CN109795127B - Robot automatic impact welding quick-change equipment and machining method - Google Patents
Robot automatic impact welding quick-change equipment and machining method Download PDFInfo
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- CN109795127B CN109795127B CN201910191228.6A CN201910191228A CN109795127B CN 109795127 B CN109795127 B CN 109795127B CN 201910191228 A CN201910191228 A CN 201910191228A CN 109795127 B CN109795127 B CN 109795127B
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- 238000003466 welding Methods 0.000 title claims abstract description 202
- 238000003754 machining Methods 0.000 title claims abstract description 11
- 238000000034 method Methods 0.000 title claims description 6
- 238000004080 punching Methods 0.000 claims abstract description 135
- 238000012545 processing Methods 0.000 claims abstract description 34
- 238000003672 processing method Methods 0.000 claims abstract description 9
- 239000012528 membrane Substances 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 3
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- 238000001179 sorption measurement Methods 0.000 claims description 3
- 210000004379 membrane Anatomy 0.000 claims 6
- 125000006850 spacer group Chemical group 0.000 claims 5
- 210000002219 extraembryonic membrane Anatomy 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 239000003973 paint Substances 0.000 abstract description 4
- 238000005476 soldering Methods 0.000 abstract description 3
- 238000003825 pressing Methods 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The invention provides a robot automatic impact welding quick-change device and a processing method, wherein the robot automatic impact welding quick-change device comprises: the device comprises a robot, a flexible punching unit, a punching tool magazine, a die changing vehicle, a movable workbench for placing an external bumper workpiece, and machining platforms symmetrically arranged on two sides of the robot respectively; the die changing vehicle is used for pushing the movable workbench to the processing platform; the movable workbench is detachably inserted with a plurality of ultrasonic welding units, the robot punches a hole on the bumper workpiece through the flexible punching unit, and the ultrasonic welding units are used for welding the soldering lug workpiece to the bumper workpiece. The robot automatic impact welding quick-change equipment has the advantages of high intelligent degree, high punching precision, no welding deformation, high workpiece yield obtained by the robot automatic impact welding quick-change equipment processing method, smooth product incision, no breakage, no paint breakage and high production efficiency.
Description
Technical Field
The invention relates to automatic equipment, in particular to robot automatic impact welding quick-change equipment and a processing method.
Background
An automobile is one of the most common transportation means in the life of people, and at present, along with the continuous improvement of the living standard of people, the automobile gradually enters into a common family, and an automobile bumper is one of automobile exterior parts and is a safety device for absorbing and relieving external impact and protecting the front part and the rear part of an automobile body; with the development of the automobile industry and the great application of engineering plastics in the automobile industry, automobile bumpers have also moved to innovative roads as an important safety device. In addition to the original protection function, the front and rear bumpers of the car today are required to be harmonious and unified with the shape of the car body, and to be lightweight. The front and rear bumpers of a car are all made of plastic and are called plastic bumpers. In the production process of the bumper, the bumper needs to be punched and welded, and the automobile radar hole needs to be punched, so that the bumper needs to be punched and welded, but the existing bumper punching and welding equipment is high in pertinence, often is matched with a special machine, and a set of products are used, and if hole sites with different apertures are processed, a punching cutter needs to be replaced manually, so that time and labor are wasted; once the model and site are changed, the equipment needs to be replaced.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problem of providing the robot automatic impact welding quick-change equipment with high automation degree and high production efficiency, and the surface of the bumper workpiece obtained by the processing method has no scratch and deformation, high punching precision and high product qualification rate.
(II) technical scheme
In order to solve the technical problems, the invention provides a robot automatic impact welding quick-change device and a processing method, the robot automatic impact welding quick-change device comprises: the device comprises a robot, a flexible punching unit, a punching tool magazine, a die changing vehicle, a movable workbench for placing an external bumper workpiece, and machining platforms symmetrically arranged on two sides of the robot respectively; the die changing vehicle is used for pushing the movable workbench to the processing platform and is positioned and installed on the processing platform through a positioning bolt; the movable workbench is provided with a tire membrane support for mounting the bumper workpiece, the movable workbench is detachably inserted with a plurality of ultrasonic welding units, the robot punches a hole on the bumper workpiece through the flexible punching unit, and the ultrasonic welding units are used for welding the soldering lug workpiece onto the bumper workpiece. During operation, the robot is to the processing of punching a hole of bumper work piece on the processing platform, then in the change of punching a hole of flexible punching unit is carried out to the tool magazine, and the processing of punching a hole is carried out to the bumper work piece again, after punching a hole, ultrasonic welding unit will weld the lug work piece to on the bumper work piece.
