CN110814187B - Trial-manufacturing is with robot border pressfitting centre gripping equipment - Google Patents
Trial-manufacturing is with robot border pressfitting centre gripping equipment Download PDFInfo
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- CN110814187B CN110814187B CN201911082703.2A CN201911082703A CN110814187B CN 110814187 B CN110814187 B CN 110814187B CN 201911082703 A CN201911082703 A CN 201911082703A CN 110814187 B CN110814187 B CN 110814187B
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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
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
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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
- B21D43/003—Positioning devices
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Abstract
The invention belongs to the technical field of automobile manufacturing, and discloses a robot edging, pressing and clamping device for trial production. During press-fitting, the outer plate is placed on the moulding bed, and the inner plate is stacked on the outer plate; the manual positioning mechanism positions the inner plate and the outer plate, the manual clamping mechanism comprises corner clamping assemblies, and a corner clamping assembly is rotatably arranged at the corner of each tire mold. When the roller head passes through the corner of the tire mold, the corner clamping assembly can clamp the corner of the inner plate and the outer plate, the main body of the corner clamping assembly can rotate around the axis which is approximately perpendicular to the corner clamping surface of the inner plate and the outer plate so as to avoid the roller head, the roller head can press the corner of the inner plate and the outer plate, the pressing process is free from loosening and clamping, and the pressing quality of the corner of the inner plate and the outer plate is improved. Meanwhile, the manufacturing cost is low, and the method is suitable for trial production.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a robot edging, pressing and clamping device for trial production.
Background
In the automobile design and manufacturing process, trial production is usually performed on a new product after design and process preparation is completed and before formal production is put into operation to verify whether the design of the new product can achieve the expected quality and effect.
The existing laminating trial production of the inner plate and the outer plate of the automobile outer covering part generally adopts simple laminating equipment which is mainly divided into laminating equipment for pure manual laminating and laminating equipment for elegant hydraulic drive manual laminating. When the inner plate and the outer plate to be subjected to press-fitting treatment are placed on a tire mold of press-fitting equipment, the press-fitting is directly completed by manual hammering, the investment cost is lowest, but the product quality is difficult to guarantee, the working strength is high, and the working efficiency is low. For the elegance hydraulic drive manual pressing, which is called as 'Eckold sizing' abroad as shown in fig. 1, a forming die with a guide groove and a jag movable clamp 200 with an insert are manually held to complete the pressing of the gentle areas of the inner plate and the outer plate to be pressed and processed, so that the working strength can be reduced, the pressing quality is better than that of pure manual pressing, but the corner areas of the inner plate and the outer plate are still pressed by manual hammering, and the quality consistency of trial products is poor.
Furthermore, as shown in fig. 2, in the prior art, the robotic binding press-fitting equipment 300 is generally used for large, medium-scale production, and occasionally for small-scale production. The existing robot binding and stitching equipment 300 clamps the corners of the inner plate and the outer plate through the cylinder driving clamp, but when the binding head of the robot binds the corners of the inner plate and the outer plate, the clamping of the corners of the inner plate and the outer plate is usually loosened, and because the corners of the inner plate and the outer plate are not clamped at the moment, when the binding head binds the corners of the inner plate and the outer plate, the inner plate and the outer plate are separated and tilted easily, and the binding quality is reduced. In addition, in the prior art, when the robot binding and pressing device 300 is used for pressing the inner plate and the outer plate for small-batch production, a piano key type pressing and cylinder clamping is generally adopted, and the clamp valve island or the robot control cabinet is controlled by the PLC cabinet to be used as a control main station to control the inner plate and the outer plate to be clamped, and the robot binding head is matched to complete the batch pressing production. However, the robot binding and stitching device 300 is specially used for binding and stitching trial production of the inner plate and the outer plate, which may cause the design investment cost of the trial production equipment to be too high, resulting in resource waste.
Therefore, it is highly desirable to provide a robot binding and stitching clamping device for trial production, which is low in manufacturing cost, suitable for trial production, and capable of improving stitching quality when the roller head stitches corners of the inner plate and the outer plate.
Disclosure of Invention
The invention aims to provide a trial-production robot edging, pressing and clamping device which is low in manufacturing cost, suitable for trial production and capable of improving the pressing quality when a roller presses corners of an inner plate and an outer plate.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a trial-manufacture is with robot border pressfitting centre gripping equipment for when the first pressfitting inner panel of rolling of robot and planking, the tight inner panel of positioning clamp and planking include:
the outer plate is placed on the moulding bed, and the inner plate is stacked on the outer plate;
the manual positioning mechanism is used for positioning an inner plate and an outer plate on the tire mold;
the manual clamping mechanism comprises corner clamping components, and a corner clamping component is rotatably arranged at the corner of each moulding bed;
when the roller head passes through the corner of the tire mold, the corner clamping assembly can clamp the corner of the inner plate and the outer plate, the main body of the corner clamping assembly can rotate around the axis approximately perpendicular to the corner clamping surfaces of the inner plate and the outer plate to avoid the roller head, and the roller head can press the corner of the inner plate and the corner of the outer plate.
Optionally, the corner clamp assembly comprises:
the mounting seat is detachably arranged at the corner of the moulding bed;
the rotating plate is rotatably connected with the mounting seat through a vertical rotating shaft;
and the corner clamping piece is arranged on the rotating plate, can be abutted against the upper surface of the inner plate to clamp the inner plate and the outer plate, and can also rotate around the axis of the vertical rotating shaft along with the rotating plate so as to avoid the rolling head.
Optionally, the corner clamp member is a vertical quick toggle clamp.
Optionally, the manual clamping mechanism further comprises:
the side clamping assembly is arranged at the side edge of the tire mould and can clamp the side edges of the inner plate and the outer plate on the tire mould.
