CN113800271A - Automatic material distribution equipment for seamless stacking parts - Google Patents
Automatic material distribution equipment for seamless stacking parts Download PDFInfo
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- CN113800271A CN113800271A CN202111131986.2A CN202111131986A CN113800271A CN 113800271 A CN113800271 A CN 113800271A CN 202111131986 A CN202111131986 A CN 202111131986A CN 113800271 A CN113800271 A CN 113800271A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0294—Vehicle bodies
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention provides automatic material distribution equipment for seamless stacking parts, which comprises a body stacking and feeding unit, a reinforcement stacking and feeding unit, a first operating robot, a second operating robot and a clamping rotary table, wherein the body stacking and feeding unit is provided with a plurality of reinforcing part stacking and feeding units; a first operating robot is arranged at one end, far away from the feeding end, of the body stacking and feeding unit, and a second operating robot is arranged at one end, far away from the feeding end, of the reinforcement stacking and feeding unit; a clamping rotary table is arranged on one side, away from the discharging end of the body stacking and feeding unit, of the first working robot; the body stacking and feeding unit is used for horizontally conveying the stacked bodies and separating the stacked bodies one by one; the reinforcing piece stacking and feeding unit is used for horizontally conveying the reinforcing pieces which are arranged in pairs in a stacking state and separating the reinforcing pieces one by one; the second operation robot and the first operation robot are used for respectively transporting the separated reinforcing parts and the separated body to the clamping rotary table.
Description
Technical Field
The invention relates to the technical field of automobile body assembly machining equipment, in particular to automatic material distribution equipment for seamless stacking parts.
Background
In the assembly process of the automobile body, a body channel assembly is used, and as shown in fig. 1, the body channel assembly comprises a body and two reinforcing members, and the two reinforcing members are fixedly arranged at the edge positions of the protruding parts of the reinforcing members. In order to facilitate the installation of the vehicle body channel assembly, a stud is usually required to be arranged on the body, and the two reinforcing parts are welded with the body.
In summary, it is necessary to develop an automatic feeding device capable of feeding parts of a vehicle body channel assembly in batches, and reducing labor intensity, so as to ensure continuity in batch production of the vehicle body channel assembly.
Disclosure of Invention
In view of this, the invention provides an automatic material distribution device which has the functions of batch feeding and component combination and is convenient for subsequent welding operation.
The technical scheme of the invention is realized as follows: the invention provides automatic material distribution equipment for seamless stacking parts, which comprises a body stacking and feeding unit (1), a reinforcement stacking and feeding unit (2), a first operating robot (3), a second operating robot (4) and a clamping rotary table (5);
a first operating robot (3) is arranged at one end, far away from the feeding end, of the body stacking and feeding unit (1), and a second operating robot (4) is arranged at one end, far away from the feeding end, of the reinforcement stacking and feeding unit (2); a clamping rotary table (5) is arranged on one side, away from the discharging end of the body stacking and feeding unit (1), of the first operating robot (3);
the body stacking and feeding unit (1) is used for horizontally conveying the stacked bodies and separately placing one body on the top of the body stack;
the reinforcing member stacking and feeding unit (2) is used for horizontally conveying the reinforcing members which are arranged in pairs in a stacking state and separately placing the pair of reinforcing members on the top of the reinforcing members in the stacking state;
the second operation robot (4) is used for transporting the pair of separately placed reinforcing pieces to the clamping rotary table (5); the first working robot (3) is used for conveying one body which is separately arranged at the uppermost part of the body stack to the clamping rotary table (5); the first clamping rotary table (5) clamps the pair of placed reinforcing members and the body in a combined state.
On the basis of the technical scheme, preferably, the body stacking and feeding unit (1) comprises a first base (11), two first linear conveying mechanisms (12), two first fixed brackets (13), a body separating mechanism (14) and a body fine positioning bracket (15); the first base (11) is fixedly arranged on the ground, one end, far away from the ground, of the first base (11) is a body feeding end, and the top of the other end, in the horizontal extending direction, of the first base (11) is a body discharging end; the surface of one end, far away from the ground, of the first base (11) is fixedly provided with two first linear conveying mechanisms (12) and a body separating mechanism (14), the two first linear conveying mechanisms (12) are respectively arranged along the horizontal extending direction of the first base (11) and are arranged at intervals, the movable ends of the two first linear conveying mechanisms (12) are respectively provided with a first fixing bracket (13), the first fixing brackets (13) are abutted against the edge of the body or the end face, close to the ground, of the body, each first fixing bracket (13) is respectively used for vertically stacking the body, and the first linear conveying mechanisms (12) convey the stacked body from the feeding end of the body to the discharging end of the body horizontally; a main body fine positioning bracket (15) is arranged at the position of the main body discharging end of the first base (11); the body separating mechanism (14) is arranged above the two first linear conveying mechanisms (12) in a striding mode and is close to the direction of the discharge end of the body, and the body separating mechanism (14) grabs and clamps a body on the top of the stack on the first fixing bracket (13) at the discharge end of the body and is placed in the body fine positioning bracket (15).
