CN113020350A

CN113020350A - Automatic positioning and bending production line for stabilizer bar

Info

Publication number: CN113020350A
Application number: CN202110253914.9A
Authority: CN
Inventors: 黄康; 李剑东; 孙浩
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2021-06-25
Anticipated expiration: 2041-03-09
Also published as: CN113020350B

Abstract

The invention discloses an automatic positioning and bending production line for a stabilizer bar, and relates to the technical field of automatic production lines. The automatic bending machine comprises a truss robot, a control module and two manipulators, wherein the control module comprises a control robot, a positioning module, a bending assembly and the like which are sequentially controlled, the positioning module, the bending assembly, a heating device and a quenching device are arranged in a row, the positioning module comprises an end face positioning device, a centering positioning device and a feeding device, and the feeding device is positioned between the heating device and the end face positioning device. According to the automatic positioning and bending production line, the labor intensity of workers is greatly reduced, the probability of potential safety hazards caused by operation of people in a workshop is reduced, the production efficiency is improved, the production cost is saved, the automatic positioning and bending production line adopts pure mechanical positioning during automatic positioning, the detection of a sensor is not relied, the production line cost and the control difficulty are reduced, and the positioning reliability is guaranteed while certain precision is guaranteed.

Description

Automatic positioning and bending production line for stabilizer bar

Technical Field

The invention belongs to the technical field of automatic production lines, and particularly relates to an automatic positioning bending production line for a stabilizer bar.

Background

The transverse stabilizer bar is an important part on an automobile, is an important component of an automobile suspension part, plays a vital role in the controllability and the stability of the automobile in the driving process, and has relatively high requirement on the quality of the stabilizer bar. However, because the production process of the stabilizer bar is complex and the automation degree of a factory is not high, manual carrying and operation are generally adopted on a production line, which not only causes great labor intensity, low efficiency and unsafety of workers, but also causes low precision and low quality stability of produced products. Particularly, in the bending process of the stabilizer bar production line, the stabilizer bar needs to be heated in a heating furnace before the bending process, the temperature is high, the stabilizer bar needs to be accurately positioned when the stabilizer bar is placed into a bending machine, and the stabilizer bar of many heavy trucks is long in length and large in mass, so that one process can be completed by at least three persons, and the limitation of manual operation is exposed.

Disclosure of Invention

The invention aims to provide an automatic positioning and bending production line for a stabilizer bar, which greatly reduces the labor intensity of workers through the automatic positioning and bending production line, reduces the probability of potential safety hazards caused by human operation in a workshop, improves the production efficiency, saves the production cost, adopts pure mechanical positioning during automatic positioning of the automatic positioning and bending production line, does not depend on sensor detection, reduces the production line cost and the control difficulty, ensures the positioning reliability while ensuring certain precision, and solves the problems in the prior art.

In order to achieve the purpose, the invention is realized by the following technical scheme:

an automatic positioning and bending production line for stabilizer bars comprises a truss robot, a control module and two manipulators, wherein the control module comprises a control robot, a positioning module, a bending assembly and the like, and the control robot controls the sequence of the positioning module and the bending assembly;

the truss robot comprises a positioning module, a bending assembly, a heating device and a quenching device, the positioning module is arranged in a row and comprises an end face positioning device, a centering positioning device and a feeding device, the feeding device is positioned between the heating device and the end face positioning device, the centering positioning device is positioned at one end of the feeding device, the truss robot is arranged above the positioning module, the bending assembly and the quenching device, the control module comprises a robot control box and an electrical control cabinet, and two mechanical arms are connected to the truss robot.

Optionally, the end face positioning device comprises a plurality of first supporting rollers, bearing seats, a rack, first telescopic devices, third telescopic devices and first supporting rollers, the first supporting rollers are located between two adjacent bearing seats, the bearing seats are arranged at the upper end of the rack, the adjacent first supporting rollers are symmetrically arranged, the plurality of first telescopic devices and the third telescopic devices are symmetrically arranged at two ends of the rack, and two adjacent third telescopic devices are located on the same horizontal line.

