CN104972008B - A kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means - Google Patents
A kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means Download PDFInfo
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- CN104972008B CN104972008B CN201510317660.7A CN201510317660A CN104972008B CN 104972008 B CN104972008 B CN 104972008B CN 201510317660 A CN201510317660 A CN 201510317660A CN 104972008 B CN104972008 B CN 104972008B
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- sheet metal
- positioning
- sheet material
- vibrator
- production line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
-
- 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
- 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
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
-
- 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
- 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
- B21D43/20—Storage arrangements; Piling or unpiling
- B21D43/24—Devices for removing sheets from a stack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means, including bin, mechanical hand, feeding paw, positioner, digital control system and bender.Feeding paw includes material-taking rack, several vibrators, several electric magnet and several vacuum cups；The natural frequency of each vibrator is all higher than the natural frequency of sheet metal.After using said structure and method, vacuum cup is used alternatingly with electric magnet, has both met stability in layering, is met again accurate and efficient in positioning and Forging Process.Vibrator constitutes a single-mode system with sheet metal, when the driving frequency of vibrator and the equal natural frequency of sheet material, realizes the layering of sheet metal.Above-mentioned digital control system can judge whether " grabbing " and " leakage is grabbed " problem more, moreover it is possible to the real-time contact situation of " perception " between sheet metal and finger, make the positioning precision of positioner higher, and will not produce mechanical interference and collision.
Description
Technical field
The present invention relates to the auxiliary device and method, particularly one kind in a kind of sheet metal machining production line is applied to certainly
The sheet material positioning grasping system of dynamic metaplasia producing line and positioning grasping means.
Background technology
The fields such as automobile, electronics, five metals household electrical appliances, electrical equipment, engineering machinery need substantial amounts of sheet metal profiled member, to its people
The development of economic numerous areas has very important effect.As industrial 4.0 macro development trend in sheet metal processing neck
Domain specifically expands and extend, and market is grown with each passing day to the demand of sheet metal automatization machining production line in recent years.With biography
The unit cooked mode of system is compared, and is not only saved labor cost using automatic production line, is improve work efficiency, more important
Be the product quality to production process, the delivery cycle has more preferable controllability, and this shows for the division of labor in society is increasingly fine
Even more important for generationization production model.
The processing of sheet metal automatization, abroad, especially automobile manufacturing field, five metals field of household appliances are taken already
Obtain and apply on a large scale, technology is also ripe.But at home, for various reasons, start to walk relatively later, only minority scale compared with
Big automobile manufacturing enterprise obtains application, the domestic shortage in the field core technology be cause this gap principal element it
One.And it is exactly one of core technology therein that the plate in the course of processing is accurately positioned with crawl technology.
In sheet metal automatic production line, last one procedure is in most cases terminated with bending and molding,
And the plate before bending and molding is captured and is accurately positioned, to machining accuracy, there is decisive influence.Therefore, the present invention mainly should
In for automatic production line, being accurately positioned before part bending and capture, it can in addition contain be applied among other operations.
The prior art for positioning crawl at present in production line is primarily present following several respects problem：
1st, sheet material positioning precision is not high
The method that typically takes has several as follows：
1) such as the patent application that number of patent application is 201420133612.3, which adopts an independent locating rack, and this is fixed
Independently of feeding robot and bender, part is positioned over locating rack, carries out secondary crawl after positioning position frame by robot first,
Bending is carried out afterwards again.
Above-mentioned patent application, on the one hand secondary crawl process there is error in itself, another aspect bending precision is still relied on
In the repetitive positioning accuracy of robot, positioning precision in this approach generally poor, and work efficiency is very low.
2) mechanical position limitation or inductive switch are housed as positioning datum on robot, although the method is 1) few compared with method
One secondary crawl process, but its positioning precision still relies on the positioning precision of robot, and precision is poor.
3) the gear fingering row positioning of the rear stock stop carried by numerical control bender, the method are suitable for craft bending behaviour
Make, and when automatic charging being carried out using robot, mechanical collision easily occur, cause security incident.
Three kinds of methods of above-mentioned prior art all do not have to solve following two technological difficulties：
1) when sheet material occurs parallel misalignment (as sheet material and Bending Mould cutting edge are not parallel), it is impossible to enough effectively carry out
Detection is simultaneously corrected, let alone be accurately positioned in time.
2) part needs to carry out changing face when processing sometimes, and the face process of changing can produce relatively large deviation, and any of the above described one kind side
Method can not all be exchanged the deviation of face generation and quickly be revised.