Preferably, the first fixing bracket (13) and the body fine positioning bracket (15) both comprise a plurality of first guide rods (150) and a plurality of first fine positioning blocks (151) which are vertically arranged at intervals, each first guide rod (150) is respectively abutted against the edges of different positions of the body to prevent the body from being inclined or reversed, each first fine positioning block (151) is arranged at the movable end of the first linear conveying mechanism (12) or on the surface of the first base (11) far away from the ground, and the end surface of each first fine positioning block (151) far away from the ground is respectively abutted against different positions of the surface of the body close to the ground; the lengths of the first fine positioning block (151) of the first fixing bracket (13) and the first fine positioning block (151) of the body fine positioning bracket (15) in the vertical direction are different.
Preferably, the reinforcing part stacking and feeding unit (2) comprises a second base (21), two second linear conveying mechanisms (22), two second fixing brackets (23), a reinforcing part separating mechanism (24) and a reinforcing part fine positioning bracket (25); the second base (21) is fixedly arranged on the ground, one end, far away from the ground, of the second base (21) is a reinforcing piece feeding end, and the top of the other end, in the horizontal extending direction, of the second base (21) is a reinforcing piece discharging end; two second linear conveying mechanisms (22) and a reinforcement separating mechanism (24) are fixedly arranged on the surface of one end, far away from the ground, of the second base (21), the two second linear conveying mechanisms (22) are respectively arranged along the horizontal extending direction of the second base (21) and are arranged at intervals, second fixing brackets (23) are respectively arranged on the movable ends of the two second linear conveying mechanisms (22), the second fixing brackets (23) vertically extend upwards and are respectively abutted against the edges of the two symmetrically arranged reinforcements or the end faces, close to the ground, of the two reinforcements placed in a stacked mode, and the two reinforcements are oppositely arranged on the same second fixing bracket (23) at intervals; the two second linear conveying mechanisms (22) respectively and independently convey the two reinforcing pieces which are arranged in a stacked mode from the reinforcing piece feeding end to the reinforcing piece discharging end; a reinforcing piece fine positioning bracket (25) is also arranged at the reinforcing piece discharging end position of the second base (21); the reinforcement separating mechanism (24) is arranged above the two second linear conveying mechanisms (22) in a spanning mode and is close to the discharge end of the reinforcement; the reinforcement separating mechanism (24) grabs a pair of reinforcements at the top of the movable end stack of the second linear conveying mechanism (22) at the reinforcement discharging end and places the reinforcements in a reinforcement fine positioning bracket (25) at the reinforcement discharging end of the second base (21).
Preferably, the second fixing bracket (23) and the reinforcement fine positioning bracket (25) both comprise a plurality of second guide rods (250) and a plurality of second fine positioning blocks (251) which are vertically arranged at intervals, each second guide rod (250) is abutted to the edge of the reinforcement at different positions respectively to prevent the reinforcement from being placed on a bias or reversed side, each second fine positioning block (251) is arranged at the plate-shaped movable end or on the surface of the second base (21) far away from the ground, and the end surface of each second fine positioning block (251) far away from the ground is abutted to different positions of the surface of the reinforcement near the ground respectively; the second fine positioning block (251) of the second fixing bracket (23) and the second fine positioning block (251) of the reinforcement fine positioning bracket (25) are different in vertical length.
Further preferably, the first linear conveying mechanism (12) and the second linear conveying mechanism (22) both comprise a driving part and two guide rails, the driving part is arranged along the extending direction of the first base (11) or the second base (21), and the guide rails are arranged on the side surface of the driving part at intervals and are also arranged along the extending direction of the first base (11) or the second base (21); the driving part is provided with a movable end, the movable end is arranged above the driving part in a spanning mode and is respectively connected with the two guide rails in a sliding mode, and the movable end is plate-shaped and is arranged in parallel with the first base (11) or the second base (21); a first fixed bracket (13) or a second fixed bracket (23) is arranged on the end surface of the plate-shaped movable end far away from the ground.
Preferably, the body separating mechanism (14) and the reinforcement separating mechanism (24) both comprise a horizontal sliding portion (100) and a vertical grabbing portion, the horizontal sliding portion (100) is arranged above the first linear conveying mechanism (12) or the second linear conveying mechanism (22), and the moving direction of the horizontal sliding portion (100) is intersected with the horizontal moving direction of the first linear conveying mechanism (12) or the second linear conveying mechanism (22); a vertical grabbing part (200) is fixedly arranged on the horizontal sliding part (100), the movable end of the vertical grabbing part (200) moves along the vertical direction, the vertical grabbing part (200) comprises a limiting component (201), a grabbing component (202) and a grabbing limiting block (203), and the grabbing component (202) abuts against and grasps the body or the end faces, far away from the ground, of the reinforcing parts arranged in pairs; the limiting assembly (201) and the grabbing limiting block (203) vertically extend downwards towards the ground direction, and the longitudinal extension length of the limiting assembly (201) is greater than that of the grabbing limiting block (203); spacing subassembly (201) and first guide bar (150) or second guide bar (250) crisscross setting for the gesture is stable when snatching the reinforcement in body in first fixed bolster (13) or second fixed bolster (23), snatchs stopper (203) and is used for holding the terminal surface that body or a pair of reinforcement keep away from ground, and the terminal surface that the subassembly (202) that snatchs that is in the shrink state is close to ground offsets with the different positions on the same surface of body or a pair of reinforcement respectively with the terminal surface that snatchs stopper (203) is close to ground.
