CN107030631B - One kind assembling flexible fixture based on robot door of elevator component - Google Patents
One kind assembling flexible fixture based on robot door of elevator component Download PDFInfo
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- CN107030631B CN107030631B CN201710221794.8A CN201710221794A CN107030631B CN 107030631 B CN107030631 B CN 107030631B CN 201710221794 A CN201710221794 A CN 201710221794A CN 107030631 B CN107030631 B CN 107030631B
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- 230000003014 reinforcing effect Effects 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 25
- 239000000463 material Substances 0.000 claims 5
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 claims 1
- 230000006835 compression Effects 0.000 abstract description 15
- 238000007906 compression Methods 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 4
- 239000002184 metal Substances 0.000 abstract description 3
- 230000002787 reinforcement Effects 0.000 description 15
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000003292 glue Substances 0.000 description 5
- 238000011900 installation process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000003351 stiffener Substances 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Elevator Door Apparatuses (AREA)
- Manipulator (AREA)
Abstract
本发明提供了一种基于机器人电梯门板组件装配柔性夹具，包括夹具主型材架；固定在夹具主型材架上的夹具连接板和法兰盘连接板；并行设置在夹具主型材架前端侧面的第一滑台座；安装在第一滑台座上的第一压紧弹簧和夹紧气缸；安装在夹紧气缸侧端上的第一导槽检测传感器和第二导槽检测传感器；安装在夹紧气缸前端的导槽夹爪；安装在夹具主型材架后端侧面的滑台导向轴；并行安装在滑台导向轴上的第二滑台座和第二压紧弹簧；固定在第二滑台座上的加强筋吸盘；固定在夹具主型材架底部的加强筋检测传感器。本柔性夹具在装配过程中能适应电梯门板底板、加强筋、导槽钣金件的误差，实现自动调整位置，保证装配可靠性，达到节省时间和提高可靠性的效果。
The invention provides a flexible fixture based on robot elevator door panel assembly assembly, comprising a main profile frame of the fixture; a fixture connecting plate and a flange connecting plate fixed on the main profile frame of the fixture; A slide base; the first compression spring and clamping cylinder installed on the first slide base; the first guide groove detection sensor and the second guide groove detection sensor installed on the side end of the clamping cylinder; installed on the clamping cylinder The guide groove jaws at the front end; the slide table guide shaft installed on the rear end side of the main profile frame of the fixture; the second slide table seat and the second compression spring installed in parallel on the slide table guide shaft; the second slide table seat fixed on the Rib suction cup; the rib detection sensor fixed at the bottom of the main profile frame of the fixture. During the assembly process, the flexible fixture can adapt to the errors of the elevator door panel bottom plate, reinforcing ribs, and guide groove sheet metal parts, realize automatic position adjustment, ensure assembly reliability, and achieve the effects of saving time and improving reliability.
Description
技术领域technical field
本发明涉及一种夹具，具体涉及一种基于机器人电梯门板组件装配柔性夹具。The invention relates to a clamp, in particular to a flexible clamp for assembling elevator door panel components based on a robot.