Optionally, the side clamping assembly comprises:
the fixing seat is arranged on the side edge of the tire mould;
the overturning connecting rod is rotatably connected with the fixed seat through a horizontal rotating shaft;
the side clamping piece sets up on the upset connecting rod, and the side clamping piece can overturn and press in the top of inner panel through the upset connecting rod to press from both sides tight inner panel and planking, and the side clamping piece can also move in the outside of child mould through the upset connecting rod upset, with the cancellation clamp tightly.
Optionally, the manual positioning mechanism comprises:
and the outer plate positioning piece is arranged on the turnover connecting rod, and can turn over through the turnover connecting rod and abut against the outer edge of the outer plate so as to position the outer plate.
Optionally, the manual positioning mechanism comprises:
the outer plate positioning assembly is arranged on the side edge of the tire mould and can be abutted against the outer edge of the outer plate so as to position the outer plate;
and the inner plate positioning assembly is arranged on the side edge of the tire mould and is used for positioning the inner plate.
Optionally, the inner panel positioning assembly comprises:
the base is arranged on the side edge of the tire mold;
one end of the first connecting rod is rotatably arranged on the base, and the rotating axis of the first connecting rod is arranged along the horizontal direction;
the second connecting rod is connected to the other end of the first connecting rod and is perpendicular to the first connecting rod;
the positioning support plate is connected to the second connecting rod along a direction perpendicular to the first connecting rod and the second connecting rod;
and the positioning pin is arranged on the positioning support plate, and the positioning support plate can turn over and move above the inner plate through the first connecting rod so that the positioning pin is inserted into the corresponding positioning hole in the inner plate to position the inner plate.
Optionally, there are three inner plate positioning assemblies, and the three inner plate positioning assemblies are respectively arranged at different side positions of the forming die at intervals, so that when the roller head presses the inner plate and the outer plate, at least two inner plate positioning assemblies position the inner plate on the outer plate.
Optionally, the manual clamping mechanism further comprises:
the clamping tongs comprise a first clamping part and a second clamping part which are connected in a hinged mode, a reinforcing flange is arranged on the periphery of the tire mould along the horizontal direction extending ring, the first clamping part can abut against the bottom of the reinforcing flange, and the second clamping part can abut against the upper surface of the inner plate so as to clamp the inner plate and the outer plate.
The invention has the beneficial effects that:
according to the trial-manufacture robot edging, pressing and clamping device, the manual clamping mechanism and the manual positioning mechanism are designed aiming at trial-manufacture production and are operated manually, and the manufacturing cost is low. The manual clamping mechanism comprises corner clamping assemblies, and one corner clamping assembly is rotatably arranged at the corner of each tire mold. When the roller head passes through the corner of the tire mold, the corner clamping component can clamp the corner of the inner plate and the outer plate, the main body of the corner clamping component can rotate around the axis which is approximately perpendicular to the corner clamping surface of the inner plate and the outer plate so as to avoid the roller head, and the roller head can press the corner of the inner plate and the outer plate, so that the problem that the pressing quality is reduced due to the fact that the clamping of the corner of the inner plate and the corner of the outer plate are loosened when the roller head presses the corner of the inner plate and the corner of the outer plate in the prior art is solved, the inner plate and the outer plate are separated and lifted easily, and the pressing quality of the corner of.
Drawings
FIG. 1 is a schematic diagram of a hydraulic Jack driven manual press in the prior art;
FIG. 2 is a schematic structural diagram of a robot binding and pressing device in mass production in the prior art;
FIG. 3 is a schematic structural diagram of a trial-manufacture robot binding and pressing clamping device according to the present invention when an inner plate and an outer plate are not loaded;
FIG. 4 is a schematic view of a trial-manufacture robot when a roller head of the robot passes through a corner of a forming die after the inner plate and the outer plate are loaded by the trial-manufacture robot edging and pressing clamping device provided by the invention;
FIG. 5 is a schematic structural view of a corner clamp assembly provided by the present invention;
FIG. 6 is a schematic structural view of a side clamping assembly provided by the present invention;
FIG. 7 is a schematic view of a partial structure of a trial-manufacture robot binding, pressing and clamping device according to the present invention;
FIG. 8 is a schematic view of a connection structure of an outer plate positioning member and a side clamping assembly according to the present invention;
FIG. 9 is a schematic structural view of an inner panel positioning assembly provided by the present invention;
FIG. 10 is a schematic diagram of the working path of the roller head provided by the present invention when the roller head presses the inner plate and the outer plate on the tire mold.
