WO2018041017A1 - 一种汽车防撞梁机器人自动冲切设备 - Google Patents

一种汽车防撞梁机器人自动冲切设备 Download PDF

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Publication number
WO2018041017A1
WO2018041017A1 PCT/CN2017/098941 CN2017098941W WO2018041017A1 WO 2018041017 A1 WO2018041017 A1 WO 2018041017A1 CN 2017098941 W CN2017098941 W CN 2017098941W WO 2018041017 A1 WO2018041017 A1 WO 2018041017A1
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WO
WIPO (PCT)
Prior art keywords
punching
shaft
loading
die cutting
gripping
Prior art date
Application number
PCT/CN2017/098941
Other languages
English (en)
French (fr)
Inventor
吴泽权
Original Assignee
广州敏实汽车零部件有限公司
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Filing date
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Application filed by 广州敏实汽车零部件有限公司 filed Critical 广州敏实汽车零部件有限公司
Publication of WO2018041017A1 publication Critical patent/WO2018041017A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/02—Stamping using rigid devices or tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
    • B21D45/003—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass in punching machines or punching tools
    • B21D45/006—Stripping-off devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D53/00—Making other particular articles
    • B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards

Definitions

  • the invention relates to a production equipment in the research field of automobile spare parts production, in particular to an automatic punching and cutting device for an automobile anti-collision beam robot.
  • the anti-collision beam structure is a device for mitigating the collision energy of the vehicle when it is collided.
  • the anti-collision beam structure is composed of an anti-collision beam, an energy absorbing box, and a mounting plate connected to the automobile, and the anti-collision beam and the energy absorbing box can be When the vehicle collides at a low speed, it effectively absorbs the collision energy, and minimizes the damage of the impact force to the longitudinal beam of the vehicle body, thereby exerting its protection effect on the vehicle.
  • the two ends of the impact beam are connected to a low-speed energy absorbing box with a low yield strength, and then connected to the longitudinal beam of the vehicle body by bolts.
  • the low-speed energy-absorbing box can effectively absorb the collision energy when the vehicle collides at a low speed, and minimize the damage of the impact force to the longitudinal beam of the vehicle body, thereby exerting its protection effect on the vehicle.
  • the production process of the existing anti-collision beam is that the high-strength steel is input into the rolling machine and then formed, and then the rolling parts are respectively sent to the left end punching device and the right end punching device, respectively, to the two rolling elements respectively. The end is die cut. The above part turnover and the blanking of the blanking are manually operated. Therefore, the existing anti-collision beam production has the following disadvantages:
  • the weight of the anti-collision beam reaches 2KG per piece, and the operator is in high intensity production every day, which is very tired;
  • the anti-collision beam is a high-strength steel, which will generate very large harsh noise during the die cutting process, which will cause more damage to the operator.
  • the object of the present invention is to provide an automatic punching and cutting device for an automobile anti-collision beam, which realizes full recovery of the anti-collision beam, the punching and the discharging.
  • an automatic punching and cutting device for an automobile anti-collision beam comprising a first punching machine, a second punching machine, a loading system beside the first punching machine, and a a cutting system beside the second punching machine, a transfer frame is arranged between the loading system and the blanking system, and the material in the loading system is arranged to be sent to the first between the intermediate frame and the loading system
  • a first robot of the punching machine and the intermediate frame, and a second robot capable of feeding the material on the intermediate frame to the second punching and unloading system is disposed between the intermediate frame and the unloading system.
  • the first robot includes a first rotating disk, a first shaft mounted on the first rotating disk, a second shaft hinged on the first shaft, and a second shaft mounted on the second shaft Grasping a motor, a first gripping claw is mounted at an end of the first gripping motor;
  • the second robot includes a second rotating disc, a third shaft mounted on the second rotating disc, and hinged to the third shaft
  • the upper fourth shaft and the second gripping motor mounted on the fourth shaft, the second gripping motor is mounted with a second gripping claw at the end.
  • the gripping end opening of the first gripping claw is downward, and the gripping end opening of the second gripping claw is horizontally oriented.
