CN107876650B - A kind of variation rigidity part suction device and plate draw bending method - Google Patents
A kind of variation rigidity part suction device and plate draw bending method Download PDFInfo
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- CN107876650B CN107876650B CN201710904473.8A CN201710904473A CN107876650B CN 107876650 B CN107876650 B CN 107876650B CN 201710904473 A CN201710904473 A CN 201710904473A CN 107876650 B CN107876650 B CN 107876650B
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- plate
- electromagnet
- flexible
- bending
- hole
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Classifications
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- 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 devices and plate to draw bending method, and it includes step 1 that plate, which draws bending method, and panel stiffness is drawn and positioning；Step 2, plate is transferred；Step 3, plate flexibility is drawn；And step 4, bending and deviation compensation.Part suction device includes flexible organ chamber, electromagnet, connecting rod and vacuum 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 are enclosed flexible organ chamber；Electromagnet setting is intracavitary in flexible organ；One end of connecting rod is connected with robot wrist, and it is intracavitary that the other end of connecting rod from end face center hole protrudes into flexible organ, and is fixedly connected with electromagnet.Vacuum chuck and the ingenious combination of electromagnet, one side compact can be suitble to Bending Processing small part or small part aperture etc. by the present invention；On the other hand, capture velocity is fast, automates high-efficient.
Description
Technical field
The present invention relates to the auxiliary device and method in sheet metal machining production line, especially a kind of variation rigidity part is inhaled
Device and plate is taken to draw bending method.
Background technique
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:
1, it is drawn using vacuum chuck
The method that vacuum chuck is drawn, on the one hand, since the speed for drawing part and relieving part is very slow, according to reality
Use experience, it is general draw decontrol part need it is about 1 ~ 2 second time-consuming, the production efficiency on automatic production line be it is influential,
Low efficiency.On the other hand, vacuum chuck is flexible part, and there are flexible deformations when part positions, and influences precision.
2, it is drawn using electromagnet
The method that electromagnet is drawn, although fast response time, positioning accuracy is high, absolute rigidity, certain needing to have
Flexibility, namely when needing to provide certain deflection, it is difficult to meet requirement.For example robot automation's bending field is answered
With.
Applicant filed on June 10th, 2015 application No. is 201510317660.7 Chinese invention patent, hair
A kind of entitled " the plate positioning grasping system and positioning grasping means applied to automatic production line " of bright creation comprising
With material frame, manipulator and the feeding gripper being connected with manipulator for putting area, the feeding gripper includes material-taking rack, setting
It is inhaled in several vibration excitors, several electromagnet for being set on material-taking rack lower surface and several vacuum on material-taking rack corner
Disk；Each vibration excitor includes the vertical guide rod that can be vibrated up and down along material-taking rack, and the bottom of every vertical guide rod is respectively provided with
One vacuum chuck；The intrinsic frequency of each vibration excitor is all larger than the intrinsic frequency of sheet metal；It is also set on the material frame
It is equipped with catching block；Each vibration excitor include one be set at the top of vertical guide rod and the rotor with two output shafts,
The two pieces of eccentric massblocks for being set to 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 on the vertical guide rod of two sides.
In above-mentioned patent application, although being provided with vacuum chuck and electromagnet on fixture simultaneously, it can replace both when processing
It uses, quick response, high position precision, necessary requirement flexible can be played really, but remain problems,
In two important problems be:
1. volume is too big, especially Bending Processing small part or when small part aperture does not have operability completely, inhales
Disk location arrangements are not gone down.
2. vacuum chuck and electromagnet respectively work independently, the two is only alternation relationship, and vacuum chuck draws part
And the speed for decontroling part is still very slowly, adds alt time, therefore still has an impact to the production efficiency of automatic production line
, low efficiency.
Summary 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 parts to inhale
Device is taken, which can fit vacuum chuck and the ingenious combination of electromagnet, one side compact
Close Bending Processing small part or small part aperture etc.；On the other hand, capture velocity is fast, automates high-efficient.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of variation rigidity part suction device, including flexible organ chamber, electromagnet, connecting rod and vacuum 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
It is enclosed flexible organ chamber.
The bottom of flexible concertina side wall is arranged in Ring like suction disc, and Ring like suction disc is provided centrally with sucker centre bore.
The top of flexible concertina side wall is arranged in top surface, and top surface is provided centrally with end face center hole.
Electromagnet setting is intracavitary in flexible organ, 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 protrudes into flexible organ from end face center hole
It is 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 vacuum 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 when 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 cooperation of top surface lateral wall.
