CN110625020B - Quick change system and automatic change method for improving production beat of linear seven-axis - Google Patents
Quick change system and automatic change method for improving production beat of linear seven-axis Download PDFInfo
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- CN110625020B CN110625020B CN201911015050.6A CN201911015050A CN110625020B CN 110625020 B CN110625020 B CN 110625020B CN 201911015050 A CN201911015050 A CN 201911015050A CN 110625020 B CN110625020 B CN 110625020B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 36
- 230000008859 change Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001179 sorption measurement Methods 0.000 claims abstract description 113
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 239000012636 effector Substances 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 24
- 210000001503 joint Anatomy 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 21
- 208000032370 Secondary transmission Diseases 0.000 claims description 13
- 208000032369 Primary transmission Diseases 0.000 claims description 10
- 238000000926 separation method Methods 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 12
- 230000008901 benefit Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 4
- 238000004080 punching Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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
- B21D43/027—Combined feeding and ejecting devices
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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
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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
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a quick-change system and an automatic change method for improving the production beat of a linear seven-axis, wherein the system is arranged between two presses and comprises an industrial robot, a control unit, a linear seven-axis, an adsorption device, a quick-change device and an end effector trolley. When the adsorption device is automatically replaced, the end effector trolley carries a new adsorption device and an adsorption device placing bracket enters a set replacement area, an industrial robot places the old adsorption device and a quick-change master disc on the bracket, and the quick-change male disc is separated from the master disc, so that a straight line seven-axis is moved to a station of the new adsorption device; the quick-change male disc and the female disc are clamped, the straight seven-axis carrying new adsorption device and the quick-change female disc are separated from the bracket, the end effector trolley carries the old adsorption device to leave, and the stamping personnel replace the old adsorption device with the new adsorption device. The quick-change system is compact in structure, easy to maintain, high in transmission speed and high in efficiency.
Description
Technical Field
The invention relates to a quick-change system for improving the production beat of a linear seven-axis and an automatic change method, wherein the system can enter a die area of an upper-order press machine in advance and delay out of a die area of a lower-order press machine, so that the quick and automatic change of an adsorption device is realized.
Background
Along with the improvement of the production beat of an automatic stamping production line, in order to meet the requirement of the beat of the automatic continuous stamping production line, the requirement of the transmission speed of the plate-shaped parts among the presses is also higher and higher. At present, an automatic stamping production line improves the transmission speed of plate-shaped parts mainly by adopting a mode of matching a robot with an auxiliary seven shaft, the robot and the auxiliary seven shaft can rapidly convey the plate-shaped parts from an upper working position to a lower working position, and in the moving process, the plate-shaped parts are kept horizontal, so that the improvement of the production beat of the stamping production line is facilitated. Because a large number of small-stroke presses or manual production line dies exist in the existing punching main machine factory, after a standard gun changing disc is arranged on a common linear seven-shaft, the linear seven-shaft is added with a rigid drawing and the thickness of an adsorption device is large, when the linear seven-shaft grabs a plate-shaped part, the linear seven-shaft is difficult to enter a punching die area to grab the plate-shaped part due to the stroke of the press or the punching die, and in the moving process, the performance of the linear seven-shaft cannot be fully exerted; for a press with better stroke configuration, the thickness is larger after the standard gun changing disc is configured on the common straight seven-axis, and the press needs to wait for opening a larger opening height, so that the improvement of stamping equipment is seriously influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a system for improving the linear seven-axis production beat, which has the advantages of strong usability, high working efficiency, high degree of automation and convenient maintenance.