Further, a first tire membrane cushion block, a second tire membrane cushion block and a third tire membrane cushion block for positioning the bumper workpiece are arranged on the tire membrane support, positioning suckers are arranged on the first tire membrane cushion block and the third tire membrane cushion block, and the positioning suckers are used for adsorbing and positioning the bumper workpiece on the tire membrane support. When different bumper workpieces are processed, the tire membrane bracket can be integrally replaced.
Further, the ultrasonic welding unit comprises a welding driving cylinder and an ultrasonic welding machine connected with the welding driving cylinder, and a welding lug locating pin for placing the welding lug workpiece is arranged on the ultrasonic welding machine; the ultrasonic welding machine is provided with ultrasonic welding heads on two sides of the welding piece locating pin.
Further, the welding auxiliary positioning unit is arranged on the processing platform and comprises a positioning pressing cylinder, a positioning plate connected with the positioning pressing cylinder, a first positioning cushion block and a second positioning cushion block, wherein the first positioning cushion block and the second positioning cushion block are arranged on the positioning plate, positioning guide holes are formed in the first positioning cushion block and the second positioning cushion block, and guide shaft sections matched with the positioning guide holes in a corresponding mode are arranged at the ends of the welding piece positioning pins.
Further, a plurality of auxiliary guide pins are arranged on the positioning plate, and a plurality of auxiliary guide holes corresponding to the auxiliary guide pins are arranged on the movable workbench; the welding drive cylinder is characterized in that one end of the welding drive cylinder is provided with a welding installation inserting shaft, the movable workbench is provided with a jack seat matched with the welding installation inserting shaft, and tightening and positioning are performed through a locking bolt.
Further, the die changing vehicle comprises a vehicle body bracket and handrails, wherein the vehicle body bracket is provided with bottom guide rollers and lateral guide rollers; a limiting block is arranged on one side of the vehicle body support, and a limiting bolt hole corresponding to the positioning bolt is formed in the limiting block; the bottom of the processing platform is provided with a sliding table for placing the movable workbench, and the sliding table is provided with a limiting stop pin and a positioning bolt hole matched with the positioning bolt in a positioning way; and a limiting U-shaped groove corresponding to the limiting stop pin is formed in the movable workbench. When the movable workbench is placed, the movable workbench is pushed onto the bottom guide roller, and after the movable workbench contacts with the limiting block, the positioning bolt is inserted into the limiting bolt hole of the limiting block, so that the movable workbench is limited on the movable workbench.
Further, the flexible punching unit comprises a lower bracket, an upper bracket, a lower punching cutter arranged on the lower bracket and an upper punching cutter arranged on the upper bracket, wherein a punching driving cylinder is arranged on the upper bracket, and a cylinder shaft of the punching driving cylinder is connected with the lower bracket; the upper support is provided with a presser foot and a presser foot spring, the lower support is provided with a quick-change disc which can be connected with the robot, and the quick-change disc is a standard part.
Furthermore, the ultrasonic transducer connected with the upper punching cutter is arranged on the upper bracket, the punching shearing effect is good, the workpiece is not easy to deform, and the punching surface is smooth and free of burrs; the punching tool magazine comprises base supports for placing flexible punching units with different specifications and sizes, positioning supports are symmetrically arranged on the base supports, U-shaped positioning grooves are formed in the positioning supports, and guide positioning pins corresponding to the U-shaped positioning grooves are arranged on the lower supports; the base support is provided with a buffer cushion, and the side end of the positioning support is provided with a guide roller; when the flexible punching unit is placed, the guide roller is contacted with the lower bracket, so that the guiding function is realized.