背景技术Background technique
近年，随着国内经济不断发展，劳动力成本随之上涨，我国制造业人力优势不再，在制造业升级的大背景下，“机器换人”提高制造业智能化程度成为新的潮流。现有的电梯门板加工中，尤其是电梯门板组件装配工艺通常还是采用人工组装的方式，即采用人工将门板、加强筋、重锤导槽等部件组装在一起，然后再通过人工焊接。人工组装不仅效率低下，而且极易产生组装误差，对于电梯门这种高精端的智能产品，只要稍有误差就可能导致产品报废。为解决上述技术难题，目前市面上出现了使用机器人组装电梯门代替人工组装，但是在实际的机器人组装过程中，由于强筋和重锤导槽装配时要求极为严格，而现有的机器人加强筋装配工艺中由于钣金件的误差控制比较困难，大多数需要通过改变电梯门板组件结构来实现加强筋的自动化装配，但是电梯门板修改结构需要备案及送特种设备检测院检测，手续及时间相当长，这样无论在增加项目配件生产时间上延长，还是在更改结构引起门板强度不足都严重地影响门板的生产效率。In recent years, with the continuous development of the domestic economy, labor costs have risen accordingly, and my country's manufacturing manpower advantage is no longer there. Under the background of manufacturing upgrading, "machine substitution" to improve the intelligence of manufacturing industry has become a new trend. In the existing elevator door panel processing, especially the assembly process of elevator door panel components, manual assembly is usually used, that is, door panels, reinforcing ribs, weight guide grooves and other components are manually assembled together, and then manually welded. Manual assembly is not only inefficient, but also prone to assembly errors. For high-end intelligent products such as elevator doors, even a slight error may lead to product scrapping. In order to solve the above technical problems, robots are used to assemble elevator doors instead of manual assembly. However, in the actual robot assembly process, due to the extremely strict requirements for the assembly of strong ribs and heavy hammer guide grooves, the existing robot ribs Due to the difficulty in the error control of sheet metal parts in the assembly process, most of them need to change the structure of the elevator door panel components to realize the automatic assembly of the reinforcement ribs. However, the modified structure of the elevator door panel needs to be filed and sent to the special equipment testing institute for testing. The procedures and time are quite long In this way, whether it is prolonging the production time of the project accessories or changing the structure to cause insufficient strength of the door panel, it will seriously affect the production efficiency of the door panel.
发明内容Contents of the invention
针对现有技术的不足，本发明提出了一种基于机器人电梯门板组件装配柔性夹具，在装配过程中，能适应电梯门板底板、加强筋、导槽钣金件的误差，实现自动调整位置，保证装配可靠性，达到节省时间和提高可靠性的效果。Aiming at the deficiencies of the prior art, the present invention proposes a flexible fixture for assembling elevator door panel components based on robots. During the assembly process, it can adapt to the errors of the elevator door panel bottom plate, ribs, and guide groove sheet metal parts, and realize automatic position adjustment to ensure Assembling reliability to achieve the effect of saving time and improving reliability.
为实现上述技术方案，本发明提供了一种基于机器人电梯门板组件装配柔性夹具，包括：夹具主型材架；固定在夹具主型材架顶部中心的夹具连接板；固定在夹具连接板上的法兰盘连接板；两个并行设置在夹具主型材架前端侧面的第一滑台座；安装在第一滑台座上的第一压紧弹簧；安装在第一滑台座前端侧面上的夹紧气缸安装滑台；安装在夹紧气缸安装滑台上的夹紧气缸；安装在夹紧气缸侧端上的第一导槽检测传感器；安装在第一导槽检测传感器下方的第二导槽检测传感器；安装在夹紧气缸前端的导槽夹爪；安装在夹具主型材架后端侧面的滑台导向轴；多个并行安装在滑台导向轴上的第二滑台座，所述第二滑台座上设置有第二压紧弹簧；固定在第二滑台座上的吸盘支架；固定在吸盘支架上的加强筋吸盘；固定在夹具主型材架底部中心的加强筋传感器安装座；以及安装在加强筋传感器安装座上的加强筋检测传感器。In order to realize the above-mentioned technical solution, the present invention provides a flexible fixture based on robot elevator door panel assembly, comprising: the main profile frame of the fixture; the fixture connecting plate fixed on the top center of the main profile frame of the fixture; the flange fixed on the fixture connecting plate Disc connection plate; two first slide seats arranged in parallel on the front side of the main profile frame of the fixture; the first compression spring installed on the first slide seat; the clamping cylinder installed on the front side of the first slide seat. platform; the clamping cylinder installed on the clamping cylinder installation slide; the first guide groove detection sensor installed on the side end of the clamping cylinder; the second guide groove detection sensor installed below the first guide groove detection sensor; The guide groove jaws at the front end of the clamping cylinder; the slide table guide shaft installed on the rear end side of the main profile frame of the fixture; a plurality of second slide table seats installed in parallel on the slide table guide shaft, and the second slide table seats are set There is a second compression spring; a suction cup bracket fixed on the second sliding platform seat; a stiffener sucker fixed on the sucker bracket; a stiffener sensor mounting seat fixed at the bottom center of the main profile frame of the fixture; and a stiffener sensor installed on the Rib detection sensor on the seat.
