CN103646130A - Method for achieving universal tooling - Google Patents
Method for achieving universal tooling Download PDFInfo
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- CN103646130A CN103646130A CN201310602702.2A CN201310602702A CN103646130A CN 103646130 A CN103646130 A CN 103646130A CN 201310602702 A CN201310602702 A CN 201310602702A CN 103646130 A CN103646130 A CN 103646130A
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- 238000000034 method Methods 0.000 title abstract description 17
- 239000000463 material Substances 0.000 claims description 16
- 238000013461 design Methods 0.000 claims description 13
- 238000007429 general method Methods 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000005211 surface analysis Methods 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000004080 punching Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012732 spatial analysis Methods 0.000 description 1
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Abstract
The invention discloses a method for achieving a universal tooling. According to the method for achieving the universal tooling, workpiece classifications are grouped and a universal suction disc surface is selected for every group of workpieces, so that the universal tooling for the group of workpieces is achieved, vehicle type development costs and tooling invests are reduced, and tooling storing areas are reduced.
Description
Technical field
The invention belongs to punching automation line terminal-collecting machine technical field, relate in particular to a kind of general method of terminal-collecting machine that realizes.
Background technology
The punching production of automotive body structure part and covering is transitioned into full-automatic production from pure manual production mode.Full-automatic punching production involves de-stacking, material loading and inter process part transition problem, and what production at present was generally selected is to utilize terminal-collecting machine to realize the transition of product.Ten thousand yuan of every group of about 3-10 of product terminal-collecting machine cost of investment.During new car model development, stamping parts terminal-collecting machine cost of investment is high.
Summary of the invention
Technical matters to be solved by this invention is a kind of general general method of terminal-collecting machine of product terminal-collecting machine of the same type that realizes.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of general method of terminal-collecting machine that realizes, it is characterized in that, and comprise the following steps:
1), according to robotization line product size, the product that size is similar is sorted out in groups;
2) in AutoCAD software, the one group of product of take is unit, draws respectively all products of this group, and the center of all products is same point;
3) determine the lap of this group product, according to the equally distributed principle of sucker, at lap, select sucker face;
4) respectively the three-dimensional digital-to-analogue of this group product is imported in CATIA, and adjust the position of each product, the center that makes each product is same point, and each product is in opposing parallel position;
5) in CATIA curved design module, in Surface Analysis toolbar, click Surface Analysis button, analysis type is selected minimum value, measure the minimum profile curvature radius of the sucker face of choosing in the 3rd step, if minimum profile curvature radius is greater than the minimum profile curvature radius of the workpiece of sucker requirement, the selection of sucker face meets the demands;
6) in CATIA design environment, automatically generate a cutting plane, by dialog box adjustment, dissect title, dissect object and dissect location, each sucker face of choosing in the 3rd step all forms a section line on cutting plane, every section line of difference verification, on section line, select arbitrarily 2 points, measure at 2 in the distance of vertical product place in-plane, require the maximal value of distance and minimum value all in 5mm, the selection of sucker face meets the demands;
7) check force of suction cup and transverse force and whether be greater than plate gravity and transverse force.
The safety coefficient n minimum of sucker gets 4, and robot motion's acceleration maximum is got 12m/s
2.
When being applied to de-stacking material loading terminal-collecting machine, in the 1st step, by length and width size-spacing, 600mm classifies to plate, and size is sorted out in groups.
The position of related features of de-stacking charge hoisting by skip buttress is +/-10mm in each direction.
Place the pallet centering of plate and realize by corresponding centering face on register pin and pallet, register pin must be inserted in assigning on position corresponding to pallet requirement on material buttress dolly.
Relatively topmost the flatness of plate will be within 10mm for the bottom plate of every buttress plate.
The vacuum generator that produces vacuum and detect vacuum tightness is installed in robot.
The invention has the advantages that, by terminal-collecting machine universalization industrial analysis, realize general, the of the same type product terminal-collecting machine of de-stacking material loading terminal-collecting machine general, reduce automobile development terminal-collecting machine cost of investment.Reduce terminal-collecting machine storage area.Every general 1 group of product, reduces terminal-collecting machine cost.
