CN220161551U - Alignment mechanism for automatic adjustment of plate edge joint - Google Patents

Abstract

The utility model relates to an alignment mechanism for automatically adjusting a plate seam, and belongs to the technical field of thermoforming laser seam welding. Including base, supporting component, actuating mechanism and gripping unit, actuating mechanism with the supporting component transmission is connected, the gripping unit is installed the top of supporting component, the gripping unit includes backup pad and a plurality of magnetite adsorption cylinder, and a plurality of magnetite adsorption cylinder is installed the top of backup pad, the top of supporting component with the bottom of backup pad is connected together, the gripping unit is along with actuating mechanism's action removes or rotates. The alignment mechanism disclosed by the utility model not only can drive the movement alignment of the splice welding plate in the X-axis and Y-axis directions and the rotation alignment in an XY plane, but also can ensure the slit stability in the alignment process and the adjustment precision by utilizing the magnet adsorption cylinder on the alignment mechanism to adsorb and fix the splice welding plate.

Description

Alignment mechanism for automatic adjustment of plate edge joint

Technical Field

The utility model relates to an alignment mechanism for automatically adjusting a plate seam, and belongs to the technical field of thermoforming laser seam welding.

Background

The width of the seam gap of the laser filler wire welding of the hot forming steel can influence the metal chemical composition of the welding seam, thereby influencing the mechanical property of the welding seam, and the seam gap between each plate needs to be strictly controlled in order to ensure the welding quality of the laser seam. At present, the closed annular product (shown in fig. 7) piece locating mode of hot forming laser filler wire welding production line polylith sheet metal is mechanical fixed, and the sheet metal supports and fixes a position through a plurality of locating pin, supporting piece and positioner, and mechanical fixed piece locating mode is only suitable for sheet metal welded fastening that sheet metal piece seam clearance is 0 or is less than 0.15mm to because sheet metal overall dimension tolerance has the problem that the uniformity is poor, mechanical fixed piece locating mode is difficult to stably guarantee the width of piece clearance, piece clearance width adjustment difficulty.

The positioning system for automatically adjusting the edge joints of a plurality of plates can realize the function of rapid and automatic edge joints of the edge welded plates, and solves the problems of a mechanically fixed edge joint positioning mode. However, the existing three-way alignment mechanism generally adopts a supporting plate to position and place workpieces, and in a positioning system for automatically adjusting the joints of a plurality of plates, if the welding plates are directly placed on the supporting plate, the plates cannot be adsorbed and fixed, and the stability of the joints in the alignment process cannot be ensured.

Disclosure of Invention

The present utility model aims to provide a new technical solution to improve or solve the technical problems existing in the prior art as described above.

The technical scheme provided by the utility model is as follows: the utility model provides a counterpoint mechanism for sheet material piece automatically regulated, includes base, supporting component, actuating mechanism and grabs the unit, actuating mechanism with the supporting component transmission is connected, it installs to grab the unit the top of supporting component, it includes backup pad and a plurality of magnetite adsorption cylinder to grab the unit, and a plurality of magnetite adsorption cylinder installs the top of backup pad, the top of supporting component with the bottom of backup pad links together, grab the unit and move or rotate along with actuating mechanism's action.

Further, the gripping unit is movable in the X-direction and the Y-direction, and the gripping unit is rotatable in the XY plane.

Further, the driving mechanism comprises an X-direction moving driving mechanism, a Y-direction moving driving mechanism and an XY plane rotating driving mechanism, the X-direction moving driving mechanism, the Y-direction moving driving mechanism and the XY plane rotating driving mechanism are arranged around the supporting component, the X-direction moving driving mechanism drives the supporting component to drive the grabbing unit to move along the X direction, the Y-direction moving driving mechanism drives the supporting component to drive the grabbing unit to move along the Y direction, and the XY plane rotating driving mechanism drives the supporting component to drive the grabbing unit to rotate in the XY plane.

Further, the X-direction movement driving mechanism, the Y-direction movement driving mechanism and the XY plane rotation driving mechanism all comprise a servo motor and a ball screw pair arranged on the servo motor, and the ball screw pair converts the rotation motion of the servo motor into linear motion.