In order to solve the technical problem, the invention provides a quick-change system for improving the production beat of a linear seven-axis, which is arranged between two presses and comprises an industrial robot, a control unit, a linear seven-axis, an adsorption device, a quick-change device and an end effector trolley;
The industrial robot is a four-axis or six-axis articulated robot and is arranged on a robot base and used for supporting and driving a linear seven-axis to carry the plate-shaped part from an upper working station to a lower working station;
The control unit is used for controlling the swing parameters of each shaft of the industrial robot and the movement of the linear seven shafts;
The linear seven-axis is arranged on the wrist of the industrial robot through the connecting device, moves axially relative to the industrial robot along the linear seven-axis (1), is used for bearing the quick-change device and the adsorption device, and assists the industrial robot to quickly convey the plate-shaped parts from the upper working position to the lower working position;
the adsorption devices are arranged on the quick-change devices and are used for the industrial robot to grasp the plates, the two adsorption devices are fixed through the respective quick-change devices, and the plate-shaped parts are sent to the subsequent stations by means of linear motion of the linear seven shafts;
The quick-change device is arranged on the secondary transmission of the linear seven shafts, is placed on the end effector trolley and is contacted with the wear-resistant device of the support of the adsorption device, and is used for connecting the adsorption device with the linear seven shafts and supporting the adsorption device, so that the vacuum/high-pressure gas transmission and the quick-automatic replacement of the adsorption device are realized, the plate parts adsorbed on the adsorption device are quickly conveyed into the sequencing station through the self motion of the industrial robot and the linear motion of the linear seven shafts.
The linear seven-axis comprises a servo motor, a transmission system, a linear seven-axis beam and a linear seven-axis guiding device, wherein the transmission system comprises a transmission box body, primary transmission and secondary transmission, the transmission box body drives the primary transmission, the secondary transmission is driven to realize the double-speed relationship between the primary transmission and the secondary transmission.
The adsorption device comprises an adsorption device support and a sucker, wherein the adsorption device support is used for supporting the sucker and keeping the sucker in a set posture, and the sucker is used for adsorbing plate-shaped parts.
The quick-change device comprises a quick-change female disc, a quick-change male disc and one or more ball lock mechanisms, and the quick-change device is locked by the ball lock mechanisms to complete the butt joint of the quick-change male disc and the quick-change female disc, so that the vacuum/high-pressure gas is transmitted to the adsorption device; the separation of the quick-change male disc and the quick-change female disc is completed through the loosening of the ball lock mechanism, so that the plate-shaped part is quickly sent to a subsequent station through the movement of the industrial robot and the movement of a linear seven-axis; the locking and releasing of the ball lock mechanism are controlled pneumatically, and the ball lock mechanism has a self-locking function, and when the locking/releasing air source is out of air, the locking of the quick-change male disc and the quick-change female disc is not released.
The quick-change male disc comprises a quick-change male disc body, a vacuum/high-pressure gas input channel, a vacuum/high-pressure gas butt joint channel, a ball lock loosening and locking air source inlet, a butt joint guide pin and a ball lock mechanism; the quick-change master disc comprises a quick-change master disc body, a vacuum/high-pressure gas access channel and a vacuum/high-pressure gas output channel; the fast-changing male disc is attached to the fast-changing female disc through the guidance of the butt-joint guide pin; the locking and releasing of the ball lock device is controlled by releasing the on-off of the locking air source inlet through the ball lock mechanism, so that the butt joint and releasing of the quick-change male disc and the quick-change female disc are completed; when the quick-change male disc and the quick-change female disc are in butt joint, the vacuum/high-pressure gas butt joint channel is communicated, so that the vacuum/high-pressure gas transmitted from the vacuum/high-pressure gas input channel is transmitted to the vacuum/high-pressure gas output channel through the butt joint of the quick-change male disc and the quick-change female disc, and then the vacuum/high-pressure gas is transmitted to the adsorption device for adsorbing the plate-shaped parts; the quick-change male disc and the quick-change female disc of the quick-change device are disconnected/butted, so that the on-off of vacuum/high-pressure gas transmission is realized, and the quick-automatic replacement of the adsorption device is realized.
The end effector trolley comprises an end effector trolley body, a positioning pin and an adsorption device placing bracket, wherein the end effector trolley body is used for bearing the adsorption device placing bracket and the adsorption device; the driving mode of the end effector trolley adopts a motor driving or pneumatic driving mode; the extension and retraction of the locating pin adopts a cylinder driving mode.