Connecting rod one end matched 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 method that plate is drawn with bending, the use are carried out using variation rigidity part suction device the present invention also provides a kind of
Variation rigidity part suction device carries out plate and draws vacuum chuck and the ingenious combination of electromagnet, a side with the method for bending
Face compact can be suitble to Bending Processing small part or small part aperture etc.；On the other hand, capture velocity is fast, automates efficiency
Height, positioning accuracy is high, can compensate for the deviation in bending servomechanism process.
A method of plate absorption and bending are carried out using variation rigidity part suction device, included the following steps.
Step 1, panel stiffness is drawn and positioned: electromagnet is powered, under the action of electromagnetic attraction, in flexible organ chamber
The compression of flexible concertina side wall, electromagnet exposes from sucker centre bore, and mutually adsorbs with plate, and plate is made to be drawn and position.
Step 2, plate is transferred: the plate rigidly drawn being placed on bending station, upper mold moves downward, and plate is clamped
And it positions.
Step 3, plate flexibility is drawn: the board clamp in step 2 is next, electromagnet power-off, and desorbs and connect with plate
Touching；Then, vacuum pump is sucked vacuum flexible organ chamber by bar central through hole, and flexible inhale is formed between Ring like suction disc and plate
It is attached.
Step 4, bending and deviation compensation: while plate is adsorbed by flexibility, upper mold is continued traveling downwardly, and makes sheet metal bending；?
While sheet metal bending, flexible organ chamber deforms, and turns over to plate and robot wrist acts deviation and compensates.
Also have step S1 between step 1 and step 2, pre-suction vacuum: in step 1, plate and electromagnet are formed just
Property absorption after, vacuum pump startup carries out pre-suction vacuum to bar central through hole and magnetic blow out centre through-hole.
Vacuum chuck and the ingenious combination of electromagnet, one side compact can be suitble to Bending Processing small by the present invention
Part or small part aperture etc.；On the other hand, capture velocity is fast, automates high-efficient.
Detailed description of the invention
Fig. 1 shows a kind of schematic perspective view of variation rigidity part suction device of the present invention.
Fig. 2 shows a kind of the schematic diagram of the section structure of variation rigidity part suction device of the present invention.
Fig. 3 shows structural schematic diagram when variation rigidity part suction device of the present invention and panel stiffness are drawn and positioned.
Fig. 4 shows structural schematic diagram when variation rigidity part suction device of the present invention and plate flexibility are drawn.
Fig. 5 shows schematic perspective view when variation rigidity part suction device deviation compensation during sheet metal bending.
Fig. 6 shows the schematic diagram of the section structure when 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. sealing barrier plate；
40. robot wrist；50. plate；60. upper mold；61. bending head；70. lower die；71. bending groove.
Specific embodiment
Xia Mianjiehefutuhejuti compare Jia Shishifangshiduibenfamingzuojinyibuxiangxishuoming.
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 vacuum pump.
Flexible organ chamber is mainly enclosed 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 wholely set.
The bottom of flexible concertina side wall is arranged in Ring like suction disc, and Ring like suction disc is provided centrally with sucker centre bore 111.
The top of flexible concertina side wall is arranged in top surface, and top surface is provided centrally with end face center hole 131.
Electromagnet setting is intracavitary in flexible organ, 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 protrudes into flexible wind from end face center hole
Qin is intracavitary, and is fixedly connected with electromagnet, is preferably 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 vacuum 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 when state.
The periphery suit of connecting rod preferably has sealing barrier plate 32；After connecting rod is fixedly connected with electromagnet, sealing resistance
Baffle and the sealing of top surface lateral wall cooperate.
A method of plate absorption and bending are carried out using variation rigidity part suction device, included the following steps.
Step 1, panel stiffness is drawn and is positioned.
Electromagnet is powered, under the action of electromagnetic attraction, the compression of flexible concertina side wall in flexible organ chamber, electromagnet from
Sucker centre bore exposes, and mutually adsorbs with plate, so that plate is drawn and is positioned, as shown in Figure 3.
Above-mentioned electromagnet and plate are rigidity absorption, draw fast response time, and positioning accuracy is high.In addition, electromagnet with
During plate adsorbs, it can reduce subsequent flexible organ chamber by outside the intracavitary portion gas discharge chamber of flexible organ and inhale vacuum
The required time enables the production efficiency of automatic production line to be improved.
It further, further include step S1, pre-suction vacuum: in step 1, after plate forms rigidity absorption with electromagnet, very
Empty pump startup carries out pre-suction vacuum to bar central through hole and magnetic blow out centre through-hole, further saves in step 3, plate flexibility is inhaled
Take the required time.
