CN107876650A - A kind of variation rigidity part suction device and sheet material draw bending method - Google Patents
A kind of variation rigidity part suction device and sheet material draw bending method Download PDFInfo
- Publication number
- CN107876650A CN107876650A CN201710904473.8A CN201710904473A CN107876650A CN 107876650 A CN107876650 A CN 107876650A CN 201710904473 A CN201710904473 A CN 201710904473A CN 107876650 A CN107876650 A CN 107876650A
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- China
- Prior art keywords
- sheet material
- flexible
- electromagnet
- hole
- side wall
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/002—Positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/01—Bending sheet metal along straight lines, e.g. to form simple curves between rams and anvils or abutments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/04—Bending sheet metal along straight lines, e.g. to form simple curves on brakes making use of clamping means on one side of the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of variation rigidity part suction device and sheet material to draw bending method, and sheet material, which draws bending method, includes step 1, and panel stiffness is drawn and positioning；Step 2, sheet material is transferred；Step 3, sheet material is flexible draws；And step 4, bending and deviation compensation.Part suction device includes flexible organ chamber, electromagnet, connecting rod and vavuum pump；Flexible organ chamber includes Ring like suction disc, flexible concertina side wall and top surface, and Ring like suction disc, flexible concertina side wall and top surface enclose to form flexible organ chamber；Electromagnet is arranged on flexible organ intracavitary；One end of connecting rod is connected with robot wrist, and the other end of connecting rod stretches into flexible organ intracavitary from end face center hole, and is fixedly connected with electromagnet.Vacuum cup and electromagnet ingenious combination one side compact, can be adapted to Bending Processing finding or finding perforate etc. by the present invention；On the other hand, capture velocity is fast, automates efficiency high.
Description
Technical field
The present invention relates to the servicing unit in sheet metal machining production line and method, particularly a kind of variation rigidity part is inhaled
Device and sheet material is taken to draw bending method.
Background technology
Part suction device is connected to robot end, for the crawl and carrying to part.
The method of part suction at present, mainly by the following two kinds：
1st, drawn using vacuum cup
The method that vacuum cup is drawn, on the one hand, because the speed for drawing part and relieving part is very slow, according to actual use
Experience, general relieving part of drawing need to take about 1 ~ 2 second, and the production efficiency on automatic production line is influential, efficiency
It is low.On the other hand, vacuum cup is flexible part, and part has elastic deformation when positioning, influences precision.
2nd, drawn using electromagnet
The method that electromagnet is drawn, although fast response time, positioning precision is high, absolute rigidity, is needing with certain flexibility,
Namely when needing to provide certain deflection, it is difficult to meet requirement.Such as the application in robot automation's bending field.
Applicant is in the Chinese invention patent of Application No. 201510317660.7 filed in 10 days June in 2015, its hair
A kind of entitled " sheet material applied to automatic production line positions grasping system and positioning grasping means " of bright creation, it includes
With the bin, manipulator and the feeding paw being connected with manipulator for putting area, the feeding paw includes material-taking rack, set
Inhaled in several vibrators on material-taking rack corner, several electromagnet being arranged on material-taking rack lower surface and several vacuum
Disk；Each vibrator, which includes one, to be respectively provided with along the vertical guide rod of material-taking rack up-down vibration, the bottom of every vertical guide rod
One vacuum cup；The intrinsic frequency of each vibrator is all higher than the intrinsic frequency of sheet metal；Also set on the bin
It is equipped with catching block；Each vibrator include one be arranged at the top of vertical guide rod and the rotor with two output shafts,
The two pieces of eccentric massblocks for being arranged at the stator of rotor outer periphery and being connected respectively with two output shafts of rotor；Positioned at material-taking rack
A spring is set with the vertical guide rod of both sides.
In above-mentioned patent application, although being provided with vacuum cup and electromagnet on fixture simultaneously, it can replace both during processing
Use, quick response, high position precision, necessary flexible requirement can be played really, but remain problems, its
In two it is important the problem of be：
1. volume is too big, especially Bending Processing finding or during finding perforate, completely without operability, sucker position
Arrangement is put not go down.
2. vacuum cup and electromagnet each work independently, both are only alternation relation, and vacuum cup draws part
And the speed for decontroling part is still very slowly, along with alt time, therefore still has an impact to the production efficiency of automatic production line
, efficiency is low.
The content of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of variation rigidity part is inhaled
Device is taken, the variation rigidity part suction device one side compact, can fit vacuum cup and the ingenious combination of electromagnet
Close Bending Processing finding or finding perforate etc.；On the other hand, capture velocity is fast, automates efficiency high.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of variation rigidity part suction device, including flexible organ chamber, electromagnet, connecting rod and vavuum pump.
Flexible organ chamber includes Ring like suction disc, flexible concertina side wall and top surface, Ring like suction disc, flexible concertina side wall and top surface
Enclose to form flexible organ chamber.