A method of handling plate-shaped parts on a stamping line using a quick change system, comprising the steps of:
1) Grabbing two or two groups of plate-shaped parts from an upper press working machine of the stamping line, wherein each adsorption device grabs one or one group of plate-shaped parts respectively;
Two or two sets of plate-shaped parts are placed at the subsequent press stations of the stamping line.
A method for automatically replacing an adsorption device, comprising the steps of:
1) The end effector trolley carries a new adsorption device and the adsorption device placing bracket enters a set replacement area;
2) Carrying a straight line seven-axis by the industrial robot to adjust the posture, and placing the old adsorption device and the quick-change master disc on an adsorption device placing bracket;
3) The quick-change male disc is separated from the quick-change female disc, and the old adsorption device and the quick-change female disc are left on the adsorption device placing bracket;
4) The industrial robot carries a linear seven-axis motion to enable the linear seven-axis to move to the position above the station of the new adsorption device;
5) The quick-change male disc and the quick-change female disc are clamped, the linear seven-axis motion is carried, the new adsorption device is carried, and the quick-change female disc is separated from the adsorption device to place a bracket;
6) The positioning pin of the end effector trolley is separated from the positioning pin, and the end effector trolley carries the old adsorption device to leave the relevant area under the drive of the driving device;
7) After the end effector trolley is separated from the replacement area, the old adsorption device is replaced by a new adsorption device by stamping equipment personnel.
The end effector trolley in the step 1) can finish certain precise positioning by adopting a mode of an air cylinder and a guide pin.
The beneficial effects are that: the invention adopts the linear seven-axis device, the quick-change device and the adsorption device, realizes quick automatic production for the press with smaller stroke, and can improve the production beat of an automatic stamping production line and has innovation. The robot quick-change system has the advantages of compact overall structure, easy maintenance, automatic production, reduced dependence on import quick-change, high transmission speed, high efficiency, automatic replacement of the adsorption device, and contribution to improving the economic benefit of automobile manufacturers and realizing domestic replacement of key equipment. The invention has novel structure, great operability on the automatic reformation of various old stamping production lines and the improvement of the beat of new stamping production lines, short grabbing and conveying process time, high efficiency and innovation; the whole structure is compact, the maintenance is easy, the conveying time of the plate-shaped parts is short, the efficiency is high, the unit yield of the stamping production line is improved, and the economic benefit of an automobile production enterprise is improved. The quick-change device is used for completing the transmission of vacuum/high-pressure gas through the butt joint of the quick-change male disc and the quick-change female disc, and is used for adsorbing plate-shaped parts by the adsorption device, and the plate-shaped parts are firm and reliable when moving along with the adsorption device.
Drawings
FIG. 1 is a schematic diagram of a conventional straight seven-axis side view;
FIG. 2a is a schematic front view of the structure of the present invention;
FIG. 2b is a schematic side view of the structure of the present invention;
FIG. 3 is a schematic view of a linear seven-axis measurement of the present invention;
FIG. 4 is a schematic diagram of an axial view of a quick-change device according to the present invention;
FIG. 5a is a schematic diagram of a quick change male disk of the present invention;
FIG. 5b is a schematic diagram showing a second axial measurement of the quick-change male disc of the present invention;
FIG. 6a is a schematic diagram of a quick change master disk according to the present invention;
FIG. 6b is a schematic diagram of a second embodiment of the present invention;
FIG. 7 is a schematic view of a TOOLING vehicle carrying a new adsorbent device into a 45 ° axis of change zone;
FIG. 8 is a 45 view angle of the linear seven-axis old adsorption device of the present invention;
FIG. 9 is a schematic diagram showing 45-degree axial measurement of a new suction device after the old suction device is placed on a straight line seven-axis;
Fig. 10 is a schematic diagram showing 45 ° axle measurement of a TOOLING vehicle out of a replacement area after replacing an adsorption device with a linear seven-axle device according to the present invention.
