Double-station robot edge covering workstation

Abstract

The invention discloses a double-station robot edge covering workstation, and relates to the technical field of robot workstations, the double-station robot edge covering workstation comprises two edge covering clamping tables, an edge covering manipulator, an electric appliance cabinet and a control cabinet, the two edge covering clamping tables are arranged on the two sides of the edge covering manipulator, and each edge covering clamping table is provided with a longitudinal lifting arm; each longitudinal lifting arm is provided with a plurality of top pressing rods, each edge covering clamping table is further rotationally provided with an edge covering rotary table, the execution end of the edge covering mechanical arm is provided with a rolling executor, each edge covering rotary table is provided with a plurality of side portion positioners, the side portion positioners are evenly distributed in a circumferential shape, and the rolling executor is provided with a plurality of side portion positioning devices. The side positioners and the top pressing rods are used for clamping and fixing a workpiece, the rolling actuator is used for edge covering of the workpiece, the rolling wheel repeatedly hammers the workpiece to be subjected to edge covering through vibration, and the function that hammering and rotary edge covering are carried out at the same time is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robot workstations, in particular to a double-station robot hemming workstation. Background Art

[0002] The hemming robot workstation is a kind of working equipment used to handle the hemming of products in the automated production process. It combines advanced technologies such as robot technology, automatic control and mechanical arms, and can complete the hemming operation efficiently and accurately. It is mainly used in woodworking, furniture manufacturing, automotive interior, home appliances and other industries involving edge processing. The hemming workstation is usually composed of a displacement worktable and a manipulator. The workpieces to be hemmed are often heavy, and the displacement worktable needs to drive these workpieces to rotate. Under the action of uneven radial force, the active spindle of the displacement worktable wears very quickly. Therefore, it is necessary to manually adjust the rotational balance of the clamped workpiece, which is time-consuming and labor-intensive. Before performing the hemming operation, the operator often needs to use a hammer to hammer the workpiece to be hemmed for pre-coating, and then use the hemming wheel to perform the hemming operation, which cannot achieve complete automation. Summary of the invention

[0003] The purpose of the present invention is to provide a double-station robot hemming workstation to solve the problems raised in the prior art.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a double-station robot hemming workstation, comprising two hemming clamping tables, an hemming manipulator, an electrical cabinet and a control cabinet, the two hemming clamping tables being arranged on both sides of the hemming manipulator, each of the hemming clamping tables being provided with a longitudinal lifting arm, each of the longitudinal lifting arms being provided with a plurality of top pressure rods, each of the hemming clamping tables being also rotatably provided with an hemming turntable, the execution end of the hemming manipulator being provided with a rolling actuator, each of the hemming turntable being installed with a plurality of side positioners, and the plurality of side positioners being evenly distributed in a circle, the plurality of side positioners and the plurality of top pressure rods clamp and fix the workpiece, and the rolling actuator hems the workpiece.

[0005] Furthermore, each of the side locators includes a side top plate, a main slide, a front plate, a rear plate and a moving module, the main slide is slidably mounted on the hemming turntable, the moving module is arranged at the bottom of the main slide, the moving module is connected to a control system through a circuit, the front plate and the rear plate have the same length, the front plate and the rear plate are rotatably mounted on the main slide, the side top plate is connected to the end of the front plate and the rear plate away from the main slide, before hemming the workpiece, the operator places the workpiece on the hemming turntable, the control system moves the side locator through the moving module, so that the side top plates on all the side locators contact the workpiece, the side top plates are resisted after contacting the workpiece, if the main slide continues to move closer to the workpiece, the front plate and the rear plate tilt backwards, the rear plate pushes the slider through the connecting rod, the slider overcomes the tension of the spring and slides on the hollow shaft, and when all the pressure sensors detect the same pressure, the side locator stops moving.