2nd, sheet material be adhered cause grab phenomenon by mistake
Metal blank is generally put by the way of stacking in a pile, and easy generation between sheet material is adhered effect and is sticked together,
Mechanical hand may be caused mistakenly once to capture multiple plate material parts be processed, cause machinery equipment damage and security incident,
Strictly must prevent in the middle of this production.
Generally, such as the patent application of Application No. 200420021412.5, which adopts magnetic force demixing technology to prior art, should
Technology is by several with magnetizing to sheet material in a pile compared with high-intensity magnetic field Magnet so that produce between plate surface mutually exclusive
Magnetic field force, and then reach the purpose of layering.
But the problem of the maximum of above-mentioned technology presence is exactly exist around Magnet compared with high-intensity magnetic field, when Field Force takes
Band mobile phone, computer, wrist-watch, the electronic product such as digital camera near when, it will usually damage these electronic machines, in addition can also be to people
The medical apparatus and instruments such as the cardiac pacemaker that body is carried produce impact, even result in life danger.In addition above-mentioned employing the method can not
" grabbing " and " leakage is grabbed " phenomenon during to crawl is quickly detected more.
3rd, prior art is only to piece together simple and mechanical to sheet material positioner, grabbing device, decker,
Lack a system, science, efficient method of work, using effect is not good enough.
Content of the invention
The technical problem to be solved in the present invention be for above-mentioned the deficiencies in the prior art, and provide one kind be applied to automatization
The sheet material positioning grasping system of production line, the sheet material positioning grasping system for being applied to automatic production line can be by sheet metal
Layering, crawl and positioning carry out organic combination, and layering is reliable, is not in grab by mistake, capture high precision, and positioning precision and efficiency
High.
For solving above-mentioned technical problem, the technical solution used in the present invention is：
A kind of sheet material positioning grasping system for being applied to automatic production line, including having bin, the mechanical hand of putting area
And the feeding paw being connected with mechanical hand, it is characterised in that：The feeding paw includes material-taking rack, is arranged at material-taking rack corner
On several vibrators, several electric magnet being arranged on material-taking rack lower surface and several vacuum cups；Each exciting
Device include one can be along the vertical guide rod of material-taking rack up-down vibration, per root, the bottom of vertical guide rod is respectively provided with a vacuum
Sucker；The natural frequency of each vibrator is all higher than the natural frequency of sheet metal；Catching block is additionally provided with the bin.
Each described vibrator includes that one is arranged at the top of vertical guide rod and the rotor with two output shafts, setting
Stator and two pieces of eccentric massblocks being connected with two output shafts of rotor respectively in rotor outer periphery；It is located at material-taking rack both sides
Vertical guide rod on be set with a spring.
Also include digital control system, each vibrator is connected with the digital control system.
Also include that at least two positioners and positioning sheet material rest area, all positioners are mutually abreast arranged at
On the front end side of positioning sheet material rest area；Each positioner includes that one is fixedly installed on positioning sheet material rest area
Piezoelectric transducer and the finger for being arranged at piezoelectric transducer front end；Each piezoelectric transducer is connected with digital control system.
Lower mould of the positioning sheet material rest area for bender.
The present invention also provides a kind of sheet material positioning grasping means for being applied to automatic production line, and the one kind is applied to automatically
The layering of sheet metal, crawl and positioning can be carried out organic combination by the sheet material positioning grasping means of metaplasia producing line, and layering is reliable,
Be not in grab by mistake, capture high precision, and positioning precision and efficiency high.
For solving above-mentioned technical problem, the technical solution used in the present invention is：
A kind of sheet material positioning grasping means for being applied to automatic production line, comprises the following steps：
The first step, prepares before crawl：Sheet metal is neatly stacked in and on bin, puts area；
Second step, plate are layered：The surface in area put by mechanical hand during feeding paw is run to the first step, and to moving down
Dynamic, the vacuum cup below feeding paw is pressed on sheet metal to be captured, vacuum cup action, draw metallic plate to be captured
Material, and be lifted up；At the same time, the vibrator on feeding paw corner starts, and treats crawl sheet metal and is swashed
Encourage, the driving frequency of vibrator is equal with the natural frequency of sheet metal, sheet metal to be captured is produced under the excitation of vibrator
Raw resonance, realizes that the lower metal sheet material being mutually adhered with which is separated；
3rd step, plate are captured：Mechanical hand will realize detached metallic plate to be captured with lower metal sheet material in second step
Material, movement are simultaneously placed on catching block, and rear vacuum cup quits work, and electric magnet is powered, and sheet metal to be captured is captured.