上述技术方案中，六轴机器人的法兰盘通过法兰盘连接板与本柔性夹具连接，通过夹紧气缸驱动导槽夹爪可以实现对重锤导槽的抓取，然后通过第一导槽检测传感器和第二导槽检测传感器可以精确检测重锤导槽的抓取位置及安装位置，同时通过加强筋吸盘可以对加强筋进行吸取抓牢。在实际的安装过程中，通过六轴机器人带动，首先装配加强筋，通过加强筋吸盘先对中吸取加强筋，并通过加强筋检测传感器检测加强筋的位置是否准确，如果不准确则通过移动第二滑台调节加强筋的安装位置并进行二次定位，定位准确后，通过机器人带动夹具按照预先编程往前电梯门装配处进行插筋，到位后下压，最后实现加强筋装配，本柔性夹具中，由于第二滑台上设置有第二压紧弹簧，加强筋和门板底板的误差引起的贴接不到位，由第二压紧弹簧来实现柔性补偿，从而能够适应电梯门板底板和加强筋安装过程中产生的误差，实现自动调整位置，保证装配可靠性。加强筋装配完成以后，机器人转动六轴法兰盘，实现由加强筋安装工位换到重锤导槽安装工位，当第二导槽检测传感器检测到导槽的安装工位后，夹紧气缸自动伸缩，将导槽与电梯门的门板底板对准，最后通过只需通过焊接机器人焊接即可。In the above technical solution, the flange of the six-axis robot is connected to the flexible fixture through the flange connecting plate, and the clamping jaws of the guide groove can be driven by the clamping cylinder to grasp the guide groove of the weight, and then pass through the first guide groove The detection sensor and the second guide groove detection sensor can accurately detect the grasping position and installation position of the weight guide groove, and at the same time, the reinforcement rib can be sucked and grasped by the reinforcement rib suction cup. In the actual installation process, driven by a six-axis robot, the reinforcing ribs are assembled first, and the reinforcing ribs are first centered and sucked by the reinforcing rib suction cup, and the position of the reinforcing ribs is detected by the reinforcing rib detection sensor. The second sliding table adjusts the installation position of the reinforcing rib and performs secondary positioning. After the positioning is accurate, the robot drives the fixture to insert the rib at the front elevator door assembly according to the pre-programming, press down after it is in place, and finally realize the reinforcing rib assembly. This flexible fixture In the middle, since the second compression spring is set on the second sliding platform, the joint is not in place caused by the error of the reinforcement rib and the door panel bottom plate, and the second compression spring is used to realize the flexible compensation, so that it can adapt to the elevator door panel bottom plate and the reinforcement rib. The error generated during the installation process can automatically adjust the position to ensure the reliability of assembly. After the reinforcing rib assembly is completed, the robot rotates the six-axis flange to switch from the reinforcing rib installation station to the heavy hammer guide groove installation station. When the second guide groove detection sensor detects the guide groove installation station, it clamps The cylinder automatically expands and contracts, aligning the guide groove with the door panel bottom plate of the elevator door, and the final pass only needs to be welded by a welding robot.
