is following:
Make a five-freedom virtual device, as three grades of lever apparatus, comprise three grades of bars and the sucker that is connected with three grades of bars, three grades of bars are round bar, and sucker can slide on three grades of bars and the ability rotation;
Make six virtual robots, catch robot as secondary bar forward, be called for short and catch robot, be used for confirming the installation site of secondary bar on mobile jib, the end of catching robot has the robot end of seizure taught point;
Make the virtual robot of a Three Degree Of Freedom, as secondary bar reverse search robot, be called for short the search machine people, be used for searching for the installation site of secondary bar on three grades of bars, search machine people's end has search machine robot end taught point;
Order according to from bottom to top assembles three grades of bars, seizure robot, search machine people successively; Form the rod member entire assembly model; Be connected with revolute between the base of wherein catching robot and the three grades of bars; The end of catching robot is connected with fixed joint with search machine people's base, and search machine people's end is back to the base of catching robot, each sucker on the stamping procedure spare all correspondence such rod member assembly; Deposit the rod member assembly in the standardized element storehouse, to call repeatedly;
2) the assembly file of a newly-built DELMIA V5 is made the terminal-collecting machine entire assembly model, from database, calls in earlier the three-dimensional model of stamping procedure spare, arm end parts and terminal-collecting machine mobile jib, confirms three's relative position according to mechanical arm robotization condition;
3) confirm the crawl position of each sucker on stamping procedure spare, and confirm the shape and size of each sucker;
4) confirm each sucker in the normal direction of crawl position point separately, and the X that confirms each crawl position point with reference to the X axle of absolute coordinate system to;
5) with reference to the normal direction of each crawl position point and X to, create corresponding local coordinate system, and make coordinate system Z axle consistent in the normal direction of this point with profile, be convenient follow-up search in addition, and with the X axle of the X axle unification sensing absolute coordinate system of each coordinate system; Notice that the mechanical arm mobile jib is vertically along the Y axle in this method, X axle negative sense is a feed direction;
6) from database, call in the good rod member entire assembly model of prior establishment; Coordinate system according to the sucker on three grades of lever apparatus of crawl position point coordinate system on the stamping procedure spare and rod member assembly; Sucker on three grades of bars is installed to a mounting points on the stamping procedure spare earlier; Catch robot and search machine people and also be carried into the appropriate location, adjust three grades of lever apparatus to corner attitude accurately from the vertical view direction;
7) the seizure robot in the teaching rod member entire assembly model; Teaching is caught robot end's taught point and is navigated on the axis of mobile jib; The location point X value of guaranteeing the correspondence seizure robot teaching point on the mobile jib is consistent with the taught point coordinate X value of catching robot; Confirm the installation site of secondary bar on mobile jib, point to through the end of regulate catching robot then, with search machine people's attitude laterally perpendicular to mobile jib;
The base sheath that the end of 8) catching robot carries the search machine people is connected on the mobile jib; Begin teaching search machine people then; Teaching search machine robot end taught point is back to the seizure robot base; So far, search machine people's position and attitude have just directly been confirmed position, attitude and the length of the secondary bar of current rod member entire assembly model, have confirmed three grades of pole lengths simultaneously;
9) call in other rod member entire assembly models, confirm three grades of bars and the secondary bar that other suckers are corresponding successively according to above-mentioned steps;
10) utilization CATIA V5 software, in CATIA V5 software, according to the information in the current rod member entire assembly model file, Modeling and Design goes out whole terminal-collecting machine;
11) in DELMIA V5 software, carry out the simulating, verifying and the optimization of terminal-collecting machine; The simulation terminal-collecting machine moves at the part of grabbing of current station; Simulate this terminal-collecting machine in addition and move at the part of putting of next station, analysis-by-synthesis terminal-collecting machine overall space, further the layout of secondary bar and three grades of bars is optimized in adjustment.