Also include that the 4th step, plate are positioned：The sheet metal captured in 3rd step is transferred to positioning dress by mechanical hand
Place is put, and a side to be positioned of sheet metal is mutually touched with the finger of wherein at least two positioner, sheet metal
Side to be positioned and each finger touching power in the deviation range of setting.
In the 4th step plate position fixing process, when the finger of the side to be positioned only with a positioner of sheet metal
When mutually touching, the piezoelectric transducer of the positioner that mutually touches with side to be positioned produces touching signal, and will touching signal and
The touching power of detection passes to digital control system, and digital control system by the touching signal for receiving and touches power with the parallelism error for setting
After being compared, judging, instruction mechanical hand is carried out real-time adjustment to the position of sheet metal and attitude, until sheet metal
The finger of side to be positioned and wherein at least two positioner is mutually touched, and touches power in the deviation range for setting.
Also include the 5th step, upset, positioning step：When at least two sides of the sheet metal for having captured need to position
When, mechanical hand will complete the sheet metal of one article of side positioning in the 4th step, be overturn, successively to additionally needing the side of positioning
Side, is positioned according to the method for the 4th step.
In 4th step, after the completion of plate positioning, digital control system is recorded automatically has positioned the coordinate position for completing, and
Using the coordinate position as next piece of sheet metal to be positioned first elements of a fix value.
After the present invention is using said structure and method, have the advantages that：
1. on feeding paw, be provided with vacuum cup and electric magnet, vacuum cup due to itself there is certain flexibility, and
Sheet metal will not be made to produce magnetization be adhered, for the crawl in delaminating process to sheet metal；Electric magnet is big due to suction force,
Action response is rapid, there is no elastic deformation, the crawl in positioning and Forging Process to sheet metal.Vacuum cup and electricity
Magnet alternating is used cooperatively, and has both met stability in delaminating process, be disclosure satisfy that again accurate and high in positioning and Forging Process
Effect.
2. the vibrator for arranging on feeding paw constitutes a single-mode system with sheet metal, when the excitation of vibrator
When frequency is equal with the natural frequency of sheet material, the layering of sheet metal can be realized, in addition, above-mentioned digital control system can also root
Output torque according to motor judging whether " grabbing " and " leakage is grabbed " problem more.Compared with prior art, in hgher efficiency, reliable
Property more preferably, disturb without high-intensity magnetic field, therefore safety is also higher.
3. the setting of above-mentioned positioner, with several remarkable advantages as follows：
1) numerical control system is given by piezoelectric transducer by " contact force " Real-time Feedback between sheet metal and at least two fingers
System, digital control system carry out real-time adjustment further according to " contact force " signal of feedback to the position of sheet metal and attitude, whole fixed
Position and adjustment process are real-time closed loop control, and digital control system " can perceive " the contact feelings between sheet metal and finger in real time
Condition, therefore positioning precision is higher, and will not produce mechanical interference and collision.
2) due at least two fingers can perceive respectively sheet material and gear refer between " contact force ", therefore, it is possible to realize to plate
The parallelism error of material is detected and is adjusted.
3) positioner is fixedly connected with the lower mould of bender as positioning datum, and the coordinate system relative to bender is solid
Fixed, its positioning precision is not affected by robot itself repetitive positioning accuracy, even if therefore occurring ground basic capsule in process of production
Situations such as seam (and always different degrees of presence during these factors are actually produced), sedimentation, even if robot and bending
Mutual alignment between machine changes, and still can ensure that positioning and machining accuracy.
4) front one-time positioning is recorded by digital control system to the coordinate position of sheet metal, and is followed as next work
The first elements of a fix value of ring sheet metal positioning, can more rapidly and accurately realize the positioning of sheet metal, to production efficiency
Raising clearly.
4. the application, for automatization's machining production line, not exclusively by each functional module mechanically, simply
Combination, with greater need for a system, the method for work of science.Otherwise not only the efficiency of each functional module can not at utmost be sent out
Shoot and, the precision of product can be affected on the contrary, even cause security incident.Sheet material is being put, capturing, divided for this present invention
After the functional modules such as layer, positioning, bending carry out classifying rationally, a more adding system, science method of work is proposed, using this
Method, can reduce redundant actions in the course of processing to greatest extent, can farthest give play to the work effect of production line
Rate, while also ensure that machining accuracy and safety.The method of work of science determines each module position and layout, can reduce occupation of land
Area.