Step 2, plate is transferred: the plate after the absorption of step 1 rigidity or step S1 pre-suction vacuum is placed on bending station
Lower die on, and make the corresponding with the bending groove 71 of lower die to bending part of plate；Then, upper mold moves downward, until
The bending head 61 of upper mold is in contact with plate to bending part, until clamping and positioning plate.
Step 3, plate flexibility is drawn.
Board clamp in step 2 is next, electromagnet power-off, and desorbs and contact with plate.
Then, vacuum pump is sucked vacuum flexible organ chamber by bar central through hole, is formed between Ring like suction disc and plate
Flexibility absorption, as shown in Figure 4.
Step 4, bending and deviation compensation: while plate is adsorbed by flexibility, the bending head of upper mold continues traveling downwardly, makes plate
Material bending；As shown in Figure 5 and Figure 6, while sheet metal bending, flexible organ chamber deforms, and turns over to plate and robot
List action deviation compensates.
The preferred embodiment of the present invention has been described above in detail, still, during present invention is not limited to the embodiments described above
Detail a variety of equivalents can be carried out to technical solution of the present invention within the scope of the technical concept of the present invention, this
A little equivalents all belong to the scope of protection of the present invention.
Claims (5)
1. a kind of carry out the method that plate is drawn with bending using variation rigidity part suction device, it is characterised in that:
Variation rigidity part suction device includes flexible organ chamber, electromagnet, connecting rod and vacuum 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；
The bottom of flexible concertina side wall is arranged in Ring like suction disc, and Ring like suction disc is provided centrally with sucker centre bore；
The top of flexible concertina side wall is arranged in top surface, and top surface is provided centrally with end face center hole；
Electromagnet setting is intracavitary in flexible organ, 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 protrudes 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 vacuum 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；
Plate draws the method with bending, includes the following steps:
Step 1, panel stiffness is drawn and positioned: electromagnet is powered, under the action of electromagnetic attraction, the flexibility in flexible organ chamber
Flexible side wall compression, electromagnet exposes from sucker centre bore, and mutually adsorbs with plate, and plate is made to be drawn and position；
Step 2, plate is transferred: the plate rigidly drawn being placed on bending station, upper mold moves downward, and plate is clamped and determined
Position；
Step 3, plate flexibility is drawn: the board clamp in step 2 is next, electromagnet power-off, and desorbs and contact with plate；So
Afterwards, vacuum pump is sucked vacuum flexible organ chamber by bar central through hole, and flexible absorption is formed between Ring like suction disc and plate；
Step 4, bending and deviation compensation: while plate is adsorbed by flexibility, upper mold is continued traveling downwardly, and makes sheet metal bending；In plate
While bending, flexible organ chamber deforms, and turns over to plate and robot wrist acts deviation and compensates.
2. the method according to claim 1 for carrying out plate absorption and bending using variation rigidity part suction device, special
Sign is: also have step S1 between step 1 and step 2, pre-suction vacuum: in step 1, plate and electromagnet form rigidity
After absorption, vacuum pump startup carries out pre-suction vacuum to bar central through hole and magnetic blow out centre through-hole.
3. the method according to claim 1 for carrying out plate absorption and bending using variation rigidity part suction device, special
Sign is: the periphery of connecting rod is set with sealing barrier plate；After connecting rod is fixedly connected with electromagnet, sealing barrier plate and top
The sealing cooperation of face lateral wall.
4. the method according to claim 1 for carrying out plate absorption and bending using variation rigidity part suction device, special
Sign is: connecting rod one end matched with electromagnet is sealedly and fixedly connected with magnetic blow out centre through-hole.
5. the method according to claim 1 for carrying out plate absorption and bending using variation rigidity part suction device, special
Sign is: Ring like suction disc, flexible concertina side wall and top surface are wholely set.
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 |
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| Publication Number | Publication Date |
|---|---|
| CN107876650A CN107876650A (en) | 2018-04-06 |
| CN107876650B true CN107876650B (en) | 2019-02-19 |
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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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Families Citing this family (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 |
| 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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| 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 |
| CN204247852U (en) * | 2014-11-21 | 2015-04-08 | 苏州科尼普机电科技有限公司 | A kind of special fixture for numerical control bender |
| 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 |
-
2017
- 2017-09-29 CN CN201710904473.8A patent/CN107876650B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN204247852U (en) * | 2014-11-21 | 2015-04-08 | 苏州科尼普机电科技有限公司 | A kind of special fixture for numerical control bender |
| KR101619757B1 (en) * | 2015-03-30 | 2016-05-12 | 한재형 | The Sticking/De-Sticking Device For Press Materials |
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| Publication number | Publication date |
|---|---|
| CN107876650A (en) | 2018-04-06 |
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