  • the loading system comprises an inclined upper rail plate, two feeding baffles are arranged on both sides of the upper rail plate, and an upper end surface of the upper rail plate and The space between the two loading baffles forms a loading channel, and the lower end of the loading channel is provided with a loading limit block and a loading position sensor.
  • the intermediate frame includes two intermediate rotating frames and a plurality of rotating cross bars between the intermediate rotating frames, and the upper end surface of the rotating vertical frame is arranged with a U-shaped intermediate positioning block.
  • a relay sensor is disposed beside the relay positioning block, and a gripping space is formed between the relay positioning blocks.
  • the blanking system comprises a horizontally placed blanking platform, a finished frame located beside the blanking platform, and a blanking gantry robot, the blanking gantry robot comprising a horizontal frame in the blanking platform and the finished frame a gantry between, a first slider reciprocating along a beam of the gantry, a vertical blanking track mounted on the first slider, a second sliding block reciprocating on the vertical blanking track, mounted on a blanking motor on the second sliding block and an adsorption plate installed at the output end of the blanking motor, the lower end surface of the adsorption plate is arranged with a plurality of columns of adsorption rods, and each column of the adsorption rods corresponds to a material on the cutting platform.
  • the fuel injection system is installed above the finished frame, and the fuel injection system includes an oil injection rotating disk, a fifth shaft mounted on the oil injection rotating disk, and a sixth hinged on the fifth axis.
  • the shaft and the injector mounted on the sixth shaft.
  • the utility model further comprises a protective fence enclosing the first punching machine, the second punching machine, the loading system and the unloading system, and the protective bar is arranged at a position close to the blanking system.
  • the sampling station is provided with an artificial sampling window that can be opened at a position close to the manual sampling table in the protection column.
  • the invention has the beneficial effects that the invention realizes the automatic picking, punching and discharging of the anti-collision beam; the production cycle is increased from 120PCS/H to 150PCS/H, and four operators (white/night shift) are reduced; fully automated production
  • the anti-collision beam avoids the error caused by the artificial experience, thereby improving the product quality; reducing the physical strength of the operator and the noise damage it receives.
  • Figure 1 is a plan view of the present invention
  • Figure 2 is an isometric view of the present invention.
  • An automatic punching and cutting device for automobile anti-collision beam robot comprising a first punching machine 1, a second punching machine 2, a loading system 5 located beside the first punching machine 1, and a second punching machine 2 a feeding system 6, a transfer frame 9 is arranged between the loading system 5 and the blanking system 6, and a material between the intermediate frame 9 and the loading system 5 is arranged to send the material in the loading system 5 to A first robot 3 of the punching machine 1 and the intermediate frame 9, between the intermediate frame 9 and the blanking system 6, is arranged to send the material on the intermediate frame 9 to the second punching machine 2 and the blanking system 6 The second robot 4 .
  • the first robot 3 includes a first rotating disk 30, a first shaft 31 mounted on the first rotating disk 30, a second shaft 32 hinged on the first shaft 31, and a second mounting shaft a first gripping motor on the two shafts 32, the first gripping motor is mounted with a first gripping claw 33 at the end;
  • the second robot 4 includes a second rotating disc 40, and is mounted on the second rotating disc 40 a third shaft 41, a fourth shaft 42 hinged on the third shaft 41, and a second gripping motor mounted on the fourth shaft 42.
  • the second gripping motor is mounted with a second gripping claw 43 at the end thereof. .
  • the gripping end opening of the first gripping claw 33 faces downward, and the gripping end opening of the second gripping claw 43 is horizontally oriented, due to the first gripping claw 33 and the second gripping claw.
  • the orientation of the claws 43 is different, resulting in different ways in which the first robot 3 and the second robot 4 grasp the impact beam.
  • the loading system 5 includes an inclined rail plate 50 disposed obliquely, and two loading baffles are disposed on both sides of the upper rail plate 50, and the upper rail plate 50 is The upper end surface and the space between the two loading baffles form a loading passage, and the lower end of the loading passage is provided with a loading limit block 51 and a loading position sensor.
