CN107639173A - One kind is used for punch line plate parts movement crawl centralising device and method - Google Patents
One kind is used for punch line plate parts movement crawl centralising device and method Download PDFInfo
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- CN107639173A CN107639173A CN201711108501.1A CN201711108501A CN107639173A CN 107639173 A CN107639173 A CN 107639173A CN 201711108501 A CN201711108501 A CN 201711108501A CN 107639173 A CN107639173 A CN 107639173A
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Abstract
The invention discloses one kind to be used for punch line plate parts movement crawl centralising device and method, described device includes continuous conveying device and its control system, optical measuring device and its analysis system, grabbing device and its control unit, control system and analysis system couples and control unit；The continuous conveying device includes continuous conveying mechanism or continuous conveying mechanism and fixed feed mechanism；Methods described includes conveying plate parts, optical measurement determines actual dynamic position and compared with institute storage location, and determination deviation, grabbing device crawl has been detected the plate parts of deviation, plate parts are positioned over corresponding setting position, complete the centering of plate parts.The present invention has compact overall structure, easy to maintain, is not influenceed by the whole line protection of punch line and productive temp, and the centering time is short, efficiency high, is advantageous to improve the economic benefit of automobile production enterprise.
Description
Technical field
The present invention relates to a kind of apparatus and method for being used to adjust the position angle of plate parts, more particularly to a kind of punching press
Production line adjusts the device of plate shape part position, belongs to machining technology field.
Background technology
It is shorter and shorter to punch line line head plate centering time requirements with the raising of stamping line productive temp, with
The productive temp of whole line is adapted to, improves production efficiency.The centering mode of stamping line line head plate parts mainly has two at present
Kind：One kind is mechanical centering device, and mechanical centering device makes plate parts be moved to setting position by way of mechanical beating.
During plate parts centering, continuous conveying device need to stop a period of time, and time-consuming longer, the centering of plate parts is not very
Accurately, when patting plate parts it is also possible to cause its edge damage, and such a centralising device is complicated, for sketch plate
The bad adaptability of shape part.Another method be by the physical location of plate parts that optical measuring device measurement has reached with
Its setting position stored is compared, and thereby determines that the deviation of actual position and setting position, and the deviation passes through control
Unit passes to placement unit, is captured and is adjusted to setting position, and delivers in metal moulding press mould area.Such a method
Placement unit need to be completed in a relatively short time two tasks：It is continuous defeated when one side plate parts reach center position
Send device to need to stop a period of time, after optical measuring device is handled, perform the centering operation of plate parts, be on the other hand
The plate parts of centering are sent into metal moulding press mould area, a this equipment, which completes two tasks, causes longer follow
Ring time, therefore for the beat of stamping line, also room for promotion.
The content of the invention
The technical problems to be solved by the invention are the defects of presence for prior art, there is provided a kind of strong applicability, work
Make efficiency high, a kind of punch line plate parts movement low in energy consumption, being easy to safeguard captures centralising device and method.
To solve this technical problem, the invention provides one kind to be used for punch line plate parts movement crawl centering dress
Put, including continuous conveying device and its control system, optical measuring device and its analysis system, grabbing device and its control are single
Member, control system and analysis system couple and control unit；The continuous conveying device includes continuous conveying mechanism or continuous
Conveying mechanism and fixed feed mechanism.
--- the uninterrupted continuous conveying plate parts of continuous conveying device to its corresponding station, control system is by plate shape zero
The exercise data of part is transmitted to the control unit of grabbing device；
--- optical measuring device obtains the actual dynamic position of at least one plate parts, and analysis system will detect
Dynamic position obtains actual dynamic position and storage location deviation, then by plate shape compared with the position stored
The position deviation data of part is transferred to control unit；
--- control unit is handled by the data transmitted to both, then controls grabbing device to be grabbed in capture area
Plate parts are taken, plate parts are positioned over to the setting position of corresponding placement region, lower sequence is transferred to by continuous conveying device
Station.