In the figure:
100-rolling head; 200-jagay movable clamp; 300-robot binding and pressing equipment;
1-forming a mould; 11-a reinforcing flange; 12-a support block; 13-positioning the calibration piece;
2-a corner clamp assembly; 21-a mounting seat; 22-a rotating plate; 23-corner clamp pieces; 24-rubber indenter; 25-vertical rotating shaft;
3-a side clamping assembly; 31-a fixed seat; 32-flip link; 321-turning over the fixing bolt; 322-turning over the fixing screw hole; 33-side clamping member; 34-a horizontal rotating shaft; 35-rubber briquetting;
4-clamping pincers;
5-an outer plate positioning piece;
6-an inner plate positioning assembly; 61-a base; 62-a first link; 63-a second link; 64-positioning the carrier plate; 641-a bushing; 65-a locating pin; 651-the retaining projection; 66-a first shim; 67-a second gasket; 68-hand shot pins; 69-limit screw.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 3 to 4, the trial-manufacture robot trimming, pressing, and clamping device provided in this embodiment is mainly applied to the trimming, pressing, and processing process in the field of automobile manufacturing, and is used for positioning, clamping, and fixing the inner plate and the outer plate of the automobile outer cover, so as to complete the trimming, pressing, and manufacturing of the inner plate and the outer plate by matching with the roller head 100 of the robot. The trial-manufacture robot edging, pressing and clamping device comprises a moulding bed 1, a manual positioning mechanism and a manual clamping mechanism. In this embodiment, the manual positioning mechanism includes a plurality of inner plate positioning assemblies 6 respectively annularly disposed around the molding bed 1 and an outer plate positioning member 5 disposed on the side clamping assembly 3 in a one-to-one correspondence manner, and the manual clamping mechanism includes a plurality of corner clamping assemblies 2 and a plurality of side clamping assemblies 3 respectively annularly disposed around the molding bed 1. In the prior art, the edge rolling pressing and clamping device adopts a cylinder to drive the material pressing blocks to clamp the corners of the inner plate and the outer plate, when the corner of the inner plate and the outer plate is pressed by the roller head 100 of a robot, the material pressing blocks used for clamping the corner positions of the inner plate and the outer plate are loosened firstly, and then the roller head 100 carries out pressing treatment on the corners of the inner plate and the outer plate. Since the corners of the inner and outer plates are not clamped at this time, the inner and outer plates are easily separated and tilted when the roller head 100 presses the corners of the inner and outer plates, which results in a problem of reduced pressing quality. To solve this problem, in the present embodiment, a corner clamp assembly 2 is rotatably provided at a corner of each of the molding beds 1. When rolling head 100 through the corner of child mould 1, corner clamping component 2 can press from both sides the corner of tight inner panel and planking, and corner clamping component 2's main part can also rotate around the axis of the corner clamping surface of the nearly perpendicular to inner panel and planking in order to dodge and roll head 100, and make and roll the corner that head 100 can pressfitting inner panel and planking, the pressfitting in-process need not to loosen and press from both sides tightly, and then when having solved the corner of rolling head 100 pressfitting inner panel and planking among the prior art, inner panel and planking separation perk appear very easily, and lead to the problem that the pressfitting quality reduces.
In the actual binding pressfitting course of working, the planking is placed on child mould 1, and the inner panel is folded on the planking, and the contour all around of inner panel is similar with the contour all around of planking, and the size contour of inner panel is less than the planking uniformly. A plurality of corner clamping assemblies 2 of the manual clamping mechanism clamp and fix corners of the inner plate and the outer plate, and a plurality of side clamping assemblies 3 clamp and fix sides of the inner plate and the outer plate. Meanwhile, the outer plate positioning piece 5 arranged on the side clamping component 3 can also be pressed on the outer edge of the outer plate, so that the outer plate can be positioned in the horizontal direction. And a plurality of inner plate positioning assemblies 6 achieve positioning of the inner plates on the outer plates in the horizontal direction. The roller head 100 can move around the tire mould 1 according to a stitching route set by a program, and the outer plate can wrap the inner plate by turning over the vertical edges of the outer plate for many times, so that stitching connection of the inner plate and the outer plate is completed, when the roller head 100 passes through the corner of the tire mould 1, the corner clamping assembly 2 can clamp the corners of the inner plate and the outer plate, the main body of the corner clamping assembly 2 can rotate around the axis which is approximately perpendicular to the corner clamping surfaces of the inner plate and the outer plate to avoid the roller head 100, and the roller head 100 can stitch the corners of the inner plate and the outer plate.
First, compared with the manual binding and pressing and the elegant hydraulic drive manual binding in the existing trial production process, the robot binding and pressing clamping device for trial production of the embodiment completes the positioning and clamping of the inner plate and the outer plate through the manual clamping mechanism and the manual positioning mechanism so as to complete the binding and pressing processing in cooperation with the roller head 100. The advantages are that: on one hand, a manual hand-held tool is not needed to complete pressing, the rolling head 100 replaces manual pressing, the error of manual pressing of operators is avoided, high-quality trial manufacturing of the inner plate and the outer plate is realized, and meanwhile, the pressing efficiency is improved; on the other hand, the operator can finish the clamping fixation of the inner plate and the outer plate fast through the manual clamping mechanism, the operation is simple and convenient, the clamping stability of the inner plate and the outer plate is ensured, the problem that the pressing quality is influenced by the looseness and deviation of the inner plate and the outer plate in the machining process is avoided as much as possible, the trial-manufacture clamping and pressing efficiency is far higher than that of a pure manual pressing mode and a elegant and high hydraulic drive manual pressing mode which are used in the trial-manufacture machining, and the method is more suitable for trial-manufacture production.
Secondly, compare with current robot binding pressfitting equipment, the manual clamping mechanism and the manual positioning mechanism of this embodiment are manual clamping adjustment to trial-manufacture production design, and its low in manufacturing cost, simple structure, convenient to use has guaranteed the stability of trial-manufacture product quality and pressfitting work simultaneously. When the roller head 100 passes through the corner of the tire mold 1, the corner clamping component 2 can clamp the corner of the inner plate and the outer plate, the main body of the corner clamping component 2 can rotate around the axis which is approximately perpendicular to the corner clamping surface of the inner plate and the outer plate so as to avoid the roller head 100, and the roller head 100 can press the corner of the inner plate and the outer plate, so that the problem that the pressing quality is reduced due to the fact that the inner plate and the outer plate are separated and raised easily after the clamping of the corner of the inner plate and the outer plate is loosened in the prior art when the roller head 100 presses the corner of the inner plate and the outer plate is solved, and the pressing quality of the corner of the inner plate and the outer plate is. Therefore, the robot binding and pressing clamping equipment for trial production provided by the embodiment has the advantages of low design and manufacturing cost and capability of effectively improving the pressing quality of trial production.
In addition, in the trial hemming and pressing, after the inner and outer plates are placed on the tire mold 1, collapse deformation due to lack of support at the middle positions of the inner and outer plates is avoided. As shown in fig. 3, the middle area of the tire mold 1 is provided with a supporting block 12, and the supporting block 12 can abut against the lower surface of the outer plate, so that the quality of the pressed product is further improved, and the middle positions of the inner plate and the outer plate are prevented from collapsing and deforming.