The technical scheme also provides a processing method of the robot automatic impact welding quick-change equipment, which comprises the following steps:
step S01, installing a movable workbench, manually pushing the movable workbench to a sliding table of a machining platform of the automatic punching and welding quick-change equipment of the robot through a die changing vehicle, and positioning through a positioning bolt;
s02, installing an ultrasonic welding unit, namely installing the ultrasonic welding unit on a jack seat of the movable workbench, and tightening and positioning through a locking bolt; the welding lug locating pin of the ultrasonic welding unit corresponds to the locating guide hole of the welding auxiliary locating unit;
s03, placing a workpiece, mounting a bumper workpiece to be processed on the movable workbench, and carrying out adsorption positioning through a positioning sucker;
step S04, workpiece feeding, namely manually pushing the whole movable workbench to a sliding table of a processing platform through a die changing vehicle, and positioning through a positioning bolt;
s05, taking a cutter by a robot, and rapidly matching and extracting corresponding flexible punching units in a cutter punching library by the robot of the automatic punching welding quick-change equipment through a quick-change disc;
s06, workpiece punching processing, wherein the robot controls the flexible punching unit to punch the bumper workpiece; the punching driving cylinder of the flexible punching unit drives the upper punching cutter to be matched with the lower punching cutter, so that the bumper workpiece is punched;
s07, replacing a tool by a robot, and then punching the tool by the robot, wherein after the robot removes the flexible punching units used currently at the tool magazine, the flexible punching units with different specifications are replaced by quick-change discs in a matching way, and the robot controls the replaced flexible punching units to punch the bumper workpiece; when the currently used flexible punching unit is dismounted, the guide positioning pin of the flexible punching unit is correspondingly arranged in the U-shaped positioning groove on the positioning bracket of the punching tool magazine;
step S08, pre-compacting the workpiece before welding, wherein a positioning and compacting cylinder of a welding auxiliary positioning unit of the automatic robotic impact welding quick-change equipment drives a first positioning cushion block and a second positioning cushion block to compact the bumper workpiece;
step S09, pre-positioning an ultrasonic welding unit, wherein the ultrasonic welding unit integrally drives an ultrasonic welding machine through a welding driving cylinder to enable a welding piece workpiece on a welding piece positioning pin of the ultrasonic welding machine to be in contact with the bumper workpiece, and a guide shaft section of the welding piece positioning pin correspondingly falls into a positioning guide hole of the welding auxiliary positioning unit;
s10, ultrasonic welding, namely welding a welding lug workpiece onto the bumper workpiece through an ultrasonic welding head of the ultrasonic welding machine, wherein the ultrasonic welding unit drives the welding driving cylinder to reset;
s11, integrally replacing a movable workbench, pulling out the positioning bolt, integrally pushing the movable workbench to the die changing vehicle, and unloading the machined bumper workpiece to finish punching and welding;
step S12, repeating steps S03 to S11.
Further, in the step S07, after all punching is completed, the robot disassembles and stores the currently used flexible punching unit into the punching tool magazine through the quick-change disc; in step S09, the bumper workpiece forms a through hole after being punched by the flexible punching unit, and the guide shaft section passes through the through hole and correspondingly falls into the positioning guide hole.
(III) beneficial effects
The robot of the automatic punching welding quick-change equipment of the robot performs punching processing on a bumper workpiece through the flexible punching unit, and is provided with a punching tool library for replacing flexible punching units of gears with different specifications; welding a welding lug workpiece onto a bumper workpiece through an ultrasonic welding unit, pre-positioning the welding lug workpiece through a welding auxiliary positioning unit before welding, preventing deformation caused by local heating of welding, being high in integral intelligent degree, high in punching precision, free of deformation in welding, high in yield of the bumper workpiece obtained through a machining method of automatic punching and welding quick-change equipment of a robot, smooth in product notch, free of breakage and paint breakage, and high in production efficiency.