In step 1); The structure of three grades of bars in DELMIA V5 software, making is: three grades of bars are oval bar, on three grades of bars, be provided with one with three grades of quarter butt and Venturi tubes that bar is vertical, quarter butt can rotate on three grades of bars; With the tie point of three grades of bars be the quarter butt point of rotation; The quarter butt point of rotation is the mounting points of base on three grades of bars of catching robot, and also as the mounting points of base on three grades of bars of catching robot, sucker is connected on the Venturi tube quarter butt point of rotation simultaneously.
In step 1); The seizure robot construction of in DELMIA V5 software, making is: be provided be connected with mobile jib and around the 6th bar of mobile jib axis rotation, be connected the 5th bar on the 6th bar around the starting point rotation of the 6th bar, with vertical the 4th bar that is connected and rotates around the starting point of the 5th bar of the 5th bar; And be connected and around the 3rd bar of the starting point of the 4th bar rotation with the 4th bar is vertical; Be connected and around second bar of the starting point of the 3rd bar rotation with the 3rd bar is vertical; Be connected and around first bar of the starting point of second bar rotation with second bar is vertical; First bar is connected with the quarter butt point of rotation on said three grades of lever apparatus as the base of catching robot 3, and first bar just can be around the axis rotation of quarter butt, and the end of the 6th bar 3-6 is a seizure robot end taught point.
In step 1); The search machine people's who in DELMIA V5 software, makes structure is: be provided with sleeve pipe as search machine people base, be connected and can and be connected the search bar on the flexible piece along the flexible flexible piece of sleeve pipe vertical direction on the sleeve pipe; Sleeve pipe is fixedly connected with the end of said first bar; The end of search bar is a search machine robot end taught point, is used for confirming the installation site of secondary bar on three grades of bars.
In step 1), three grades of bars, the installation step of catching robot, search machine people are: first bar that robot is caught in teaching is fixed on the quarter butt point of rotation; Teaching is caught robot end's taught point and is arrived on the terminal-collecting machine mobile jib; Sleeve pipe on the search machine people is installed to the end of the 6th bar of catching robot; The robot end of teaching search machine then taught point arrives on the quarter butt point of rotation of three grades of bars; So far three grades of lever apparatus, catch robot and the search machine people threes formation closed loop that joins end to end, form the rod member entire assembly model.
In step 7), when robot is caught in teaching, at first on the axis of terminal-collecting machine mobile jib, get fixed 1 P, in software, measuring this point coordinate (Xp then; Yp, Zp) with the coordinate of the quarter butt point of rotation (Xr, Yr, Zr); The coordinate that then will catch robot end's taught point is revised as that (Xr, Yp Zp), will capture point (Xr so catch robot end's taught point automatically; Yp Zp), has so just confirmed the installation site of secondary bar on mobile jib.
In step 3); The position of stamping procedure spare can be considered the latter half profile of diel; Confirm the crawl position point of each sucker on stamping procedure spare, the RP of sucker assembling just overlaps sucker bottom centre's point during assembling with crawl position point; And, confirm the shape and size of corresponding sucker according near the surface-type feature of stamping procedure spare each crawl position point.
In step 2) in, more reasonable in order to make analysis, also need called in the movement interference curve of mechanical arm from software database.
The present invention adopts technique scheme, and compared with prior art, terminal-collecting machine is from being designed into making; And the virtual online debugging, all, utilize this convenient and reliable simulation means through in DELMIA V5 and CATIA V5 software, realizing; Can be stamping procedure spare and confirm the deployment scenarios of terminal-collecting machine secondary leverage and three grades of leverages fast; Confirm its spatial attitude and length fast, can obviously promote the terminal-collecting machine quality and design and produce efficient, and can reduce debugging cost greatly.