Further preferably, the driving parts of the first linear conveying mechanism (12) and the second linear conveying mechanism (22), and the horizontal sliding parts (100) of the body separating mechanism (14) and the reinforcement separating mechanism (24) are rodless cylinder mechanisms; the grabbing component (202) is a retractable magnetic sucker or a negative sucker.
On the basis of the above technical solution, preferably, the clamping turntable (5) includes a third base (51), a rotating mechanism (52), a partition (53) and two first clamping mechanisms (54); one end of the third base (51) is fixedly arranged on the ground, one end of the third base (51) far away from the ground is provided with a first rotating mechanism (52), the first rotating mechanism (52) can horizontally rotate relative to the third base (51), two first clamping mechanisms (54) are arranged on a rotating part of the first rotating mechanism (52) in a central symmetry manner, the two first clamping mechanisms (54) are arranged at intervals, and a partition plate (53) is arranged on the rotating part of the first rotating mechanism (52) between the two first clamping mechanisms (54); the end face of the protruding part of the body is provided with two first through holes and two second through holes at intervals, and the two first through holes are respectively positioned at two ends of the protruding part of the body in the extending direction; the second through hole is positioned between the two first through holes; the reinforcing piece is provided with a third through hole which penetrates through the reinforcing piece; the first clamping mechanism (54) comprises a plurality of first lifting parts (541), a first rotary pressing part (542), a second pressing part (543) and a third pressing part (544); the first lifting part (541), the second pressing part (543) and the third pressing part (544) are all fixedly arranged on the rotating part of the first rotating mechanism (52); each first lifting part (541) is arranged at intervals along the length extending direction of the body or the reinforcing part, the first lifting parts (541) respectively abut against two symmetrically arranged reinforcing parts and the end face of the body close to the ground and extend into one first through hole at one end of the extending direction of the protruding part, and the first lifting parts (541) also penetrate through the third through holes to abut against the surface of the protruding part of the body arranged above the two reinforcing parts; the first rotating pressing part (542) can rotate relative to the first lifting part (541) and press the surface of the protruding part of the body away from the ground; the movable end of the second pressing part (543) moves towards the direction close to the ground and extends into the other first through hole of the body, and the movable end of the third pressing part (544) abuts against the surface of the body near the first through hole towards the direction far away from the ground.
Compared with the prior art, the automatic material distribution equipment for the seamless stacking parts provided by the invention has the following beneficial effects that:
(1) according to the scheme, the bodies or the reinforcing parts are manually stacked to carry out batch feeding, the bodies at the top of the stack and the pair of reinforcing parts are grabbed, then the bodies and the pair of reinforcing parts are transported to the clamping rotary table by different operation robots, and the clamping rotary table assists in carrying out subsequent processing; the stacking feeding mode is adopted, so that the labor intensity can be greatly relieved, the requirement of continuous production can be met only by manually feeding materials at one time, and manual continuous feeding is not needed;
(2) the structure of the body stacking feeding unit is basically similar to that of the reinforcement stacking feeding unit, the first linear conveying mechanism and the second linear conveying mechanism are respectively provided with two groups, and when one group is positioned at the position of the discharging end, the other group can return to the feeding end to be stacked and fed manually; the body and the pair of reinforcing pieces are automatically grabbed by the operation robot in the direction of the discharging end at one time to form a single-piece flow distribution effect;
(3) the reliable centre gripping body and a pair of reinforcement of centre gripping revolving stage make its location and hug closely together, play the pre-positioning function of follow-up welding.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a perspective view of the body of the vehicle body tunnel assembly in combination with a pair of reinforcing members;
FIG. 2 is a top view of an automatic material distribution device for seamless stacking of parts according to the present invention;
FIG. 3 is a perspective view of a body palletizing feed unit of the automatic material distributing equipment for seamless palletizing parts according to the present invention;
FIG. 4 is a perspective view of a reinforcement stacking and feeding unit of the automatic material distribution equipment for seamless stacking of parts according to the present invention;
FIG. 5 is a perspective view of the reinforcement stacking and feeding unit of the automatic material distribution equipment for seamless stacking parts according to the present invention in an exploded state;
FIG. 6 is an exploded right side view of a reinforcement stack feed unit of an automatic feed apparatus for seamlessly palletizing parts according to the present invention;
FIG. 7 is a perspective view of a clamping turntable of an automatic material distribution device for seamless stacking of parts according to the present invention;
FIG. 8 is a perspective view of a first clamping mechanism of an automatic feed mechanism for seamless stacking of parts of the present invention;
fig. 9 is a perspective view of another posture of the first clamping mechanism of the automatic material distributing device for seamless stacking of parts of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 2, the automatic material distribution equipment for seamless stacking of parts is shown in the figure, and comprises a body stacking feeding unit 1, a reinforcement stacking feeding unit 2, a first operating robot 3, a second operating robot 4 and a clamping rotary table 5;
a first operating robot 3 is arranged at one end, far away from the feeding end, of the body stacking and feeding unit 1, and a second operating robot 4 is arranged at one end, far away from the feeding end, of the reinforcement stacking and feeding unit 2; a clamping rotary table 5 is arranged on one side, away from the discharging end of the body stacking and feeding unit 1, of the first working robot 3;
the body stacking and feeding unit 1 is used for horizontally conveying the stacked bodies and separately placing one body on the top of the body stack;
the reinforcing member stacking and feeding unit 2 is used for horizontally conveying the reinforcing members which are arranged in pairs in a stacking state and separately placing a pair of reinforcing members on the top of the reinforcing members in the stacking state;
subsequently, a second working robot 4 is used to transport the pair of reinforcing members, which are separately placed, to the clamping turret 5; the first working robot 3 is used for transporting a body which is separately arranged at the top of the body stack to the clamping rotary table 5; the first holding turntable 5 holds the pair of reinforcing members and the body in a combined state.