The continuous conveying device includes support, belt component, adsorbent equipment and control system, and belt component and absorption fill
Put and be arranged on support；The adsorbent equipment is magnet or vacuum absorption device, when plate parts material is magnetic material, skin
Place magnet in band lower section；When plate parts material is nonmagnetic substance, belt arranged beneath vacuum absorption device or use height rub
Wipe belt mode.
The optical measuring device includes vision camera system, optical measuring device support and analysis system, vision camera
System is arranged on optical measuring device support.
The grabbing device include movable part one, movable part two, rotating device, vacuum generating device, Acetabula device,
Terminal-collecting machine cross bar, double end terminal-collecting machine cross bar, single head terminal-collecting machine cross bar and control unit, it is complete by movable part one and movable part two
The position adjustment of paired plate parts, rotating device complete the adjustment to plate parts angle.
Described grabbing device is separate unit, and continuous conveying device continuous conveying plate parts, grabbing device is in capture area
Plate parts are captured, its posture is adjusted, after adjustment, is positioned over the position of setting.
Described grabbing device is separate unit, and continuous conveying device conveys two plate parts simultaneously, and grabbing device is capturing
Region, after capturing a plate parts, its posture is adjusted, another plate parts is captured after adjustment, and by it
Be positioned over setting position.
Described grabbing device is two, and two grabbing devices are symmetrically arranged with continuous conveying device, in catching block
Domain captures one big type plate parts or captures two plate parts respectively and carry out pose adjustment simultaneously, is then placed into correspondingly
Setting position.
Described grabbing device is more, and the more grabbing devices are arranged with homonymy or heteropleural with continuous conveying device,
For simultaneously by multiple plate parts in material grasping region simultaneously or gradation sequence captures multiple plate parts, and plate parts are carried out
After pose adjustment, multiple plate parts are positioned over respective setting position in placement region.
Mobile crawl centralising device is utilized to move the method for capturing centering present invention also offers a kind of, including it is as follows
Step：
1) plate parts are persistently conveyed on continuous conveying device；
2) optical measuring device determines the actual dynamic position of the plate parts on continuous conveying device, and with being stored
Position is compared；
3) deviation between the actual dynamic position of plate parts and storage location is determined；
4) at least one that detected and storage location has deviation is captured in corresponding capture area by grabbing device
Plate parts, in the placement region of setting, plate parts are positioned over corresponding setting position；
5) a kind of centering of plate parts is at least completed.
The placement region of the plate parts is different from capture area, is divided into two kinds of situations：
--- when placement region is located on continuous conveying mechanism, after grabbing device crawl plate parts, grabbing device is adjusted
While whole plate shape part position angle, a step-length is moved along the direction of motion of continuous conveying device, to be filled with continuous conveying
Put same speed plate parts are positioned on continuous conveying device, next station is delivered to by continuous conveying device；
--- when placement region is located on fixed feed mechanism, after grabbing device crawl plate parts, grabbing device is adjusted
While whole plate shape part position angle, a step-length is moved along the direction of motion of continuous conveying device, with inactive state by plate
Shape part is positioned on fixed feed mechanism, waits feeding unit material to capture and be positioned in metal moulding press mould area.
Beneficial effect：The present invention use continuous conveying device, optical measuring system and grabbing device, for different shape,
The fully automated centering of plate parts of material and productive temp etc., there is novelty.Punch line plate parts movement crawl pair
In apparatus and method, there is compact overall structure, it is easy to maintain, do not influenceed by the protection of punch line whole line and productive temp,
And the centering time is short, efficiency high, be advantageous to improve the economic benefit of automobile production enterprise.
Brief description of the drawings
Fig. 1 is the structural representation front view of first embodiment of the invention；
Fig. 2 is the structural representation top view of first embodiment of the invention；
Fig. 3 a are the rotation schematic diagram one of first embodiment of the invention；
Fig. 3 b are the rotation schematic diagram two of first embodiment of the invention；
Fig. 3 c are the rotation schematic diagram three of first embodiment of the invention；
Fig. 4 is the structural representation front view of second embodiment of the invention；
Fig. 5 is the structural representation top view of second embodiment of the invention；
Fig. 6 is the structural representation top view of third embodiment of the invention.