Description of drawings
Structural representation when Fig. 1 is a terminal-collecting machine duty of the present invention;
The seizure robot construction synoptic diagram of Fig. 2 in software, making;
Fig. 3 is the front elevation of Fig. 2;
Fig. 4 is the search machine people's that in software, makes structural representation;
Fig. 5 is the front elevation of Fig. 4;
Fig. 6 is the structural representation of three grades of lever apparatus;
Fig. 7 is the structural representation of rod member entire assembly model;
Mark among the above-mentioned figure is: 1, mechanical arm; 2, mobile jib; 3, catch robot; 3-1, first bar; 3-2, second bar; 3-3, the 3rd bar; 3-4, the 4th bar; 3-5, clipper joint; 3-6, seizure robot end taught point; 4, three grades of bars; 4-1, quarter butt; 4-2, Venturi tube; 4-3, the quarter butt point of rotation; 5, search machine people; 5-1, sleeve pipe; 5-2, flexible piece; 5-3, search bar; 5-4, search machine robot end taught point; 6, sucker; 7, stamping procedure spare.
Embodiment
The present invention is the emulation auxiliary design method of punching automation terminal-collecting machine, and is as shown in Figure 1, and terminal-collecting machine comprises mobile jib 2, secondary bar, three grades of bars 4 and sucker 6; Mobile jib 2 links to each other with mechanical arm 1, and three grades of bars 4 are connected with sucker 6, and secondary bar one end is connected with mobile jib 2 through binding clasp; The other end is connected with three grades of bars 4 through adapter; Mobile jib 2 is two passive vertical hollow round bars, and the secondary bar is by being hung vertically on the mobile jib 2 and the hollow round bar of lateral distribution is formed, and some groups of secondary bars have just been formed the secondary leverage; Three grades of bars 4 also are made up of the hollow circular rod member; Space distribution is more any, plays to strengthen secondary bar space search ability, and three grades of bar 4 ends directly link to each other with sucker 6.
This patent proposes the emulation method for solving of a kind of punching press terminal-collecting machine secondary leverage and three grades of leverages, and the complete thinking of terminal-collecting machine design, accomplishes the whole making and the debugging work of terminal-collecting machine simultaneously through Computer Simulation.The simulating, verifying after the modeling is found the solution in emulation before comprising modeling.
The step of the method for designing of terminal-collecting machine is following:
1) utilization Dassault Systemes DELMIA V5 software is made the rod member entire assembly model in DELMIA V5 software, and concrete rod member assembly accessory model specifically describes as follows:
Make a five-freedom virtual device, this virtual bench as three grades of lever apparatus, is used for confirming the relative position of sucker 6 and secondary bar and generating three grades of bars 4.Three grades of lever apparatus comprise that 6, three grades of bars of three grades of bars 4 and the sucker that is connected with three grades of bars 44 are the hollow round bar, and sucker 6 can slide on three grades of bars 4 and the ability rotation;
Make six virtual robots, catch robot, be called for short and catch robot 3, be used for confirming the installation site of secondary bar on mobile jib 2 as secondary bar forward;
Make the virtual robot of a Three Degree Of Freedom,, be called for short search machine people 5, be used for searching for the installation site of secondary bar on three grades of bars 4 as secondary bar reverse search robot;
Stamping procedure spare 7 is as the design reference; Sucker 6 is adsorbed on the stamping procedure spare 7; The Venturi tube at sucker 6 tops links to each other with three grades of bars 4, according to from bottom to top order successively three grades of bars 4, catch robot 3, search machine people 5 assembles, and forms the rod member entire assembly model; Three grades of lever apparatus are bottoms of rod member entire assembly model, and its pedestal is exactly a sucker 6; Catching robot 3 is intermediate members of rod member entire assembly model; Be connected with revolute between the base of wherein catching robot 3 and the three grades of bars 4; The end of catching robot 3 is connected with fixed joint with search machine people 5 base; The end of catching robot 3 is for catching robot end's taught point 3-6, and search machine people 5 end is search machine robot end taught point 5-4, and the end of finding the solution search machine people 5 under the state will be back to catches robot 3 bottoms.Each sucker 6 on the stamping procedure spare 7 all corresponding such rod member entire assembly model, deposit the rod member entire assembly model in the standardized element storehouse, to call repeatedly;
2) the assembly file of a newly-built DELMIA V5; And be named as " terminal-collecting machine assembly "; Make the terminal-collecting machine entire assembly model; From database, call in earlier the three-dimensional model of stamping procedure spare 7, mechanical arm 1 end component and terminal-collecting machine mobile jib 2, confirm three's relative position according to mechanical arm 1 robotization condition;