When the present invention is in operation, the body and the pair of reinforcements that make up the vehicle body tunnel assembly require assembly and welding operations. The body and a pair of reinforcement are sheet metal parts, and the volume is great moreover, and it is very low to adopt the manual work to make up pay-off efficiency. Therefore, the body stacking feeding unit 1 and the reinforcement stacking feeding unit 2 are adopted to feed a large amount of materials at one time and separate the materials at one time.
As shown in fig. 2-6, a body palletizing feed unit 1 is shown in one configuration. The body stacking and feeding unit 1 comprises a first base 11, two first linear conveying mechanisms 12, two first fixing brackets 13, a body separating mechanism 14 and a body fine positioning bracket 15; the first base 11 is fixedly arranged on the ground, and one end of the first base 11, which is far away from the ground, is a feeding end of the body, namely one end of a short side in fig. 2; the top of the other end of the first base 11 in the horizontal extension direction is a discharge end of the body, namely one end of the long side in fig. 2; the surface of one end, far away from the ground, of the first base 11 is fixedly provided with two first linear conveying mechanisms 12 and a body separating mechanism 14, the two first linear conveying mechanisms 12 are respectively arranged along the horizontal extending direction of the first base 11 and are arranged at intervals, the movable ends of the two first linear conveying mechanisms 12 are respectively provided with a first fixing bracket 13, the first fixing brackets 13 are abutted against the edge of the body or the end surface, close to the ground, of the body, each first fixing bracket 13 is respectively used for vertically stacking the body, and the first linear conveying mechanisms 12 convey the stacked body from the feeding end of the body to the discharging end of the body horizontally; a main body fine positioning bracket 15 is arranged at the position of the main body discharging end of the first base 11; the body separating mechanism 14 is arranged above the two first linear conveying mechanisms 12 in a striding mode and is close to the direction of the discharging end of the body, the body separating mechanism 14 grabs and clamps a body on the top of the stack on the first fixing bracket 13 at the discharging end of the body, and the body separating mechanism is placed in the body fine positioning bracket 15.
The first fixing bracket 13 and the body fine positioning bracket 15 both comprise a plurality of first guide rods 150 and a plurality of first fine positioning blocks 151 which are vertically arranged at intervals, each first guide rod 150 is abutted to the edge of different positions of the body respectively to prevent the body from being inclined or reversed, each first fine positioning block 151 is arranged at the movable end of the first linear conveying mechanism 12 or on the surface of the first base 11 far away from the ground, and the end surface of each first fine positioning block 151 far away from the ground is abutted to different positions of the surface of the body close to the ground; the first fine positioning block 151 of the first fixing bracket 13 and the first fine positioning block 151 of the body fine positioning bracket 15 have different lengths in the vertical direction. The first mounting bracket 13 is used for vertically stacking a plurality of bodies. The first fine positioning blocks 151 support the surface of the body, and each first guide bar 150 keeps each body in a stacking direction vertically upward.