[0006] Furthermore, a pressure sensor is provided at one end of the side top plate away from the front plate, and the pressure sensor is connected to the control system circuit. A hollow shaft is provided in the main slide, and a slider is slidably installed in the main slide. The slider is slidably connected to the hollow shaft, and a spring is connected between the slider and the main slide. A connecting rod is rotatably connected to the middle part of the rear plate, and the other end of the connecting rod is rotatably connected to the slider. Since the outer contour of the workpiece to be edged is irregular, after the workpiece is supported by the side top plate, the control system drives the edge wrapping turntable to rotate slowly, and the workpiece on the edge wrapping turntable rotates accordingly. The more the workpiece deviates from the center of rotation as a whole or the greater the local mass, the greater the centrifugal force it is subjected to. The pressure values ​​detected by the pressure sensors in the side locators symmetrically on both sides will change. The side locators with increased detected pressure values ​​are under pressure, indicating that the side of the workpiece deviates farther from the center of rotation as a whole or the local mass is greater.

[0007] Furthermore, the hollow shaft is provided with several fine slits evenly distributed in an annular shape, and an electric push rod is installed in the main slide, and the electric push rod is located at one end of the hollow shaft away from the side top plate, and a conical top block is installed on the push rod of the electric push rod, and the conical top of the conical top block is located inside the hollow shaft. The control system pushes the conical top block into the hollow shaft through the electric push rod, and the conical surface applies pressure to the hollow shaft, so that the hollow shaft is stretched outward along the direction of the fine slit, so that the slider cannot slide. At this time, if the moving module drives the main slide to move again, the side top plate moves together, and the data detected by all pressure sensors are used to enable the side locator to push the workpiece to move and change its position on the hemming turntable. The centrifugal moments generated at various parts of the workpiece relative to the rotation center of the hemming turntable balance and offset each other, and maintain the rotation stability during the subsequent rotation and hemming process, thereby improving the hemming effect of the workpiece and protecting the main shaft of the hemming clamping table. When the side locator is clamped, the longitudinal lifting arm presses down several top pressure rods to fix the hemming workpiece.

[0008] Furthermore, the rolling actuator includes an upper chassis, a cylinder, a rolling wheel and a cross sleeve, the upper chassis is connected to the execution end of the hemming robot, the cylinder is connected to the bottom of the upper chassis, the cross sleeve is integrally arranged with the rolling wheel, the cross sleeve is slidably installed on the bottom of the cylinder, and a sand filling cavity is opened inside the rolling wheel, and the interior of the sand filling cavity is filled with sand.

[0009] Furthermore, the rolling actuator also includes a cross shaft and a driven slide plug, a driven bevel gear is arranged on the top of the cross shaft, the driven bevel gear is rotatably connected to the upper chassis, the bottom of the cross shaft is slidably connected to the cross sleeve, the driven slide plug is slidably installed inside the cylinder, the cross shaft passes through the middle part of the driven slide plug and is slidably connected thereto, a first servo motor is installed in the upper chassis, an active bevel gear is installed on the first servo motor, the active bevel gear is meshed with the driven bevel gear, the first servo motor is energized to drive the active bevel gear to rotate, the active bevel gear drives the cross shaft to rotate through the driven bevel gear, the cross shaft drives the cross sleeve to rotate, the cross sleeve drives the rolling wheel to rotate, and the rolling wheel rolls and hems the edge of the workpiece.

[0010] Furthermore, a curved annular groove is provided on the inner wall of the cylinder, and a pin is installed on the outside of the driven sliding plug. The pin is slidably arranged in the curved annular groove. When the cross shaft rotates, the driven sliding plug is driven to rotate. The pin on the driven sliding plug moves along the curved annular groove. The driven sliding plug rotates and slides up and down along the inside of the cylinder. The air pressure between the driven sliding plug and the cross sleeve changes accordingly. Since the cross sleeve can also rotate and slide up and down along the inside of the cylinder, the rolling wheel vibrates repeatedly during the rotation process, and the workpiece to be hemmed is repeatedly hammered through the vibration. The sand filling cavity is filled with sand to reduce the rebound during hammering, thereby realizing the function of simultaneous hammering and rotary hemming.

[0011] Furthermore, a heat dissipation groove is provided on the outer surface of the cylinder, and an air guide jacket shell is rotatably installed on the outer side of the cylinder, the top and bottom of the air guide jacket shell are rotatably sealed and connected to the cylinder, a tooth groove is provided on the top of the air guide jacket shell, and a second servo motor is installed in the upper chassis, the motor shaft of the second servo motor passes through the upper chassis, and a pinion is connected to the motor shaft of the second servo motor, and the pinion is meshed with the tooth groove. In the process of the up and down movement of the driven sliding plug, high temperature will be generated in the cylinder accompanied by the compression and friction of the air. When the driven sliding plug moves downward, the air pressure in the upper chassis decreases, and the external air is sucked into the upper chassis through the air inlet hole. When the driven sliding plug moves upward, the air pressure in the upper chassis increases, and the gas in the upper chassis enters the pump air pipe through the air outlet hole, and finally enters the air guide jacket shell from the pump air pipe. The heat of the cylinder is dissipated along with the airflow in the air guide jacket shell, and the pulse airflow carrying the heat is ejected from the injection pipe.