Drawings
FIG. 1 is a perspective view of a robotic automatic impact welding quick change device of the present invention;
FIG. 2 is a perspective view of a robot automatic impact welding quick change device processing platform of the present invention after the platform is provided with a movable workbench;
FIG. 3 is a perspective view of a mobile workbench of the automatic robotic flash quick change device of the present invention;
FIG. 4 is a perspective view of the robot automatic impact welding quick change device of the present invention with the ultrasonic welding unit omitted from the mobile station;
FIG. 5 is a perspective view of a processing platform of the robotic automatic impact welding quick change device of the present invention;
FIG. 6 is a perspective view of a welding auxiliary positioning unit of the automatic robotic flash quick change device of the present invention;
FIG. 7 is a perspective view of an ultrasonic welding unit of the robotic automatic impact welding quick change device of the present invention;
FIG. 8 is a perspective view of a tab locating pin of the robotic automatic impact welding quick change device of the present invention;
FIG. 9 is a perspective view of a robotic automatic impact welding quick change equipment mold changing vehicle of the present invention;
FIG. 10 is a perspective view of a robot of the robotic automatic impact welding quick change device of the present invention;
FIG. 11 is a perspective view of a flexible punching unit of the robotic automatic impact welding quick change device of the present invention;
FIG. 12 is a perspective view of a tool magazine of the robotic automatic punch and weld quick change apparatus of the present invention;
FIG. 13 is an enlarged view of A in FIG. 12;
FIG. 14 is a flow chart of a method of processing a robotic automatic impact welding quick change device of the present invention;
wherein: the ultrasonic punching machine comprises a robot 1, a flexible punching unit 2, a punching tool magazine 3, a die changing vehicle 4, a movable workbench 5, a processing platform 6, a positioning bolt 7, a tire membrane support 8, an ultrasonic welding unit 9, a welding sheet workpiece 10, a first tire membrane cushion block 11, a second tire membrane cushion block 12, a third tire membrane cushion block 13, a positioning chuck 14, a welding driving cylinder 15, an ultrasonic welding machine 16, a welding sheet positioning pin 17, a welding auxiliary positioning unit 18, a positioning compression cylinder 19, a positioning plate 20, a positioning cushion block 21, a positioning guide hole 22, a positioning guide hole 23, a guide shaft section 24, an auxiliary guide pin shaft 25, an auxiliary guide hole 26, a welding installation pin 27, a jack seat 28, an ultrasonic welding head 29, a vehicle body support 30, a handrail 31, a bottom guide roller 32, a side guide roller 33, a limiting block 34, a limiting pin hole 35, a sliding table 36, a limiting pin 37, a positioning pin 38, a positioning pin hole 39, a lower support 40, a guide pin 40, a U-shaped support, a U-shaped guide pin, a positioning guide pin 48, a positioning guide pin 52, a guide pin support frame 45, a U-shaped guide pin, a guide pin 46, a positioning guide pin 52, a positioning guide pin 45, a guide pin support frame 45, a U-shaped guide roller 46, a guide pad 46, a positioning guide pin, a U-shaped guide pad 46, a positioning guide roller, a guide roller 45, a guide pad 45, a guide pins and a U-shaped guide pad 46.
Detailed Description
Referring to fig. 1 to 14, the invention provides a robot automatic impact welding quick-change device and a processing method, the robot automatic impact welding quick-change device comprises: the robot 1, a flexible punching unit 2 connected with the robot 1, a punching tool magazine 3, a die changing vehicle 4, a movable workbench 5 for placing an external bumper workpiece and machining platforms 6 symmetrically arranged on two sides of the robot 1 respectively, wherein the robot 1 is a six-axis manipulator; referring to fig. 2, the mold changing vehicle 4 is used for pushing the movable workbench 5 to the processing platform 6, and is installed on the processing platform 6 in a positioning way through the positioning bolts 7; the movable workbench 5 is provided with a tire membrane support 8 for installing a bumper workpiece, a plurality of ultrasonic welding units 9 are detachably inserted into the movable workbench 5, the robot 1 punches a hole on the bumper workpiece through the flexible punching unit 2, and the ultrasonic welding units are used for welding a welding lug workpiece 10 onto the bumper workpiece. In operation, the robot 1 performs punching processing on the bumper workpiece on the processing platform 6, then the flexible punching unit 2 is replaced in the punching tool magazine 3, and then the bumper workpiece is subjected to punching processing, and after punching is completed, the ultrasonic welding unit 9 welds the soldering lug workpiece 10 to the bumper workpiece.
Referring to fig. 3 and 4, a first tire membrane cushion block 11, a second tire membrane cushion block 12 and a third tire membrane cushion block 13 for positioning a bumper workpiece are arranged on the tire membrane support 8, positioning suction cups 14 are arranged on the first tire membrane cushion block 11 and the third tire membrane cushion block 13, and the positioning suction cups 14 are used for adsorbing and positioning the bumper workpiece on the tire membrane support 8.
Referring to fig. 7 and 8, the ultrasonic welding unit 9 includes a welding driving cylinder 15 and an ultrasonic welder 16 connected to the welding driving cylinder 15, and a lug positioning pin 17 for placing the lug workpiece 10 is provided on the ultrasonic welder 16; the ultrasonic welder 16 is provided with ultrasonic welding heads 29 on both sides of the tab locator pins 17.