  • the intermediate frame 9 includes two intermediate frames 90 and a plurality of intermediate rails 92 located between the intermediate frames 90.
  • the upper end surface of the intermediate frame 90 is disposed in a U shape.
  • the relay positioning block 91 is disposed with a relay sensor disposed adjacent to the intermediate positioning block 91.
  • the intermediate positioning block 91 forms a gripping space therebetween, and the grabbing space forms a retreat space of the first robot 3 and the second robot 4.
  • the operator places the anti-collision beams from the rolling line in an orderly manner on the upper rail plate 50.
  • the upper rail plate 50 conveys the workpiece along the loading channel to the end of the loading channel and is positioned by the loading limit block 51.
  • the loading position sensor transmits a signal to the first robot 3; the first robot 3 picks up the end of the loading channel.
  • the beam is struck and the anti-collision beam is inserted into the first punching machine 1 for punching.
  • the anti-collision beam is placed on the intermediate frame 9 by the first robot 3; the relay sensor transmits a signal to the second robot, the second robot picks up the anti-collision beam on the intermediate frame 9, and the second punching machine 2 Finish the stamping at the other end of the impact beam.
  • the anti-collision beam is placed by the second robot 4 to the unloading platform; after the anti-collision beam on the unloading platform reaches 15 pieces, the anti-collision beam is placed by the blanking gantry robot to the finished frame.
  • the blanking system 6 includes a horizontally placed blanking platform 62, a finished frame 60 located next to the blanking platform 62, and a blanking gantry robot including a transverse frame on the blanking platform a gantry 61 between the 62 and the finished frame 60, a first slider reciprocating along the beam of the gantry 61, a vertical blanking track mounted on the first slider, and reciprocating on the vertical blanking track a second sliding block, a blanking motor mounted on the second sliding block, and an adsorption plate 63 installed at the output end of the blanking motor.
  • the lower end surface of the adsorption plate 63 is arranged with a plurality of columns of adsorption rods, and each column of the adsorption rods corresponds to one Material located on the blanking platform 62.
  • the unloading platform 62 is provided with a counter and a blanking position sensor.
  • the second robot 4 places the punched impact beam into the blanking platform 62
  • the anti-collision beam in the blanking platform 62 reaches 15 pieces
  • the counter and the blanking position sensor transmit signals to the blanking gantry robot
  • the first slider moves along the beam of the gantry 61 to the blanking platform 62
  • the second sliding block moves down the vertical blanking track
  • the first sliding block is reset
  • the first sliding block is reset to the upper frame 60
  • the second sliding block is along the vertical
  • the lowering rail moves downward
  • the 15 columns of adsorption rods on the adsorption plate 63 fail, and 15 pieces of impact beams are placed on the finished frame 60.
  • an injection system is installed above the finished frame 60, the injection system includes an injection rotating disk, a fifth shaft mounted on the oil injection rotating disk, and a sixth hinged on the fifth axis.
  • the shaft and the injector mounted on the sixth shaft.
  • the fuel injection system When a layer of anti-collision beam is placed, the fuel injection system resets the anti-collision beam of the layer and then deposits a layer of anti-collision beam and then sprays.
  • the finished frame 60 When the finished frame 60 is fully loaded, it is replaced by the operator.
  • the preset finished product frame 60 stores the number of products in the system. When the quantity is reached, the system issues an alarm to remind the operator to replace the finished product frame 60.
  • the utility model further comprises a fence 7 enclosing the first punching machine 1, the second punching machine 2, the loading system 5 and the blanking system 6, and the first punching machine 1 is wrapped by the fence. After the second punching machine 2, the loading system 5, and the unloading system 6, the noise during operation is reduced.
  • the first robot 3 and the second robot 4 in the present invention are suspended; when the safety protection door is closed, the first robot 3 and the second in the present invention The robot 4 can continue to operate.
  • a position of the guard rail 7 near the blanking system 6 is arranged with a manual sampling table 8, and an artificial sampling window that can be opened is arranged in the guard rail 7 near the manual sampling table 8.