As shown in fig. 3 to 6, the reinforcing member stacking and feeding unit 2 includes a second base 21, two second linear conveying mechanisms 22, two second fixing brackets 23, a reinforcing member separating mechanism 24, and a reinforcing member fine positioning bracket 25; the second base 21 is fixedly arranged on the ground, one end, far away from the ground, of the second base 21 is a reinforcing piece feeding end, and the top of the other end, in the horizontal extending direction, of the second base 21 is a reinforcing piece discharging end; two second linear conveying mechanisms 22 and a reinforcement separating mechanism 24 are fixedly arranged on the surface of one end, far away from the ground, of the second base 21, the two second linear conveying mechanisms 22 are respectively arranged along the horizontal extending direction of the second base 21 and are arranged at intervals, second fixing brackets 23 are respectively arranged on the movable ends of the two second linear conveying mechanisms 22, the second fixing brackets 23 vertically extend upwards and are respectively abutted against the edges of the two symmetrically arranged reinforcements or the end faces, close to the ground, of the two reinforcements placed in a stacked mode, and the two reinforcements are oppositely arranged on the same second fixing bracket 23 at intervals; the two second linear conveying mechanisms 22 respectively and independently convey the two reinforcing parts which are arranged in a stacked mode from the reinforcing part feeding end to the reinforcing part discharging end; a reinforcing part fine positioning bracket 25 is also arranged at the reinforcing part discharging end position of the second base 21; the reinforcement separating mechanism 24 is arranged above the two second linear conveying mechanisms 22 in a spanning mode and close to the reinforcement discharging end; the reinforcement separating mechanism 24 grabs a pair of reinforcements on top of the active end stack of the second linear transport mechanism 22 at the reinforcement discharge end and places them in the reinforcement fine positioning bracket 25 at the reinforcement discharge end of the second chassis 21. The function of the reinforcing part stacking and feeding unit 2 is similar to that of the body stacking and feeding unit 1, the stacked workpieces are moved horizontally integrally, the workpieces at the top of the stack are separated and placed at a single time, and the workpieces are convenient to pick up by a working robot.
The second fixing bracket 23 and the reinforcement fine positioning bracket 25 both include a plurality of second guide rods 250 and a plurality of second fine positioning blocks 251 which are vertically arranged at intervals, each second guide rod 250 abuts against the edge of the reinforcement at different positions respectively to prevent the reinforcement from being inclined or reversed, each second fine positioning block 251 is arranged at the plate-shaped movable end or on the surface of the second base 21 far away from the ground, and the end surface of each second fine positioning block 251 far away from the ground abuts against different positions of the surface of the reinforcement near the ground respectively; the second fine positioning block 251 of the second fixing bracket 23 and the second fine positioning block 251 of the reinforcement fine positioning bracket 25 have different vertical lengths. The second fixing bracket 23 is used for vertically stacking several reinforcing members. The second fine positioning block 251 holds up the surface of the reinforcing members, and the second guide bars 250 keep the stacking direction of the reinforcing members vertically upward. As can be seen, the second fixing bracket 23 and the second guide rod 250 of the stiffener fine positioning bracket 25 have the same length, and in order to reduce the vertical movement distance of the working robot, the height of the second fine positioning block 251 of the second fixing bracket 23 is smaller than the height of the second fine positioning block 251 of the stiffener fine positioning bracket 25. The first fixing bracket 13 and the first fine positioning block 151 on the main body fine positioning bracket 15 are also arranged similarly.
As can also be seen from fig. 2 to 6, each of the first linear conveying mechanism 12 and the second linear conveying mechanism 22 includes a driving portion and two guide rails, the driving portion is disposed along the extending direction of the first base 11 or the second base 21, and the guide rails are disposed at intervals on the side of the driving portion and also along the extending direction of the first base 11 or the second base 21; the driving part is provided with a movable end, the movable end is arranged above the driving part in a spanning mode and is respectively connected with the two guide rails in a sliding mode, and the movable end is plate-shaped and is arranged in parallel with the first base 11 or the second base 21; a first fixed bracket 13 or a second fixed bracket 23 is provided on an end surface of the plate-like movable end remote from the ground.
The body separating mechanism 14 and the reinforcement separating mechanism 24 both include a horizontal sliding portion 100 and a vertical grabbing portion, the horizontal sliding portion 100 is disposed above the first linear conveying mechanism 12 or the second linear conveying mechanism 22, and the moving direction of the horizontal sliding portion 100 intersects with the horizontal moving direction of the first linear conveying mechanism 12 or the second linear conveying mechanism 22; a vertical grabbing part 200 is fixedly arranged on the horizontal sliding part 100, the movable end of the vertical grabbing part 200 moves along the vertical direction, the vertical grabbing part 200 comprises a limiting component 201, a grabbing component 202 and a grabbing limiting block 203, and the grabbing component 202 abuts against and tightly grabs the end face of the body or the reinforcing parts arranged in pairs far away from the ground; the limiting assembly 201 and the grabbing limiting block 203 vertically extend downwards towards the ground, and the longitudinal extension length of the limiting assembly 201 is greater than that of the grabbing limiting block 203; the limiting component 201 and the first guide rod 150 or the second guide rod 250 are arranged in a staggered mode, and are used for stabilizing postures when grabbing reinforcements in the body in the first fixing bracket 13 or the second fixing bracket 23, the grabbing limiting block 203 is used for abutting against the end face of the body or the pair of reinforcements far away from the ground, and the end face of the grabbing component 202 in the contraction state close to the ground and the end face of the grabbing limiting block 203 close to the ground abut against different positions of the same surface of the body or the pair of reinforcements respectively. As can be seen, the horizontal sliding part 100 can drive the vertical grabbing part 200 to move horizontally, and the vertical grabbing part 200 clamps a body or a pair of reinforcements and then turns into the body fine positioning bracket 15 or the reinforcement fine positioning bracket 25; the limiting component 201 may also be composed of a plurality of first guide rods 150 or second guide rods 250 vertically arranged at intervals, but the extending direction of each guide rod of the limiting component 201 is towards the ground, and the limiting component 201 and the grabbing limiting block 203 together define the direction and distance of vertical movement of the body or the pair of reinforcing members grabbed by the grabbing component 202. Body separating mechanism 14 may be configured with two gripper assemblies 202 and stiffener separating mechanism 24 may be configured with four gripper assemblies 202.