Further, the support assembly sequentially comprises a rotating disc, a Y-direction moving disc and an X-direction moving disc from top to bottom, the rotating disc, the X-direction moving disc and the Y-direction moving disc can synchronously move along the X direction, the rotating disc and the Y-direction moving disc can synchronously move along the Y direction, and the rotating disc can rotate around the central axis in an XY plane.

Further, the support assembly further comprises a turntable support, wherein the turntable support is fixed on the Y-direction moving disc, and the turntable support is located between the rotating disc and the Y-direction moving disc.

Further, the magnet adsorption cylinder comprises a cylinder body and a magnet piston arranged in the cylinder body, the magnet piston divides the cylinder body into an upper cavity and a lower cavity, an upper air hole and a lower air hole are formed in the cylinder body, the upper air hole is communicated with the upper cavity, and the lower air hole is communicated with the lower cavity.

Compared with the prior art, the technical scheme provided by the utility model has the following beneficial effects: the alignment mechanism disclosed by the utility model not only can drive the movement alignment of the splice welding plate in the X-axis and Y-axis directions and the rotation alignment in an XY plane, but also can ensure the slit stability in the alignment process and the adjustment precision by utilizing the magnet adsorption cylinder on the alignment mechanism to adsorb and fix the splice welding plate.

Drawings

FIG. 1 is a schematic perspective view of an alignment mechanism according to the present utility model;

FIG. 2 is a front view of the alignment mechanism of the present utility model;

FIG. 3 is a top view of the alignment mechanism of the present utility model;

FIG. 4 is an exploded view of the alignment mechanism of the present utility model;

FIG. 5 is an exploded view of the alignment mechanism of the present utility model from the bottom view;

FIG. 6 is a schematic perspective view of a positioning system according to the present utility model;

FIG. 7 is a schematic view of a closed loop product of a plurality of panels;

FIG. 8 is a schematic perspective view of a plurality of panels of the present utility model mounted on a positioning system;

FIG. 9 is a schematic view of the vision apparatus frame of the present utility model moved over the alignment mechanism;

in the figure, 1, a base; 101. a track; 2. a vision device frame; 201. a camera; 3. positioning an electromagnet; 4. an alignment mechanism; 5. a grip unit; 501. a support plate; 502. a magnet adsorption cylinder; 6. a base; 7. a support assembly; 701. a rotating disc; 7011. pushing arms; 702. an X-direction moving disk; 703. a Y-direction moving disk; 8. an X-direction movement driving mechanism; 801. a first servo motor; 802. moving the ball screw pair in the X direction; 8021. a first lead screw; 8022. a first nut; 9. a Y-direction movement driving mechanism; 901. a second servo motor; 902. y moves the ball screw pair; 9021. a second lead screw; 9022. a second nut; 10. an XY plane rotation driving mechanism; 1001. a third servo motor; 1002. rotating the ball screw pair on an XY plane; 10021. a third lead screw; 10022. a third nut; 11. a turntable support; 1101. u-shaped frame.

Detailed Description

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

As shown in fig. 1 to 5, an alignment mechanism for automatic adjustment of a plate seam comprises a base 6, a support assembly 7, a driving mechanism and a gripping unit 5, wherein the driving mechanism is in transmission connection with the support assembly 7, the gripping unit 5 is installed at the top of the support assembly 7, the gripping unit 5 comprises a support plate 501 and a plurality of magnet adsorption cylinders 502, the plurality of magnet adsorption cylinders 502 are installed above the support plate 501, the top of the support assembly 7 is connected with the bottom of the support plate 501, and the gripping unit 5 moves or rotates along with the action of the driving mechanism. The grip unit 5 is movable in the X-direction and the Y-direction, and the grip unit 5 is rotatable in the XY plane.

As shown in fig. 6 to 9, the alignment mechanism for automatic adjustment of the panel joints is applied to a positioning system for automatic adjustment of a plurality of panel joints, and specifically:

the positioning system for automatically adjusting the splice joints of the plurality of plates comprises a base 1, and further comprises a vision device frame 2, a positioning electromagnet 3 and a contraposition mechanism 4, wherein a track 101 is arranged on the base 1, the vision device frame 2 is supported on the track 101, the vision device frame 2 is positioned above the base 1, the vision device frame 2 can move along the track 101, and a plurality of the positioning electromagnets 3 and the contraposition mechanism 4 are arranged on the base 1.