Ring like suction disc is arranged on the bottom of flexible concertina side wall, and Ring like suction disc is provided centrally with sucker centre bore.
Top surface is arranged on the top of flexible concertina side wall, and top surface is provided centrally with end face center hole.
Electromagnet is arranged on flexible organ intracavitary, and the central coaxial of electromagnet is provided with magnetic blow out centre through hole.
One end of connecting rod is connected with robot wrist, and the other end of connecting rod stretches into flexible organ from end face center hole
Intracavitary, and be fixedly connected with electromagnet.
The central coaxial of connecting rod is provided with bar central through hole, and one end of bar central through hole is connected with magnetic blow out centre through hole
Logical, the other end of bar central through hole or middle part are connected by tracheae with vavuum pump.
When electromagnet no power, flexible concertina side wall in the raw when, the height of electromagnet, which is less than, is in nature shape
The length of flexible concertina side wall during state.
The periphery of connecting rod is set with sealing barrier plate；After connecting rod is fixedly connected with electromagnet, sealing barrier plate with
The sealing of top surface lateral wall coordinates.
One end that connecting rod is engaged with electromagnet is sealedly and fixedly connected with magnetic blow out centre through hole.
Ring like suction disc, flexible concertina side wall and top surface are wholely set.
The present invention also provides a kind of method that sheet material absorption and bending are carried out using variation rigidity part suction device, the use
Variation rigidity part suction device carries out sheet material and drawn vacuum cup and the ingenious combination of electromagnet, a side with the method for bending
Face compact, Bending Processing finding or finding perforate etc. can be adapted to；On the other hand, capture velocity is fast, automates efficiency
Height, positioning precision is high, can compensate for the deviation in bending servomechanism process.
It is a kind of that sheet material absorption and the method for bending are carried out using variation rigidity part suction device, comprise the following steps.
Step 1, panel stiffness is drawn and positioned：Electromagnet is powered, in the presence of electromagnetic attraction, in flexible organ chamber
Flexible concertina side wall is compressed, and electromagnet exposes from sucker centre bore, and is mutually adsorbed with sheet material, sheet material is drawn and is positioned.
Step 2, sheet material is transferred：The sheet material rigidly drawn is placed on bending station, upper mould moves downward, sheet material is clamped
And position.
Step 3, sheet material is flexible draws：Board clamp in step 2 is next, electromagnet power-off, and desorbs and connect with sheet material
Touch；Then, vavuum pump is sucked vacuum flexible organ chamber by bar central through hole, and flexible inhale is formed between Ring like suction disc and sheet material
It is attached.
Step 4, bending and deviation compensation：While sheet material is adsorbed by flexibility, upper mould continues traveling downwardly, and makes sheet metal bending；
While sheet metal bending, flexible organ chamber deforms, to turned on sheet material and robot wrist act deviation compensate.
Also there is step S1, pre-suction vacuum between step 1 and step 2：When in step 1, sheet material is formed just with electromagnet
Property absorption after, vacuum pump startup, pre-suction vacuum is carried out to bar central through hole and magnetic blow out centre through hole.
Vacuum cup and electromagnet ingenious combination one side compact, can be adapted to Bending Processing small by the present invention
Part or finding perforate etc.；On the other hand, capture velocity is fast, automates efficiency high.
Brief description of the drawings
Fig. 1 shows a kind of dimensional structure diagram of variation rigidity part suction device of the present invention.
Fig. 2 shows a kind of cross-sectional view of variation rigidity part suction device of the present invention.
Fig. 3 shows structural representation when variation rigidity part suction device of the present invention is drawn and positioned with panel stiffness.
Fig. 4 shows structural representation when variation rigidity part suction device of the present invention is drawn with sheet material flexibility.
Fig. 5 shows dimensional structure diagram during variation rigidity part suction device deviation compensation during sheet metal bending.
Fig. 6 shows cross-sectional view during variation rigidity part suction device deviation compensation during sheet metal bending.
Wherein have：
10. flexible organ chamber；
11. Ring like suction disc；111. sucker centre bore；12. flexible concertina side wall；13. top surface；131. end face center hole；
20. electromagnet；21. magnetic blow out centre through hole；
30. connecting rod；31. bar central through hole；32. seal barrier plate；
40. robot wrist；50. sheet material；Mould on 60.；61. bending head；70. lower mould；71. bending groove.
Embodiment
The present invention is further detailed explanation with specific better embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of variation rigidity part suction device, including flexible organ chamber 10, electromagnet 20, connection
Bar 30 and vavuum pump.
Flexible organ chamber is mainly enclosed and formed by Ring like suction disc 11, flexible concertina side wall 12 and top surface 13, further, annular
Sucker, flexible concertina side wall and top surface are preferably to be wholely set.