优选的，所述滑台导向轴和第二滑台座的表面设置有盖板。通过盖板既可以防止工厂内的灰尘、杂质等进入滑台导向轴和第二滑台座内对滑台导向轴和第二滑台座造成不良影响，又可以使得本柔性夹具变得更为美观。Preferably, the surfaces of the slide table guide shaft and the second slide table base are provided with cover plates. The cover plate can prevent the dust and impurities in the factory from entering into the guide shaft of the sliding table and the second sliding table seat and cause adverse effects on the guiding shaft of the sliding table and the second sliding table seat, and can also make the flexible fixture more beautiful.
优选的，所述导槽夹爪的内侧表面设置有PVU缓冲胶。由于导槽夹爪在抓取导槽时一旦夹取的力量过大可能使得导槽变形，因此在导槽夹爪的内侧表面设置PVU缓冲胶，可以有效缓解上述情况的发生。Preferably, the inner surface of the jaw of the guide groove is provided with PVU buffer glue. Since the clamping jaws of the guide groove may deform the guide groove once the clamping force is too large when grasping the guide groove, so setting PVU buffer glue on the inner surface of the claws of the guide groove can effectively alleviate the occurrence of the above situation.
优选的，所述滑台导向轴上安装有四个并排间隔设置的第二滑台座，每个第二滑台座上对应安装有加强筋吸盘。通过四个并排间隔分布的加强筋吸盘可以有效增强加强筋吸盘对加强筋的吸附力，防止柔性夹具在移动过程中可能导致加强筋掉落。Preferably, four second slide bases arranged side by side at intervals are installed on the slide guide shaft, and each second slide base is correspondingly equipped with a rib suction cup. The four reinforcing rib suction cups arranged side by side at intervals can effectively enhance the adsorption force of the reinforcing rib suction cups to the reinforcing rib, preventing the flexible clamp from possibly causing the reinforcing rib to fall during the moving process.
优选的，所述法兰盘连接板与六轴机器人的法兰盘连接。Preferably, the flange connecting plate is connected to the flange of the six-axis robot.
本发明提供的一种基于机器人电梯门板组件装配柔性夹具的有益效果在于：The beneficial effects of the flexible fixture assembled based on the robot elevator door panel assembly provided by the present invention are:
1)本基于机器人电梯门板组件装配柔性夹具通过在第二滑台上设置第二压紧弹簧，在实际的安装过程中，加强筋和门板底板的误差引起的贴接不到位，由第二压紧弹簧来实现柔性补偿，从而能够适应电梯门板底板和加强筋安装过程中产生的误差，实现自动调整位置，可以保证加强筋装配可靠性；1) The flexible fixture based on the assembly of the robot elevator door panel assembly sets the second compression spring on the second sliding platform. Tighten the spring to achieve flexible compensation, so that it can adapt to the error generated during the installation of the elevator door panel bottom plate and the reinforcing rib, realize automatic position adjustment, and ensure the reliability of the reinforcing rib assembly;
2)本基于机器人电梯门板组件装配柔性夹具实现了加强筋和重锤导槽集成于同一抓手的功能，在装配加强筋时，只要对中吸取并经过二次定位，就可以完成加强筋的装配；在导槽装配时，只需要夹具旋转180°即可完成重锤导槽抓取及装配，这样加强筋和重锤导槽装配集成于同一抓手不仅实现了电梯门两个大件的一次性自动化安装，高速精确装配门板组件，成本降低，而且节省了设备占用空间，提高了生产效率。2) This flexible fixture based on the assembly of the robot elevator door panel assembly realizes the function of integrating the reinforcing rib and the weight guide groove into the same gripper. When assembling the reinforcing rib, as long as the center is sucked and the secondary positioning is performed, the reinforcing rib can be completed. Assembly; when assembling the guide groove, it only needs to rotate the fixture 180° to complete the grasping and assembly of the weight guide groove, so that the reinforcement rib and the weight guide groove are assembled and integrated in the same gripper, which not only realizes the two large parts of the elevator door One-time automatic installation, high-speed and precise assembly of door panel components, lower costs, save equipment space, and improve production efficiency.