In the figure: the thickness direction dimension of the A straight line seven-axis, the thickness direction dimension of the B common straight line seven-axis and the movement direction of the C straight line seven-axis are shown; a linear seven-shaft transmission box body 1, a standard linear seven-shaft transmission box body 2, a linear seven-shaft transmission box body 3, a primary transmission box body 4, an adsorption device 5, a quick-change device 6, a secondary transmission box body 7, a quick-change master disc 8, a quick-change male disc 9, a wear-resistant device 10, a loosening detection switch 11, a locking detection switch 12, a vacuum/high-pressure gas docking channel 13, a ball lock mechanism 14, a docking guide pin 15, a vacuum/high-pressure gas access channel 16, a vacuum/high-pressure gas output channel 17, a new adsorption device 18, a 19-end pick-up trolley, a 20-adsorption device placing bracket, a 21-industrial robot, a 22-industrial robot mounting base, a 23-old adsorption device, a 24-industrial robot controller, a 25-vacuum/high-pressure gas input channel 26-ball lock loosening locking gas source inlet, a 27-change male disc body, a quick-change master disc body 28, a 29-adsorption device bracket 30 sucker, a 31-end pick-up trolley body 32 and a positioning pin.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
Fig. 2a shows a schematic front view of the structure of the present invention.
Fig. 2b shows a schematic side view of the structure of the invention.
The invention provides a quick-change system for improving the production beat of a linear seven-axis, which is arranged between two presses and comprises an industrial robot 21, a control unit 24, a linear seven-axis 1, an adsorption device 5, a quick-change device 6 and an end effector trolley 19;
the industrial robot 21 is a four-axis or six-axis articulated robot, is arranged on a robot base 22 and is used for supporting and driving a linear seven-axis 1 to carry a plate-shaped part from an upper station to a lower station;
The control unit 24 is used for controlling the swing parameters of each shaft of the industrial robot 21 and the movement of the linear seven-shaft 1;
The linear seven-shaft 1 is arranged on the wrist of the industrial robot through a connecting device, moves axially relative to the industrial robot 21 along the linear seven-shaft 1 and is used for bearing the quick-change device 6 and the adsorption device 5 and assisting the industrial robot 21 to quickly convey the plate-shaped parts from the upper working position to the lower working position;
the adsorption devices 5 are arranged on the quick-change devices 6 and are used for the industrial robot 21 to grasp the plates, the two adsorption devices 5 are fixed through the respective quick-change devices 6, and the plate-shaped parts are sent to the subsequent stations by means of the linear motion of the linear seven shafts 1;
The quick-change device 6 is arranged on the secondary transmission of the linear seven-shaft 1, is placed on the end effector trolley 19 and is contacted with the wear-resistant device of the adsorption device placement bracket 20, and is used for connecting the adsorption device 5 with the linear seven-shaft 1 and supporting the adsorption device 5, so that the vacuum/high-pressure gas transmission and the quick automatic replacement of the adsorption device 5 are realized, and the plate-shaped parts adsorbed on the adsorption device 5 are quickly conveyed into a subsequent station through the self motion of the industrial robot 21 and the linear motion of the linear seven-shaft 1.
Fig. 3 is a schematic view of a linear seven-axis measurement of the present invention.
The linear seven-shaft device comprises a servo motor, a transmission system, a linear seven-shaft cross beam and a linear seven-shaft guide device, wherein the transmission system comprises a transmission box body 3, primary transmission 4 and secondary transmission 7, the transmission box body 3 drives the primary transmission 4, and the secondary transmission 7 is driven to realize the speed doubling relation between the primary transmission 4 and the secondary transmission 7.
The suction device 5 comprises a suction device support 29 and a suction cup 30, wherein the suction device support 29 is used for supporting the suction cup 30, the suction cup 30 keeps a set posture, and the suction cup 30 is used for sucking plate-shaped parts.