3) confirm the crawl position of each sucker 6 between stamping procedure, and confirm the shape and size of each sucker 6;
4) confirm each sucker 6 in the normal direction of crawl position point separately, and the X that confirms each crawl position point with reference to the X axle of absolute coordinate system to;
5) with reference to the normal direction of each crawl position point and X to, create corresponding local coordinate system, and make coordinate system Z axle consistent in the normal direction of this point with profile, be convenient follow-up search in addition, and with the X axle of the X axle unification sensing absolute coordinate system of each coordinate system; Notice that mechanical arm 1 mobile jib 2 is vertically along the Y axle in this method, X axle negative sense is a feed direction;
6) from database, call in the good rod member entire assembly model of prior establishment, the coordinate system according to the sucker 6 on three grades of lever apparatus of crawl position point coordinate system on the stamping procedure spare 7 and rod member assembly is installed to a mounting points on the stamping procedure spare 7 earlier with the sucker 6 on three grades of bars 4; Suppose this mounting points coordinate be S (Xs, Ys, Zs); Catch robot 3 and also be carried into the appropriate location, to position accurately and guarantee optimum corner attitude, write down the coordinate (Xr of the quarter butt point of rotation 4-3 (R point) of three grades of lever apparatus 4 this moment from three grades of lever apparatus of vertical view direction adjustment with search machine people 5; Yr, Zr), the R point itself is exactly to catch the mounting points of robot 3 bases on three grades of lever apparatus 4; Write down the coordinate T (Xr of the terminal taught point 3-6 that catches robot 3 simultaneously; Yt Zt), please notes that a R is identical with the X coordinate of some S;
7) the seizure robot 3 in the teaching rod member entire assembly model; Its terminal taught point of teaching navigates on the axis of mobile jib 2; For convenient location fast, can on terminal-collecting machine mobile jib 2 axis, get fixed 1 P, under the coordinate system of " terminal-collecting machine assembly " file, measure this point coordinate (Xp then; Yp, Zp).The coordinate that then will catch the terminal taught point 3-6 of robot 3 is revised as that (Xr, Yp Zp), will capture point automatically (Xr, Yp Zp), will so just have confirmed the installation site of secondary bar on mobile jib so catch the end of robot 3.The Y of end that regulate to catch robot 3 is to corner, with search machine people 3 attitude laterally perpendicular to mobile jib 2;
8) because search machine people 5 bottoms are fixed on the end of catching robot 3; Thereby the base sheath that the end of catching robot 3 carries search machine people 5 is connected on the mobile jib 2; Begin teaching search machine people 5 then, teaching search machine robot end taught point is back to the quarter butt point of rotation 4-3 (being the R point) of three grades of lever apparatus 4, so far; The area of space that search machine people 5 crosses over has just formed a secondary bar; Search machine people 5 position and attitude have just directly been confirmed position, attitude and the length of the secondary bar of current rod member entire assembly model, and obviously, the R point X value three of three grades of lever apparatus 4 of X value of the correspondence seizure robot end taught point 3-6 on the base X value of catching robot 3 at last and the mobile jib 2 is identical; Show that whole secondary bar is vertical with mobile jib 2, confirmed simultaneously that in addition three grades of pole lengths vertically and the angle of sucker axis; Last three grades of bars, the 4 longitudinal sliding motion pairs of also regulating as required are to confirm the exact length of three grades of bars 4; The 3rd of search machine people 5 the revolute angle adjusted all the time and made zero in addition, can vertically install with adapter in the future to guarantee the secondary bar;
9) call in other rod member entire assembly models, confirm three grades of bars 4 and secondary bar of other sucker 6 correspondences according to above-mentioned steps successively;
10) utilization CATIA V5 software, in CATIA V5 software, according to the information in the current rod member entire assembly model file, Modeling and Design goes out whole terminal-collecting machine;
11) in DELMIA V5 software, carry out the simulating, verifying and the optimization of terminal-collecting machine; The simulation terminal-collecting machine moves at the part of grabbing of current station; Simulate this terminal-collecting machine in addition and move at the part of putting of next station, analysis-by-synthesis terminal-collecting machine overall space, further the layout of secondary bar and three grades of bars 4 is optimized in adjustment.