3)本基于机器人电梯门板组件装配柔性夹具结构简单，操作方便，智能化程度高，全程无需人工参与，使用本柔性夹具后，电梯门板组件装配效率由先前的30件/小时大幅提高到了72件/小时，而且成品率由先前的80％提高到了95％。3) The robot-based flexible fixture for the assembly of elevator door panel components has a simple structure, easy operation, high degree of intelligence, and no manual participation is required in the whole process. After using this flexible fixture, the assembly efficiency of elevator door panel components has been greatly increased from the previous 30 pieces per hour to 72 pieces per hour. /hour, and the yield has increased from 80% to 95%.
附图说明Description of drawings
图1为本发明的立体结构示意图Ⅰ。Fig. 1 is a three-dimensional structural schematic diagram I of the present invention.
图2为本发明的立体结构示意图Ⅱ。Fig. 2 is a schematic diagram II of the three-dimensional structure of the present invention.
图3为本发明中部分结构的局部放大示意图。Fig. 3 is a partially enlarged schematic diagram of a part of the structure of the present invention.
图4为本发明的前视图。Figure 4 is a front view of the present invention.
图5为本发明的俯视图。Fig. 5 is a top view of the present invention.
图中：1、法兰盘连接板；2、夹具连接板；3、夹具主型材架；4、缓冲胶；5、导槽夹爪；6、夹紧气缸；7、夹紧气缸安装滑台；8、第一滑台座；9、第一压紧弹簧；10、导槽；11、加强筋吸盘；12、吸盘支架；13、第二压紧弹簧；14、第二滑台座；15、滑台导向轴；16、加强筋；17、加强筋传感器安装座；18、加强筋检测传感器；19、第一导槽检测传感器；20、第二导槽检测传感器；21、盖板。In the figure: 1. Flange connection plate; 2. Fixture connection plate; 3. Fixture main profile frame; 4. Buffer glue; 5. Guide groove jaw; 6. Clamping cylinder; 7. Clamping cylinder installation slide ; 8, the first slide seat; 9, the first compression spring; 10, the guide groove; 11, the rib suction cup; 12, the suction cup support; 13, the second compression spring; 14, the second slide seat; 15, the slide 16, rib; 17, rib sensor mounting seat; 18, rib detection sensor; 19, first guide groove detection sensor; 20, second guide groove detection sensor; 21, cover plate.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整的描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。本领域普通人员在没有做出创造性劳动前提下所获得的所有其他实施例，均属于本发明的保护范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. All other embodiments obtained by ordinary persons in the art without creative efforts belong to the protection scope of the present invention.
实施例：一种基于机器人电梯门板组件装配柔性夹具。Embodiment: A flexible fixture for assembly of robot-based elevator door panel assemblies.