Accompanying drawing explanation
Fig. 1 is de-stacking material loading terminal-collecting machine general principle figure;
Fig. 2 is sucker face curvature radius analysis chart;
Fig. 3 is sucker face and sucker radius-of-curvature comparison diagram;
Fig. 4 is that two vehicles are sent out and covered outer panel structure schematic diagram;
Fig. 5 is carrying terminal-collecting machine general principle figure;
Embodiment
Use group technology to analyze terminal-collecting machine general, realize general, the of the same type product carrying of de-stacking material loading terminal-collecting machine terminal-collecting machine general, reduce automobile development terminal-collecting machine cost of investment.
Terminal-collecting machine universalization condition: 1) the distance maximal value between each section line point of product sucker face and minimum value are in 5mm; 2) sucker face minimum profile curvature radius is greater than the workpiece minimum profile curvature radius of selected sucker requirement; 3) terminal-collecting machine sucker is evenly distributed on product, and terminal-collecting machine force of suction cup and transverse force are greater than product gravity and transverse force.
Terminal-collecting machine refers to that installation is connected in the device on industrial robot or mechanical arm, utilizes vacuum cup or clamp to contact with crawled thing, it is transported to the position of appointment from a position.Press machine people robotization line terminal-collecting machine is single pole quick change aluminum terminal-collecting machine, adopts aluminum modular construction form.Press machine people robotization line is produced thin-walled stamping parts, adopts the principle of work of vacuum suction to capture.The composition of terminal-collecting machine mainly comprises quick change major joint, aluminium bar, adapter, T junction, sucker linking arm, linking arm joint, sucker joint, sucker, straight-through/three-way connection, tracheae etc.Vacuum cup is arranged on the extension arm support of making of aluminium alloy, and sucker number and arrangement form thereof are determined according to concrete product.Vacuum generator is installed in robot, for generation of vacuum and detect vacuum tightness, judges whether product sucks.
1. terminal-collecting machine technological feasibility analytical approach
Terminal-collecting machine contacts with product by vacuum cup draws product.Sucker kind is a lot, and waveform sucker is the most frequently used, in use has multiple advantage: 1) be applicable to the workpiece of different size and shape, if ripple sucker SAB sucker diameter dimension is from 22mm to 110mm; 2) curved surface and out-of-flatness workpiece are had to very strong adaptability; 3) contact has during workpiece good shock-absorbing capacity, suction strong, sucker compression travel 3-10mm.
Workpiece minimum profile curvature radius (as shown in Figure 3) shows that sucker can draw safely the least radius of workpiece.Utilize the selected sucker of CATIA " Surface Analysis " tool analysis to draw the radius-of-curvature of curved surface.After being imported, process part processing digital-to-analogue enters coil holder and the curved design module under CATIA Machine Design module, rule of thumb choose the curved surface at sucker place, in Surface Analysis toolbar, click curvature of curved surface analysis button, analysis type is selected minimum value, shows curvature minimum value.When curvature minimum value is greater than sucker requirement workpiece minimum profile curvature radius, the radius-of-curvature (as shown in Figure 2) that sucker is drawn curved surface meets the requirement of sucker workpiece minimum profile curvature radius.
Stressed be divided into suction and the transverse force of sucker in motion process.In order to ensure terminal-collecting machine, in motion process, do not fall part, need to consider certain safety coefficient.By the theoretical numerical value of force of suction cup with organize the distributional analysis of product terminal-collecting machine sucker to producing more than 200, the safety coefficient n minimum of robotization line terminal-collecting machine vacuum cup gets 4.Robot motion's acceleration maximum is got 12m/s
2.After being imported, process part processing digital-to-analogue enters coil holder and the curved design module under CATIA Machine Design module, rule of thumb choose the curved surface at sucker place, according to curved surface size and curvature, select sucker size, complete sucker position and select, and terminal-collecting machine force of suction cup and transverse force are checked.Need to consider that robot feeding point, with respect to the position of product, facilitates employee to take off and loads onto terminal-collecting machine simultaneously.
Embodiment mono-
De-stacking material loading terminal-collecting machine is general:
Use group technology to analyze terminal-collecting machine universalization technological feasibility.Group technology discloses and utilizes the similarity between things, and according to certain criterion Classified into groups, things can adopt Same Way to process on the same group, so that the technology of increasing the benefit is called group technology.The core of group technology is group technology, and the akin part of bar structure, material, technique forms a part family, formulates technique and processes, thereby expanded in batches, reduced kind, be convenient to adopt high efficiency method, improved labour productivity by part family.The similarity of part is broad sense, similarity at aspects such as geometric configuration, size, functional imperative, precision, materials is basic similarity, take basic similarity as basis, the similarity deriving at aspects such as the productions such as manufacture, assembling, operation, management, is called secondary similarity or derives from similarity.