In this embodiment, the alignment mechanism 4 is a three-way alignment mechanism 4, and can move the plate material adsorbed on the alignment mechanism 4 in the X direction and the Y direction and rotate in the XY plane. The positioning electromagnet 3 is arranged at the joint between the plates, and can adsorb and fix the plates after the joint is adjusted, so that the stability of the joint in the welding process is ensured. And the two sides of each welding seam position are respectively adsorbed and fixed with the positioning electromagnet 3, so that the seam stability in the welding process is ensured.

The vision device frame 2 is driven to move through the servo motor, the vision device frame 2 is of a light aluminum profile frame structure, the weight of the whole frame is reduced, and the stability of the frame is guaranteed.

The vision device frame 2 is provided with a plurality of cameras 201 and a light source. In the embodiment, the camera 201 adopts a CCD camera 201, the CCD is a short name of a charge coupled device (charge coup led devi ce), the field of view range of the camera 201 can meet the requirement of 0-5mm of the seam gap of the hot forming laser welding plate, the camera 201 is preferably a pixel camera 201 with more than ten millions, the identification precision is less than or equal to 3 pixels, and the identification precision of the plate edge is less than or equal to 0.024mm. The characteristic positions of the plates are photographed and imaged through the CCD camera 201, the industrial lens and the light source, image data are collected through image processing, image processing is carried out, position operation is carried out to judge the actual positions of the plates, and the actual offset of the plates is calculated through comparison with the previously set reference positions.

The support assembly 7 sequentially comprises a rotating disc 701, a Y-direction moving disc 703 and an X-direction moving disc 702 from top to bottom, the rotating disc 701, the X-direction moving disc 702 and the Y-direction moving disc 703 can synchronously move along the X direction, the rotating disc 701 and the Y-direction moving disc 703 can synchronously move along the Y direction, and the rotating disc 701 can rotate around the central axis in an XY plane. More specifically, the X-direction moving disc 702 is mounted in a chute at the top of the base 6, the X-direction moving disc 702 can move in the X-axis direction in the chute of the base 6, but is limited in the Y-axis direction, the top of the X-direction moving disc 702 and the bottom of the Y-direction moving disc 703 are connected together through the chute, the Y-direction moving disc 703 can move in the Y-axis direction, a turntable support 11 is disposed above the Y-direction moving disc 703, the turntable support 701 is rotatably mounted on the turntable support 11, when the X-direction moving disc 702 moves in the X-direction, the turntable support 701, the turntable support 11, the Y-direction moving disc 703 and the gripping unit 5 also move synchronously in the X-direction, and when the Y-direction moving disc 703 moves in the Y-direction, the X-direction moving disc 702 is stationary, and the turntable support 701, the turntable support 11 and the gripping unit 5 move synchronously in the Y-direction.

The driving mechanism comprises an X-direction moving driving mechanism 8, a Y-direction moving driving mechanism 9 and an XY plane rotating driving mechanism 10, wherein the X-direction moving driving mechanism 8, the Y-direction moving driving mechanism 9 and the XY plane rotating driving mechanism 10 are arranged around the supporting component 7, the X-direction moving driving mechanism 8 drives the supporting component 7 to drive the gripping unit 5 to move along the X direction, the Y-direction moving driving mechanism 9 drives the supporting component 7 to drive the gripping unit 5 to move along the Y direction, and the XY plane rotating driving mechanism drives the supporting component 7 to drive the gripping unit 5 to rotate in the XY plane.

The X-direction movement driving mechanism 8, the Y-direction movement driving mechanism 9 and the XY-plane rotation driving mechanism 10 each include a servomotor and a ball screw pair mounted on the servomotor, which converts the rotational movement of the servomotor into a linear movement.

More specifically, the X-direction moving driving mechanism 8 includes a first servo motor 801 and an X-direction moving ball screw pair 802, the X-direction moving ball screw pair 802 includes a first screw 8021 and a first nut 8022 mounted on the first screw 8021, one end of the first screw 8021 is connected to an output shaft of the first servo motor 801, the other end of the first screw 8021 is connected to the X-direction moving disk 702, and the first nut 8022 is connected to the base 6. The process of moving the grip unit 5 in the X-axis direction is as follows: the first servo motor 801 is started, the output shaft of the first servo motor 801 rotates to drive the first lead screw 8021 to rotate, and the first nut 8022 is connected with the base 6, at this time, the first nut 8022 is fixed, and the first lead screw 8021 pushes the X-direction moving disc 702 to move along the X direction to drive the plate on the gripping unit 5 to synchronously move along the X direction.