In figure：1 optical measuring device support, 2 Acetabula devices, 3 terminal-collecting machine cross bars, 4 rotating devices, 5 vacuum generating devices,
6 analysis systems, the direction of motion one of 7A grabbing devices, the direction of motion two of 7B grabbing devices, 8 control systems, 9 belt components,
10 adsorbent equipments, 11 supports, 12 continuous conveying devices, 12a continuous conveying mechanisms, 12b fix feeding platform, 13 optical measurement dress
Put, 14 control units, 15 plate parts, 16 workpiece moving directions, 17 double end terminal-collecting machine cross bars, 18 single head terminal-collecting machine cross bars, 19
Plate parts direction of rotation, 20 grabbing devices, 20a movable parts one, 20b movable parts two, 21 vision camera systems.
Embodiment
Below in conjunction with the accompanying drawings and embodiment specifically describes to the present invention.
Fig. 1 and Fig. 2 shows the first preferred embodiments of the invention for the centering of plate parts 15.
In this example：Plate parts 15 are Metal Flake blank or the blank Jing Guo preliminary working.Apparatus of the present invention are automations
A part for stamping line, before metal moulding press, after metal plate parts de-stacking device, plate parts 15 by
De-stacking device is disassembled is used for the centering for completing plate parts 15 for individual plate parts 15, apparatus of the present invention, and plate parts 15 are right
In after metal moulding press is delivered to by continuous conveying device 12 before, metal moulding press mould is passed to by feeding unit material
Sheet Metal Forming Technology is completed in area.
The present invention includes continuous conveying device 12 and its control system 8, optical measuring device 13 and its analysis system 6, grabbed
Device 20 and its control unit 14 are taken, control system 8 and analysis system 6 couple and control unit 14.
--- 12 uninterrupted continuous conveying of continuous conveying device is by the plate parts 15 of de-stacking to its corresponding station, control
System 8 processed, the exercise data of plate parts 15 is transmitted to the control unit 14 of grabbing device；
--- optical measuring device 13 can go out the actual dynamic position of at least one plate parts 15 with quick detection, analysis
System 6 by the dynamic position detected compared with the position stored, obtain actual dynamic position with storage location
Deviation, the position deviation data of plate parts 15 is then transferred to control unit 14；
--- control unit 14 is analyzed and processed by the data transmitted to both, then controls grabbing device 20 grabbing
Take region to capture plate parts 15, plate parts 15 be positioned over to the setting position of corresponding placement region, with setting position by
Continuous conveying device 12 is transferred to lower sequence station.
The continuous conveying device 12 includes belt feeder, support 11, belt component 9, adsorbent equipment 10 and control system 8,
Belt component 9 and adsorbent equipment 10 are arranged on support 11.
The continuous conveying device 12 includes continuous conveying mechanism 12a or continuous conveying mechanism 12a and fixed feed mechanism
12b。
The belt feeder can be one or more snippets form, and every section of belt feeder is made up of one or more belt.
The adsorbent equipment 10 of the belt feeder is magnet or vacuum absorption device：If the material of plate parts 15 is magnetic material
When, such as steel, then magnet can be placed below belt, to ensure that it is relatively sliding that plate parts and continuous conveying device occur without
It is dynamic；If the material of plate parts 15 is nonmagnetic substance, such as aluminium or copper, then can belt arranged beneath vacuum absorption device,
Or by the way of high friction belt, to ensure that plate parts and continuous conveying device occur without the phenomenon of relative slip.
The optical measuring device 13 includes vision camera system 21, optical measuring device support 11 and analysis system 6, depending on
Feel that camera system 21 is arranged on optical measuring device support 11.
The grabbing device 20 includes the 20a of movable part one, the 20b of movable part two, rotating device 4, vacuum generating device
5th, Acetabula device 2, terminal-collecting machine cross bar 3, double end terminal-collecting machine cross bar 17, single head terminal-collecting machine cross bar 18 and control unit 14.Crawl dress
It can be two coordinates or three coordinates or other forms to put 20.