Further, in order to ensure the precision of the stitching walking path of the roller head 100, as shown in fig. 4, a positioning calibration piece 13 is respectively disposed at four corners of the tire mold 1, and the positioning calibration piece 13 is used for positioning calibration of the robot. The roller head 100 is positioned according to the position of the positioning calibration piece 13, and the subsequent binding stitching walking track is determined, so that the working error of the roller head 100 is reduced, and the stitching quality of a trial product is ensured.
With respect to the positioning and clamping of the inner and outer panels, as shown in fig. 3-4, the present embodiment clamps the side edges of the inner and outer panels by a plurality of side clamping assemblies 3, and clamps the corners of the inner and outer panels by corner clamping assemblies 2.
As shown in fig. 4 to 5, a plurality of corner clamping assemblies 2 are rotatably disposed at corner positions of the tire mold 1 in a one-to-one correspondence. The corner clamping assembly 2 can rotate around an axis perpendicular to the clamping surface of the inner plate to avoid the roller head 100, so that the roller head 100 can complete the corner lamination of the inner plate and the outer plate in a state that the corner clamping assembly 2 clamps the corner areas of the inner plate and the outer plate, and the corner lamination quality of the corner positions of the inner plate and the outer plate is effectively improved.
Specifically, the number of the corner clamping assemblies 2 is four, and one corner clamping assembly 2 is arranged at each of four corners of the tire mold 1. The corner clamp assembly 2 includes, among other things, a mounting block 21, a rotating plate 22, a corner clamp 23, a rubber ram 24, and a vertical spindle 25. The detachable bolt of the mounting seat 21 is fixedly connected to the corner of the moulding bed 1, the mounting seat 21 is convenient to replace, and the mounting is simple. The shape of rotor plate 22 is L shape, and the one end of rotor plate 22 rotates through vertical pivot 25 and connects on mount pad 21, and vertical pivot 25 sets up along vertical direction, and rotor plate 22 can rotate around vertical pivot 25 horizontally. The corner clamping piece 23 is arranged at the other end of the rotating plate 22, a rubber pressure head 24 is arranged on the corner clamping piece 23, the rubber pressure head 24 can be pressed against the upper surface of the inner plate, the axis of the rubber pressure head 24 is approximately perpendicular to the corner clamping surfaces of the inner plate and the outer plate and is collinear with the axis of the vertical rotating shaft 25, so that in the rotating process of the corner clamping assembly 2 in the clamping state, the rubber deformation change of the rubber pressure head 24 is extremely small, the clamping state is basically unchanged, the clamping position of the rubber pressure head 24 is unchanged, the clamping is stable and reliable, and the rotating plate 22 and the corner clamping piece 23 can rotate to avoid the roller head 100.
Wherein, corner clamping piece 23 is the quick elbow of vertical type presss from both sides, and the cost that the quick elbow of vertical type pressed from both sides is 1/15 ~ 1/20 of cylinder drive pressure material piece cost about full automatic clamp equips, under the circumstances of the quality of guaranteeing to press from both sides, greatly reduced trial-manufacture input cost.
When the roller head 100 is going to pass through the corner positions of the inner plate and the outer plate, the roller head 100 can lift and separate from the outer plate, and then rotate the corresponding corner clamping assembly 2, so that the main body of the corner clamping assembly 2 is rotated to one side of the outer plate and the inner plate which is pressed by the roller head 100. Then, the roller head 100 returns to the position where the roller head 100 has just advanced again, the laminating track is repeated for 10-15mm, and the subsequent edge rolling and laminating processing is continued, so that the roller head 100 can laminate the corners of the inner plate and the outer plate under the condition that the corner clamping assembly 2 clamps the inner plate and the outer plate, and the laminating quality of the corner positions of the inner plate and the outer plate can be ensured to the maximum extent.
Or when the roller head 100 is going to pass through the corner positions of the inner plate and the outer plate, the roller head 100 is not lifted, but the main body of the corresponding corner clamping assembly 2 is horizontally rotated to a position far away from the roller head 100, so that the rotating plate 22 and the corner clamping piece 23 are avoided from the roller head 100, and the roller head 100 can be pressed through the corner positions of the inner plate and the outer plate. Then, after the roller head 100 moves through the corners of the inner plate and the outer plate, when the roller head cannot move forward continuously due to the blocking of the rotating plate 22 and the corner clamping piece 23, stopping the edge rolling and stitching of the roller head 100, loosening the corner clamping assembly 2, and rotating the corner clamping assembly 2 to the side of the inner plate and the outer plate which is already stitched by the roller head 100, so that the corner clamping assembly 2 avoids the roller head 100, and the corner clamping assembly 2 clamps the inner plate and the outer plate again; at this time, the corner clamping assembly 2 completely avoids the roller head 100, then the roller head 100 is restarted, and the subsequent edge rolling and pressing processing is continued. In the whole process, when the corner clamping assembly 2 is loosened, the roller head 100 finishes the pressing at the corner positions of the inner plate and the outer plate, and in the pressing process, the corners of the inner plate and the outer plate are always in a clamping state, so that the pressing quality at the corner positions of the inner plate and the outer plate can be ensured.
In addition, the present embodiment achieves clamping of the side edges of the inner and outer panels by the side edge clamping assembly 3. As shown in fig. 6 to 7, the number of the side clamping units 3 of the present embodiment is 10, and the side clamping units 3 are disposed at the side of the tire mold 1 at intervals. During clamping operation, the side clamping assembly 3 can press the inner plate and the outer plate on the tire mold 1. When the clamping is cancelled, the main body of the side clamping assembly 3 can also rotate to the outer side of the tire mould 1, and then the inner plate and the outer plate are loosened. When the roller head 100 needs to pass through the position of the tire mold 1, where the side clamping assembly 3 is arranged, the main body of the side clamping assembly 3 can be turned over to the outer side of the tire mold 1, so that an avoiding space for avoiding the roller head 100 can be formed, and the roller head 100 can pass through.