The Y-direction movement driving mechanism 9 includes a second servo motor 901 and a Y-direction movement ball screw assembly 902, the Y-direction movement ball screw assembly 902 includes a second screw 9021 and a second nut 9022 mounted on the second screw 9021, one end of the second screw 9021 is connected with an output shaft of the second servo motor 901, the other end of the second screw 9021 is connected with the Y-direction movement disk 703, and the second nut 9022 is connected with the X-direction movement disk 702. The process of moving the grip unit 5 in the Y-axis direction is as follows: the second servo motor 901 is started, the output shaft of the second servo motor 901 rotates to drive the second lead screw 9021 to rotate, and the second nut 9022 is in limit fit with the base 6 in the Y direction, that is, the X-direction moving disc 702 is not moved in the Y direction, at this time, the second nut 9022 is not moved, and the second lead screw 9021 pushes the Y-direction moving disc 703 to move in the Y direction, so as to drive the plate above the gripping unit 5 to synchronously move in the Y direction.

The XY plane rotation driving mechanism 10 comprises a third servo motor 1001 and an XY plane rotation ball screw pair 1002, the XY plane rotation ball screw pair 1002 comprises a third screw 10021 and a third nut 10022 installed on the third screw 10021, one end of the third screw 10021 is connected with an output shaft of the third servo motor 1001, the other end of the third screw 10021 is hinged to a pushing arm 7011 fixedly connected to the rotating disc 701, a U-shaped frame 1101 with an opening towards one side is arranged on the rotating disc support 11, a limit groove is formed in the bottom of the U-shaped frame 1101, the pushing arm 7011 is inserted into the limit groove, and the end of the third nut 10022 is fixed on a cross arm of the U-shaped frame 1101. The method of rotating the grip unit 5 on the XY plane is as follows: the third servo motor 1001 is started, because the third nut 10022 is fixedly connected to the U-shaped frame 1101, when the output shaft of the third servo motor 1001 rotates, the third screw 10021 extends along the Y direction, so as to push the push arm 701 to rotate with the rotating disc 701, and the gripping unit 5 synchronously rotates in the XY plane.

The gripping unit 5 comprises a supporting plate 501 and a plurality of magnet adsorption cylinders 502, the plurality of magnet adsorption cylinders 502 are installed above the supporting plate 501, and the top of the supporting component 7 is connected with the bottom of the supporting plate 501. The magnet adsorption cylinder 502 comprises a cylinder body and a magnet piston arranged in the cylinder body, the magnet piston divides the cylinder body into an upper cavity and a lower cavity, an upper air hole and a lower air hole are arranged on the cylinder body, the upper air hole is communicated with the upper cavity, and the lower air hole is communicated with the lower cavity. The magnet piston can move up and down in the cylinder body, when the lower air hole is used for inflating the lower cavity, the magnet piston can move upwards, and the upper end of the cylinder can obtain magnetic attraction, so that a plate can be firmly adsorbed, and an adsorption function is realized; when the upper air hole is inflated into the upper cavity, the magnet piston moves downwards, the upper end of the air cylinder loses magnetic attraction, and the function of adsorbing the plate is lost.

The working method for automatically adjusting the joints of a plurality of plates by using the positioning system of the utility model comprises the following steps:

firstly, arranging a set of three-way alignment mechanisms 4 below each plate, arranging a corresponding number of three-way alignment mechanisms 4 according to the number of the plates, enabling the three-way alignment mechanisms 4 to have independent quick-change functions, respectively placing the splice welding plates on the corresponding alignment mechanisms 4, and fixing the splice welding plates by utilizing a magnet adsorption cylinder 502 on the alignment mechanisms 4;

step two, the servo motor drives the vision device frame 2 to move to a photographing position, the camera 201 photographs, the characteristic image data of the splice welding plate material at the splicing position is sampled, the collected image data is subjected to image processing, position operation is carried out to judge the actual position of the plate material, and the actual offset of the plate material is calculated by comparing the actual position with the previously set reference position;

