CN214919902U

CN214919902U - Robot binding tool

Info

Publication number: CN214919902U
Application number: CN202120308515.3U
Authority: CN
Inventors: 孔瑜伟; 杨凤景
Original assignee: YANTAI YUXIN TECHNOLOGY CO LTD
Current assignee: YANTAI YUXIN TECHNOLOGY CO LTD
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2021-11-30
Anticipated expiration: 2031-02-03

Abstract

The utility model relates to a robot binding tool, include wheel components and be used for providing the binding direction supporting mechanism who supports and elasticity for wheel components, wheel components includes the roller seat and sets up the binding wheel on the roller seat, binding direction supporting mechanism includes the sleeve, locate in the sleeve and can follow the binding axle of sleeve axial action and set up the elasticity pre-compaction structure between the binding seat at binding axle and sleeve top, elasticity pre-compaction structure includes guide shaft and spring, the guide shaft with binding axle threaded connection, the spring set up at the binding axle with between the end of guide shaft, the roller seat with the lower extreme of binding axle is connected. The utility model discloses simple structure is compact, and is small, and it is big to reserve the operating space who adjusts the gesture for the robot, and the initial pressure that the pre-compaction structure can the regulation control spring has guaranteed the border pressure of border instrument when the border to guarantee the border quality and the border effect of stamping workpiece.

Description

Robot binding tool

Technical Field

The utility model relates to a robot binding tool belongs to white automobile body processing technology field of car.

Background

The closure member usually is by planking inclusion inner panel among the automobile white body stamping workpiece, the planking back is placed to the inner panel, then bordure through the turn-ups or the hem of planking, the border is one of the processing technology that automobile white body stamping workpiece was used commonly, current adoption press bordures, the bed die is being pressed to the last mould of press, the compound die that utilizes the mould compresses tightly the hem, the realization is to bending of hem, make planking parcel inner panel reach the purpose of assembly, this kind of mode though can realize the purpose of interior, planking assembly, but the press is expensive, the input cost is high.

Therefore, the existing method adopts a robot to carry a trimming tool for trimming, and the robot drives the roller to roll and wrap the edge of the outer plate of the workpiece of the stamping part on the inner plate, so that the small operation area can be ensured, the flexible manufacturing can be realized, and particularly on the edge of small-batch workpieces. The specific operation is that the edge rolling tool is arranged at the tail end of the robot, the arm of the robot is utilized to drive the edge rolling tool to roll the edge of the outer plate of the stamping part, the posture of the robot is adjusted, and the edge of the outer plate is compacted on the inner plate through multiple rolling, so that the edge rolling is completed. However, the existing trimming tool is complex in structure and large in size, and often affects the operation space of the robot when adjusting the posture, so that the trimming efficiency and the trimming effect of the trimming tool are affected.

Disclosure of Invention

The utility model discloses not enough to prior art exists, provide a simple structure is compact, and is small, and operation space is big, and convenient border improves the robot border instrument of border efficiency and quality.

The utility model provides an above-mentioned technical problem's technical scheme as follows: the utility model provides a robot binding instrument, includes wheel components and is used for providing the binding direction supporting mechanism who supports and elasticity for wheel components, wheel components includes the gyro wheel seat and sets up the binding wheel on the gyro wheel seat, binding direction supporting mechanism includes the sleeve, locates in the sleeve and can follow the binding axle of sleeve axial action and set up the elasticity pre-compaction structure between the binding seat at binding axle and sleeve top, elasticity pre-compaction structure includes guide shaft and spring, the guide shaft with binding axle threaded connection, the spring set up at the binding axle with between the end of guide shaft, the gyro wheel seat with the lower extreme of binding axle is connected.

The utility model has the advantages that: the robot arm is connected with the binding seat, through the external force that the robot was applyed, rely on the binding wheel to carry out the binding operation to the stamping workpiece, when wheel components acted on the turn-ups of stamping workpiece planking, the binding axle can shift up extrusion spring along telescopic axial, makes the wheel components can satisfy actual need's roll pressure through elasticity pre-compaction structure, thereby guarantees the binding quality of stamping workpiece, the utility model discloses simple structure is compact, and is small, and it is big to reserve the operating space who adjusts the gesture for the robot, and the initial pressure that the pre-compaction structure can the regulation control spring has guaranteed the binding pressure of binding instrument when the binding to guarantee the binding quality and the binding effect of stamping workpiece.

On the basis of the technical scheme, the utility model discloses can also do following improvement.