Position adjustment to plate parts 15 is by the motion of the 20a of movable part one and the 20b of movable part two along grabbing device
The 7b both directions of the direction of motion two of the 7a of direction one and grabbing device are completed, and the adjustment to the angle of plate parts 15 is by rotating dress
Put 4 completions.
Shown in Fig. 3 a/b/c：Grabbing device 20 is separate unit, the plate shape zero on capture area crawl continuous conveying device 12
Part 15, and plate parts 15 are rotated a certain angle, about 90 degree particularly are rotated with direction of rotation 19 in the horizontal direction, then
Setting position is positioned in placement region.
Using identical method, when continuous conveying device 12 conveys two plate parts 15 simultaneously, grabbing device 20 is grabbed
After taking first plate parts 15, after being adjusted to suitable angle by rotating device 4, second plate parts 15 is captured, then
Two plate parts 15 are adjusted angle position simultaneously, place the plate parts 15 to setting position in placement region afterwards.
Fig. 4 and Fig. 5 shows the preferred embodiments of the present invention second for the centering of plate parts 15.
It is with the first preferred embodiments difference, described grabbing device 20 is two, instead of single grabbing device
20, two grabbing devices 20 are symmetrically arranged with continuous conveying device 12, and one big template shape is captured simultaneously in capture area
Part 15 captures two plate parts 15 and carries out pose adjustment respectively, is then placed into corresponding setting position.
In the second preferred embodiments, optical measuring device 13 obtains the dynamic position deviation ginseng of large-scale plate parts 15
Number, and sends data to the control unit 14 of grabbing device 20, control unit 14 according to optical measuring device 13 with it is continuously defeated
Send device 12 incoming data message, two grabbing devices 20 of control capture one big type plate parts 15 simultaneously in capture area
And pose adjustment is carried out, it is then placed into corresponding setting position.
In the second preferred embodiments, optical measuring device 13 obtains the dynamic position deviation of two medium-sized plate parts 15
Parameter, and grabbing device control unit 14 is sent data to, control unit 14 is according to optical measuring device 13 and continuous conveying
The incoming data message of device 12, two grabbing devices 20 of control capture the plate parts 15 of respective capture area, and will be respective
The plate parts 15 of crawl carry out pose adjustment, are then placed into placement region each setting position.
Fig. 6 shows the 3rd preferred embodiments of apparatus of the present invention for the centering of plate parts 15.
It is to instead of single grabbing device with first embodiment difference, is to instead of two with second embodiment difference
Platform grabbing device 20 symmetrically arranges with conveying device 12, and described grabbing device 20 is more, the more grabbing devices 20 with
Homonymy or heteropleural are arranged with continuous conveying device 12, for simultaneously by multiple plate parts 15 in material grasping region while or gradation sequence
Capture multiple plate parts 15, and after carrying out pose adjustment to plate parts, multiple plate parts 15 are put in placement region
It is placed in respective setting position.
In above-described embodiment, continuous conveying device 12 keep certain orientation speed motion, plate parts 15 with continuously it is defeated
Device 12 is sent to keep geo-stationary, when grabbing device 20 captures plate parts 15, plate parts 15 and continuous conveying device 12
The state of remains stationary.
The method that the present invention moves crawl centering using mobile crawl centralising device, comprises the following steps：
1) plate parts 15 are persistently conveyed on continuous conveying device 12；
2) optical measuring device 13 determines the actual dynamic position of the plate parts 15 on continuous conveying device 12, and with
Institute's storage location is compared；
3) deviation between 15 actual dynamic position of plate parts and storage location is determined；
4) capture detected and storage location in corresponding capture area by grabbing device 20 and have at least the one of deviation
Plate parts 15 in the placement region of setting, are positioned over corresponding setting position by kind plate parts 15；
5) a kind of centering of plate parts 15 is at least completed.
Further
At least one plate parts 15, which are placed, is different from its initial angle position, in whole process, continuous conveying dress
The lasting conveying of holding is put, the centering time of plate parts is have compressed, the centering efficiency of plate parts is improved, for punch line list
Position yield has more structurally sound guarantee.
If using a grabbing device, especially, the flexibility of grabbing device is can further improve, such as by least one
Plate parts are positioned over the Angle Position different from original orientation.In the process, the change of position and angle is setting position,
Plate parts and original orientation are particularly changed about 90 degree.