Specifically, the side clamping assembly 3 includes a holder 31, a flip link 32, and a side clamp 33. The fixed seat 31 is arranged on the side edge of the tire mould 1; the turnover connecting rod 32 can be rotatably connected to the fixed seat 31; the side clamping members 33 are fixedly connected to the turnover connecting rods 32, and the side clamping members 33 can be turned over through the turnover connecting rods 32 and pressed against the upper side of the inner plate so as to clamp the inner plate and the outer plate. The side clamping pieces 33 can also be turned to the outer side of the tire mould 1 through the turning connecting rods 32, so that the inner plate and the outer plate are not clamped, and the rolling head 100 is avoided.
Specifically, as shown in fig. 6 to 7, in this embodiment, one end of the fixing seat 31 is fixedly connected to the side edge of the tire mold 1 by a screw, and is convenient to disassemble and replace, a through groove is formed in the other end of the fixing seat 31, one end of the turning link 32 is rotatably connected and assembled in the through groove through the horizontal rotating shaft 34, and the other end of the turning link 32 is fixedly assembled with the side edge clamping member 33. In order to avoid that the position of the turnover connecting rod 32 is loosened to influence the side clamping piece 33 to clamp the inner plate and the outer plate after the turnover connecting rod 32 drives the side clamping piece 33 to turn over right above the tire mould 1. An overturning fixing bolt 321 is further inserted into one end of the overturning connecting rod 32 close to the horizontal rotating shaft 34, and an overturning fixing screw hole 322 is formed in the position of the fixing seat 31 corresponding to the overturning fixing bolt 321. After the turning connecting rod 32 drives the side clamping piece 33 to turn over to the position right above the tire mould 1, the turning fixing bolt 321 is connected to the turning fixing screw hole 322 through a bolt, so that the position of the turning connecting rod 32 is fixed, and the clamping stability of the side clamping piece 33 is guaranteed.
Wherein, side clamping piece 33 also is the quick elbow of rectilinear formula presss from both sides, and the cost that the quick elbow of rectilinear formula pressed from both sides is 1/15 ~ 1/20 of the cost of the cylinder drive pressure material piece in current robot binding pressfitting equipment, under the circumstances of the clamping quality of assurance, greatly reduced trial-manufacture input cost.
Further, the inner plate and the outer plate can be clamped on the tire mold 1 more firmly and reliably by the side clamping assembly 3 due to the difference of the specific shapes of the parts of the inner plate to be clamped. As shown in fig. 6, in this embodiment, the rubber pressing block 35 is disposed on the side clamping member 33, the rubber pressing block 35 can be pressed against the inner plate, and the rubber pressing block 35 can be compressed and deformed adaptively according to the shapes of the inner plates at different positions, so that the clamping is more stable, flexible and reliable.
Further, since the inner plate and the outer plate are of a plate-shaped structure, the inner plate and the outer plate are easily bent and deformed, and if the distance between the clamping positions of the side clamping assemblies 3 is too large, the individual positions of the inner plate and the outer plate are not clamped easily, so that a gap is generated between the inner plate and the outer plate and the tire mold 1, and the pressing quality of the roller head 100 on the inner plate and the outer plate is affected. In order to solve the problem, as shown in fig. 7, in this embodiment, the trial-manufacture robot binding and pressing clamping device further includes a clamping pincer 4, where the clamping pincer 4 includes a first clamping portion and a second clamping portion that are hinged to each other, the first clamping portion can abut against the molding bed 1, and the second clamping portion can abut against the upper surface of the inner plate to clamp the inner plate and the outer plate. In particular, the clamping pincers 4 are manual locking pincers. As shown in fig. 3 and 7, a reinforcing flange 11 is provided around the tire mold 1 in a horizontally extending ring at a position corresponding to the overlapped inner and outer plates, and the clamping pincers 4 can press the outer edges of the inner and outer plates against the reinforcing flange 11, that is, the reinforcing flange 11 is designed below the region of the outer edges of the tire mold 1 corresponding to the overlapped inner and outer plates, so that the clamping pincers 4 can clamp the inner and outer plates to the tire mold 1. The reinforcing flange 11 extends over a length of about 25-30mm, in this embodiment the reinforcing flange 11 extends over a length of 25 mm. The manual locking pliers can flexibly supplement and clamp all positions of the inner plate and the outer plate, so that the inner plate and the outer plate can be better pressed on the tire die 1, and the binding and pressing quality is further improved. Compared with the tire mold 1 without the reinforcing flange 11, the tire mold 1 of the embodiment can more conveniently and flexibly perform supplementary clamping on each position of the inner plate and the outer plate by the manual locking pliers.
Before the side clamping assembly 3 and the clamping pincers 4 are used for clamping the inner plate and the outer plate on the tire mould 1 together, the outer plate needs to be ensured to be placed at the correct position of the tire mould 1, and the positioning of the outer plate is realized; at the same time, the positioning of the inner plate also needs to be completed.
As shown in fig. 7-8, the outer plate positioning members 5 respectively disposed on each of the side clamping assemblies 3 of the present embodiment in a one-to-one correspondence manner achieve positioning of the outer plates. Specifically, as shown in fig. 8, in the present embodiment, the outer plate positioning element 5 is a positioning block, the positioning block is fixedly connected to the turnover link 32 through a bolt, and the outer plate positioning element 5 and the side clamping assembly 3 are integrated into a whole. After the turnover connecting rod 32 is turned to a vertical state, the outer plate positioning piece 5 can be pressed against the outer edge of the outer plate, and then the outer plate is positioned. By the design, on one hand, the side clamping assembly 3 and the outer plate positioning piece 5 are integrally designed, and the design cost is saved; on the other hand can make things convenient for operating personnel to use, when operating personnel used side clamping assembly 3 to press from both sides tight operation, planking setting element 5 can be in step directly to support and lean on the edge of planking, has realized the location to the planking, and then has improved operating personnel's work efficiency, high durability and convenient use, planking setting element 5 supports and presses the outer edge at the planking, can play and prevent to roll the position change of the in-process planking of head 100 pressfitting inner panel and planking, guarantees to fix a position the planking on preset position.