Description of the drawings
Fig. 1 shows that a kind of sheet material for being applied to automatic production line of the present invention positions the structural representation of grasping system；
Fig. 2 shows the mplifying structure schematic diagram of feeding paw in Fig. 1；
Fig. 3 shows the mplifying structure schematic diagram of encircled interior locating device in Fig. 1；
Fig. 4 shows the dimensional structure diagram of vibrator；
Fig. 5 shows the internal sectional structure schematic diagram of vibrator；
Fig. 6 shows single-degree-of-freedom kinetic model schematic diagram；
Fig. 7 shows the time dependent relation of periodic excitation load suffered by eccentric massblock；
Fig. 8 shows the variation relation between the amplitude that sheet metal vibrates and driving frequency with vibrator；
Structural representation when Fig. 9 shows that plate is layered；
Figure 10 shows that sheet metal is placed on feeding paw the structural representation of the catching block of bin；
Figure 11 shows the structural representation of sheet metal depth of parallelism adjustment；
Figure 12 shows the schematic diagram that sheet metal is positioned along the x direction；
Figure 13 shows the schematic diagram that sheet metal is positioned along Y-direction；
Figure 14 shows the schematic diagram of sheet metal positioning in Forging Process；
Figure 15 shows the schematic diagram of sheet metal feeding in Forging Process；
Figure 16 shows the schematic diagram of sheet metal bending；
Figure 17 shows that a kind of sheet material for being applied to automatic production line positions the schematic flow sheet of grasping means.
Wherein have：
1. feeding paw；
11. material-taking racks；111. guide pad；112. guide pad；
12. adpting flanges；
13. electric magnet；
14. vibrators；141. stator；142. rotor；143. eccentric massblock；144. vertical guide rods；145. spring；
2. positioner；
21. piezoelectric transducers；22. fingers；23. supports；
3. bin；
31. sheet metals；311.X is to side to be positioned；312.Y is to side to be positioned；32. put area；33. catching blocks；
4. bender；
41. fuselages；42. slide blocks；Mould on 43.；44. times moulds.
Specific embodiment
The sheet material positioning grasping system for being applied to automatic production line of the application and positioning grasping means, are preferably applied to
Being accurately positioned before part bending and capture, certainly, can also also be applied among other operations.
Below with regard to part bending before be accurately positioned and capture as specific embodiment, the application is made further details of
Explanation.
As shown in figure 1, a kind of be applied to automatic production line sheet material positioning grasping system, including mechanical hand, bin 3,
Feeding paw 1, at least two positioners 2, bender 4 and digital control system.
Above-mentioned bender 4 is prior art, as shown in figure 1, which includes fuselage 41, slide block 42, upper mould 43 and lower mould 44.Its
In, lower 44 position of mould is fixed, namely the positioning sheet material rest area in the application.Upper mould 43 is arranged on slide block 42, can be upper and lower
Slide.
As shown in Figure 1 and Figure 4, above-mentioned bin 3 includes putting area 32 and catching block 33, if put in area 32 being neatly stacked with
Dry tablet sheet metal 31.
As shown in Figure 12 and Figure 13, be subsequent processes explanation needs, in the application, every sheet metal 31 is respectively provided with one
Bar X is to side to be positioned 311 and Y-direction side 312 to be positioned.Certainly, according to the needs of Forging Process, sheet metal 31 can
To only have an X to positioning side 311, it is also possible to which only one Y-direction positions side 312, can also have a plurality of positioning side.
Each above-mentioned positioner 2 is mutually abreast arranged at positioning sheet material rest area (namely the lower mould of bender 4
44) on front end side.Positioner 2 is fixedly connected with the lower mould 44 of bender 4, relative to bender 4 as positioning datum
Coordinate system fix, its positioning precision is not affected by robot itself repetitive positioning accuracy, even if therefore in process of production
There is situations such as foundation crack (and always different degrees of presence during these factors are actually produced), sedimentation, even if machine
Mutual alignment between device people and bender 4 changes, and still can ensure that positioning and machining accuracy.
As shown in figure 3, each positioner 2 includes 21, finger 22 of a piezoelectric transducer and a support 23.