Optionally, the feeding assembly comprises a support frame and a guide rail, the guide rail is connected with the support frame and the support frame is connected with the rack through pin shafts, and a deceleration strip is arranged on the guide rail.

Optionally, the centering and positioning device comprises a movable baffle, a first motor, a rope, a spring, a second supporting roller, a fixed baffle, a pin shaft and a second telescopic device, the movable baffle is connected to the tail end of the feeding assembly through the pin shaft and the spring, the first motor is installed on the rack, the rope is installed between the first motor and the movable baffle, the second supporting roller is installed in the feeding assembly, and the fixed baffle and the second telescopic device are installed on two sides of the tail end of the feeding assembly respectively.

Optionally, the bending assembly comprises a positioning groove, a forming die and a fourth telescopic device, the forming die is mounted on the base, and the forming die is connected with the output end of the fourth telescopic device.

Optionally, the truss robot includes a plurality of columns, truss girders, a second motor and a manipulator, Y-axis truss girders, Z-axis truss girders and X-axis truss girders, the columns are connected with the X-axis truss girders, the columns are installed on two sides of the positioning module to the quenching device, the Y-axis truss girders are installed between two adjacent X-axis truss girders, the Z-axis truss girders are connected with the Y-axis truss girders, the manipulator is installed at the lower end of the Z-axis truss girders, the second motor is installed at the joint between the two adjacent X-axis truss girders, and drives the Y-axis truss girders to move relative to the X-axis truss girders and the Z-axis truss girders relative to the Y-axis truss girders.

Optionally, the plurality of Y-axis truss girders, the plurality of Z-axis truss girders and the plurality of manipulators are divided into two sets, one set is used for clamping the stabilizer bar between the positioning module and the bending assembly, and the other set is used for clamping the stabilizer bar between the bending assembly and the quenching device.

Optionally, the clamp splice shape of manipulator is the arc, coincide with the radian of stabilizer bar, and the change can be dismantled to the clamp splice to adapt to not unidimensional stabilizer bar.

The embodiment of the invention has the following beneficial effects:

1. the automatic positioning and bending production line greatly reduces the labor intensity of workers, reduces the probability of potential safety hazards generated when people operate in a workshop, improves the production efficiency and saves the production cost;

2. the automatic positioning and bending production line adopts pure mechanical positioning during automatic positioning, does not depend on sensor detection, reduces the production line cost and control difficulty, and ensures the positioning reliability while ensuring certain precision;

3. the positioning module of the automatic positioning and bending production line is directly connected with the heating furnace through the slide rail, and the stabilizer bar is positioned at the tail end of the slide rail, so that the positioning time is greatly reduced, the temperature of the stabilizer bar is reduced less during bending, and the product quality is improved;

4. the truss robot for the automatic positioning and bending production line is provided with two sets of mechanical arms, can cope with faster working beat, and improves the production efficiency; the clamp splice shape of manipulator is the arc, coincide with the radian of stabilizer bar, and the change can be dismantled to the clamp splice to adapt to not unidimensional stabilizer bar.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a general view of an automatic positioning and bending production line for a stabilizer bar according to the present invention;

FIG. 2 is a structural diagram of a positioning module of an automatic positioning bending production line of a stabilizer bar according to the present invention;

FIG. 3 is a partially enlarged structural view of a positioning module of an automatic positioning and bending production line of a stabilizer bar according to the present invention;

FIG. 4 is a structural diagram of a truss robot for a stabilizer bar automatic positioning bending production line according to the invention;

fig. 5 is a control flow chart of an automatic positioning and bending production line of the stabilizer bar.