Furthermore, the elastic pre-pressing structure further comprises an adjusting seat and an adjusting nut, a threaded hole for installing the adjusting nut is formed in the upper portion of the adjusting seat, and the lower portion of the adjusting seat is arranged between the spring and the end head of the guide shaft.

The beneficial effect who adopts above-mentioned further scheme is that, the lower part of adjustment seat acts on the spring, rotates adjusting nut and makes adjusting nut adjust the initial pressure of spring in the difference of the height that stretches out on the adjustment seat, and the adjustment is convenient, thereby swift produces pressure to wheel components through the spring to reach the effect of elasticity compensation.

Furthermore, the binding shaft adopts a spline shaft, a spline sleeve is sleeved outside the binding shaft, and the spline sleeve is connected with the sleeve through a flat key.

The spline sleeve is tightly matched with the spline shaft to ensure the axial action of the flange shaft, the flat key prevents rotation, and the spline sleeve is prevented from rotating relative to the sleeve, so that the flange shaft only moves vertically in the sleeve and does not rotate.

Further, still include weighing sensor, weighing sensor sets up between adjusting nut with the binding seat.

Furthermore, the weighing sensor is connected with a display instrument for displaying the reaction pressure value in real time through a signal line and a power line.

The beneficial effect who adopts above-mentioned further scheme is that, the compressive force of compression spring is fed back constantly, links to each other with outside display instrument through signal line and power cord, and the real-time reaction pressure value of display instrument can real time monitoring border pressure to this guides and adjusts the robot gesture, guarantees the pressure value of ideal, thereby guarantees the border effect.

Further, the device also comprises a calibration pin which is arranged on the roller seat through a pin bracket.

The further scheme has the beneficial effect that the robot arm determines the position coordinates through the calibration pin.

Further, still include the transition dish that is used for being connected with the arm of robot, the transition dish is installed on the binding seat.

The further scheme has the beneficial effects that the transition disc matched with the robot arm is arranged according to the type of the robot arm, so that the binding tool is connected with the robot.

Furthermore, the roller seat is connected with the binding shaft through a mounting block, the binding wheel comprises a first roller and a second roller, and the roller shafts of the first roller and the second roller are respectively mounted on the roller seat through bearings.

The further scheme has the beneficial effects that the proper roller can be selected for trimming according to the flanging angle of the outer plate of the stamping part, so that the trimming operation of the stamping part under different working conditions can be met.

Further, the free end of the roller shaft of the second roller penetrates through the roller seat to form a third roller.

The beneficial effects of adopting above-mentioned further scheme are that, the gyro wheel diameter of first, second gyro wheel is big, and smooth region is fast, and the gyro wheel has the tapering, the gesture of optimization robot arm that can be better, and the third gyro wheel then the diameter is little, is responsible for bent angle department and the little place of curvature radius, can handle the border of stamping workpiece corner position.

Furthermore, an inner flange used for limiting the edge rolling shaft is arranged in the sleeve, and a shoulder matched with the inner flange is arranged on the edge rolling shaft.

The beneficial effect who adopts above-mentioned further scheme is, can carry on spacingly to the edging axle, guarantees that the edging axle can only the axial direction action in the sleeve, avoids the edging axle to break away from the sleeve.

Furthermore, the roller shaft of the second roller is arranged in the horizontal direction, an inclined mounting surface is arranged on the roller seat, and the first roller is mounted on the inclined mounting surface.

The beneficial effects of adopting above-mentioned further scheme are that, make full use of the installation space of gyro wheel seat realizes the stable installation of first gyro wheel and second gyro wheel, and compact structure guarantees mutually noninterfere between the gyro wheel simultaneously.

Further, the second roller and the third roller are arranged above the first roller.

The beneficial effect of adopting above-mentioned further scheme is, make full use of the installation space of gyro wheel seat, rationally layout gyro wheel guarantees the binding tool compact structure.

Furthermore, the lower end of the sleeve is provided with a cover plate.

The beneficial effect who adopts above-mentioned further scheme is, can carry on spacingly to the edging axle on the one hand, and structural component's installation and maintenance in the sleeve are convenient for on the other hand.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic bottom view of the present invention;

fig. 3 is a left side view structure diagram of the present invention;

FIG. 4 is a cross-sectional view taken along A-A of FIG. 3;

fig. 5 is a schematic structural view of the binding guiding and supporting mechanism of the present invention;

in the figure, 1, a sleeve; 2. a binding seat; 3. a hemming shaft; 4. a guide shaft; 5. a spring; 6. a roller seat; 7. an adjusting seat; 8. adjusting the nut; 9. an inner flange; 10. a spline housing; 11. a flat bond; 12. a weighing sensor; 13. a display instrument; 14. a calibration pin; 15. a transition disk; 16. a first roller; 17. a second roller; 18. a third roller; 19. mounting blocks; 20. a cover plate; 21. an oil injection nozzle; 22. and a bearing.