Support 23 is preferably triangular in shape, is fixedly installed on the front end side of lower mould 44.Piezoelectric transducer 21 is connected with digital control system,
Above-mentioned finger 22 is arranged on the front end of piezoelectric transducer 21, and finger 22 can contact and touch with the side to be positioned of sheet metal
Hit.
As shown in Fig. 2 feeding paw 1 include material-taking rack 11, several vibrators 14 being arranged on 11 corner of material-taking rack,
Several electric magnet 13 and several vacuum cups 15 being arranged on 11 lower surface of material-taking rack.
Due to itself there is certain flexibility in vacuum cup 15, and be adhered will not the generation magnetization of sheet metal 31, be used for
Crawl in delaminating process to sheet metal 31；Electric magnet 13 is big due to suction force, and action response is rapid, there is no elastic change
Shape, the crawl in positioning and Forging Process to sheet metal.Vacuum cup 15 is replaced with electric magnet 13 and uses cooperatively, both full
Stability in sufficient delaminating process, disclosure satisfy that accurate and efficient in positioning and Forging Process again.
The top of shown material-taking rack 11 is provided with an adpting flange 12 being connected with mechanical hand,.Above-mentioned vibrator 14
Preferably four.A guide pad 111 with pilot hole 112 is fixedly installed respectively in four edges of material-taking rack 11,
As replacement, also a pilot hole can be respectively set in four edges of material-taking rack 11 directly.
As shown in Figure 4 and Figure 5, each vibrator 14 include one can be along the vertical guide rod of 11 up-down vibration of material-taking rack
144, per root, the bottom of vertical guide rod 144 is respectively provided with a vacuum cup 15；The natural frequency of each vibrator 14 is all higher than gold
The natural frequency of category sheet material 31.
Each vibrator 14 preferably includes that one is arranged at the top of vertical guide rod 144 and the rotor with two output shafts
142nd, the stator 141 and two piece eccentric mass respectively with two piece output shafts of rotor 142 being connected of rotor 142 periphery are arranged at
Block 143, is set with a spring 145 on the vertical guide rod 144 of 11 both sides of material-taking rack.
Further, each vibrator 14 is preferably connected with the digital control system.
The principle Analysis that the drive sheet metal 31 of vibrator 14 carries out plate layering are as follows：
Vibrator 14 and sheet metal 31 can be reduced to single-degree-of-freedom kinetic model as shown in Figure 6.In figure 6, m
The weight sum of representative model mass, its weight namely the weight equivalent to vibrator in the application 14 and sheet metal 31.K
For spring rate, C represents damping, when F (t) is represented rotor 142 and is rotated with ω angular velocity, the week of the generation of eccentric massblock 143
Phase excitation load, and F (t) is in sinusoidal wave form change as shown in Figure 7, wherein：
F (t)=Asin (ω t)
Spring rate K is generally large, and model quality block m is generally less, and therefore the natural frequency of the system is generally higher,
Much higher compared with the natural frequency of sheet metal 31 itself.
The vibrator 14 can be intrinsic to adjust by adjusting the rotating speed of motor (namely stator 141 and rotor 142)
Frequency, it is generally the case that motor carries out rapid frequency-sweeping, when the natural frequency phase of natural frequency and the sheet metal 31 of vibrator 14
Meanwhile, sheet metal 31 can produce resonance.When sheet metal 31 resonates, can produce and significantly vibrate, so as to be advantageously implemented
The layering of sheet metal 31.
In fig. 8, f (n) represents the natural frequency of vibrator 14, and U represents the driving frequency of vibrator 14 and is less than vibrator
The working range of 14 natural frequency.
When vibrator 14 natural frequency apparently higher than sheet metal 31 natural frequency when, vibrator 14 being capable of work all the time
Make under its natural frequency, be i.e., in Fig. 8 in the range of " U ", 14 own dynamics characteristic of vibrator can be avoided to arousal effect
Impact, be conducive to provide stable exciting force.
A kind of sheet material positioning grasping means for being applied to automatic production line, as shown in figure 17, comprises the following steps：
The first step, prepares before crawl：Sheet metal 31 is neatly stacked in putting in area 32 on bin 3.