Referring to fig. 2, 5 and 6, a welding auxiliary positioning unit 18 is installed on the processing platform 6, the welding auxiliary positioning unit 18 includes a positioning and pressing cylinder 19, a positioning plate 20 connected with the positioning and pressing cylinder 19, and a first positioning cushion block 21 and a second positioning cushion block 22 disposed on the positioning plate 20, in this embodiment, a detachable positioning bracket 55 is disposed on the positioning plate 20, and the first positioning cushion block 21 and the second positioning cushion block 22 are installed on the positioning bracket 55; the first positioning cushion block 21 and the second positioning cushion block 22 are provided with positioning guide holes 23, and the end part of the welding lug positioning pin 17 is provided with a guide shaft section 24 correspondingly matched with the positioning guide holes 23.
Referring to fig. 4 and 6, the positioning plate 20 is provided with a plurality of auxiliary guide pins 25, and the movable table 5 is provided with a plurality of auxiliary guide holes 26 corresponding to the auxiliary guide pins 25; a welding installation inserting shaft 27 is installed at one end of the welding driving cylinder 15, a jack seat 28 matched with the welding installation inserting shaft 27 is arranged on the movable workbench 5, and tightening and positioning are performed through a locking bolt. The welding driving cylinder 15 is provided with an arc-shaped groove for adjustment, and the angle position between the welding driving cylinder 15 and the welding installation insert shaft 27 can be adjusted by rotating the welding driving cylinder 15, and then tightening and positioning are performed through the fastening bolts.
Referring to fig. 9, the mold changing vehicle 4 includes a vehicle body bracket 30 and an armrest 31, and the vehicle body bracket 30 is provided with a bottom guide roller 32 and a lateral guide roller 33; a limiting block 34 is arranged on one side of the vehicle body bracket 30, and a limiting bolt hole 35 corresponding to the positioning bolt 7 is arranged on the limiting block 34.
Referring to fig. 5, a sliding table 36 for placing the movable table 5 is arranged at the bottom of the processing platform 6, and a limit stop pin 37 and a positioning bolt hole 38 matched with the positioning bolt 7 in a positioning way are arranged on the sliding table 36; the movable table 5 is provided with a stopper U-shaped groove 54 corresponding to the stopper pin 37. When the movable workbench 5 is placed on the mold changing vehicle 4, the movable workbench 5 is pushed onto the bottom guide roller 32, after the movable workbench 5 is contacted with the limiting block 34, the positioning bolt 7 is inserted into the limiting bolt hole 35 of the limiting block 34, and the movable workbench 5 is limited on the mold changing vehicle 4.
Referring to fig. 10 and 11, the flexible punching unit 2 includes a lower bracket 39, an upper bracket 40, a lower punch 41 mounted on the lower bracket 39, and an upper punch 42 mounted on the upper bracket 40, a punching driving cylinder 43 is mounted on the upper bracket 40, and a cylinder shaft of the punching driving cylinder 43 is connected with the lower bracket 39; the upper bracket 40 is provided with a presser foot 44 and a presser foot spring 45, the lower bracket 39 is provided with a quick-change disc 46 which can be connected with the robot 1, and the quick-change disc 46 is a standard part.
Referring to fig. 11, an ultrasonic transducer 47 connected with an upper punch 42 is mounted on the upper bracket 40, so that the shearing effect of punching is good, the workpiece is not easy to deform, and the punching surface is smooth and free of burrs. The cut of the punched product is smooth, and the product is not broken and paint is not broken.
Referring to fig. 12 and 13, the die magazine 3 includes a base bracket 48 for placing flexible punching units 2 with different specifications and sizes, positioning brackets 49 are symmetrically arranged on the base bracket 48, a U-shaped positioning slot 50 is arranged on the positioning bracket 49, and a guiding positioning pin 51 corresponding to the U-shaped positioning slot 50 is arranged on the lower bracket 39; the base bracket 48 is provided with a buffer pad 52, and the side end of the positioning bracket 49 is provided with a guide roller 5; when the flexible punching unit 2 is placed, the guide roller 53 contacts with the lower bracket 39, and plays a role of guiding.