In step 2) in, more reasonable in order to make analysis, also need called in the movement interference curve of mechanical arm 1 from software database.
In step 3); The position of stamping procedure spare 7 can be considered the latter half profile of diel; Confirm the crawl position point of each sucker 6 on stamping procedure spare 7, just sucker 6 assembling RPs overlap sucker 6 bottom centre's points during assembling with crawl position point; And, confirm the shape and size of corresponding sucker 6 according near the surface-type feature of stamping procedure spare 7 each crawl position point.
In step 1), three grades of bars 4 in DELMIA V5 software, making, catch robot 3 and search machine people 5 structure be described below:
As shown in Figure 6; The structure of three grades of bars 4 in DELMIA V5 software, making is: three grades of bars 4 are oval bar; On three grades of bars 4, be provided with quarter butt 4-1 and a Venturi tube 4-2 vertical with three grades of bars 4; Quarter butt 4-1 can rotate on three grades of bars 4, with the tie point of three grades of bars 4 be quarter butt point of rotation 4-3, quarter butt point of rotation 4-3 is also as the mounting points of base on three grades of bars 4 of catching robot 3 simultaneously; Sucker 6 is connected on the Venturi tube 4-2, Venturi tube 4-2 can be on three grades of bars 4 the slidable adjustment position.
As shown in Figures 2 and 3; The structure of the seizure robot 3 that in DELMIA V5 software, makes is: be provided be connected with mobile jib 2 and around the 6th bar 3-6 of mobile jib 2 axis rotation, be connected the 5th bar 3-5 on the 6th bar 3-6 around the starting point rotation of the 6th bar 3-6, with vertical the 4th bar 3-4 that is connected and rotates around the starting point of the 5th bar 3-5 of the 5th bar 3-5; And be connected and around the 3rd bar 3-3 of the starting point of the 4th bar 3-4 rotation with the 4th bar 3-4 is vertical; Be connected and around the second bar 3-2 of the starting point of the 3rd bar 3-3 rotation with the 3rd bar 3-3 is vertical; Be connected and around the first bar 3-1 of the starting point of second bar 3-2 rotation with the second bar 3-2 is vertical; The first bar 3-1 is connected with quarter butt point of rotation 4-3 on said three grades of lever apparatus as the base of catching robot 3; The first bar 3-1 just can be around the axis rotation of quarter butt 4-1, and the end of the 6th bar 3-6 is for catching robot end's taught point 3-6.Form revolute between each bar of seizure robot 3; The structure and the general industry six-joint robot of catching robot 3 are similar; So just guaranteed the flexibility of revolute locus and attitude; Structure is as shown in Figure 7, and the center of the rotation of the 6th bar 3-6 in fact is the mounting points of secondary bar on mobile jib 2.
The effect of catching robot 3 is: when its first bar 3-1 follows after three grades of suckers 6 on the lever apparatus are assembled to the assigned address of stamping procedure spare 7; Teaching the 6th bar 3-6 just can confirm the relative position of this bar and terminal-collecting machine mobile jib 2 fast, and can obtain the optimum attitude of installing simultaneously.