Second step, plate are layered：The surface in area 32 put by mechanical hand during feeding paw 1 is run to the first step, and to
Lower movement, makes the vacuum cup 15 below feeding paw 1 be pressed on sheet metal to be captured 31,15 action of vacuum cup, absorption
Sheet metal to be captured 31, and be lifted up；At the same time, the vibrator 14 on 1 corner of feeding paw starts, and treats and grabs
Take sheet metal 31 and enter row energization, the driving frequency of vibrator 14 is equal with the natural frequency of sheet metal 31, metal to be captured
Sheet material 31 produces resonance under the excitation of vibrator 14, as shown in figure 9, realizing 31 phase of lower metal sheet material being mutually adhered with which
Separate.
In above-mentioned plate stratification step, vibrator 14 constitutes a single-mode system with sheet metal 31, by exciting
The driving frequency that device 14 is produced is identical with the natural frequency of sheet metal 31, and makes sheet metal 31 produce what resonance was realized, and one
Denier robot mistakenly disposably draws multiple sheet metals 31 (or not being drawn to sheet metal 31), sheet metal 31
The natural frequency of vibration will change, and the output torque of motor will produce change, and digital control system can be according to this change, at once
Judge that sheet metal 31 draws mistake, concurrently malfunction false alarm, it is to avoid batch waste product is the generation of security incident.That is, above-mentioned
By the method for resonance excitation to can plate be effectively layered, additionally it is possible to plate capture process occur " grabbing " more or
The problems such as " leakage is grabbed ", it is monitored and reports to the police.
3rd step, plate are captured：Mechanical hand will realize detached metal to be captured with lower metal sheet material 31 in second step
Sheet material 31, movement are simultaneously placed on catching block 33, as shown in Figure 10.Vacuum cup 15 quits work afterwards, and electric magnet 13 is powered, and will treat
Crawl sheet metal 31 is captured.
4th step, plate are positioned：Mechanical hand by one article of side to be positioned of the sheet metal 31 captured in the 3rd step,
X as shown in figure 12 is transferred at positioner 2 to side to be positioned 311, and makes X to side to be positioned 311 and wherein at least
The finger 22 of two positioners 2 is mutually touched, and X to side to be positioned 311 and each finger 22 touching power in setting
In deviation range.
When plate positioning bending is carried out, it is commonly present during parallelism error between plate and die point, to machining accuracy
Affect very greatly, therefore the Aulomatizeted Detect and adjustment to this parallelism error is significant.
As shown in figure 11, there is parallelism error value between the cutting edge of the side to be positioned of sheet metal 31 and lower mould 44, i.e.,
Angle a in for Figure 11.
When feeding paw 1 captures sheet metal 31 to be positioned, the side to be positioned of sheet metal 31 is only capable of and one
The finger of positioner 2 is mutually touched, and the piezoelectric transducer 21 of the positioner 2 that is now only mutually touched with side to be positioned is produced
Touching signal, and the touching power of touching signal and detection is passed to digital control system, digital control system by the touching signal for receiving and
After touching power is compared, judges with the parallelism error for setting, by instruction position and attitude of the mechanical hand to sheet metal 31
Real-time adjustment is carried out, the finger 22 of side to be positioned and wherein at least two positioner 2 up to sheet metal 31 is mutually touched,
And power is touched in the deviation range for setting, parallelism error is then adjusted and is finished.
After the completion of plate positioning, digital control system is recorded automatically has positioned the coordinate position for completing, and by the coordinate position
First elements of a fix value as next piece of sheet metal to be positioned 31.Thus, it is possible to more rapidly and accurately realize sheet metal
Positioning, to the raising of production efficiency clearly.
5th step, upset, positioning step：When at least two sides of the sheet metal 31 for having captured need to position,
Mechanical hand will complete the sheet metal 31 of one article of side positioning in the 4th step, be overturn, after upset as shown in figure 13, now golden
Just to positioner 2, then, the method according to the 4th step is to be positioned to Y-direction again for the Y-direction side 312 to be positioned of category sheet material 31
Side 312 is positioned.According to needs such as bendings, if other desired positioning side is also deposited, then fixed to additionally needing successively
The side of position, carries out plate positioning according to the method for the 4th step.
6th step, the plate positioning and feeding in Forging Process, the course of work are as follows：
As shown in figure 14, finger 22 is d foremost with the cutting edge centre distance horizontal direction of lower mould 44, the cutting edge of lower mould 44
It is h in vertical direction, wherein d and h is measured and calibrated, and its dimensional discrepancy is controlled in rational scope.Need
Will in the distance apart from sheet metal 31 apart from front end side for e-value folding together 90 ° curved.