Referring to fig. 14, the embodiment also provides a processing method of the robot automatic impact welding quick-change device, which comprises the following steps:
step S01, installing a movable workbench, manually pushing the whole movable workbench 5 to a sliding table 36 of a processing platform 6 of the automatic punching and welding quick-change equipment of the robot through a die changing vehicle 4, and positioning through a positioning bolt 7;
step S02, installing an ultrasonic welding unit 9, installing the ultrasonic welding unit 9 on a jack seat 28 of the movable workbench 5, and tightening and positioning through a locking bolt; the welding lug positioning pin 17 of the ultrasonic welding unit 9 corresponds to the positioning guide hole 23 of the welding auxiliary positioning unit 18;
s03, placing a workpiece, mounting a bumper workpiece to be processed on a movable workbench 5, and carrying out adsorption positioning through a positioning sucker 14;
step S04, workpiece feeding, namely manually pushing the whole movable workbench 5 to a sliding table 36 of the processing platform 6 through the die changing vehicle 4, and positioning through a positioning bolt 7;
step S05, a robot takes a knife, and a robot 1 of the robot automatic punching welding quick-change equipment rapidly pairs and extracts a corresponding flexible punching unit 2 in a punching tool magazine 3 through a quick-change disc 46;
s06, workpiece punching processing, wherein the robot 1 controls the flexible punching unit 2 to punch the bumper workpiece; the punching driving cylinder 43 of the flexible punching unit 2 drives the upper punching cutter 42 to be matched with the lower punching cutter 41, so that the punching processing of the bumper workpiece is realized;
s07, replacing a tool by a robot, re-punching, namely, after the robot 1 removes the flexible punching units 2 currently used at the tool magazine 3, replacing the flexible punching units 2 with different specifications by quick-change discs 46 in a quick-pairing mode, and controlling the replaced flexible punching units 2 to punch the bumper workpiece by the robot 1; wherein, when the flexible punching unit 2 used at present is dismounted, the guide positioning pin 51 of the flexible punching unit 2 is correspondingly arranged in the U-shaped positioning groove 50 on the positioning bracket 49 of the punching tool magazine 3;
step S08, pre-compacting the workpiece before welding, wherein a positioning compacting cylinder 19 of a welding auxiliary positioning unit 18 of the automatic robotic impact welding quick-change equipment drives a first positioning cushion block 21 and a second positioning cushion block 22 to compact the bumper workpiece;
step S09, the ultrasonic welding unit is pre-positioned, the ultrasonic welding unit 9 integrally drives the ultrasonic welding machine 16 through the welding driving cylinder 15, so that the welding lug workpiece 10 on the welding lug positioning pin 17 of the ultrasonic welding machine 16 is contacted with the bumper workpiece, and the guide shaft section 24 of the welding lug positioning pin 17 correspondingly falls into the positioning guide hole 23 of the welding auxiliary positioning unit 18;
step S10, ultrasonic welding, wherein a welding piece workpiece 10 is welded to a bumper workpiece through an ultrasonic welding head 29 of an ultrasonic welding machine 16, and an ultrasonic welding unit drives a welding driving cylinder 15 to reset;
s11, integrally replacing the movable workbench, pulling out the positioning bolt 7, integrally pushing the movable workbench 5 onto the die changing vehicle 4, and unloading the machined bumper workpiece to finish punching and welding;
step S12, repeating steps S03 to S11.
In step S07, after all punching is completed, the robot 1 disassembles and stores the currently used flexible punching unit 2 into the tool magazine 3 through the quick change disc 46; in step S09, the bumper work forms a through hole after the flexible punching unit 2 is punched, and the guide shaft section 24 passes through the through hole and correspondingly falls into the positioning guide hole 23.