step three, the servo control system outputs servo pulse signals to the servo motor of the alignment mechanism 4 according to the offset data output by the visual control system;

step four, the alignment mechanism 4 drives the corresponding splice welding plate to move to the target position according to the servo pulse signal output by the servo control system, so that automatic splicing of the splice welding plate is realized, and the requirement of a target model data splicing gap is met;

step five, the camera 201 shoots again, and the characteristic image data of the plate material at the joint position are sampled;

step six, collecting image data through image processing, performing position operation to judge the actual position of the plate, and comparing the reference position data of the target product, if the target product meets the target requirement, completing the joint movement; and if the target requirement is not met, executing the step three to the step five again until the target requirement is met.

Step seven, after the seam is completed, the positioning electromagnet 3 corresponding to the position of the welding seam adsorbs and fixes the plate material;

step eight, the servo motor drives the vision device frame 2 to move to the feeding position.

The utility model realizes the rapid and automatic seam splicing function of the splice welding plate on the thermoforming laser filler wire welding production line.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims (7)

1. A counterpoint mechanism for sheet material piece automatically regulated, its characterized in that includes base (6), supporting component (7), actuating mechanism and grabs unit (5), actuating mechanism with supporting component (7) transmission is connected, it installs to grab unit (5) the top of supporting component (7), it includes backup pad (501) and a plurality of magnetite adsorption cylinder (502) to grab unit (5), and a plurality of magnetite adsorption cylinder (502) are installed the top of backup pad (501), the top of supporting component (7) with the bottom of backup pad (501) is connected together, grab unit (5) along with actuating mechanism's action removes or rotates.

2. The alignment mechanism for automatic adjustment of a panel joint according to claim 1, wherein the gripping unit (5) is movable in the X-direction and the Y-direction, and the gripping unit (5) is rotatable in the XY-plane.

3. The alignment mechanism for automatic adjustment of plate butt joints according to claim 1, wherein the driving mechanism comprises an X-direction moving driving mechanism (8), a Y-direction moving driving mechanism (9) and an XY plane rotating driving mechanism (10), the X-direction moving driving mechanism (8), the Y-direction moving driving mechanism (9) and the XY plane rotating driving mechanism (10) are arranged around the supporting component (7), the X-direction moving driving mechanism (8) drives the supporting component (7) to drive the gripping unit (5) to move along the X direction, the Y-direction moving driving mechanism (9) drives the supporting component (7) to drive the gripping unit (5) to move along the Y direction, and the XY plane rotating driving mechanism (10) drives the supporting component (7) to drive the gripping unit (5) to rotate in the XY plane.

4. The alignment mechanism for automatic adjustment of a panel veneer butt seam according to claim 3, wherein the X-direction movement driving mechanism (8), the Y-direction movement driving mechanism (9) and the XY-plane rotation driving mechanism (10) each comprise a servomotor and a ball screw pair mounted on the servomotor, the ball screw pair converting a rotational motion of the servomotor into a linear motion.

5. The alignment mechanism for automatic adjustment of plate joints according to claim 1, wherein the support assembly (7) comprises a rotating disc (701), a Y-direction moving disc (703) and an X-direction moving disc (702) from top to bottom in sequence, the rotating disc (701), the X-direction moving disc (702) and the Y-direction moving disc (703) can synchronously move along the X-direction, the rotating disc (701) and the Y-direction moving disc (703) can synchronously move along the Y-direction, and the rotating disc (701) can rotate around a central axis in an XY plane.

6. The alignment mechanism for automatic adjustment of a panel splice according to claim 5, wherein the support assembly (7) further comprises a turntable support (11), the turntable support (11) is fixed on the Y-direction moving tray (703), and the turntable support (11) is located between the rotating tray (701) and the Y-direction moving tray (703).

7. The alignment mechanism for automatic adjustment of plate butt joints according to claim 1, wherein the magnet adsorption cylinder (502) comprises a cylinder body and a magnet piston arranged in the cylinder body, the magnet piston divides the cylinder body into an upper cavity and a lower cavity, the cylinder body is provided with an upper air hole and a lower air hole, the upper air hole is communicated with the upper cavity, and the lower air hole is communicated with the lower cavity.