Like Fig. 4 and shown in Figure 5; The search machine people's 5 who in DELMIA V5 software, makes structure is: be provided with sleeve pipe 5-1 as search machine people 5 bases, be connected and can and be connected the search bar 5-3 on the flexible piece 5-2 along the flexible flexible piece 5-2 of sleeve pipe 5-1 vertical direction on the sleeve pipe 5-1; Sleeve pipe 5-1 is fixedly connected with the end of said the 6th bar 3-6; The end of search bar 5-3 also can rotate; Its turning axle and sleeve pipe 5-1 parallel axes, the end of search bar 5-3 are provided with search machine robot end taught point 5-4, and it is used for searching for the installation site (be R point) of secondary bar on three grades of bars 4.Search machine people's 5 models are virtual benchs of a Three Degree Of Freedom; Its end can be swept and omit an annular region on the given plane and can find any point in this zone; Structure is as shown in Figure 4, the rotation and 2 deads in line of terminal-collecting machine mobile jib of the revolute that sleeve pipe 5-1 forms, and second flexible piece 5-2 of parts is for flexible secondary; The end of the 3rd parts search bar 5-3 is a revolute; Notice that flexible piece 5-2 is axially axially vertical with mobile jib 2, and the axially parallel of two revolutes, can guarantee that like this terminal-collecting machine secondary bar is vertical with mobile jib 2 all the time.As can be seen from Figure 7, catch robot 3 with search machine people 5 base incidentally to mobile jib 2; Then search machine people 5 oppositely searches the positions of suckers 6, and after search bar 5-3 searched three grades of lever apparatus quarter butt point of rotation 4-3, the two just constituted a closed loop, thereby finds the solution the leverage of single sucker 6 correspondences smoothly.
In step 1), three grades of bars 4, the installation step of catching robot 3, search machine people 5 are: the first bar 3-1 that robot 3 is caught in teaching is fixed on the quarter butt point of rotation 4-3; The end that the 6th bar 3-6 of robot 3 is caught in teaching arrives on the terminal-collecting machine mobile jib 2; Sleeve pipe 5-1 on the search machine people 5 is installed to the end of the 6th bar 3-6 that catches robot 3; The terminal taught point 5-4 of the search machine of the people of teaching search machine then 5 search bar 5-3 arrives on the quarter butt point of rotation 4-3 of three grades of bars 4; So far three grades of lever apparatus, catch robot 3 and the search machine people 5 threes formation closed loop that joins end to end, constitute rod member entire assembly model as shown in Figure 7.Can obtain secondary bar parameter according to search machine people 5 pedestals and end; Can obtain three grades of bar 4 parameters according to the distal point of the 6th bar 3-6 and coordinate and the sucker 6 of quarter butt point of rotation 4-3.In like manner, other suckers 6 are handled by same procedure, and then design complete terminal-collecting machine.
This method compared with prior art, with terminal-collecting machine from being designed into making, and on-line debugging; All through in DELMIA V5 and CATIA V5 software, realizing, through this convenient and reliable simulation means, comprise modeling before emulation find the solution; Simulating, verifying after the modeling; Can be stamping procedure spare 7 and confirm the deployment scenarios of terminal-collecting machine secondary leverage and three grades of leverages fast, confirm its spatial attitude and length fast, and then design obtains whole terminal-collecting machine; Can obviously promote the terminal-collecting machine quality and design and produce efficient, and can reduce debugging cost greatly.
CATIA V5 and DELMIA V5 software systems require two kinds of software version unanimities.
Combine accompanying drawing that the present invention has been carried out exemplary description above; Obviously the concrete realization of the present invention does not receive the restriction of aforesaid way; As long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; Or design of the present invention and technical scheme are directly applied to other occasion without improving, all within protection scope of the present invention.