In conjunction with terminal-collecting machine design feature, use the general feasibility of AutoCAD software analysis product de-stacking material loading terminal-collecting machine.Every line of punching automation line is produced 20-30 group product.According to robotization line product plate size, by length and width size-spacing, 600mm classifies to plate, and the plate that size is similar is sorted out in groups, determines the general feasibility of de-stacking material loading terminal-collecting machine.In AutoCAD software, as shown in Figure 1, at difference figure layer, draw the plate (center of plate is same point) of different products, determine the lap of plate, according to the equally distributed principle of sucker, select sucker location point, for de-stacking terminal-collecting machine, need consider extra quality detecting sensor position in addition.Analyze terminal-collecting machine force of suction cup and transverse force and whether be greater than plate gravity and transverse force, as met, terminal-collecting machine is general.According to sucker face Installation and Debugging terminal-collecting machine at the scene.
When the universalization of de-stacking material loading terminal-collecting machine realizes in addition, the position of related features that need further consider de-stacking charge hoisting by skip buttress is +/-10mm in each direction.Placing the pallet centering of plate realizes by corresponding centering face on register pin and pallet.Register pin must be inserted in assigning on position corresponding to pallet requirement on material buttress car.Relatively topmost the flatness of plate will be within 10mm for the bottom plate of every buttress plate.
Embodiment bis-
Carrying terminal-collecting machine is general:
According to group technology principle according to product classification of type, according to sucker compression travel, determine sucker layout points, the general feasibility of Analysis deterrmination inter process carrying terminal-collecting machine, determines sucker location point, check terminal-collecting machine suction, transverse force etc., determine the general feasibility of terminal-collecting machine.
As shown in Figure 4 and Figure 5, take A/B two vehicles send out cover outside plate as example research carrying terminal-collecting machine general.In CATIA trim designs module, importing A/B two vehicles are sent out and are covered outside plate same processes data, utilize compass to move part, A/B is sent out and cover the position of outside plate in opposing parallel, and center is in same point.Use Sectioning (dissecing) instrument in Space Analysis (spatial analysis) toolbar, in design environment, automatically produce a cutting plane, by dialog box, can adjust and dissect title, dissect object and section location etc. a plurality of to dissect relevant factor, each sucker face of difference verification, sucker face forms a section line on section, on section line, get arbitrarily 2 points, 2 distance maximal values on the in-plane of vertical workpiece place and minimum value are in 5mm, and sucker face meets the demands.
The general emphasis that needs of terminal-collecting machine is considered: 1) the distance maximal value between each section line point of sucker face and minimum value are in 5mm.As shown in Figure 5, the distance between sucker face A, B, C, D two products is in 1mm; 2) sucker face minimum profile curvature radius is greater than the workpiece minimum profile curvature radius of selected sucker requirement; 3) terminal-collecting machine sucker is evenly distributed on product, and terminal-collecting machine force of suction cup and transverse force are greater than product gravity and transverse force.According to sucker face Installation and Debugging terminal-collecting machine at the scene.
Adopt after above-mentioned method, by terminal-collecting machine universalization industrial analysis, realize general, the of the same type product terminal-collecting machine of de-stacking material loading terminal-collecting machine general, reduce automobile development terminal-collecting machine cost of investment.Reduce terminal-collecting machine storage area.Every general 1 group of product, reduces terminal-collecting machine cost.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; or without improving, design of the present invention and technical scheme are directly applied to other occasion, all within protection scope of the present invention.