  • the product is regularly inspected by the operator.
  • the operator opens the manual sampling window and takes the workpiece from the manual sampling window, and performs the appearance inspection on the manual sampling station 8, and the system continues to work without stopping.
  • the device issues an alarm.
  • the first robot 3 and the second robot 4 can be retracted to free up a manual operation space, so that the manual can continue to work in an emergency situation, and the production can be continued.

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  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
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Abstract

一种汽车防撞梁机器人自动冲切设备，包括第一冲切机（1）、第二冲切机（2）、位于第一冲切机（1）旁的上料系统（5）以及位于第二冲切机（2）旁的下料系统（6），上料系统（5）和下料系统（6）之间布置有中转架（9），中转架（9）和上料系统（5）之间布置有能将上料系统（5）中的物料送至第一冲切机（1）和中转架（9）的第一机械手（3），中转架（9）和下料系统（6）之间布置有能将中转架（9）上的物料送至第二冲切机（2）和下料系统（6）的第二机械手（4）。本自动冲切设备实现防撞梁取料、冲切以及放料全自动化；生产节拍由120PCS/H提升到150PCS/H，减少4名作业员（白/晚班）；全自动化生产防撞梁，避免人工经验而产生的认为误差，进而提升产品品质；降低作业员体力强度及其受到的噪音伤害。

Description

一种汽车防撞梁机器人自动冲切设备
技术领域
本发明涉及汽车零配件生产研究领域中的一种生产设备，特别是一种汽车防撞梁机器人自动冲切设备。
背景技术
防撞梁结构是用来减轻车辆受到碰撞时吸收碰撞能量的一种装置，防撞梁结构由防撞梁、吸能盒，连接汽车的安装板组成，防撞梁、吸能盒都可以在车辆发生低速碰撞时有效吸收碰撞能量，尽可能减小撞击力对车身纵梁的损害，通过这样就发挥了它对车辆的保护作用。防撞梁的两端连接的是屈服强度很低的低速吸能盒，然后通过螺栓的形式连接在车体纵梁上。低速吸能盒可以在车辆发生低速碰撞时有效吸收碰撞能量，尽可能减小撞击力对车身纵梁的损害，通过这样就发挥了它对车辆的保护作用。现有防撞梁的生产工艺为，将高强度钢输入滚压机后成型，再用周转台车将滚压件分别送至左端冲切设备和右端冲切设备，分别对滚压件的两端进行冲切成型。上述零件周转以及冲切的上料下料都采用人工操作。因此，现有的防撞梁生产存在以下缺点：
1. 由于人工操作节拍慢，冲切工位需要2名作业员，两班共计4名作业员才能完成；
2. 防撞梁重量达到2KG每根，作业员每天高强度在生产，非常累；
3. 防撞梁属于高强度钢，在模具冲切过程中会产生非常大的刺耳噪音，对作业员伤害比较大。
发明内容
本发明的目的，在于提供一种汽车防撞梁机器人自动冲切设备，其实现防撞梁取料、冲切以及放料全自动化。