Claims (8)
1. the emulation auxiliary design method of a punching automation terminal-collecting machine; Said terminal-collecting machine comprises mobile jib, secondary bar, three grades of bars and sucker; Mobile jib links to each other with mechanical arm, and three grades of bars are connected with sucker, and secondary bar one end is connected with mobile jib through binding clasp; The other end is connected with three grades of bars through adapter, and it is characterized in that: the step of the method for designing of said terminal-collecting machine is following:
1) utilization Dassault Systemes DELMIA V5 software is made the rod member entire assembly model in DELMIA V5 software, and concrete rod member entire assembly model is following:
Make a five-freedom virtual device, as three grades of lever apparatus, it comprises three grades of bars and the sucker that is connected with three grades of bars, and three grades of bars are round bar, and sucker can slide on three grades of bars and the ability rotation;
Make six virtual robots, catch robot as secondary bar forward, be called for short and catch robot, be used for confirming the installation site of secondary bar on mobile jib, the end of catching robot has the robot end of seizure taught point;
Make the virtual robot of a Three Degree Of Freedom, as secondary bar reverse search robot, be called for short the search machine people, be used for searching for the installation site of secondary bar on three grades of bars, search machine people's end has search machine robot end taught point;
Assemble three grades of bars, seizure robot, search machine people; Form the rod member entire assembly model, be connected with revolute between the base of wherein catching robot and the three grades of bars, the end of seizure robot is connected with fixed joint with search machine people's base; Search machine people's end is back to the base of catching robot; Each sucker on the stamping procedure spare all corresponding such rod member assembly, deposit the rod member assembly in the standardized element storehouse, to call repeatedly;
2) the assembly file of a newly-built DELMIA V5 is made the terminal-collecting machine entire assembly model, from database, calls in earlier the three-dimensional model of stamping procedure spare, arm end parts and terminal-collecting machine mobile jib, confirms three's relative position according to mechanical arm robotization condition;
3) confirm the crawl position of each sucker on stamping procedure spare, and confirm the shape and size of each sucker;
4) confirm each sucker in the normal direction of crawl position point separately, and the X that confirms each crawl position point with reference to the X axle of absolute coordinate system to;
5) with reference to the normal direction of each crawl position point and X to, create corresponding local coordinate system, and make coordinate system Z axle consistent in the normal direction of this point, and the X axle of each coordinate system is unified the X axle of sensing absolute coordinate system with profile;
6) from database, call in the good rod member entire assembly model of prior establishment; Coordinate system according to the sucker on three grades of lever apparatus of crawl position point coordinate system on the stamping procedure spare and rod member assembly; Sucker on three grades of bars is installed to a mounting points on the stamping procedure spare earlier, catches robot and search machine people and be carried into the appropriate location;
7) the seizure robot in the teaching rod member entire assembly model; Teaching is caught robot end's taught point and is navigated on the axis of mobile jib; Confirm the installation site of secondary bar on mobile jib, point to through the end of regulate catching robot then, with search machine people's attitude laterally perpendicular to mobile jib;
The base sheath that the end of 8) catching robot carries the search machine people is connected on the mobile jib; Begin teaching search machine people then; Teaching search machine robot end taught point is back to the seizure robot base; So far, search machine people's position and attitude have just directly been confirmed position, attitude and the length of the secondary bar of current rod member entire assembly model, have confirmed three grades of pole lengths simultaneously;
9) call in other rod member entire assembly models, confirm three grades of bars and the secondary bar that other suckers are corresponding successively according to above-mentioned steps;
10) utilization CATIA V5 software, in CATIA V5 software, according to the information in the current rod member entire assembly model file, Modeling and Design goes out whole terminal-collecting machine;
11) in DELMIA V5 software, carry out the simulating, verifying and the optimization of terminal-collecting machine; The simulation terminal-collecting machine moves at the part of grabbing of current station; Simulate this terminal-collecting machine in addition and move at the part of putting of next station, analysis-by-synthesis terminal-collecting machine overall space, further the layout of secondary bar and three grades of bars is optimized in adjustment.