参照图1至图5所示，一种基于机器人电梯门板组件装配柔性夹具，包括：夹具主型材架3，夹具主型材架3主要是为各个部件提供支撑位；固定在夹具主型材架3顶部中心的夹具连接板2；固定在夹具连接板2上的法兰盘连接板1，法兰盘连接板1的主要作用是用于和六轴机器人连接；两个并行设置在夹具主型材架3前端侧面的第一滑台座8，通过第一滑台座8可以调节夹紧气缸6的位置，以便更加精确的调整导槽10的安装位置；安装在第一滑台座8上的第一压紧弹簧9，第一压紧弹簧9可以弥导槽10和门板底板对位时的误差引起的贴接不到位，实现自动柔性补偿；安装在第一滑台座8前端侧面上的夹紧气缸安装滑台7；安装在夹紧气缸安装滑台7上的夹紧气缸6，夹紧气缸6用于实现对导槽10的夹取和安装，通过两个平行设置的夹紧气缸6可以实现对导槽10的平行夹取及安装；安装在夹紧气缸6侧端上的第一导槽检测传感器19，第一导槽检测传感器19用于检测导槽10是否夹取到位；安装在第一导槽检测传感器19下方的第二导槽检测传感器20，第二导槽检测传感器20用于检测导槽10的安装是否到位；安装在夹紧气缸6前端的导槽夹爪5，导槽夹爪5用于实现对导槽10的柔性抓取；安装在夹具主型材架3后端侧面的滑台导向轴15；多个并行安装在滑台导向轴15上的第二滑台座14，所述第二滑台座14上设置有第二压紧弹簧13，通过第二压紧弹簧13可以弥补加强筋16和门板底板对位时的误差引起的贴接不到位，实现柔性自动补偿；固定在第二滑台座14上的吸盘支架12；固定在吸盘支架12上的加强筋吸盘11，加强筋吸盘11用于通过真空吸附加强筋16，实现加强筋16的抓取和安装；固定在夹具主型材架3底部中心的加强筋传感器安装座17；以及安装在加强筋传感器安装座17上的加强筋检测传感器18，加强筋检测传感器18用于检测加强筋16的抓取是否到位，如果抓取不到位，则可以进行二次定位和夹取。Referring to Fig. 1 to Fig. 5, a flexible fixture based on robot elevator door panel assembly assembly includes: fixture main profile frame 3, which mainly provides support for each component; fixed on the top of fixture main profile frame 3 The fixture connection plate 2 in the center; the flange connection plate 1 fixed on the fixture connection plate 2, the main function of the flange connection plate 1 is to connect with the six-axis robot; the two are arranged in parallel on the fixture main profile frame 3 The first slide seat 8 on the side of the front end can adjust the position of the clamping cylinder 6 through the first slide seat 8, so as to adjust the installation position of the guide groove 10 more accurately; the first compression spring installed on the first slide seat 8 9. The first compression spring 9 can compensate for the lack of bonding caused by the alignment error between the guide groove 10 and the door panel bottom plate, and realize automatic flexible compensation; the clamping cylinder installed on the side of the front end of the first sliding platform seat 8 is installed on the sliding platform 7; The clamping cylinder 6 installed on the clamping cylinder installation slide 7, the clamping cylinder 6 is used to realize the clamping and installation of the guide groove 10, and the clamping cylinder 6 arranged in parallel can realize the alignment of the guide groove Parallel clamping and installation of 10; the first guide groove detection sensor 19 installed on the side end of the clamping cylinder 6, the first guide groove detection sensor 19 is used to detect whether the guide groove 10 is clamped in place; installed on the first guide groove The second guide groove detection sensor 20 below the detection sensor 19, the second guide groove detection sensor 20 is used to detect whether the installation of the guide groove 10 is in place; the guide groove jaw 5 installed on the front end of the clamping cylinder 6, the guide groove jaw 5 Used to realize the flexible grasping of the guide groove 10; the slide table guide shaft 15 installed on the rear end side of the clamp main profile frame 3; a plurality of second slide table seats 14 installed in parallel on the slide table guide shaft 15, the first The second sliding pedestal 14 is provided with a second compression spring 13, through which the second compression spring 13 can make up for the inadequacy of sticking caused by the error in the alignment of the reinforcing rib 16 and the door panel bottom plate, so as to realize flexible automatic compensation; it is fixed on the second The suction cup bracket 12 on the slide base 14; the reinforcement suction cup 11 fixed on the suction cup bracket 12, the reinforcement suction cup 11 is used to absorb the reinforcement rib 16 by vacuum to realize the grabbing and installation of the reinforcement rib 16; it is fixed on the main profile frame of the fixture 3. The rib sensor mounting seat 17 at the center of the bottom; and the rib detection sensor 18 installed on the rib sensor mounting base 17. The rib detection sensor 18 is used to detect whether the grab of the rib 16 is in place. , then secondary positioning and clamping can be performed.