本发明解决其技术问题的解决方案是：一种汽车防撞梁机器人自动冲切设备，包括第一冲切机、第二冲切机、位于第一冲切机旁的上料系统以及位于第二冲切机旁的下料系统，所述上料系统和下料系统之间布置有中转架，所述中转架和上料系统之间布置有能将上料系统中的物料送至第一冲切机和中转架的第一机械手，所述中转架和下料系统之间布置有能将中转架上的物料送至第二冲切机和下料系统的第二机械手。
作为上述技术方案的进一步改进，所述第一机械手包括第一旋转盘、安装在第一旋转盘上的第一轴、铰接在第一轴上的第二轴以及安装在第二轴上的第一抓取电机，所述第一抓取电机的末端安装有第一抓取爪；所述第二机械手包括第二旋转盘、安装在第二旋转盘上的第三轴、铰接在第三轴上的第四轴以及安装在第四轴上的第二抓取电机，所述第二抓取电机的末端安装有第二抓取爪。
作为上述技术方案的进一步改进，所述第一抓取爪的抓取端开口朝下，所述第二抓取爪的抓取端开口水平朝向。
作为上述技术方案的进一步改进，所述上料系统包括倾斜布置的上料轨板，所述上料轨板的两侧布置有两块上料挡板，所述上料轨板的上端面以及两块上料挡板之间的空间形成上料通道，所述上料通道的下侧末端布置有上料限位块和上料位置传感器。
作为上述技术方案的进一步改进，所述中转架包括两根中转立架以及多根位于中转立架之间的中转横杆，所述中转立架的上端面布置有呈U形的中转定位块，所述中转定位块旁布置有中转传感器，所述中转定位块之间形成抓取空间。
作为上述技术方案的进一步改进，所述下料系统包括水平放置的下料平台、位于下料平台旁的成品框以及下料龙门机器人，所述下料龙门机器人包括横架在下料平台和成品框之间的龙门架、沿龙门架的横梁往复移动的第一滑块、安装在第一滑块上的竖直下料轨道、在竖直下料轨道上往复移动的第二滑动块、安装在第二滑动块上的下料电机以及安装在下料电机输出端的吸附板，所述吸附板的下端面布置有多列吸附杆，每一列所述吸附杆对应一个位于下料平台上的物料。
作为上述技术方案的进一步改进，所述成品框上方安装喷油系统，所述喷油系统包括喷油旋转盘、安装在喷油旋转盘上的第五轴、铰接在第五轴上的第六轴以及安装在第六轴上的喷油嘴。
作为上述技术方案的进一步改进，还包括将第一冲切机、第二冲切机、上料系统以及下料系统围起来的防护栏，所述防护栏中靠近下料系统的位置布置有人工抽检台，所述防护栏中靠近人工抽检台的位置布置有能打开的人工抽检窗。
本发明的有益效果是：本发明实现防撞梁取料、冲切以及放料全自动化；生产节拍由120PCS/H提升到150PCS/H，减少4名作业员（白/晚班）；全自动化生产防撞梁，避免人工经验而产生的认为误差，进而提升产品品质；降低作业员体力强度及其受到的噪音伤害。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单说明。显然，所描述的附图只是本发明的一部分实施例，而不是全部实施例，本领域的技术人员在不付出创造性劳动的前提下，还可以根据这些附图获得其他设计方案和附图。
图1是本发明的俯视图；
图2是本发明的等轴视图。
具体实施方式
以下将结合实施例和附图对本发明的构思、具体结构及产生的技术效果进行清楚、完整地描述，以充分地理解本发明的目的、特征和效果。显然，所描述的实施例只是本发明的一部分实施例，而不是全部实施例，基于本发明的实施例，本领域的技术人员在不付出创造性劳动的前提下所获得的其他实施例，均属于本发明保护的范围。另外，文中所提到的所有联接/连接关系，并非单指构件直接相接，而是指可根据具体实施情况，通过添加或减少联接辅件，来组成更优的联接结构。
参照图1～图2， 一种汽车防撞梁机器人自动冲切设备，包括第一冲切机1、第二冲切机2、位于第一冲切机1旁的上料系统5以及位于第二冲切机2旁的下料系统6，所述上料系统5和下料系统6之间布置有中转架9，所述中转架9和上料系统5之间布置有能将上料系统5中的物料送至第一冲切机1和中转架9的第一机械手3，所述中转架9和下料系统6之间布置有能将中转架9上的物料送至第二冲切机2和下料系统6的第二机械手4。