Sheet metal 31 is moved up apart from h under the drive of robot, then is moved horizontally apart from e+d to the right, same with this
When bender 4 on slide block 42 move downward, until upper mould 43 on cutting edge be just pressed on bending line, as shown in figure 15.
Then, as shown in figure 16, slide block 42 continues to move downward, under the collective effect of upper mould 43 and lower mould 44, will be complete
Bending and molding into sheet metal 31.
7th step, finished product are put：6th step is completed mechanical hand the sheet metal 31 of bending and molding, namely finished product, is carried out
Neatly put.Then, repeat second step to the 7th step, complete automated job.
For automatization's machining production line, the application be not only by each functional module mechanically, simply group
Close, with greater need for a system, the method for work of science.Otherwise not only the efficiency of each functional module can not at utmost be played
Out, the precision of product can be affected on the contrary, even causes security incident.
For this present invention putting to sheet metal, capture, be layered, positioning, the functional module such as bending carries out classifying rationally
Afterwards, a more adding system, science method of work is proposed, using the method, can be reduced in the course of processing to greatest extent
Redundant actions, can farthest give play to the work efficiency of production line, while also ensuring that machining accuracy and safety.Section
Method of work determines each module position and layout, can reduce floor space.
The preferred embodiment of the present invention described in detail above, but, the present invention is not limited in above-mentioned embodiment
Detail, the present invention range of the technology design in, multiple equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
Claims (9)
1. a kind of sheet material positioning grasping system for being applied to automatic production line, including have put the bin in area, mechanical hand and
The feeding paw being connected with mechanical hand, it is characterised in that：The feeding paw includes material-taking rack, is arranged on material-taking rack corner
Several vibrators, several electric magnet being arranged on material-taking rack lower surface and several vacuum cups；The top of material-taking rack
Portion is provided with an adpting flange being connected with mechanical hand；Each vibrator include one can be along material-taking rack up-down vibration
Vertical guide rod, per root, the bottom of vertical guide rod is respectively provided with a vacuum cup；The natural frequency of each vibrator is all higher than
The natural frequency of sheet metal；Catching block is additionally provided with the bin；Each described vibrator include one be arranged at perpendicular
Rotor at the top of guide rod and with two output shafts, the stator for being arranged at rotor outer periphery and two output shafts with rotor respectively
Two pieces of eccentric massblocks being connected；A spring is set with the vertical guide rod for being located at material-taking rack both sides.
2. the sheet material for being applied to automatic production line according to claim 1 positions grasping system, it is characterised in that：Also wrap
Digital control system is included, each vibrator is connected with the digital control system.
3. the sheet material for being applied to automatic production line according to claim 2 positions grasping system, it is characterised in that：Also wrap
At least two positioners and positioning sheet material rest area is included, all positioners are mutually abreast arranged at positioning sheet material and place
On the front end side in area；Each positioner include a piezoelectric transducer being fixedly installed on positioning sheet material rest area and
It is arranged at the finger of piezoelectric transducer front end；Each piezoelectric transducer is connected with digital control system.
4. the sheet material for being applied to automatic production line according to claim 3 positions grasping system, it is characterised in that：Described
Lower mould of the positioning sheet material rest area for bender.
5. a kind of sheet material positioning grasping means for being applied to automatic production line, it is characterised in that：Comprise the following steps：
The first step, prepares before crawl：Sheet metal is neatly stacked in and on bin, puts area；
Second step, plate are layered：The surface in area put by mechanical hand during feeding paw is run to the first step, and moves down,
The vacuum cup below feeding paw is pressed on sheet metal to be captured, vacuum cup action, draw sheet metal to be captured,
And be lifted up；At the same time, the vibrator on feeding paw corner starts, and treats crawl sheet metal and enters row energization,
The driving frequency of vibrator is equal with the natural frequency of sheet metal, and sheet metal to be captured is produced under the excitation of vibrator
Resonance, realizes that the lower metal sheet material being mutually adhered with which is separated；
3rd step, plate are captured：Mechanical hand will realize detached sheet metal to be captured with lower metal sheet material in second step, move
Move and be placed on catching block, rear vacuum cup quits work, electric magnet is powered, and sheet metal to be captured is captured.
6. the sheet material positioning grasping means for being applied to automatic production line according to claim 5, it is characterised in that：Also wrap
The 4th step is included, plate is positioned：Mechanical hand is transferred to the sheet metal captured in the 3rd step at positioner, and makes metal
One side to be positioned of sheet material is mutually touched with the finger of wherein at least two positioner, the side to be positioned of sheet metal with
The touching power of each finger is in the deviation range for setting.