Detailed Description

The principles and features of the present invention are described below in conjunction with examples, which are set forth only to illustrate the present invention and are not intended to limit the scope of the present invention.

As shown in fig. 1-5, a robot binding tool includes a roller assembly and a binding guide support mechanism for providing support and elasticity for the roller assembly, the roller assembly includes a roller seat and a binding wheel disposed on the roller seat, the binding guide support mechanism includes a sleeve 1, a binding seat 2 disposed at the top of the sleeve 1, a binding shaft 3 disposed in the sleeve 1 and capable of moving along the axial direction of the sleeve 1, and an elastic pre-pressing structure disposed between the binding shaft 3 and the binding seat 2, the elastic pre-pressing structure includes a guide shaft 4 and a spring 5, the guide shaft 4 is in threaded connection with the binding shaft 3, the spring 5 is disposed between the binding shaft 3 and the end of the guide shaft 4, and the roller seat 6 is connected with the lower end of the binding shaft 3.

The elastic pre-pressing structure further comprises an adjusting seat 7 and an adjusting nut 8, a threaded hole for mounting the adjusting nut 8 is formed in the upper portion of the adjusting seat 7, and the lower portion of the adjusting seat is arranged between the spring and the end of the guide shaft. The lower part of the adjusting seat acts on the spring. The initial pressure of the spring 5 is adjusted by rotating the adjusting nut 8 to enable the adjusting nut 8 to extend out of the adjusting seat 7 at different heights, the adjustment is convenient, and the pressure is generated on the roller assembly through the spring 5 quickly, so that the effect of elastic force compensation is achieved.

The flange shaft 3 adopts a spline shaft, a spline sleeve 10 is sleeved on the outer side of the flange shaft 3, and the spline sleeve 10 is connected with the sleeve 1 through a flat key 11. The spline housing 10 and the spline shaft are tightly matched to ensure the axial action of the edging shaft 3, the flat key 11 prevents rotation, and the spline housing 10 is ensured not to rotate relative to the sleeve 1, so that the edging shaft 3 only does vertical linear motion in the sleeve 1 without rotating.

Still include weighing sensor 12, weighing sensor 12 sets up adjusting nut 8 with the binding 2. The weighing sensor 12 is connected with a display instrument 13 for displaying a reaction pressure value in real time through a signal line and a power line. The compression force of the compression spring 5 is fed back constantly, the compression force is connected with an external display instrument 13 through a signal line and a power line, the display instrument 13 is used for responding to a pressure value in real time, the edge rolling pressure can be monitored in real time, the posture of the robot is adjusted according to guidance, an ideal pressure value is guaranteed, and the edge rolling effect is guaranteed.

And the device also comprises a calibration pin 14, wherein the calibration pin 14 is installed on the roller seat 6 through a pin bracket. The robot arm determines position coordinates by means of the calibration pins 14.

The robot is characterized by further comprising a transition disc 15 connected with an arm of the robot, wherein the transition disc 15 is installed on the edge rolling seat 2. And a transition disc 15 matched with the robot arm is arranged according to the model of the robot arm, so that the binding tool is connected with the robot.

The roller seat 6 is connected with the roller shaft 3 through a mounting block 19, the roller comprises a first roller 16 and a second roller 17, and the roller shafts of the first and second rollers are respectively mounted on the roller seat 6 through bearings 22. The proper roller can be selected for edge rolling according to the angle of the flanging of the outer plate of the stamping part, and the edge rolling operation of the stamping part under different working conditions can be met.

The free end of the roller shaft of the second roller passes through the roller seat to form a third roller 18. The roller diameters of the first roller and the second roller are large, the roller is smooth and area, the speed is high, the roller has taper, the posture of the robot arm can be better optimized, and the third roller is small in diameter and is responsible for the corner and the place with small curvature radius.

An inner flange 9 used for limiting the edge rolling shaft 3 is arranged in the sleeve 1, and a shoulder matched with the inner flange 9 is arranged on the edge rolling shaft 3. Can carry on spacingly to the edging axle 3, guarantee that the edging axle 3 can only the axial direction action in sleeve 1, avoid the edging axle 3 to break away from sleeve 1.