进一步作为优选的实施方式，所述第一机械手3包括第一旋转盘30、安装在第一旋转盘30上的第一轴31、铰接在第一轴31上的第二轴32以及安装在第二轴32上的第一抓取电机，所述第一抓取电机的末端安装有第一抓取爪33；所述第二机械手4包括第二旋转盘40、安装在第二旋转盘40上的第三轴41、铰接在第三轴41上的第四轴42以及安装在第四轴42上的第二抓取电机，所述第二抓取电机的末端安装有第二抓取爪43。
进一步作为优选的实施方式，所述第一抓取爪33的抓取端开口朝下，所述第二抓取爪43的抓取端开口水平朝向，由于第一抓取爪33和第二抓取爪43的朝向不一样，导致第一机械手3和第二机械手4抓取防撞梁的方式不一样。
进一步作为优选的实施方式，所述上料系统5包括倾斜布置的上料轨板50，所述上料轨板50的两侧布置有两块上料挡板，所述上料轨板50的上端面以及两块上料挡板之间的空间形成上料通道，所述上料通道的下侧末端布置有上料限位块51和上料位置传感器。
进一步作为优选的实施方式，所述中转架9包括两根中转立架90以及多根位于中转立架90之间的中转横杆92，所述中转立架90的上端面布置有呈U形的中转定位块91，所述中转定位块91旁布置有中转传感器，所述中转定位块91之间形成抓取空间，抓取空间形成第一机械手3和第二机械手4的避让空间。
作业员将滚压线出来的防撞梁有序的放置至上料轨板50上。上料轨板50将工件沿着上料通道传送至上料通道末端通过上料限位块51定位，上料位置传感器将信号传送至第一机械手3；第一机械手3拾取上料通道末端的防撞梁，并将防撞梁插放至第一冲切机1中进行冲压。冲压完成后由第一机械手3将防撞梁放置至中转架9上；中转传感器将信号传递到第二机械人，第二机械人拾取中转架9上防撞梁，并在第二冲切机2上完成防撞梁另一端的冲压。冲压完成后由第二机械手4将防撞梁放置至下料平台；下料平台上的防撞梁达到15件后，由下料龙门机器人将防撞梁放置至成品框。
进一步作为优选的实施方式，所述下料系统6包括水平放置的下料平台62、位于下料平台62旁的成品框60以及下料龙门机器人，所述下料龙门机器人包括横架在下料平台62和成品框60之间的龙门架61、沿龙门架61的横梁往复移动的第一滑块、安装在第一滑块上的竖直下料轨道、在竖直下料轨道上往复移动的第二滑动块、安装在第二滑动块上的下料电机以及安装在下料电机输出端的吸附板63，所述吸附板63的下端面布置有多列吸附杆，每一列所述吸附杆对应一个位于下料平台62上的物料。下料平台62上布置有计数器和下料位置传感器，当第二机械手4将冲切完的防撞梁放置下料平台62中后，当下料平台62中的防撞梁达到15件的时候，计数器和下料位置传感器将信号传递给下料龙门机器人，第一滑块沿着龙门架61的横梁移动到下料平台62上，第二滑动块沿着竖直下料轨道往下移动后，吸附板63上的15列吸附杆将下料平台62中的15件防撞梁对应吸附后，第二滑动块复位，第一滑动块复位到成品框60上方，第二滑动块沿着竖直下料轨道往下移动后，吸附板63上的15列吸附杆失效，将15件防撞梁放到成品框60上。
进一步作为优选的实施方式，所述成品框60上方安装喷油系统，所述喷油系统包括喷油旋转盘、安装在喷油旋转盘上的第五轴、铰接在第五轴上的第六轴以及安装在第六轴上的喷油嘴。当下料龙门机器人将将15个防撞梁放到成品框60上后，喷油嘴在喷油旋转盘、第五轴以及第六轴的作用下移动到防撞梁的上方，并在防撞梁的表面喷涂一层保护油，该保护油防止防撞梁在周转中出现生锈等现象。当放置一层防撞梁，喷油系统将该层的防撞梁喷油后复位，再放置一层防撞梁，再喷涂。当成品框60满载时，由作业员进行更换。系统中预置成品框60存放产品的数量，当数量达到时，系统发出警报，提醒作业员更换成品框60。