2. the emulation auxiliary design method of punching automation terminal-collecting machine according to claim 1; It is characterized in that: in step 1); The structure of three grades of bars in DELMIA V5 software, making is: three grades of bars are oval bar, on three grades of bars, are provided with a quarter butt vertical with three grades of bars and one and are socketed in three grades of Venturi tubes on the bar, and quarter butt can rotate on three grades of bars; With the tie point of three grades of bars be the quarter butt point of rotation; The quarter butt point of rotation is the mounting points of base on three grades of bars of catching robot, and also as the mounting points of base on three grades of bars of catching robot, sucker is connected on the Venturi tube quarter butt point of rotation simultaneously.
3. the emulation auxiliary design method of punching automation terminal-collecting machine according to claim 2; It is characterized in that: in step 1); The seizure robot construction of in DELMIA V5 software, making is: be provided be connected with mobile jib and around the 6th bar of mobile jib axis rotation, be connected the 5th bar on the 6th bar around the starting point rotation of the 6th bar, with vertical the 4th bar that is connected and rotates around the starting point of the 5th bar of the 5th bar; And be connected and around the 3rd bar of the starting point of the 4th bar rotation with the 4th bar is vertical; Be connected and around second bar of the starting point of the 3rd bar rotation with the 3rd bar is vertical; Be connected and around first bar of the starting point of second bar rotation with second bar is vertical; First bar is connected with the quarter butt point of rotation on said three grades of lever apparatus as the base of catching robot 3, and first bar just can be around the axis rotation of quarter butt, and the end of the 6th bar 3-6 is a seizure robot end taught point.
4. the emulation auxiliary design method of punching automation terminal-collecting machine according to claim 3; It is characterized in that: in step 1); The search machine people's who in DELMIA V5 software, makes structure is: be provided with sleeve pipe as search machine people base, be connected and can and be connected the search bar on the flexible piece along the flexible flexible piece of sleeve pipe vertical direction on the sleeve pipe; Sleeve pipe is fixedly connected with the end of said first bar; The end of search bar is a search machine robot end taught point, is used for confirming the installation site of secondary bar on three grades of bars.
5. the emulation auxiliary design method of punching automation terminal-collecting machine according to claim 4; It is characterized in that: in step 1), three grades of bars, the installation step of catching robot, search machine people are: first bar that robot is caught in teaching is fixed on the quarter butt point of rotation; Teaching is caught robot end's taught point and is arrived on the terminal-collecting machine mobile jib; Sleeve pipe on the search machine people is installed to the end of the 6th bar of catching robot; The robot end of teaching search machine then taught point arrives on the quarter butt point of rotation of three grades of bars; So far three grades of lever apparatus, catch robot and the search machine people threes formation closed loop that joins end to end, form the rod member entire assembly model.
6. the emulation auxiliary design method of punching automation terminal-collecting machine according to claim 7 is characterized in that: in step 7), when robot is caught in teaching, at first on the axis of terminal-collecting machine mobile jib, get fixed 1 P; Then in software, measure this point coordinate (Xp, Yp is Zp) with the coordinate (Xr of the quarter butt point of rotation; Yr, Zr), the coordinate that then will catch robot end's taught point is revised as (Xr; Yp Zp), will capture point (Xr so catch robot end's taught point automatically; Yp Zp), has so just confirmed the installation site of secondary bar on mobile jib.
7. the emulation auxiliary design method of punching automation terminal-collecting machine according to claim 6; It is characterized in that: in step 3), the position of stamping procedure spare can be considered the latter half profile of diel, confirms the crawl position point of each sucker on stamping procedure spare; The RP of sucker assembling just; During assembling sucker bottom centre's point is overlapped with crawl position point, and, confirm the shape and size of corresponding sucker according near the surface-type feature of stamping procedure spare each crawl position point.
8. the emulation auxiliary design method of punching automation terminal-collecting machine according to claim 7 is characterized in that: in step 2) in, also need called in the movement interference curve of mechanical arm from software database.
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