Ring like suction disc is arranged on the bottom of flexible concertina side wall, and Ring like suction disc is provided centrally with sucker centre bore 111.
Top surface is arranged on the top of flexible concertina side wall, and top surface is provided centrally with end face center hole 131.
Electromagnet is arranged on flexible organ intracavitary, and the central coaxial of electromagnet is provided with magnetic blow out centre through hole 21.
One end of connecting rod is connected with robot wrist 40, and the other end of connecting rod stretches into flexible wind from end face center hole
Qin intracavitary, and be fixedly connected with electromagnet, preferably it is sealedly and fixedly connected with magnetic blow out centre through hole.
The central coaxial of connecting rod is provided with bar central through hole 31, and one end of bar central through hole is connected with magnetic blow out centre through hole
Logical, the other end of bar central through hole or middle part are connected by tracheae with vavuum pump.
When electromagnet no power, flexible concertina side wall in the raw when, the height of electromagnet, which is less than, is in nature shape
The length of flexible concertina side wall during state.
The periphery suit of connecting rod preferably has sealing barrier plate 32；After connecting rod is fixedly connected with electromagnet, sealing resistance
Baffle plate coordinates with the sealing of top surface lateral wall.
It is a kind of that sheet material absorption and the method for bending are carried out using variation rigidity part suction device, comprise the following steps.
Step 1, panel stiffness is drawn and positioned.
Electromagnet is powered, in the presence of electromagnetic attraction, the compression of flexible concertina side wall in flexible organ chamber, electromagnet from
Sucker centre bore exposes, and is mutually adsorbed with sheet material, sheet material is drawn and is positioned, as shown in Figure 3.
Above-mentioned electromagnet adsorbs with sheet material for rigidity, draws fast response time, and positioning precision is high.In addition, electromagnet with
During sheet material adsorbs, it can reduce follow-up flexible organ chamber by outside the portion gas discharge chamber of flexible organ intracavitary and inhale vacuum
The required time, the production efficiency of automatic production line is set to be improved.
Further, in addition to step S1, pre-suction vacuum：When in step 1, sheet material and electromagnet are formed after rigidly adsorbing, very
Empty pump startup, pre-suction vacuum is carried out to bar central through hole and magnetic blow out centre through hole, further saved in step 3, sheet material is flexible to be inhaled
Take the required time.
Step 2, sheet material is transferred：Sheet material after the absorption of step 1 rigidity or step S1 pre-suction vacuum is placed on bending station
Lower mould on, and make sheet material treats that bending part is corresponding with the bending groove 71 of lower mould；Then, upper mould moves downward, until
The bending first 61 of upper mould treats that bending part is in contact with sheet material, until clamping and positioning sheet material.
Step 3, sheet material is flexible draws.
Board clamp in step 2 is next, electromagnet power-off, and desorbs and contact with sheet material.
Then, vavuum pump is sucked vacuum flexible organ chamber by bar central through hole, is formed between Ring like suction disc and sheet material
Flexibility absorption, as shown in Figure 4.
Step 4, bending and deviation compensation：While sheet material is adsorbed by flexibility, the bending head of upper mould, continue traveling downwardly, make plate
Material bending；As shown in Figure 5 and Figure 6, while sheet metal bending, flexible organ chamber deforms, to being turned on sheet material and robot
List action deviation compensates.
The preferred embodiment of the present invention described in detail above, still, the present invention are not limited in above-mentioned embodiment
Detail, in the range of the technology design of the present invention, a variety of equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
Claims (6)
- A kind of 1. variation rigidity part suction device, it is characterised in that：Including flexible organ chamber, electromagnet, connecting rod and vavuum pump；Flexible organ chamber includes Ring like suction disc, flexible concertina side wall and top surface, and Ring like suction disc, flexible concertina side wall and top surface enclose Form flexible organ chamber；Ring like suction disc is arranged on the bottom of flexible concertina side wall, and Ring like suction disc is provided centrally with sucker centre bore；Top surface is arranged on the top of flexible concertina side wall, and top surface is provided centrally with end face center hole；Electromagnet is arranged on flexible organ intracavitary, and the central coaxial of electromagnet is provided with magnetic blow out centre through hole；One end of connecting rod is connected with robot wrist, and the other end of connecting rod stretches into flexible organ chamber from end face center hole It is interior, and be fixedly connected with electromagnet；The central coaxial of connecting rod is provided with bar central through hole, and one end of bar central through hole is connected with magnetic blow out centre through hole, bar The other end of central through hole or middle part are connected by tracheae with vavuum pump；When electromagnet no power, flexible concertina side wall in the raw when, when the height of electromagnet is less than in the raw The length of flexible concertina side wall.