In addition, in other embodiments, a plurality of outer plate positioning assemblies may be designed separately. Wherein, planking locating component sets up on the side of child mould 1, and planking locating component can support by on being located the outer edge of the planking on child mould 1 to the location planking. Specifically, the structural design of the outer plate positioning assembly may be the same as that of the side clamping assembly 3 in this embodiment, except that the side clamping member 33 and the rubber press block 35 are not designed, the outer plate positioning member 5 in this embodiment is also designed, and the outer plate is positioned by abutting the outer plate positioning member 5 against the edge of the outer plate.
In this embodiment, the trial-manufacture is with robot binding pressfitting centre gripping equipment realizes the location to the inner panel through a plurality of inner panel locating component 6. As shown in fig. 7 and 9, the inner panel positioning assembly 6 includes a base 61, a first link 62, a second link 63, a positioning carrier plate 64, and a positioning pin 65. The base 61 is provided on the side of the tire mold 1. One end of the first link 62 is rotatably provided on the base 61, and an axis of rotation of the first link 62 is provided in a horizontal direction. The second link 63 is connected to the other end of the first link 62 perpendicularly to the first link 62. The positioning carrier plate 64 is connected to the second link 63 in a direction perpendicular to the first link 62 and the second link 63. The positioning pin 65 is disposed on the positioning carrier plate 64, and the positioning carrier plate 64 can be turned over and moved above the inner plate through the first connecting rod 62, so that the positioning pin 65 is inserted into a corresponding positioning hole formed on the inner plate to position the inner plate.
Furthermore, in order to ensure that at least two positions on the inner plate are positioned all the time in the process of edge rolling and pressing, the positions of the inner plate are ensured to be unchanged, and the positioning precision and the stability are ensured. In this embodiment, there are three inner plate positioning assemblies 6, and the three inner plate positioning assemblies 6 are respectively disposed at different side positions of the tire mold 1 at intervals. Correspondingly, three positioning holes are formed in the inner plate, and the positioning pin 65 of each inner plate positioning assembly 6 can be inserted into the corresponding positioning hole in the inner plate. Because three inner panel locating component 6 set up respectively in the different side positions of child mould 1, and then make the binding pressfitting in-process, the inner panel all has two positions at least all the time and is fixed a position by inner panel locating component 6, has guaranteed the precision and the stability of inner panel location. In other embodiments, four or more may be provided.
Specifically, as shown in fig. 7 and 9, in the present embodiment, the base 61 of the inner panel positioning unit 6 is fixedly bolted to the tire mold 1. One end of the connecting rod 62 is rotatably connected to the base 61, the axis of rotation of the first connecting rod 62 is arranged along the horizontal direction, the other end of the connecting rod 62 is connected with a second connecting rod 63 through a bolt, the second connecting rod 63 is perpendicular to the first connecting rod 62, and the positioning carrier plate 64 is connected to the second connecting rod 63 through a bolt in the direction perpendicular to the first connecting rod 62 and the second connecting rod 63. The positioning carrier 64 is vertically provided with a through hole, and the positioning pin 65 is inserted into the through hole. In addition, still overlap in the through-hole and be equipped with bush 641, bush 641 is used for preventing the wearing and tearing that the plug brought repeatedly. The first connecting rod 62 can drive the second connecting rod 63 and the positioning carrier plate 64 to turn over to the position right above the inner plate, so that the positioning pin 65 can be inserted into the positioning hole of the inner plate, and the inner plate is positioned. The first connecting rod 62 can also drive the second connecting rod 63 and the positioning carrier plate 64 to turn over to the outer side of the inner plate, so that the second connecting rod 63 and the positioning carrier plate 64 are far away from the inner plate, and further avoid the roller head 100, and the roller head 100 passes through the position of the inner plate positioning assembly 6.
Further, since the positioning pins 65 in this embodiment are inserted into the positioning carrier plate 64, in order to prevent the positioning carrier plate 64 from being turned over to the outside of the tire mold 1, the positioning pins 65 slide off the positioning carrier plate 64. As shown in fig. 9, a limit screw 69 is further inserted into the positioning carrier plate 64 of this embodiment, the limit screw 69 is located at one side close to the positioning pin 65, a positioning protrusion 651 is convexly arranged in the circumferential direction of the positioning pin 65, the head of the limit screw 69 is located above the positioning protrusion 651, the head of the limit screw 69 can limit the positioning pin 65, and the limit positioning pin 65 is prevented from sliding off the positioning carrier plate 64.
Meanwhile, in order to facilitate manual pushing and pulling of the positioning pin 65, the positioning pin 65 is inserted into or pulled out of the positioning hole in the inner plate. As shown in fig. 9, a hand push pin 68 is inserted into the upper end of the positioning pin 65 along the radial direction thereof, and both ends of the hand push pin 68 extend out of the positioning pin 65 to facilitate the manual pushing and pulling of the positioning pin 65 by an operator.