Claims (7)
1. realize the general method of terminal-collecting machine, it is characterized in that, comprise the following steps:
1), according to robotization line product size, the product that size is similar is sorted out in groups;
2) in AutoCAD software, the one group of product of take is unit, draws respectively all products of this group, and the center of all products is same point;
3) determine the lap of this group product, according to the equally distributed principle of sucker, at lap, select sucker face;
4) respectively the three-dimensional digital-to-analogue of this group product is imported in CATIA, and adjust the position of each product, the center that makes each product is same point, and each product is in opposing parallel position;
5) in CATIA curved design module, in Surface Analysis toolbar, click Surface Analysis button, analysis type is selected minimum value, measure the minimum profile curvature radius of the sucker face of choosing in the 3rd step, if minimum profile curvature radius is greater than the minimum profile curvature radius of the workpiece of sucker requirement, the selection of sucker face meets the demands;
6) in CATIA design environment, automatically generate a cutting plane, by dialog box adjustment, dissect title, dissect object and dissect location, each sucker face of choosing in the 3rd step all forms a section line on cutting plane, every section line of difference verification, on section line, select arbitrarily 2 points, measure at 2 in the distance of vertical product place in-plane, require the maximal value of distance and minimum value all in 5mm, the selection of sucker face meets the demands;
7) check force of suction cup and transverse force and whether be greater than plate gravity and transverse force.
2. the general method of terminal-collecting machine that realizes as claimed in claim 1, is characterized in that, the safety coefficient n minimum of sucker gets 4, and robot motion's acceleration maximum is got 12m/s
2.
3. the general method of terminal-collecting machine that realizes as claimed in claim 1, is characterized in that, when being applied to de-stacking material loading terminal-collecting machine, in the 1st step, by length and width size-spacing, 600mm classifies to plate, and size is sorted out in groups.
4. the general method of terminal-collecting machine that realizes as claimed in claim 3, is characterized in that, the position of related features of de-stacking charge hoisting by skip buttress is +/-10mm in each direction.
5. the general method of terminal-collecting machine that realizes as claimed in claim 4, is characterized in that, places the pallet centering of plate and realizes by corresponding centering face on register pin and pallet, and register pin must be inserted in assigning on position corresponding to pallet requirement on material buttress dolly.
6. the general method of terminal-collecting machine that realizes as claimed in claim 5, is characterized in that, relatively topmost the flatness of plate will be within 10mm for the bottom plate of every buttress plate.
7. the general method of terminal-collecting machine that realizes as claimed in claim 1, is characterized in that, the vacuum generator that produces vacuum and detect vacuum tightness is installed in robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310602702.2A CN103646130A (en) | 2013-11-25 | 2013-11-25 | Method for achieving universal tooling |
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| CN201310602702.2A CN103646130A (en) | 2013-11-25 | 2013-11-25 | Method for achieving universal tooling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107644130A (en) * | 2017-09-11 | 2018-01-30 | 奇瑞汽车股份有限公司 | The more typed ball bearing pair terminal-collecting machines of one kind support shovel and its simulation model |
Citations (2)
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|---|---|---|---|---|
| DE10135604A1 (en) * | 2001-07-21 | 2002-05-02 | Andreas Salomon | Universal adapter plate, for drill bit tooling, has holes to suit all diamond drill bit segments of all shape radius size and spacing plus fixer rod to anchor bit during soldering |
| CN202683837U (en) * | 2012-05-31 | 2013-01-23 | 上海发那科机器人有限公司 | General tooling of stamping automatic production line |
-
2013
- 2013-11-25 CN CN201310602702.2A patent/CN103646130A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10135604A1 (en) * | 2001-07-21 | 2002-05-02 | Andreas Salomon | Universal adapter plate, for drill bit tooling, has holes to suit all diamond drill bit segments of all shape radius size and spacing plus fixer rod to anchor bit during soldering |
| CN202683837U (en) * | 2012-05-31 | 2013-01-23 | 上海发那科机器人有限公司 | General tooling of stamping automatic production line |
Non-Patent Citations (3)
| Title |
|---|
| 李奇等: "双动拉延模改单动拉延模的自动化冲压工艺分析", 《汽车工艺与材料》 * |
| 林成: "汽车覆盖件冲压自动化生产的研究", 《中国优秀硕士论文全文数据库-工程科技Ⅰ辑》 * |
| 陆国庆: "冲压自动化生产线工序间过渡系统优化设计", 《中国优秀硕士论文全文数据库-信息科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107644130A (en) * | 2017-09-11 | 2018-01-30 | 奇瑞汽车股份有限公司 | The more typed ball bearing pair terminal-collecting machines of one kind support shovel and its simulation model |
| CN107644130B (en) * | 2017-09-11 | 2021-08-31 | 奇瑞汽车股份有限公司 | Supporting shovel type multi-ball hinge pair end effector and simulation method thereof |
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Application publication date: 20140319 |