The capture area of the plate parts 15 corresponds to placement region, will after the centering of at least one plate parts position
At least one plate parts are placed on the setting correct position in region, and at least one plate parts is crawled in this region
Device captures.
The capture area of the plate parts 15 is different from its placement region, is divided into two kinds of situations：
--- when placement region is located on continuous conveying mechanism 12a, after grabbing device 20 captures plate parts 15, crawl
While device 20 adjusts 15 position angle of plate parts, a step-length is moved along the direction of motion of continuous conveying device 12, with
Plate parts 15 are positioned on continuous conveying device 12 with the same speed of continuous conveying device 12, by continuous conveying device
12 are delivered to next station；
--- when placement region is located on fixed feed mechanism 12b, after grabbing device 20 captures plate parts 15, crawl
While device 20 adjusts 15 position angle of plate parts, a step-length is moved along the direction of motion of continuous conveying device 12, with
Plate parts 15 are positioned on fixed feed mechanism 12b by inactive state, wait feeding unit material capture and be positioned over metal into
In type pressing machine die area.
Step-length refers to the distance that the plate parts on continuous conveying device are moved within the time of a productive temp.
The present invention is used exclusively for the centering of plate parts, and compared with prior art, this invention simplifies plate parts motion
Control, have compressed the time of plate parts centering so that the function of feeding unit material simplifies, and plate parts can enter setting in advance
Position is simultaneously delivered to lower sequence station, and plate parts are sent into metal moulding press mould area by feeding unit material.In whole mistake
Cheng Zhong, continuous conveying device keep lasting conveying, have compressed the centering time of plate parts, improve the centering effect of plate parts
Rate, there is more structurally sound guarantee for punch line specific yield.
The present invention uses continuous conveying device, optical measuring system and grabbing device, for different shape, material and production
The fully automated centering of plate parts of beat etc., there is novelty.The punch line plate parts movement crawl centering device and
Method, there is compact overall structure, it is easy to maintain, do not influenceed by the whole line protection of punch line and productive temp, and the centering time
It is short, efficiency high, be advantageous to improve the economic benefit of automobile production enterprise.
The embodiment above of the present invention, is merely illustrative, be not it is only, it is all within the scope of the present invention or it is equivalent this
Change in the range of invention is surrounded by the present invention.
Claims (9)
1. one kind is used for punch line plate parts movement crawl centralising device, it is characterised in that：Including continuous conveying device (12)
And its control system (8), optical measuring device (13) and its analysis system (6), grabbing device (20) and its control unit (14),
Control system (8) and analysis system (6) couple and control unit (14)；The continuous conveying device (12) includes continuous conveying
Mechanism (12a) or continuous conveying mechanism (12a) and fixed feed mechanism (12b)；
--- the uninterrupted continuous conveying plate parts (15) of continuous conveying device (12) to its corresponding station, control system (8)
The exercise data of plate parts (15) is transmitted to the control unit of grabbing device (14)；
--- optical measuring device (13) obtains the actual dynamic position of at least one plate parts (15), and analysis system (6) will
The dynamic position detected obtains actual dynamic position and storage location deviation, so compared with the position stored
The position deviation data of plate parts (15) is transferred to control unit (14) afterwards；
--- control unit (14) is handled by the data transmitted to both, then controls grabbing device (20) in catching block
Domain captures plate parts, plate parts (15) is positioned over to the setting position of corresponding placement region, by continuous conveying device
(12) it is transferred to lower sequence station.
2. according to claim 1 be used for punch line plate parts movement crawl centralising device, it is characterised in that：The company
Continuous conveying device (12) includes support (11), belt component (9), adsorbent equipment (10) and control system (8), belt component (9)
It is arranged on adsorbent equipment (10) on support (11)；The adsorbent equipment (10) is magnet or vacuum absorption device, when plate shape zero
When part (15) material is magnetic material, magnet is placed below belt；When plate parts (15) material is nonmagnetic substance, under belt
Side's arrangement vacuum absorption device uses high friction belt.