Furthermore, in order to position the inner plate positioning assembly 6, the position of the positioning pin 65 can be properly adjusted in the horizontal plane to be correspondingly inserted into the positioning hole on the inner plate, so as to meet the positioning requirement. As shown in fig. 9, the inner panel positioning assembly 6 further includes a first spacer 66 and a second spacer 67. The first gasket 66 is clamped between the first connecting rod 62 and the second connecting rod 63, and the first gasket 66 is used for adjusting the extension length of the second connecting rod 63; the second spacer 67 is interposed between the second link 63 and the positioning carrier plate 64, and the second spacer 67 is used for adjusting the extension length of the positioning carrier plate 64 along a direction perpendicular to the second link 63. Wherein, first gasket 66 and second gasket 67 are all rigid gaskets. The first connecting rod 62 and the second connecting rod 63 are connected by bolts, and the second connecting rod 63 and the positioning carrier plate 64 are also connected by bolts.
During actual adjustment, the first spacers 66 with different thicknesses are adjusted and replaced to adjust the extension length of the second connecting rod 63 in the extension direction of the rod body, and the second spacers 67 with different thicknesses are adjusted and replaced to adjust the extension length of the positioning carrier plate 64 in the direction perpendicular to the second connecting rod 63. Finally, the position of the positioning pin 65 is properly adjusted in the horizontal plane so as to achieve the purpose of correspondingly inserting into the positioning hole corresponding to the inner plate.
As shown in fig. 10, in the actual trial-manufacture pressing process, the roller head 100 in this embodiment sequentially rolls and presses the inner plate and the outer plate clockwise-counterclockwise-clockwise along the rolling and pressing walking route for three times, so as to perform the pressing process on the inner plate and the outer plate. In addition, different pressing processes can be correspondingly designed according to different pressing requirements of the inner plate and the outer plate, so that the pressing of the inner plate and the outer plate can be better met.
In order to understand the trial-manufacture robot trimming, pressing and clamping device provided by the embodiment more clearly, the specific trimming, pressing and matching use process is as follows:
1) and opening all the corner clamping assemblies 2, the side edge clamping assemblies 3 and the inner plate positioning assembly 6, putting the outer plate on the tire mould 1, and sleeving the inner plate in the outer plate.
2) The overturning connecting rod 32 of the overturning side clamping assembly 3 is abutted against the outer edge of the outer plate through an outer plate positioning piece 5 arranged on the overturning connecting rod 32, so that the outer plate is positioned;
3) correspondingly inserting the positioning pin 65 of each inner plate positioning assembly 6 into the positioning hole of the inner plate to complete the positioning of the inner plate;
4) the inner plate and the outer plate are clamped through the corner clamping assemblies 2 and the side clamping assemblies 3, so that the inner plate and the outer plate are positioned and clamped.
5) The roller head 100 performs press-fitting processing on the inner plate and the outer plate along a set edge-rolling press-fitting walking line;
when the roller head 100 passes through the side clamping assembly 3, the roller head 100 stops pressing, and the side clamping assembly 3 is loosened, so that the side clamping assembly 3 avoids the roller head 100; restarting the roller head 100 to enable the roller head 100 to pass through the clamping position of the side clamping assembly 3, and then re-clamping the side clamping assembly 3;
when the roller head 100 needs to be pressed and pressed to pass through the corner position of the tire mould 1, the corner clamping assembly 2 is horizontally rotated and rotated to the side, far away from the roller head 100, of the corner of the tire mould 1 along the advancing route direction of the roller head 100 to avoid the roller head 100, and the edge rolling and pressing are continued, so that the roller head 100 finishes the pressing and pressing of the corners of the inner plate and the outer plate; stopping the edge rolling and stitching of the roller head 100 until the roller head 100 moves to a position close to the corner clamping assembly 2 and cannot move forward continuously, loosening the corner clamping assembly 2, rotating the main body of the corner clamping assembly 2 to one side of the corner of the inner plate and the outer plate which is stitched by the roller head 100, enabling the corner clamping assembly 2 to clamp the corner of the inner plate and the outer plate again, and enabling the corner clamping assembly 2 to complete avoiding of the roller head 100; the roller head 100 is restarted, and subsequent pressing processing is continued;
or when the roller head 100 needs to be pressed and passes through the corner position of the moulding bed 1, stopping the edge rolling and pressing of the roller head 100, lifting the roller head 100 to separate the roller head from the inner plate and the outer plate, and then horizontally rotating the corresponding corner clamping component 2 to the side of the corner of the moulding bed 1, which is already pressed and pressed, along the direction departing from the advancing route of the roller head 100, so that the corner clamping component 2 avoids the roller head 100; then, the roller head 100 returns to the position where the roller head 100 has just advanced again, the laminating track is repeated by 10-15mm to ensure the laminating quality, and the subsequent edge rolling lamination is continued, so that the edge rolling lamination of the corner positions of the inner plate and the outer plate can be completed under the condition that the corner positions of the inner plate and the outer plate are pressed by the corner clamping assembly 2.
6) And (5) repeating the step to enable the roller head 100 to surround the inner plate and the outer plate along the edge rolling and pressing walking route to finish pressing and processing.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. The utility model provides a trial-manufacture is with robot border pressfitting centre gripping equipment for when the roller head (100) pressfitting inner panel and planking of robot, the tight inner panel of positioning clamp and planking, its characterized in that includes:
the outer plate is placed on the moulding bed (1), and the inner plate is stacked on the outer plate;
the manual positioning mechanism is used for positioning the inner plate and the outer plate;
the manual clamping mechanism comprises corner clamping assemblies (2), wherein one corner clamping assembly (2) is rotatably arranged at the corner of each tire mold (1);
when the roller head (100) passes through the corner of the tire mould (1), the corner clamping assembly (2) can clamp the corner of the inner plate and the outer plate, the main body of the corner clamping assembly (2) can rotate around an axis approximately perpendicular to the corner clamping surfaces of the inner plate and the outer plate to avoid the roller head (100), and the roller head (100) can press the corner of the inner plate and the outer plate.