The roller shaft of the second roller 17 is arranged in the horizontal direction, the roller seat 6 is provided with an inclined mounting surface, and the first roller 16 is mounted on the inclined mounting surface. The installation space of the roller seat 6 is fully utilized, the stable installation of the rollers is realized, the structure is compact, and meanwhile, the mutual noninterference between the rollers is ensured.

The second roller 17 and the third roller are disposed above the first roller 16. The installation space of the roller seat 6 is fully utilized, the rollers are reasonably distributed, and the structure of the edge rolling tool is compact.

The lower end of the sleeve 1 is provided with a cover plate 20. On one hand, the binding shaft 3 can be limited, and on the other hand, the installation and maintenance of structural components in the sleeve 1 are facilitated.

The sleeve 1 is provided with an oil injection nozzle 21. And the lubricating oil is used for adding lubricating oil and is responsible for lubricating the spline.

Different stamping plates are different in thickness, such as 0.6 mm, 0.75 mm, 0.9 mm and the like, so that the initial pressure of the arranged edge rolling is different, the edge rolling of an outer plate of the stamping part is placed on a tire membrane, an inner plate is placed in an outer plate cavity, then the inner plate is positioned and pressed by a clamp, a robot drives an edge rolling tool, the diameter of a roller of a third roller is small, and the third roller is responsible for the corner and the place with small curvature radius; the gyro wheel diameter of first gyro wheel, second gyro wheel is big, and level and smooth region is fast, and the gyro wheel has the tapering, and the gesture of optimization robot arm that can be better utilizes the gyro wheel to impress the turn-ups angle, and robot arm has four turnover circles along the plate, accomplishes once to roll limit promptly, changes an angle, changes the gyro wheel angle through changing the robot to roll the limit gesture, through rolling limit many times, finally compactors the outer panel on the inner panel, accomplishes work.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides a robot binding tool, its characterized in that includes wheel components and is used for providing the binding direction supporting mechanism who supports and elasticity for wheel components, wheel components includes gyro wheel seat (6) and sets up the binding wheel on gyro wheel seat (6), binding direction supporting mechanism includes sleeve (1), locate in the sleeve and can follow binding axle (3) of sleeve axial action and set up the elasticity pre-compaction structure between binding seat (2) at binding axle and sleeve top, elasticity pre-compaction structure includes guide shaft (4) and spring (5), guide shaft (4) with binding axle (3) threaded connection, spring (5) set up binding axle (3) with between the end of guide shaft (4), gyro wheel seat (6) with the lower extreme of binding axle (3) is connected.

2. The robot binding tool of claim 1, wherein the elastic pre-pressing structure further comprises an adjusting seat (7) and an adjusting nut (8), a threaded hole for mounting the adjusting nut is formed in the upper portion of the adjusting seat, and the lower portion of the adjusting seat is arranged between the spring and the end of the guide shaft.

3. The robot binding tool according to claim 2, characterized in that the binding shaft (3) is a spline shaft, a spline housing (10) is sleeved on the outer side of the binding shaft (3), and the spline housing (10) is connected with the sleeve (1) through a flat key (11).

4. The robotic binding tool according to claim 2, further comprising a load cell (12), the load cell (12) being arranged between the adjusting nut (8) and the binding (2).

5. A robotic binding tool as claimed in any one of claims 1-4, further comprising a calibration pin (14), the calibration pin (14) being mounted on the roller mount (6) by a pin bracket.

6. A robot binding tool according to any of claims 1-4, characterized in that it further comprises a transition disc (15) for connection with an arm of a robot, which transition disc (15) is mounted on the binding block (2).

7. A robotic binding tool as claimed in claim 1, 2 or 3, wherein the binding wheels comprise a first roller (16) and a second roller (17), the roller shafts of the first roller (16) and the second roller (17) being mounted on the roller mount (6) by means of bearings (22), respectively.

8. The robotic binding tool of claim 7, wherein a free end of the roller shaft of the second roller forms a third roller (18) through the roller mount.

9. The robot binding tool according to claim 1, characterized in that an inner flange (9) is provided in the sleeve (1) for limiting the binding shaft (3), and a shoulder is provided on the binding shaft (3) for engaging with the inner flange (9).

10. A robotic binding tool as claimed in claim 8, wherein the roller axis of the second roller (17) is arranged horizontally, the roller mount (6) is provided with an inclined mounting surface on which the first roller (16) is mounted.