Wherein the figures include the following reference numerals:

the device comprises a heating device 1, a positioning module 2, a truss robot 3, a bending assembly 4, a quenching device 5, a first supporting roller 6, a bearing seat 7, a rack 8, a first telescopic device 9, a second telescopic device 10, a supporting frame 11, a guide rail 12, a fixed baffle 13, a third telescopic device 14, a first motor 15, a rope 16, a movable baffle 17, a spring 18, a second supporting roller 19, a positioning groove 20, a forming die 21, a fourth telescopic device 22, a stand column 23, an X-axis truss beam 24, a Z-axis truss beam 25, a Y-axis truss beam 26, a manipulator 27 and a clamping block 28.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

To maintain the following description of the embodiments of the present invention clear and concise, a detailed description of known functions and known components of the invention have been omitted.

As shown in fig. 1, in the present embodiment, there is provided a stabilizer bar automatic positioning bending line, including: the robot comprises a truss robot 3, a control module and two manipulators 27, wherein the control module comprises a control robot, a positioning module, a bending assembly and the like which are controlled in sequence;

the truss robot comprises a positioning module 2, a bending assembly 4, a heating device 1 and a quenching device 5, wherein the positioning module 2, the bending assembly 4, the heating device 1 and the quenching device 5 are arranged in a row, the positioning module 2 comprises an end face positioning device, a centering positioning device and a feeding device, the feeding device is positioned between the heating device 1 and the end face positioning device, the centering positioning device is positioned at one end of the feeding device, a truss robot 3 is arranged above the positioning module 2, the bending assembly 4 and the quenching device 5, a control module comprises a robot control box and an electrical control cabinet, and two mechanical arms 27 are connected to.

Wherein, control module includes robot control box and electrical control cabinet, carries out production line sequence control by PLC, and first telescoping device 9, second telescoping device 10, third telescoping device 14, fourth telescoping device 22 are cylinder or electric putter.

As shown in fig. 2 and 3, the end face positioning device of the present embodiment includes a plurality of first support rollers 6, bearing seats 7, a rack 8, first telescopic devices 9, third telescopic devices 14, and first support rollers, the first support rollers 6 are located between two adjacent bearing seats 7, the bearing seats 7 are installed at the upper end of the rack 8, the adjacent first support rollers are symmetrically arranged, the plurality of first telescopic devices 9 and the third telescopic devices 14 are symmetrically installed at two ends of the rack 8, and the two adjacent third telescopic devices 14 are located on the same horizontal line.

Wherein, the first telescoping device 9 is arranged vertically, the position slightly deviates from the fulcrum line that two pairs of first supporting rollers provided for preliminarily adjusting the end face position, the telescoping device pole stretches out and clamps the end face of the stabilizer bar to make its end face vertical.

Through setting up two pairs of first supporting rollers symmetrical arrangement, for the stabilizer bar provide two fulcrums about.

As shown in fig. 2 and 3, the feeding assembly of this embodiment includes a support frame 11 and a guide rail 12, the guide rail 12 is connected to the support frame 11, the support frame 11 is connected to the rack 8 through a pin, and a deceleration strip is disposed on the guide rail 12 to reduce the impact force when the stabilizer bar rolls down from the heating device.

As shown in fig. 2 and 3, the centering and positioning device of the embodiment includes a movable baffle 17, a first motor 15, a rope 16, a spring 18, a second supporting roller 19, a fixed baffle 13, a pin and a second telescopic device 10, wherein the movable baffle 17 is connected to the end of the feeding assembly through the pin and the spring 18, the first motor 15 is installed on the rack 8, the rope 16 is installed between the first motor 15 and the movable baffle 17, the second supporting roller 19 is installed in the feeding assembly, the fixed baffle 13 and the second telescopic device 10 are respectively installed on two sides of the end of the feeding assembly, and the movable baffle 17 is kept fixed by the arrangement of the spring 18, so that the first motor 15 drives the movable baffle 17 to rotate around the pin through the rope 16.

As shown in fig. 1, the bending assembly 4 of the present embodiment includes a positioning groove 20, a forming mold 21 and a fourth expansion device 22, and is installed on the base, wherein the forming mold 21 is connected to an output end of the fourth expansion device 22 for bending the stabilizer bar.