2. Trial robotic edging press-fit clamping device according to claim 1, wherein the corner clamping assembly (2) comprises:
the mounting seat (21) is detachably arranged at the corner of the moulding bed (1);
a rotating plate (22) which is rotatably connected with the mounting seat (21) through a vertical rotating shaft (25);
and the corner clamping piece (23) is arranged on the rotating plate (22), the corner clamping piece (23) can be pressed against the upper surface of the inner plate to clamp the inner plate and the outer plate, and the corner clamping piece (23) can also rotate around the axis of the vertical rotating shaft (25) along with the rotating plate (22) to avoid the rolling head (100).
3. Trial robotic binding and press-fit gripping apparatus according to claim 2, characterised in that the corner clamp member (23) is a vertical quick toggle clamp.
4. A trial robotic binding and pressing fixture as claimed in claim 1, wherein the manual clamping mechanism further comprises:
the side clamping assembly (3) is arranged at the side of the tire mould (1), and the side clamping assembly (3) can clamp the sides of the inner plate and the outer plate on the tire mould (1).
5. A trial robotic binding and pressing clamp device according to claim 4, wherein the side clamping assembly (3) comprises:
the fixing seat (31) is arranged on the side edge of the tire mold (1);
the overturning connecting rod (32) is rotatably connected with the fixed seat (31) through a horizontal rotating shaft (34);
and the side clamping pieces (33) are arranged on the turnover connecting rods (32), the side clamping pieces (33) can be turned over through the turnover connecting rods (32) and pressed above the inner plate to clamp the inner plate and the outer plate, and the side clamping pieces (33) can also be turned over through the turnover connecting rods (32) and move on the outer side of the tire mold (1) to cancel clamping.
6. A trial robotic binding and pressing fixture as claimed in claim 5, wherein the manual positioning mechanism comprises:
and the outer plate positioning piece (5) is arranged on the turnover connecting rod (32), and the outer plate positioning piece (5) can turn over through the turnover connecting rod (32) and is abutted against the outer edge of the outer plate so as to position the outer plate.
7. A trial robotic binding and pressing fixture as claimed in claim 1, wherein the manual positioning mechanism comprises:
the outer plate positioning assembly is arranged on the side edge of the tire mould (1) and can be abutted against the outer edge of the outer plate so as to position the outer plate;
and the inner plate positioning assembly (6) is arranged on the side edge of the tire mould (1), and the inner plate positioning assembly (6) is used for positioning the inner plate.
8. The trial-manufacturing robotic hemming press-fit clamping device according to claim 7 wherein the inner panel positioning assembly (6) comprises:
the base (61) is arranged on the side edge of the tire mold (1);
a first link (62) having one end rotatably provided on the base (61), and an axis of rotation of the first link (62) being provided in a horizontal direction;
a second link (63) connected to the other end of the first link (62) perpendicular to the first link (62);
a positioning carrier plate (64) connected to the second connecting rod (63) in a direction perpendicular to the first connecting rod (62) and the second connecting rod (63);
and the positioning pin (65) is arranged on the positioning carrier plate (64), and the positioning carrier plate (64) can turn over and move above the inner plate through the first connecting rod (62), so that the positioning pin (65) is inserted into a corresponding positioning hole formed in the inner plate to position the inner plate.
9. The trial-manufacture robot binding, pressing and clamping device according to claim 7, wherein there are three inner plate positioning assemblies (6), and the three inner plate positioning assemblies (6) are respectively arranged at different side positions of the forming die (1) at intervals, so that when the roller head (100) binds the inner plate and the outer plate, at least two inner plate positioning assemblies (6) position the inner plate on the outer plate.
10. A trial robotic binding and pressing fixture as claimed in claim 1, wherein the manual clamping mechanism further comprises:
the clamping pliers (4) comprise a first clamping portion and a second clamping portion which are connected in a hinged mode, a reinforcing flange (11) is arranged on the periphery of the tire mold (1) in an extending ring mode along the horizontal direction, the first clamping portion can abut against the bottom of the reinforcing flange (11), and the second clamping portion can abut against the upper surface of the inner plate to clamp the inner plate and the outer plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082703.2A CN110814187B (en) | 2019-11-07 | 2019-11-07 | Trial-manufacturing is with robot border pressfitting centre gripping equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911082703.2A CN110814187B (en) | 2019-11-07 | 2019-11-07 | Trial-manufacturing is with robot border pressfitting centre gripping equipment |
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| CN110814187A CN110814187A (en) | 2020-02-21 |
| CN110814187B true CN110814187B (en) | 2021-01-01 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2579530B2 (en) * | 1988-06-24 | 1997-02-05 | マツダ株式会社 | Hemming molding method |
| JPH06297046A (en) * | 1993-04-16 | 1994-10-25 | Torai Eng Kk | Method and device for hemming |
| CN101804430B (en) * | 2010-03-17 | 2012-04-25 | 安徽巨一自动化装备有限公司 | Special clamping mechanism for robot binding system |
| KR20120000454A (en) * | 2010-06-25 | 2012-01-02 | 현대자동차주식회사 | Robot roller hemming apparatus |
| KR101272938B1 (en) * | 2011-10-13 | 2013-06-11 | 기아자동차주식회사 | Panel roller hemming system for vehicle |
| CN204262216U (en) * | 2014-12-01 | 2015-04-15 | 爱孚迪(上海)制造系统工程有限公司 | A kind of new application is in the hold down gag of body in white rolling |
| CN105921628B (en) * | 2016-06-20 | 2017-12-12 | 广州瑞松北斗汽车装备有限公司 | A kind of fetal membrane device of intelligent robot rolling pressing edge covering system |
| CN109013932B (en) * | 2018-08-09 | 2020-05-05 | 合肥巨一智能装备有限公司 | Positioner of child mould tongs on child mould anchor clamps |
| CN209303568U (en) * | 2018-12-27 | 2019-08-27 | 安徽双骏智能科技有限公司 | A kind of rolling fixture with turnover mechanism |
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