According to the robot of the automatic punching welding quick-change equipment, the flexible punching units are arranged for replacing gears with different specifications by punching tool libraries, and punching holes at different angle positions can be processed by controlling a robot program; welding a welding lug workpiece onto a bumper workpiece through an ultrasonic welding unit, pre-positioning the welding lug workpiece through a welding auxiliary positioning unit before welding, preventing deformation caused by local heating of welding, being high in integral intelligent degree, high in punching precision, free of deformation in welding, high in yield of the bumper workpiece obtained through a machining method of automatic punching and welding quick-change equipment of a robot, smooth in product notch, free of breakage and paint breakage, and high in production efficiency.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (4)
1. The utility model provides a robot automatic punching welding quick change equipment which characterized in that includes: the device comprises a robot (1), a flexible punching unit (2) connected with the robot (1), a punching tool magazine (3), a die changing vehicle (4), a movable workbench (5) for placing an external bumper workpiece and machining platforms (6) symmetrically arranged on two sides of the robot (1) respectively; the die changing vehicle (4) is used for pushing the movable workbench (5) to the processing platform (6) and is positioned and installed on the processing platform (6) through a positioning bolt (7); the movable workbench (5) is provided with a fetal membrane bracket (8) for mounting the bumper workpiece, a plurality of ultrasonic welding units (9) are detachably inserted into the movable workbench (5), the robot (1) performs punching processing on the bumper workpiece through the flexible punching unit (2), and the ultrasonic welding units are used for welding a welding lug workpiece (10) onto the bumper workpiece;
the ultrasonic welding unit (9) comprises a welding driving cylinder (15) and an ultrasonic welding machine (16) connected with the welding driving cylinder (15), and a welding lug locating pin (17) for placing the welding lug workpiece (10) is arranged on the ultrasonic welding machine (16); the ultrasonic welding machine (16) is provided with ultrasonic welding heads (29) at two sides of the welding lug positioning pin (17); the welding auxiliary positioning unit (18) is arranged on the machining platform (6), the welding auxiliary positioning unit (18) comprises a positioning compression cylinder (19), a positioning plate (20) connected with the positioning compression cylinder (19) and a first positioning cushion block (21) and a second positioning cushion block (22) which are arranged on the positioning plate (20), positioning guide holes (23) are formed in the first positioning cushion block (21) and the second positioning cushion block (22), and guide shaft sections (24) which are correspondingly matched with the positioning guide holes (23) are formed in the end parts of welding piece positioning pins (17); a plurality of auxiliary guide pins (25) are arranged on the positioning plate (20), and a plurality of auxiliary guide holes (26) corresponding to the auxiliary guide pins (25) are arranged on the movable workbench (5); a welding installation inserting shaft (27) is arranged at one end of the welding driving cylinder (15), a jack seat (28) matched with the welding installation inserting shaft (27) is arranged on the movable workbench (5), and tightening and positioning are carried out through a locking bolt; the die changing vehicle (4) comprises a vehicle body bracket (30) and an armrest (31), wherein a bottom guide roller (32) and a lateral guide roller (33) are arranged on the vehicle body bracket (30); a limiting block (34) is arranged on one side of the vehicle body support (30), and a limiting bolt hole (35) corresponding to the positioning bolt (7) is formed in the limiting block (34); a sliding table (36) for placing the movable workbench (5) is arranged at the bottom of the processing platform (6), and a limit stop pin (37) and a positioning bolt hole (38) matched with the positioning bolt (7) in a positioning way are arranged on the sliding table (36); a limiting U-shaped groove (54) corresponding to the limiting stop pin (37) is formed in the movable workbench (5); the flexible punching unit (2) comprises a lower bracket (39), an upper bracket (40), a lower punching cutter (41) arranged on the lower bracket (39) and an upper punching cutter (42) arranged on the upper bracket (40), wherein a punching driving cylinder (43) is arranged on the upper bracket (40), and a cylinder shaft of the punching driving cylinder (43) is connected with the lower bracket (39); the upper bracket (40) is provided with a presser foot (44) and a presser foot spring (45), and the lower bracket (39) is provided with a quick-change disc (46) which can be connected with the robot (1); an ultrasonic transducer (47) connected with the upper punch knife (42) is arranged on the upper bracket (40); the punching tool magazine (3) comprises base supports (48) for placing flexible punching units (2) with different specifications and sizes, positioning supports (49) are symmetrically arranged on the base supports (48), U-shaped positioning grooves (50) are formed in the positioning supports (49), and guide positioning pins (51) corresponding to the U-shaped positioning grooves (50) are arranged on the lower supports (39); the base bracket (48) is provided with a buffer pad (52), and the side end of the positioning bracket (49) is provided with a guide roller (53).
2. The automatic robotic flash quick change device of claim 1, wherein a first membrane spacer (11), a second membrane spacer (12) and a third membrane spacer (13) for positioning the bumper workpiece are provided on the membrane support (8), and positioning suction cups (14) are provided on the first membrane spacer (11) and the third membrane spacer (13).