本发明的工作原理是：六轴机器人的法兰盘通过法兰盘连接板1与本柔性夹具连接，通过夹紧气缸6驱动导槽夹爪5可以实现对重锤导槽10的抓取，然后通过第一导槽检测传感器19和第二导槽检测传感器20可以精确检测重锤导槽的抓取位置及安装位置，同时通过加强筋吸盘11可以对加强筋16进行吸取抓牢。在实际的安装过程中，通过六轴机器人带动，首先装配加强筋16，通过加强筋吸盘11先对中吸取加强筋16，并通过加强筋检测传感器18检测加强筋16的位置是否准确，如果不准确则通过移动第二滑台座14调节加强筋16的安装位置并进行二次定位，定位准确后，通过机器人带动夹具按照预先编程往前电梯门装配处进行插筋，到位后下压，最后实现加强筋装配，本柔性夹具中，由于第二滑台座14上设置有第二压紧弹簧13，加强筋16和门板底板的误差引起的贴接不到位，由第二压紧弹簧13来实现柔性补偿，从而能够适应电梯门板底板和加强筋16安装过程中产生的误差，实现自动调整位置，保证装配可靠性。加强筋16装配完成以后，机器人转动六轴法兰盘，完成180度的旋转，实现由加强筋16安装工位换到重锤导槽10安装工位，当第二导槽检测传感器检测20到导槽10的安装工位后，夹紧气缸6自动伸缩，将导槽10与电梯门的门板底板对准，最后通过只需通过焊接机器人焊接即可。The working principle of the present invention is: the flange of the six-axis robot is connected to the flexible fixture through the flange connecting plate 1, and the clamping jaw 5 of the guide groove can be driven by the clamping cylinder 6 to realize the grabbing of the weight guide groove 10, Then the grasping position and installation position of the weight guide groove can be accurately detected by the first guide groove detection sensor 19 and the second guide groove detection sensor 20 , and the reinforcement rib 16 can be sucked and grasped by the reinforcement rib suction cup 11 at the same time. In the actual installation process, driven by a six-axis robot, the reinforcing rib 16 is first assembled, and the reinforcing rib 16 is first centered and sucked by the reinforcing rib sucker 11, and the position of the reinforcing rib 16 is detected by the reinforcing rib detection sensor 18. If not If it is accurate, adjust the installation position of the reinforcing rib 16 by moving the second slide seat 14 and carry out secondary positioning. After the positioning is accurate, the robot drives the fixture to insert the rib at the front elevator door assembly according to the pre-programming, and presses down after it is in place, and finally realizes Rib assembly, in this flexible fixture, since the second compression spring 13 is provided on the second slide base 14, the error of the reinforcement rib 16 and the bottom plate of the door panel is not in place, and the second compression spring 13 is used to realize the flexibility. Compensation, so as to be able to adapt to the error generated during the installation process of the elevator door panel bottom plate and the reinforcing rib 16, realize automatic position adjustment, and ensure assembly reliability. After the reinforcement rib 16 is assembled, the robot rotates the six-axis flange to complete the 180-degree rotation, realizing the switch from the installation position of the reinforcement rib 16 to the installation position of the weight guide groove 10. When the second guide groove detection sensor detects 20 to After the installation station of the guide groove 10, the clamping cylinder 6 automatically expands and contracts, and the guide groove 10 is aligned with the door panel bottom plate of the elevator door, and finally only needs to be welded by a welding robot.
参照图1所示，所述滑台导向轴15和第二滑台座14的表面设置有盖板21。通过盖板21既可以防止工厂内的灰尘、杂质等进入滑台导向轴15和第二滑台座14内对滑台导向轴15和第二滑台座14造成不良影响，又可以使得本柔性夹具变得更为美观。Referring to FIG. 1 , a cover plate 21 is provided on the surfaces of the guide shaft 15 of the slide table and the second slide table seat 14 . The cover plate 21 can prevent the dust and impurities in the factory from entering the sliding table guide shaft 15 and the second sliding table seat 14 and cause adverse effects on the sliding table guide shaft 15 and the second sliding table seat 14, and can make the flexible fixture become flexible. more beautiful.