Fig. 4 is an axial schematic view of the quick-change device of the present invention.
The quick-change device 6 comprises a quick-change female disc 8, a quick-change male disc 9 and one or more ball lock mechanisms 14, the quick-change device 6 completes the butt joint of the quick-change female disc 8 and the quick-change male disc 9 through the locking of the ball lock mechanisms 14, and then the vacuum/high-pressure gas is transmitted to the adsorption device 5; the separation of the quick-change male disc 9 and the quick-change female disc 8 is completed through the loosening of the ball lock mechanism 14, so that the plate-shaped parts are quickly conveyed into a subsequent station through the movement of the industrial robot 21 by itself and the movement of the linear seven shaft 1; the locking and releasing of the ball lock mechanism 14 are controlled pneumatically, and the ball lock mechanism has a self-locking function, so that when the locking/releasing air source is out of air, the locking of the quick-change male disc 9 and the quick-change female disc 8 is not released. The locking in-place detection switch 11 of the quick-change master disc 8 is used for detection, and the loosening in-place detection switch 12 of the quick-change master disc 8 is used for detection; the detection switch may be a proximity switch or a magnetic switch.
Fig. 5a is a schematic diagram showing the axial measurement of the quick-change male disc according to the present invention.
Fig. 5b is a schematic diagram showing the axial measurement of the quick-change male disc of the present invention.
The quick-change male disc 9 comprises a quick-change male disc body 27, a vacuum/high-pressure gas input channel 25, a vacuum/high-pressure gas docking channel 13, a ball lock release locking gas source inlet 26, a docking guide pin 15 and a ball lock mechanism 14.
Fig. 6a is a schematic diagram showing the axial measurement of a quick-change master disc according to the present invention.
Fig. 6b is a schematic diagram showing a quick-change master disc according to the present invention.
The quick-change master disc 8 comprises a quick-change master disc body 28, a vacuum/high-pressure gas access channel 16 and a vacuum/high-pressure gas output channel 17; the fast-changing male disc 9 is attached to the fast-changing female disc 8 through the guiding of the butt-joint guiding pin 15; the locking and releasing of the ball lock mechanism 14 is controlled by releasing the on-off of the locking air source inlet 26 through the ball lock mechanism 14, so that the butt joint and the releasing of the quick-change male disc 9 and the quick-change female disc 8 are completed; when the quick-change male disc 9 and the quick-change female disc 8 are in butt joint, the vacuum/high-pressure gas butt joint channel 13 is communicated, so that the vacuum/high-pressure gas transmitted from the vacuum/high-pressure gas input channel 25 can be transmitted to the vacuum/high-pressure gas output channel 17 through the butt joint of the quick-change male disc 9 and the quick-change female disc 8, and then the vacuum/high-pressure gas is transmitted to the adsorption device for adsorbing the plate-shaped parts; the quick-change male disc 9 of the quick-change device 6 is disconnected/butted with the quick-change female disc 8, so that the on-off of vacuum/high-pressure gas transmission is realized, and the quick-automatic replacement of the adsorption device is realized.
The end effector trolley 19 comprises an end effector trolley body 31, a positioning pin 32 and an adsorption device placing bracket 20, wherein the end effector trolley body 31 is used for bearing the adsorption device placing bracket 20 and the adsorption device 5; the driving mode of the end pick-up trolley 19 adopts a motor driving or pneumatic driving mode; the extension and retraction of the positioning pin 32 is driven by a cylinder.
A method of handling plate-shaped parts on a stamping line using a quick change system, comprising the steps of:
1) Grabbing two or two groups of plate-shaped parts from an upper press working machine of the stamping line, wherein each adsorption device grabs one or one group of plate-shaped parts respectively;
2) Two or two sets of plate-shaped parts are placed at the subsequent press stations of the stamping line.