3. according to claim 1 be used for punch line plate parts movement crawl centralising device, it is characterised in that：The light
Learning measurement apparatus (13) includes vision camera system (21), optical measuring device support (11) and analysis system (6), vision camera
System (21) is arranged on optical measuring device support (11).
4. according to claim 1 be used for punch line plate parts movement crawl centralising device, it is characterised in that：It is described to grab
Device (20) is taken to include movable part one (20a), movable part two (20b), rotating device (4), vacuum generating device (5), suction
Disk device (2), terminal-collecting machine cross bar (3), double end terminal-collecting machine cross bar (17), single head terminal-collecting machine cross bar (18) and control unit (14),
Position adjustment to plate parts (15) is completed by movable part one (20a) and movable part two (20b), rotating device (4) is complete
The adjustment of paired plate parts (15) angle.
5. being used for punch line plate parts movement crawl centralising device according to claim any one of 1-4, its feature exists
In：Described grabbing device (20) is separate unit, continuous conveying device (12) while conveys two plate parts (15), grabbing device
In capture area, after capturing a plate parts (15), its posture is adjusted, another plate shape zero is captured after adjustment
Part (15), and place them in setting position.
6. being used for punch line plate parts movement crawl centralising device according to claim any one of 1-4, its feature exists
In：Described grabbing device (20) is two, and two grabbing devices (20) are symmetrically arranged with continuous conveying device (12),
Capture area captures one big type plate parts (15) or captures two plate parts (15) respectively and carry out pose adjustment simultaneously,
It is then placed into corresponding setting position.
7. it is used for punch line plate parts movement crawl centralising device according to claim 1-4, it is characterised in that：It is described
Grabbing device (20) be more, the more grabbing devices (20) are arranged with homonymy or heteropleural and continuous conveying device (12),
For simultaneously by multiple plate parts (15) in material grasping region simultaneously or gradation sequence captures multiple plate parts (15), and to plate shape
After part carries out pose adjustment, multiple plate parts (15) are positioned over respective setting position in placement region.
8. a kind of mobile crawl centralising device using as described in claim any one of 1-7 moves the side of crawl centering
Method, it is characterised in that comprise the following steps：
1) plate parts (15) are persistently conveyed on continuous conveying device (12)；
2) optical measuring device (13) determines the actual dynamic position of the plate parts (15) on continuous conveying device (12), and
Compared with institute storage location；
3) deviation between the actual dynamic position of plate parts (15) and storage location is determined；
4) at least one that detected and storage location has deviation is captured in corresponding capture area by grabbing device (20)
Plate parts (15), in the placement region of setting, plate parts (15) are positioned over corresponding setting position；
5) a kind of centering of plate parts (15) is at least completed.
9. the method for crawl centering according to claim 8, it is characterised in that：The placement region of plate parts (15) is different
In capture area, it is divided into two kinds of situations：
--- when placement region is located on continuous conveying mechanism (12a), after grabbing device (20) crawl plate parts (15), grab
While taking device (20) adjustment plate parts (15) position angle, one is moved along the direction of motion of continuous conveying device (12)
Step-length, so that plate parts (15) are positioned on continuous conveying device (12) with continuous conveying device (12) same speed,
Next station is delivered to by continuous conveying device (12)；
--- when placement region is located on fixed feed mechanism (12b), after grabbing device (20) crawl plate parts (15), grab
While taking device (20) adjustment plate parts (15) position angle, one is moved along the direction of motion of continuous conveying device (12)
Step-length, plate parts (15) are positioned on fixed feed mechanism (12b) with inactive state, wait feeding unit material to capture and put
It is placed in metal moulding press mould area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711108501.1A CN107639173A (en) | 2017-11-09 | 2017-11-09 | One kind is used for punch line plate parts movement crawl centralising device and method |
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| CN201711108501.1A CN107639173A (en) | 2017-11-09 | 2017-11-09 | One kind is used for punch line plate parts movement crawl centralising device and method |
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| CN111014490A (en) * | 2020-01-03 | 2020-04-17 | 济南二机床集团有限公司 | Plate centering device for stamping production line |
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Application publication date: 20180130 |