- 2. variation rigidity part suction device according to claim 1, it is characterised in that：The periphery of connecting rod is set with sealing Barrier plate；After connecting rod is fixedly connected with electromagnet, sealing barrier plate coordinates with the sealing of top surface lateral wall.
- 3. variation rigidity part suction device according to claim 1, it is characterised in that：Connecting rod is engaged with electromagnet One end is sealedly and fixedly connected with magnetic blow out centre through hole.
- 4. variation rigidity part suction device according to claim 1, it is characterised in that：Ring like suction disc, flexible concertina side wall It is wholely set with top surface.
- 5. a kind of variation rigidity part suction device using described in claim any one of 1-4 carries out the side of sheet material absorption and bending Method, it is characterised in that：Comprise the following steps：Step 1, panel stiffness is drawn and positioned：Electromagnet is powered, in the presence of electromagnetic attraction, the flexibility in flexible organ chamber Flexible side wall compression, electromagnet exposes from sucker centre bore, and is mutually adsorbed with sheet material, sheet material is drawn and is positioned；Step 2, sheet material is transferred：The sheet material rigidly drawn is placed on bending station, upper mould is moved downward, and sheet material is clamped and determined Position；Step 3, sheet material is flexible draws：Board clamp in step 2 is next, electromagnet power-off, and desorbs and contact with sheet material；So Afterwards, vavuum pump is sucked vacuum flexible organ chamber by bar central through hole, and flexible absorption is formed between Ring like suction disc and sheet material；Step 4, bending and deviation compensation：While sheet material is adsorbed by flexibility, upper mould continues traveling downwardly, and makes sheet metal bending；In sheet material While bending, flexible organ chamber deforms, to turned on sheet material and robot wrist act deviation compensate.
- 6. the method according to claim 5 that sheet material absorption and bending are carried out using variation rigidity part suction device, it is special Sign is：Also there is step S1, pre-suction vacuum between step 1 and step 2：When in step 1, sheet material forms rigidity with electromagnet After absorption, vacuum pump startup, pre-suction vacuum is carried out to bar central through hole and magnetic blow out centre through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710904473.8A CN107876650B (en) | 2017-09-29 | 2017-09-29 | A kind of variation rigidity part suction device and plate draw bending method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710904473.8A CN107876650B (en) | 2017-09-29 | 2017-09-29 | A kind of variation rigidity part suction device and plate draw bending method |
Publications (2)
| Publication Number | Publication Date |
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| CN107876650A true CN107876650A (en) | 2018-04-06 |
| CN107876650B CN107876650B (en) | 2019-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710904473.8A Active CN107876650B (en) | 2017-09-29 | 2017-09-29 | A kind of variation rigidity part suction device and plate draw bending method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108869521A (en) * | 2018-07-31 | 2018-11-23 | 大连华工创新科技股份有限公司 | A kind of fixed device of vacuum chuck |
| CN112976033A (en) * | 2021-04-16 | 2021-06-18 | 北京软体机器人科技有限公司 | Flexible finger sealing interface |
| CN113771074A (en) * | 2021-10-13 | 2021-12-10 | 潍坊新松机器人自动化有限公司 | Blank pressing type sheet carrying robot |
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| CN104972008A (en) * | 2015-06-10 | 2015-10-14 | 南京邮电大学 | Board positioning and grabbing system and method applied to automatic production line |
| KR101619757B1 (en) * | 2015-03-30 | 2016-05-12 | 한재형 | The Sticking/De-Sticking Device For Press Materials |
| CN207290144U (en) * | 2017-09-29 | 2018-05-01 | 南京邮电大学 | It is a kind of with electromagnet and the plate adsorbent equipment of vacuum cup |
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2017
- 2017-09-29 CN CN201710904473.8A patent/CN107876650B/en active Active
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| SU1684031A1 (en) * | 1988-06-20 | 1991-10-15 | Предприятие П/Я В-2190 | Vacuum gripper |
| JP2006212718A (en) * | 2005-02-01 | 2006-08-17 | Koganei Corp | Vacuum suction implement |
| CN104339362A (en) * | 2014-10-17 | 2015-02-11 | 深圳雷柏科技股份有限公司 | Magnetic vacuum suction nozzle structure and extracting device with same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108869521A (en) * | 2018-07-31 | 2018-11-23 | 大连华工创新科技股份有限公司 | A kind of fixed device of vacuum chuck |
| CN112976033A (en) * | 2021-04-16 | 2021-06-18 | 北京软体机器人科技有限公司 | Flexible finger sealing interface |
| CN113771074A (en) * | 2021-10-13 | 2021-12-10 | 潍坊新松机器人自动化有限公司 | Blank pressing type sheet carrying robot |
| CN113771074B (en) * | 2021-10-13 | 2023-08-29 | 潍坊新松机器人自动化有限公司 | Edge pressing type sheet conveying robot |
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| CN107876650B (en) | 2019-02-19 |
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