As shown in fig. 4, the truss robot 3 of the present embodiment includes a plurality of columns 23, truss beams, a second motor, a robot 27, a Y-axis truss beam 26, a Z-axis truss beam 25, and an X-axis truss beam 24, wherein the columns 23 are connected to the X-axis truss beam 24, the columns 23 are installed on two sides of the positioning module 2 to the quenching apparatus 5, the Y-axis truss beam 26 is installed between two adjacent X-axis truss beams 24, the Z-axis truss beam 25 is connected to the Y-axis truss beam 26, the robot 27 is installed at a lower end of the Z-axis truss beam 25, and the second motor is installed at a connection between the respective axis truss beams to drive the Y-axis truss beam 26 to move relative to the X-axis truss beams 24 and the Z-axis truss beam 25 relative to the Y-axis truss beam 26.

As shown in fig. 4, the plurality of Y-axis truss girders 26, Z-axis truss girders 25, and robot 27 of the present embodiment are divided into two sets, one set for gripping the stabilizer bar between the positioning module 2 and the bending module 4, and the other set for gripping the stabilizer bar between the bending module 4 and the quenching apparatus 5.

As shown in fig. 4, the clamping block 28 of the manipulator 27 of the present embodiment is arc-shaped, and fits with the arc of the stabilizer bar, and the clamping block 28 can be disassembled and replaced to adapt to stabilizer bars with different sizes.

As shown in fig. 5, the stabilizer bar is discharged from the heating device 1, enters the positioning module 2 through the feeding assembly to be respectively centered and positioned at the end face, and after positioning is completed, the truss robot 3 carries the stabilizer bar to the bending assembly 4 to be stamped and bent, and then the truss robot 3 carries the stabilizer bar to the quenching device 5 to complete quenching; the electric control cabinet sequentially controls the heating device 1, the positioning module 2, the bending assembly 4 and the quenching device 5 through plc and sends a grabbing instruction to the truss robot 3, and the robot control box controls the motion track and the picking and placing actions of the truss robot manipulator 27;

as shown in fig. 2, 3 and 5, firstly, the stabilizer bar slides down from the heating device 1 to the positioning module 2 through the feeding assembly, the movable baffle 17 at the tail end of the feeding assembly stops the stabilizer bar from sliding down under the action of the spring 18, at this time, the stabilizer bar is supported by the second support roller 19 in the feeding assembly, the rod of the second telescopic device 10 extends out to push the stabilizer bar to move axially, and the stabilizer bar stops moving when contacting the fixed baffle 13 to realize centering and positioning; then the motor 15 rotates, the rope 16 pulls the movable baffle 17, the stabilizing rod is not obstructed by the movable baffle 17 any more and slides down to the two pairs of first supporting rollers 6, then the motor 15 reverses the rope 16 to recover the loose state, and the movable baffle 17 recovers the original position under the action of the spring 18;

at the moment, the stabilizer bar is supported by the first supporting roller 6, because the position of the first telescopic device 9 is slightly deviated from a fulcrum connecting line provided by the two pairs of first supporting rollers 6, the rod of the first telescopic device 9 extends out of the edge touching the end surface of the stabilizer bar, so that the stabilizer bar is rotated to the vertical position of the end surface, then the rod of the first telescopic device 9 retracts, the rod of the third telescopic device 14 extends out, and the end surface position of the stabilizer bar is corrected to complete the end surface positioning;

as shown in fig. 4 and 5, the Y-axis truss girder 26, the Z-axis truss girder 25 and the manipulator 27 of the truss robot have two sets, one set is used for clamping the stabilizer bar between the positioning module 2 and the bending assembly 4, the other set is used for clamping the stabilizer bar between the bending assembly 4 and the quenching device 5, and the two sets of manipulators can cope with faster working beat and improve the production efficiency.