Preferably, the driving portions of the first linear conveying mechanism 12 and the second linear conveying mechanism 22, and the horizontal sliding portions 100 of the body separating mechanism 14 and the reinforcement separating mechanism 24 are rodless cylinder mechanisms, which can reduce the volume of the equipment and make the layout more compact; the grasping assembly 202 is a retractable magnetic suction cup or a vacuum suction cup.
As shown in fig. 7 to 9, the holding turret 5 includes a third base 51, a turning mechanism 52, a partition 53, and two first holding mechanisms 54; one end of the third base 51 is fixedly arranged on the ground, one end of the third base 51, which is far away from the ground, is provided with a first rotating mechanism 52, the first rotating mechanism 52 can horizontally rotate relative to the third base 51, two first clamping mechanisms 54 are arranged on the rotating part of the first rotating mechanism 52 in a central symmetry manner, the two first clamping mechanisms 54 are arranged at intervals, and a partition plate 53 is arranged on the rotating part of the first rotating mechanism 52 between the two first clamping mechanisms 54; the end face of the protruding part of the body is provided with two first through holes and two second through holes at intervals, and the two first through holes are respectively positioned at two ends of the protruding part of the body in the extending direction; the second through hole is positioned between the two first through holes; the reinforcing piece is provided with a third through hole which penetrates through the reinforcing piece; the first clamping mechanism 54 comprises a plurality of first lifting parts 541, a first rotary pressing part 542, a second pressing part 543 and a third pressing part 544; the first lifting part 541, the second pressing part 543 and the third pressing part 544 are all fixedly arranged on the rotating part of the first rotating mechanism 52; each first lifting portion 541 is arranged at intervals along the length extending direction of the body or the reinforcing member, the first lifting portions 541 respectively abut against two symmetrically arranged reinforcing members and one first through hole of the body, which is close to the end face of the ground and extends into one end of the extending direction of the protruding portion, and the first lifting portions 541 also pass through the third through holes to abut against the surface of the protruding portion of the body arranged above the two reinforcing members; the first rotating pressing part 542 can rotate relative to the first lifting part 541 and press the surface of the protruding part of the body away from the ground; the movable end of the second pressing portion 543 moves towards the direction close to the ground and extends into the other first through hole of the body, and the movable end of the third pressing portion 544 abuts against the surface of the body near the first through hole towards the direction away from the ground. The main body and the pair of reinforcing members placed on the holding turntable 5 are relatively independent, and before the subsequent welding operation, the main body and the pair of reinforcing members need to be fixed respectively so that the welding position is accurate and reliable. Therefore, the first clamping mechanism 54 utilizes the first through hole, the second through hole and the third through hole of the body and the pair of reinforcing members for auxiliary positioning. The first lifting portion 541 lifts different positions of the surface of the body and the pair of reinforcements close to the ground, and the first rotating pressing portion 542 presses the surface of the body opposite to the first lifting portion 541 away from the ground, so as to form a relative clamping effect.
Fig. 1 is a perspective view of a vehicle body duct assembly. The combination of the body and the pair of reinforcements placed on the first clamping mechanism and the second clamping mechanism is different from the posture shown in the figure. The specific embodiment refers to the orientation of the combination of the body and the pair of stiffeners on the first clamping mechanism and the second clamping mechanism.
Each working robot in the scheme adopts a commercially available multi-joint robot, such as a series product of ABB company, which is easy to obtain and is not described in detail herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides an automatic material equipment that divides for seamless pile up neatly part which characterized in that: the stacking and feeding device comprises a body stacking and feeding unit (1), a reinforcement stacking and feeding unit (2), a first operating robot (3), a second operating robot (4) and a clamping rotary table (5);
a first operating robot (3) is arranged at one end, far away from the feeding end, of the body stacking and feeding unit (1), and a second operating robot (4) is arranged at one end, far away from the feeding end, of the reinforcement stacking and feeding unit (2); a clamping rotary table (5) is arranged on one side, away from the discharging end of the body stacking and feeding unit (1), of the first operating robot (3);
the body stacking and feeding unit (1) is used for horizontally conveying the stacked bodies and separately placing one body on the top of the body stack;
the reinforcing member stacking and feeding unit (2) is used for horizontally conveying the reinforcing members which are arranged in pairs in a stacking state and separately placing the pair of reinforcing members on the top of the reinforcing members in the stacking state;
the second operation robot (4) is used for transporting the pair of separately placed reinforcing pieces to the clamping rotary table (5); the first working robot (3) is used for conveying one body which is separately arranged at the uppermost part of the body stack to the clamping rotary table (5); the first clamping rotary table (5) clamps the pair of placed reinforcing members and the body in a combined state.