7. the sheet material positioning grasping means for being applied to automatic production line according to claim 6, it is characterised in that：Described
In 4th step plate position fixing process, when the side to be positioned of sheet metal is only mutually touched with the finger of a positioner, with
The piezoelectric transducer of the positioner that side to be positioned is mutually touched produces touching signal, and will touch the touching power of signal and detection
Digital control system is passed to, the touching signal for receiving and touching power are compared, are sentenced with the parallelism error for setting by digital control system
After fixed, instruction mechanical hand is carried out real-time adjustment to the position of sheet metal and attitude, until the side to be positioned of sheet metal
Mutually touch with the finger of wherein at least two positioner, and touching power is in the deviation range for setting.
8. the sheet material positioning grasping means for being applied to automatic production line according to claim 7, it is characterised in that：Also wrap
Include the 5th step, upset, positioning step：When at least two sides of the sheet metal for having captured need to position, mechanical hand will
The sheet metal of one article of side positioning is completed in 4th step, is overturn, successively to additionally needing the side of positioning, according to the 4th
The method of step is positioned.
9. the sheet material positioning grasping means for being applied to automatic production line according to claim 8, it is characterised in that：Described
In 4th step, after the completion of plate positioning, digital control system is recorded automatically has positioned the coordinate position for completing, and by the coordinate position
First elements of a fix value as next piece of sheet metal to be positioned.
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| CN201510317660.7A CN104972008B (en) | 2015-06-10 | 2015-06-10 | A kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means |
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| CN106849533B (en) * | 2015-12-07 | 2019-01-08 | 东方电气集团东方电机有限公司 | A kind of motor stator core outer closed assembly method and device thereof automatically |
| CN105619435B (en) * | 2016-03-31 | 2018-03-02 | 山东大学 | A kind of hard and soft mixed type manipulator, robot and method with exciting function |
| CN105903787A (en) * | 2016-04-14 | 2016-08-31 | 佛山市广工大数控装备技术发展有限公司 | Robot-based small doorplate four-edge eight knife bending method |
| CH712435A2 (en) * | 2016-05-04 | 2017-11-15 | Soudronic Ag | Method and device for aligning a metal sheet during the feeding of the metal sheet to a processing station, in particular to a stamping press. |
| CN106299029B (en) * | 2016-08-31 | 2017-10-10 | 浙江尚越新能源开发有限公司 | A kind of solar energy film pick device based on stainless steel base |
| CN107457287A (en) * | 2017-09-19 | 2017-12-12 | 无锡锡锻机床有限公司 | Induction type rear stock stop of bending machine |
| CN107876650B (en) * | 2017-09-29 | 2019-02-19 | 南京邮电大学 | A kind of variation rigidity part suction device and plate draw bending method |
| CN108674911A (en) * | 2018-07-19 | 2018-10-19 | 安徽美诺福科技有限公司 | A kind of cold rolling high-strength steel feeding system and steel plate system of processing |
| CN109333570A (en) * | 2018-11-30 | 2019-02-15 | 深圳市拍档科技有限公司 | A kind of automatic catching robot |
| CN110757463B (en) * | 2019-11-20 | 2023-06-27 | 贵州大学 | Mechanical arm grabbing force control method and device |
| CN111672993A (en) * | 2020-07-01 | 2020-09-18 | 上海发那科机器人有限公司 | High-precision bending rear material blocking and positioning device |
| CN111940548B (en) * | 2020-08-11 | 2022-08-19 | 上海发那科机器人有限公司 | Rear material blocking, positioning and correcting system and method |
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| JP3289633B2 (en) * | 1997-02-26 | 2002-06-10 | 松下電器産業株式会社 | Lead frame transfer method |
| US7792609B2 (en) * | 2002-09-26 | 2010-09-07 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Gripping device for manipulating device and method for operation thereof |
| JP5603124B2 (en) * | 2010-04-16 | 2014-10-08 | アイダエンジニアリング株式会社 | Work transfer device and crossbar unit of press machine |
| JP5717503B2 (en) * | 2011-03-30 | 2015-05-13 | 富士重工業株式会社 | Press product inspection equipment |
| CN204685863U (en) * | 2015-06-10 | 2015-10-07 | 南京邮电大学 | A kind of sheet material location grasping system being applied to automatic production line |
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