A method for automatically replacing an adsorption device, comprising the steps of:
1) The pickup trolley 19 carries a new adsorbing device 5 and a adsorbing device placing bracket 20 into a set replacement area (shown in fig. 7);
2) The industrial robot 21 carries a linear seven-axis 1 to adjust the posture, and places an old adsorption device 23 and a quick-change master disc 8 on an adsorption device placing bracket 20 (as shown in fig. 8);
3) The quick-change male disc 9 is separated from the quick-change female disc 8, and the old adsorption device 23 and the quick-change female disc 8 are left on the adsorption device placing bracket 20;
4) The industrial robot 21 carries the linear seven-axis 1 to act, so that the linear seven-axis 1 moves to the position above the station of the new adsorption device 18;
5) The quick-change male disc 9 is clamped with the quick-change female disc 8, the linear seven-shaft 1 acts, a new adsorption device 18 is carried, and the quick-change female disc 8 is separated from the adsorption device placing bracket 20 (shown in fig. 9);
6) The positioning pin 32 of the end-picking trolley is separated from the positioning, and the end-picking trolley 19 is driven by the driving device to carry the old adsorption device 23 away from the relevant area (as shown in fig. 10);
7) After the end effector carriage 19 is separated from the replacement area, the old suction device 23 is replaced with the new suction device 18 by a stamping facility personnel.
The end picking trolley 19 in the step 1) can complete certain fine positioning by adopting a mode of an air cylinder and a guide pin 32.
Fig. 1 is a schematic side view of a conventional linear seven-axis, in fig. 1, the thickness dimension of the linear seven-axis 1 is a, and the thickness dimension of the conventional linear seven-axis in fig. 2a is B, it can be seen that the dimension B is far greater than the dimension a, and since the thickness dimension of the linear seven-axis 1 determines the opening angle of the slide block when the linear seven-axis 1 enters the press mold area, the smaller the opening angle is, which means that the linear seven-axis 1 can enter the press mold area in advance; and the die area of the press machine can be delayed to be removed, so that the matching time of the linear seven-axis 1 and the press machine is prolonged, and the production beat of the stamping line can be effectively improved.
The invention adopts the linear seven-axis device, the quick-change device and the adsorption device, realizes quick automatic production for the press with smaller stroke, and can improve the production beat of an automatic stamping production line and has innovation. The robot quick-change device has the advantages of compact overall structure, easy maintenance, automatic production, reduced dependence on import quick-change, high transmission speed, high efficiency, automatic replacement of the adsorption device, and contribution to improving the economic benefit of automobile manufacturers and realizing domestic replacement of key equipment. The invention has novel structure, great operability on the automatic reformation of various old stamping production lines and the improvement of the beat of new stamping production lines, short grabbing and conveying process time, high efficiency and innovation; the whole structure is compact, the maintenance is easy, the conveying time of the plate-shaped parts is short, the efficiency is high, the unit yield of the stamping production line is improved, and the economic benefit of an automobile production enterprise is improved. The quick-change device is used for completing the transmission of vacuum/high-pressure gas through the butt joint of the quick-change male disc and the quick-change female disc, and is used for adsorbing plate-shaped parts by the adsorption device, and the plate-shaped parts are firm and reliable when moving along with the adsorption device. The other mode is that by means of a mechanical single arm, the mechanical single arm generally has one to two degrees of freedom, and the tail end of the mechanical single arm is provided with a standard gun changing disc, so that the thickness of the mechanical single arm is thinner than that of a common straight line seven-axis, the mechanical single arm can better and more adaptively enter a die area of an upper-order press machine, and is discharged from a die area of a lower-order press machine, and the efficiency of stamping equipment is more beneficial to improvement. Because the appearance time of the mechanical single arm is late, the technology is not mature, although related stamping enterprises at home and abroad have developed the second generation mechanical single arm successively, the mechanical single arm device is undeniably expensive, more servo motors and complex control methods are adopted, and the maintenance cost is high.