2. The automatic material distribution equipment for seamless stacking parts according to claim 1, characterized in that: the body stacking and feeding unit (1) comprises a first base (11), two first linear conveying mechanisms (12), two first fixed brackets (13), a body separating mechanism (14) and a body fine positioning bracket (15); the first base (11) is fixedly arranged on the ground, one end, far away from the ground, of the first base (11) is a body feeding end, and the top of the other end, in the horizontal extending direction, of the first base (11) is a body discharging end; the surface of one end, far away from the ground, of the first base (11) is fixedly provided with two first linear conveying mechanisms (12) and a body separating mechanism (14), the two first linear conveying mechanisms (12) are respectively arranged along the horizontal extending direction of the first base (11) and are arranged at intervals, the movable ends of the two first linear conveying mechanisms (12) are respectively provided with a first fixing bracket (13), the first fixing brackets (13) are abutted against the edge of the body or the end face, close to the ground, of the body, each first fixing bracket (13) is respectively used for vertically stacking the body, and the first linear conveying mechanisms (12) convey the stacked body from the feeding end of the body to the discharging end of the body horizontally; a main body fine positioning bracket (15) is arranged at the position of the main body discharging end of the first base (11); the body separating mechanism (14) is arranged above the two first linear conveying mechanisms (12) in a striding mode and is close to the direction of the discharge end of the body, and the body separating mechanism (14) grabs and clamps a body on the top of the stack on the first fixing bracket (13) at the discharge end of the body and is placed in the body fine positioning bracket (15).
3. The automatic material distribution equipment for seamless stacking parts according to claim 2, characterized in that: the first fixing bracket (13) and the body fine positioning bracket (15) respectively comprise a plurality of first guide rods (150) and a plurality of first fine positioning blocks (151) which are vertically arranged at intervals, each first guide rod (150) is respectively abutted against the edges of different positions of the body to prevent the body from being inclined or reversed, each first fine positioning block (151) is arranged at the movable end of the first linear conveying mechanism (12) or on the surface of the first base (11) far away from the ground, and the end surface of each first fine positioning block (151) far away from the ground is respectively abutted against different positions of the surface of the body close to the ground; the lengths of the first fine positioning block (151) of the first fixing bracket (13) and the first fine positioning block (151) of the body fine positioning bracket (15) in the vertical direction are different.
4. An automatic material distribution device for seamless stacking parts according to claim 3, characterized in that: the reinforcing piece stacking and feeding unit (2) comprises a second base (21), two second linear conveying mechanisms (22), two second fixing brackets (23), a reinforcing piece separating mechanism (24) and a reinforcing piece fine positioning bracket (25); the second base (21) is fixedly arranged on the ground, one end, far away from the ground, of the second base (21) is a reinforcing piece feeding end, and the top of the other end, in the horizontal extending direction, of the second base (21) is a reinforcing piece discharging end; two second linear conveying mechanisms (22) and a reinforcement separating mechanism (24) are fixedly arranged on the surface of one end, far away from the ground, of the second base (21), the two second linear conveying mechanisms (22) are respectively arranged along the horizontal extending direction of the second base (21) and are arranged at intervals, second fixing brackets (23) are respectively arranged on the movable ends of the two second linear conveying mechanisms (22), the second fixing brackets (23) vertically extend upwards and are respectively abutted against the edges of the two symmetrically arranged reinforcements or the end faces, close to the ground, of the two reinforcements placed in a stacked mode, and the two reinforcements are oppositely arranged on the same second fixing bracket (23) at intervals; the two second linear conveying mechanisms (22) respectively and independently convey the two reinforcing pieces which are arranged in a stacked mode from the reinforcing piece feeding end to the reinforcing piece discharging end; a reinforcing piece fine positioning bracket (25) is also arranged at the reinforcing piece discharging end position of the second base (21); the reinforcement separating mechanism (24) is arranged above the two second linear conveying mechanisms (22) in a spanning mode and is close to the discharge end of the reinforcement; the reinforcement separating mechanism (24) grabs a pair of reinforcements at the top of the movable end stack of the second linear conveying mechanism (22) at the reinforcement discharging end and places the reinforcements in a reinforcement fine positioning bracket (25) at the reinforcement discharging end of the second base (21).
5. The automatic material distribution equipment for seamless stacking parts according to claim 4, characterized in that: the second fixing bracket (23) and the reinforcement fine positioning bracket (25) respectively comprise a plurality of second guide rods (250) and a plurality of second fine positioning blocks (251) which are vertically arranged at intervals, each second guide rod (250) is respectively abutted against the edges of different positions of the reinforcement to prevent the reinforcement from being placed partially or reversely, each second fine positioning block (251) is arranged on the surface of the plate-shaped movable end or the second base (21) far away from the ground, and the end surface of each second fine positioning block (251) far away from the ground is respectively abutted against different positions of the surface of the reinforcement close to the ground; the second fine positioning block (251) of the second fixing bracket (23) and the second fine positioning block (251) of the reinforcement fine positioning bracket (25) are different in vertical length.