3. A processing method of a robot automatic impact welding quick-change device, which is realized based on the robot automatic impact welding quick-change device according to claim 1, and is characterized by comprising the following steps:
step S01, installing a movable workbench, manually pushing the movable workbench (5) to a sliding table (36) of a processing platform (6) of the automatic robotic impact welding quick-change equipment through a die changing vehicle (4), and positioning through a positioning bolt (7);
s02, installing an ultrasonic welding unit (9), installing the ultrasonic welding unit (9) on a jack seat (28) of the movable workbench (5), and tightening and positioning through a locking bolt; the welding lug positioning pin (17) of the ultrasonic welding unit (9) corresponds to the positioning guide hole (23) of the welding auxiliary positioning unit (18);
s03, placing a workpiece, mounting a bumper workpiece to be processed on the movable workbench (5), and carrying out adsorption positioning through a positioning sucker (14);
s04, workpiece feeding, namely manually pushing the movable workbench (5) to a sliding table (36) of a processing platform (6) through a die changing vehicle (4), and positioning through a positioning bolt (7);
s05, taking a cutter by a robot, and rapidly matching and extracting corresponding flexible punching units (2) in a cutter punching warehouse (3) by a robot (1) of the robot automatic punching welding quick-change equipment through a quick-change disc (46);
s06, workpiece punching processing, wherein the robot (1) controls the flexible punching unit (2) to punch the bumper workpiece; a punching driving cylinder (43) of the flexible punching unit (2) drives an upper punching cutter (42) to be matched with a lower punching cutter (41) so as to realize punching processing of the bumper workpiece;
s07, replacing a tool by a robot and re-punching, wherein the robot (1) is used for rapidly pairing the quick-change disc (46) to replace flexible punching units (2) with different specifications after detaching a currently used flexible punching unit (2) at a tool magazine (3), and the robot (1) is used for controlling the replaced flexible punching unit (2) to punch the bumper workpiece; when the currently used flexible punching unit (2) is dismounted, the guide positioning pin (51) of the flexible punching unit (2) is correspondingly arranged in the U-shaped positioning groove (50) on the positioning bracket (49) of the punching tool magazine (3);
step S08, pre-compacting the workpiece before welding, wherein a positioning and compacting cylinder (19) of a welding auxiliary positioning unit (18) of the automatic impact welding quick-change equipment of the robot drives a first positioning cushion block (21) and a second positioning cushion block (22) to compact the bumper workpiece;
s09, pre-positioning an ultrasonic welding unit, wherein the ultrasonic welding unit (9) integrally drives an ultrasonic welding machine (16) through a welding driving cylinder (15) to enable a welding piece workpiece (10) on a welding piece positioning pin (17) of the ultrasonic welding machine (16) to be in contact with the bumper workpiece, and a guide shaft section (24) of the welding piece positioning pin (17) correspondingly falls into a positioning guide hole (23) of the welding auxiliary positioning unit (18);
s10, ultrasonic welding, wherein a welding piece workpiece (10) is welded to the bumper workpiece through an ultrasonic welding head (29) of the ultrasonic welding machine (16), and the ultrasonic welding unit drives the welding driving cylinder (15) to reset;
s11, integrally replacing a movable workbench, pulling out the positioning bolt (7), integrally pushing the movable workbench (5) onto the die changing vehicle (4), and unloading the machined bumper workpiece to finish punching and welding;
and step S12, repeating the steps S03-S11.
4. A method of machining a robotic automatic flash welding quick change device according to claim 3, wherein in said step S07, said robot (1) detaches and stores the currently used flexible punching unit (2) into said tool magazine (3) through said quick change disc (46) after all punching is completed; in the step S09, the bumper workpiece forms a through hole after being punched by the flexible punching unit (2), and the guide shaft section (24) passes through the through hole and correspondingly falls into the positioning guide hole (23).
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| CN110142542A (en) * | 2019-06-28 | 2019-08-20 | 长江超声智能装备（广东）股份有限公司 | A kind of manipulator welding equipment |
| KR102248391B1 (en) * | 2020-02-06 | 2021-05-04 | 박정헌 | Punching head in the form of a turret |
| KR102271627B1 (en) * | 2020-02-13 | 2021-06-30 | 박정헌 | A system for continuously punching circularly arranged objects |
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| EP2202028A1 (en) * | 2008-12-29 | 2010-06-30 | ME.C.AL. S.p.A. | Apparatus for simultaneously drilling a workpiece and moving it between workstations |
| CN103108740A (en) * | 2010-08-26 | 2013-05-15 | 全耐塑料公司 | Machine for stamping and/or welding onto a bumper skin |
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