参照图2所示，所述导槽夹爪5的内侧表面设置有PVU缓冲胶4。由于导槽夹爪5在抓取导槽10时一旦夹取的力量过大可能使得导槽10变形，因此在导槽夹爪5的内侧表面设置PVU缓冲胶4，可以有效缓解上述情况的发生。Referring to FIG. 2 , PVU buffer glue 4 is provided on the inner surface of the guide groove jaw 5 . Since the guide groove jaw 5 may deform the guide groove 10 once the clamping force is too large when grasping the guide groove 10, so setting PVU buffer glue 4 on the inner surface of the guide groove jaw 5 can effectively alleviate the occurrence of the above situation .
参照图1和图3所示，所述滑台导向轴15上安装有四个并排间隔设置的第二滑台座14，每个第二滑台座14上对应安装有加强筋吸盘11。通过四个并排间隔分布的加强筋吸盘11可以有效增强加强筋吸盘11对加强筋16的吸附力，防止柔性夹具在移动过程中可能导致加强筋16掉落。Referring to Figures 1 and 3, four second slide bases 14 arranged side by side at intervals are installed on the slide guide shaft 15, and each second slide base 14 is correspondingly equipped with a rib suction cup 11. The four rib suction cups 11 arranged side by side at intervals can effectively enhance the adsorption force of the rib suction cups 11 on the rib 16 , preventing the flexible clamp from possibly causing the rib 16 to fall during the moving process.
本实施例中，所述法兰盘连接板1与六轴机器人的法兰盘连接，从而实现依托机器人带动整个柔性夹具的移动和转动，保证加强筋16和导槽10的精确装配。In this embodiment, the flange connecting plate 1 is connected to the flange of the six-axis robot, so as to realize the movement and rotation of the entire flexible fixture driven by the robot, and ensure the precise assembly of the reinforcing rib 16 and the guide groove 10 .
以上所述为本发明的较佳实施例而已，但本发明不应局限于该实施例和附图所公开的内容，所以凡是不脱离本发明所公开的精神下完成的等效或修改，都落入本发明保护的范围。The above description is only a preferred embodiment of the present invention, but the present invention should not be limited to the content disclosed in the embodiment and accompanying drawings, so any equivalent or modification that does not depart from the disclosed spirit of the present invention can be done. Fall into the protection scope of the present invention.
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| CN113459135B (en) * | 2021-07-08 | 2023-04-07 | 哈尔滨东安华孚机械制造有限公司 | Clamping device for cylinder cover assembly line and working method |
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| CN203779505U (en) * | 2014-04-29 | 2014-08-20 | 武汉申安机电工程有限责任公司 | Robot clamp |
| CN204450575U (en) * | 2015-01-08 | 2015-07-08 | 深圳市时纬自动化有限公司 | The manipulator of robot |
| CN105598312A (en) * | 2016-02-22 | 2016-05-25 | 佛山市南海区广工大数控装备协同创新研究院 | Door plate bending and bidirectional feeding clamp based on robot |
| CN206588862U (en) * | 2017-04-06 | 2017-10-27 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of flexible fixture |
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| CN203779505U (en) * | 2014-04-29 | 2014-08-20 | 武汉申安机电工程有限责任公司 | Robot clamp |
| CN204450575U (en) * | 2015-01-08 | 2015-07-08 | 深圳市时纬自动化有限公司 | The manipulator of robot |
| CN105598312A (en) * | 2016-02-22 | 2016-05-25 | 佛山市南海区广工大数控装备协同创新研究院 | Door plate bending and bidirectional feeding clamp based on robot |
| CN206588862U (en) * | 2017-04-06 | 2017-10-27 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of flexible fixture |
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