The invention has novel structure, great operability on the automatic reformation of various old stamping production lines and the improvement of the beat of new stamping production lines, short grabbing and conveying process time, high efficiency and innovation; the whole structure is compact, the maintenance is easy, the conveying time of the plate-shaped parts is short, the efficiency is high, the unit yield of the stamping production line is improved, and the economic benefit of an automobile production enterprise is improved.
The above-described embodiments of the invention are intended to be examples only, and not to be limiting, and all changes that come within the scope of the invention or equivalents thereto are intended to be embraced thereby.
Claims (5)
1. The utility model provides an improve quick change system of seven production beats of straight line, this system is located between two presses, its characterized in that: comprises an industrial robot (21) and a control unit (24), a linear seven-shaft (1), an adsorption device (5), a quick-change device (6) and an end effector trolley (19);
The industrial robot (21) is a four-axis or six-axis articulated robot, is arranged on a robot base (22) and is used for supporting and driving a linear seven-axis (1) to carry a plate-shaped part from an upper working position to a lower working position;
the control unit (24) is used for controlling the swing parameters of each shaft of the industrial robot (21) and the movement of the linear seven shafts (1);
The linear seven-shaft (1) is arranged on the wrist of the industrial robot through a connecting device, moves axially relative to the industrial robot (21) along the linear seven-shaft (1) and is used for bearing the quick-change device (6) and the adsorption device (5) and assisting the industrial robot (21) to quickly convey the plate-shaped parts from the upper working station to the lower working station;
The adsorption devices (5) are arranged on the quick-change devices (6) and used for the industrial robot (21) to grasp the plates, the two adsorption devices (5) are fixed through the respective quick-change devices (6), and the plate-shaped parts are sent to the following stations by means of the linear motion of the linear seven shafts (1);
The quick-change device (6) comprises a quick-change female disc (8), a quick-change male disc (9) and one or more ball lock mechanisms (14), the quick-change device (6) is locked by the ball lock mechanisms (14) to complete the butt joint of the quick-change female disc (8) and the quick-change male disc (9), and then the vacuum/high-pressure gas is transmitted to the adsorption device (5); the separation of the quick-change male disc (9) and the quick-change female disc (8) is completed through the loosening of the ball lock mechanism (14), so that the plate-shaped parts are quickly sent into a sequencing station through the movement of the industrial robot (21) and the movement of the linear seven shafts (1); the locking and releasing of the ball lock mechanism (14) are controlled pneumatically, and the ball lock mechanism has a self-locking function, and when the locking/releasing air source is out of air, the locking of the quick-change male disc (9) and the quick-change female disc (8) is ensured not to be released
The quick-change device (6) is arranged on the secondary transmission of the linear seven-shaft (1), is placed on the end effector trolley (19) and is contacted with the wear-resistant device of the adsorption device placement bracket (20), and is used for connecting the adsorption device (5) with the linear seven-shaft (1) and supporting the adsorption device (5), so that the vacuum/high-pressure gas transmission and the quick-automatic replacement of the adsorption device (5) are realized, and the plate-shaped part adsorbed on the adsorption device (5) is quickly conveyed into a following station through the self motion of the industrial robot (21) and the linear motion of the linear seven-shaft (1);
The linear seven-shaft (1) comprises a servo motor, a transmission system, a linear seven-shaft cross beam and a linear seven-shaft guide device, wherein the transmission system comprises a transmission box body (3), primary transmission (4) and secondary transmission (7), the transmission box body (3) drives the primary transmission (4), the secondary transmission (7) is driven to carry out passive transmission, and the primary transmission (4) and the secondary transmission (7) form a speed doubling relation;
The quick-change male disc (9) comprises a quick-change male disc body (27), a vacuum/high-pressure gas input channel (25), a vacuum/high-pressure gas butt joint channel (13), a ball lock release locking gas source inlet (26), a butt joint guide pin (15) and a ball lock mechanism (14); the quick-change master disc (8) comprises a quick-change master disc body (28), a vacuum/high-pressure gas access channel (16) and a vacuum/high-pressure gas output channel (17); the fast-changing male disc (9) is attached to the fast-changing female disc (8) through the guiding of the butt-joint guide pin (15); the locking and releasing of the ball lock mechanism (14) is controlled by releasing the on-off of the locking air source inlet (26) of the ball lock mechanism (14), so that the butt joint and the releasing of the quick-change male disc (9) and the quick-change female disc (8) are completed; when the quick-change male disc (9) and the quick-change female disc (8) are in butt joint, the vacuum/high-pressure gas butt joint channel (13) is communicated, so that vacuum/high-pressure gas transmitted from the vacuum/high-pressure gas input channel (25) can be transmitted to the vacuum/high-pressure gas output channel (17) through the butt joint of the quick-change male disc (9) and the quick-change female disc (8), and then the vacuum/high-pressure gas is transmitted to the adsorption device for adsorbing the plate-shaped parts; the quick-change male disc (9) of the quick-change device (6) is disconnected/butted with the quick-change female disc (8), so that the on-off of vacuum/high-pressure gas transmission is realized, and the quick-change of the adsorption device is realized.