The above embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Claims

1. The utility model provides a stabilizer bar automatic positioning production line of bending which characterized in that includes: the robot comprises a truss robot (3), a control module and two manipulators (27), wherein the control module comprises a control robot, a positioning module, a bending assembly and the like which are controlled in sequence;

the truss robot comprises a positioning module (2), a bending assembly (4), a heating device (1) and a quenching device (5), wherein the positioning module (2) is arranged in a row, the positioning module (2) comprises an end face positioning device, a centering positioning device and a feeding device, the feeding device is positioned between the heating device (1) and the end face positioning device, the centering positioning device is positioned at one end of the feeding device, a truss robot (3) is arranged above the positioning module (2), the bending assembly (4) and the quenching device (5), the control module comprises a robot control box and an electric control cabinet, and two manipulators (27) are connected to the truss robot (3).

2. The automatic positioning and bending production line for the stabilizer bar according to claim 1, wherein the end face positioning device comprises a plurality of first supporting rollers (6), bearing seats (7), a rack (8), a first telescopic device (9), a third telescopic device (14) and first supporting rollers, the first supporting rollers (6) are positioned between two adjacent bearing seats (7), the bearing seats (7) are arranged at the upper end of the rack (8), the adjacent first supporting rollers are symmetrically arranged, the plurality of first telescopic devices (9) and the third telescopic devices (14) are symmetrically arranged at two ends of the rack (8), and the two adjacent third telescopic devices (14) are positioned on the same horizontal line.

3. The automatic positioning and bending production line for the stabilizer bar according to claim 2, characterized in that the feeding assembly comprises a support frame (11) and a guide rail (12), the guide rail (12) is connected with the support frame (11), the support frame (11) is connected with the rack (8) through a pin shaft, and a deceleration strip is arranged on the guide rail (12).

4. The automatic positioning and bending production line for the stabilizer bar according to claim 3, wherein the centering and positioning device comprises a movable baffle (17), a first motor (15), a rope (16), a spring (18), a second support roller (19), a fixed baffle (13), a pin shaft and a second telescopic device (10), the movable baffle (17) is connected to the tail end of the feeding assembly through the pin shaft and the spring (18), the first motor (15) is installed on the rack (8), the rope (16) is installed between the first motor (15) and the movable baffle (17), the second support roller (19) is installed in the feeding assembly, and the fixed baffle (13) and the second telescopic device (10) are respectively installed on two sides of the tail end of the feeding assembly.

5. The automatic positioning and bending production line for the stabilizer bar according to claim 4, wherein the bending assembly (4) comprises a positioning groove (20), a forming die (21) and a fourth telescopic device (22), the positioning groove, the forming die (21) and the fourth telescopic device (22) are mounted on the base, and the forming die (21) is connected with the output end of the fourth telescopic device (22).

6. A stabilizer bar automatic positioning bending production line as claimed in claim 5, characterized in that the truss robot (3) comprises a plurality of uprights (23), a truss beam, a second motor and robot (27), a Y-axis truss beam (26), z axle truss roof beam (25), X axle truss roof beam (24), stand (23) are connected with X axle truss roof beam (24), install in the both sides of orientation module (2) to guenching unit (5) stand (23), Y axle truss roof beam (26) are installed between two adjacent X axle truss roof beams (24), Z axle truss roof beam (25) are connected with Y axle truss roof beam (26), Z axle truss roof beam (25) lower extreme installation manipulator (27), the second motor is installed in the junction between each axle truss roof beam, the removal of drive Y axle truss roof beam (26) for X axle truss roof beam (24), Z axle truss roof beam (25) for Y axle truss roof beam (26).

7. The stabilizer bar automatic positioning bending production line as claimed in claim 6, wherein the plurality of Y-axis truss girders (26), Z-axis truss girders (25) and manipulators (27) are divided into two sets, one set is used for clamping stabilizer bars between the positioning module (2) and the bending assembly (4), and the other set is used for clamping stabilizer bars between the bending assembly (4) and the quenching device (5).

8. The automatic positioning and bending production line for stabilizer bars according to claim 7, characterized in that the shape of the clamping block (28) of the manipulator (27) is arc-shaped, which is matched with the radian of the stabilizer bar, and the clamping block (28) can be detached and replaced to adapt to stabilizer bars of different sizes.