6. An automatic material distribution device for seamless stacking parts according to claim 5, characterized in that: the first linear conveying mechanism (12) and the second linear conveying mechanism (22) respectively comprise a driving part and two guide rails, the driving part is arranged along the extending direction of the first base (11) or the second base (21), and the guide rails are arranged on the side surface of the driving part at intervals and are also arranged along the extending direction of the first base (11) or the second base (21); the driving part is provided with a movable end, the movable end is arranged above the driving part in a spanning mode and is respectively connected with the two guide rails in a sliding mode, and the movable end is plate-shaped and is arranged in parallel with the first base (11) or the second base (21); a first fixed bracket (13) or a second fixed bracket (23) is arranged on the end surface of the plate-shaped movable end far away from the ground.
7. The automatic material distribution equipment for seamless stacking parts according to claim 6, characterized in that: the body separating mechanism (14) and the reinforcement separating mechanism (24) respectively comprise a horizontal sliding part (100) and a vertical grabbing part, the horizontal sliding part (100) is arranged above the first linear conveying mechanism (12) or the second linear conveying mechanism (22), and the moving direction of the horizontal sliding part (100) is intersected with the horizontal moving direction of the first linear conveying mechanism (12) or the second linear conveying mechanism (22); a vertical grabbing part (200) is fixedly arranged on the horizontal sliding part (100), the movable end of the vertical grabbing part (200) moves along the vertical direction, the vertical grabbing part (200) comprises a limiting component (201), a grabbing component (202) and a grabbing limiting block (203), and the grabbing component (202) abuts against and grasps the body or the end faces, far away from the ground, of the reinforcing parts arranged in pairs; the limiting assembly (201) and the grabbing limiting block (203) vertically extend downwards towards the ground direction, and the longitudinal extension length of the limiting assembly (201) is greater than that of the grabbing limiting block (203); spacing subassembly (201) and first guide bar (150) or second guide bar (250) crisscross setting for the gesture is stable when snatching the reinforcement in body in first fixed bolster (13) or second fixed bolster (23), snatchs stopper (203) and is used for holding the terminal surface that body or a pair of reinforcement keep away from ground, and the terminal surface that the subassembly (202) that snatchs that is in the shrink state is close to ground offsets with the different positions on the same surface of body or a pair of reinforcement respectively with the terminal surface that snatchs stopper (203) is close to ground.
8. The automatic material distribution equipment for seamless stacking parts according to claim 7, characterized in that: the driving parts of the first linear conveying mechanism (12) and the second linear conveying mechanism (22) and the horizontal sliding parts (100) of the body separating mechanism (14) and the reinforcement separating mechanism (24) are rodless cylinder mechanisms; the grabbing component (202) is a retractable magnetic sucker or a negative sucker.
9. The automatic material distribution equipment for seamless stacking parts according to claim 1, characterized in that: the clamping rotary table (5) comprises a third base (51), a rotary mechanism (52), a partition plate (53) and two first clamping mechanisms (54); one end of the third base (51) is fixedly arranged on the ground, one end of the third base (51) far away from the ground is provided with a first rotating mechanism (52), the first rotating mechanism (52) can horizontally rotate relative to the third base (51), two first clamping mechanisms (54) are arranged on a rotating part of the first rotating mechanism (52) in a central symmetry manner, the two first clamping mechanisms (54) are arranged at intervals, and a partition plate (53) is arranged on the rotating part of the first rotating mechanism (52) between the two first clamping mechanisms (54); the end face of the protruding part of the body is provided with two first through holes and two second through holes at intervals, and the two first through holes are respectively positioned at two ends of the protruding part of the body in the extending direction; the second through hole is positioned between the two first through holes; the reinforcing piece is provided with a third through hole which penetrates through the reinforcing piece; the first clamping mechanism (54) comprises a plurality of first lifting parts (541), a first rotary pressing part (542), a second pressing part (543) and a third pressing part (544); the first lifting part (541), the second pressing part (543) and the third pressing part (544) are all fixedly arranged on the rotating part of the first rotating mechanism (52); each first lifting part (541) is arranged at intervals along the length extending direction of the body or the reinforcing part, the first lifting parts (541) respectively abut against two symmetrically arranged reinforcing parts and the end face of the body close to the ground and extend into one first through hole at one end of the extending direction of the protruding part, and the first lifting parts (541) also penetrate through the third through holes to abut against the surface of the protruding part of the body arranged above the two reinforcing parts; the first rotating pressing part (542) can rotate relative to the first lifting part (541) and press the surface of the protruding part of the body away from the ground; the movable end of the second pressing part (543) moves towards the direction close to the ground and extends into the other first through hole of the body, and the movable end of the third pressing part (544) abuts against the surface of the body near the first through hole towards the direction far away from the ground.
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| CN113800271B (en) | 2023-05-09 |
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