2. The quick change system for improving linear seven-axis tact according to claim 1, wherein: the suction device (5) comprises a suction device support (29) and a suction disc (30), the suction device support (29) is used for supporting the suction disc (30) and keeping the suction disc (30) in a set posture, and the suction disc (30) is used for sucking plate-shaped parts.
3. The quick change system for improving linear seven-axis tact according to claim 1 or 2, wherein: the end effector trolley (19) comprises an end effector trolley body (31), a positioning pin (32) and an adsorption device placement bracket (20), wherein the end effector trolley body (31) is used for bearing the adsorption device placement bracket (20) and the adsorption device (5); the driving mode of the end pick-up trolley (19) adopts a motor driving or pneumatic driving mode; the extension and retraction of the positioning pin (32) adopts a cylinder driving mode; the end effector trolley (19) can finish fine positioning by adopting a mode of an air cylinder and a positioning pin (32).
4. A method of handling plate-shaped parts on a stamping line using the quick change system of claim 1,2 or 3, comprising the steps of:
1) Grabbing two or two groups of plate-shaped parts from an upper press working machine of the stamping line, wherein each adsorption device grabs one or one group of plate-shaped parts respectively;
2) Two or two sets of plate-shaped parts are placed at the subsequent press stations of the stamping line.
5. A method of automatically replacing the adsorption device of the quick change system of claim 3, comprising the steps of:
1) The end effector trolley (19) carries a new adsorption device (5) and an adsorption device placing bracket (20) to enter a set replacement area;
2) The industrial robot (21) carries a linear seven-axis (1) to adjust the posture, and an old adsorption device (23) and a quick-change master disc (8) are placed on an adsorption device placing bracket (20);
3) The quick-change male disc (9) is separated from the quick-change female disc (8), and the old adsorption device (23) and the quick-change female disc (8) are left on the adsorption device placing bracket (20);
the industrial robot (21) carries a linear seven-axis (1) to act, so that the linear seven-axis (1) moves to a position above a station of the new adsorption device (18);
5) The quick-change male disc (9) is clamped with the quick-change female disc (8), the linear seven-shaft (1) acts, the novel adsorption device (18) is carried, and the quick-change female disc (8) is separated from the adsorption device placing bracket (20);
6) The positioning pin (32) of the end-picking device trolley is separated from the positioning pin, and the end-picking device trolley (19) carries the old adsorption device (23) to leave the relevant area under the driving of the driving device;
7) After the end effector trolley (19) is separated from the replacement area, the old adsorption device (23) is replaced by a new adsorption device (18) by stamping equipment personnel.
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| CN112975125A (en) * | 2021-02-27 | 2021-06-18 | 广东利元亨智能装备股份有限公司 | Quick-change device and quick-change method |
| CN114210858B (en) * | 2022-02-22 | 2022-06-17 | 济南二机床集团有限公司 | Quick-change butt joint device for double-arm feeding cross rod of press |
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