进一步作为优选的实施方式，还包括将第一冲切机1、第二冲切机2、上料系统5以及下料系统6围起来的防护栏7，通过防护栏包裹第一冲切机1、第二冲切机2、上料系统5以及下料系统6后降低其工作时的噪声。作业员人工打开防护栏7上的安全防护门进入防护区域时，本发明中的第一机械手3和第二机械手4暂停工作；关闭安全防护门时，本发明中的第一机械手3和第二机械手4才能继续动作，所述防护栏7中靠近下料系统6的位置布置有人工抽检台8，所述防护栏7中靠近人工抽检台8的位置布置有能打开的人工抽检窗。由作业员定期对产品进行抽检。抽检时，作业员打开人工抽检窗后从人工抽检窗上拿取工件，在人工抽检台8上进行外观检测，系统继续工作不停机。当系统出现故障时，设备发出警报。第一机械手3和第二机械手4可收起，腾出人工操作空间，使人工在应急情况下继续进行工作，保障生产能继续进行。
以上是对本发明的较佳实施方式进行了具体说明，但本发明创造并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可作出种种的等同变型或替换，这些等同的变型或替换均包含在本申请权利要求所限定的范围内。

Claims (8)

  1. 一种汽车防撞梁机器人自动冲切设备，其特征在于：包括第一冲切机、第二冲切机、位于第一冲切机旁的上料系统以及位于第二冲切机旁的下料系统，所述上料系统和下料系统之间布置有中转架，所述中转架和上料系统之间布置有能将上料系统中的物料送至第一冲切机和中转架的第一机械手，所述中转架和下料系统之间布置有能将中转架上的物料送至第二冲切机和下料系统的第二机械手。
  2. 根据权利要求1所述的汽车防撞梁机器人自动冲切设备，其特征在于：所述第一机械手包括第一旋转盘、安装在第一旋转盘上的第一轴、铰接在第一轴上的第二轴以及安装在第二轴上的第一抓取电机，所述第一抓取电机的末端安装有第一抓取爪；所述第二机械手包括第二旋转盘、安装在第二旋转盘上的第三轴、铰接在第三轴上的第四轴以及安装在第四轴上的第二抓取电机，所述第二抓取电机的末端安装有第二抓取爪。
  3. 根据权利要求2所述的汽车防撞梁机器人自动冲切设备，其特征在于：所述第一抓取爪的抓取端开口朝下，所述第二抓取爪的抓取端开口水平朝向。
  4. 根据权利要求1所述的汽车防撞梁机器人自动冲切设备，其特征在于：所述上料系统包括倾斜布置的上料轨板，所述上料轨板的两侧布置有两块上料挡板，所述上料轨板的上端面以及两块上料挡板之间的空间形成上料通道，所述上料通道的下侧末端布置有上料限位块和上料位置传感器。
  5. 根据权利要求1所述的汽车防撞梁机器人自动冲切设备，其特征在于：所述中转架包括两根中转立架以及多根位于中转立架之间的中转横杆，所述中转立架的上端面布置有呈U形的中转定位块，所述中转定位块旁布置有中转传感器，所述中转定位块之间形成抓取空间。
  6. 根据权利要求1~5任一项所述的汽车防撞梁机器人自动冲切设备，其特征在于：所述下料系统包括水平放置的下料平台、位于下料平台旁的成品框以及下料龙门机器人，所述下料龙门机器人包括横架在下料平台和成品框之间的龙门架、沿龙门架的横梁往复移动的第一滑块、安装在第一滑块上的竖直下料轨道、在竖直下料轨道上往复移动的第二滑动块、安装在第二滑动块上的下料电机以及安装在下料电机输出端的吸附板，所述吸附板的下端面布置有多列吸附杆，每一列所述吸附杆对应一个位于下料平台上的物料。
  7. 根据权利要求6所述的汽车防撞梁机器人自动冲切设备，其特征在于：所述成品框上方安装喷油系统，所述喷油系统包括喷油旋转盘、安装在喷油旋转盘上的第五轴、铰接在第五轴上的第六轴以及安装在第六轴上的喷油嘴。
  8. 根据权利要求1所述的汽车防撞梁机器人自动冲切设备，其特征在于：还包括将第一冲切机、第二冲切机、上料系统以及下料系统围起来的防护栏，所述防护栏中靠近下料系统的位置布置有人工抽检台，所述防护栏中靠近人工抽检台的位置布置有能打开的人工抽检窗。
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