[0012] Furthermore, an air inlet and an air outlet are provided on the upper chassis, and a one-way valve is provided on the air inlet and the air outlet. A pump air pipe is connected to the top of the air guide jacket shell, and the other end of the pump air pipe is connected to the air outlet. A jet pipe is provided at the bottom of the air guide jacket shell, and an oblique jet port is provided at one end of the jet pipe away from the air guide jacket shell. The second servo motor drives the pinion to rotate, and the pinion drives the air guide jacket shell to rotate through the tooth groove, so that the air outlet end of the jet pipe faces the workpiece, and the hot air can hit the surface of the workpiece, which can not only remove dust from the surface of the workpiece, but also preheat the workpiece.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The pressure sensor in the side locator detects the change in pressure value, so that the side locator pushes the workpiece to move and change its position on the hemming turntable. The centrifugal moments generated by various parts of the workpiece relative to the rotation center of the hemming turntable are balanced and offset each other, and the rotation stability is maintained during the subsequent rotation and hemming process, thereby improving the hemming effect of the workpiece and protecting the spindle of the hemming clamping table.

[0014] 2. The driven sliding plug drives the rolling wheel to vibrate repeatedly during the rotation process, and the workpiece to be hemmed is hammered repeatedly through vibration. The sand filling cavity is filled with sand to reduce the rebound during hammering, thus realizing the function of hammering and rotating hemming at the same time.

[0015] 3. The heat of the cylinder is dissipated along with the air flow in the air guide jacket shell. The pulse air flow carrying heat is ejected from the jet pipe, and the hot air can hit the surface of the workpiece, which can remove dust and ash from the surface of the workpiece and preheat the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the edge wrapping turntable part of the present invention; Figure 3 It is a structural schematic diagram of the side positioner of the present invention; Figure 4 The appearance structure of the rolling actuator of the present invention is shown in FIG. Figure 1 ; Figure 5 The appearance structure of the rolling actuator of the present invention is shown in FIG. Figure 2 ; Figure 6 The internal structure of the rolling actuator of the present invention is shown in FIG. Figure 1 ; Figure 7 The internal structure of the rolling actuator of the present invention is shown in FIG. Figure 2 ; Figure 8 It is a schematic structural diagram of the cylinder portion of the present invention.

[0017] In the figure: 1. Edge-wrapping clamping table; 2. Edge-wrapping manipulator; 3. Electrical cabinet; 4. Control cabinet; 5. Rolling actuator; 6. Longitudinal lifting arm; 7. Top pressure rod; 8. Edge-wrapping turntable; 9. Side positioner; 10. Rolling wheel; 11. Sand filling cavity; 12. Cross sleeve; 13. Cross shaft; 14. Cylinder; 15. Air guide jacket shell; 16. Jet pipe; 17. Curved ring groove; 18. Driven slide; 19. Pin; 20. Driven bevel gear; 21. Active bevel gear; 22. First servo motor; 23. Second servo motor; 24. Pinion; 25. Side top plate; 26. Main slide; 27. Front plate; 28. Rear plate; 29. ​​Connecting rod; 30. Sliding block; 31. Hollow shaft; 32. Electric push rod; 33. Conical top block; 34. Moving module; 35. Upper chassis. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example: Figure 1-Figure 8 As shown, the present invention provides a technical solution, a double-station robot hemming workstation, including two hemming clamping tables 1, an hemming manipulator 2, an electrical cabinet 3 and a control cabinet 4, the two hemming clamping tables 1 are arranged on both sides of the hemming manipulator 2, each hemming clamping table 1 is provided with a longitudinal lifting arm 6, each longitudinal lifting arm 6 is provided with a plurality of top pressure rods 7, each hemming clamping table 1 is also rotatably provided with an hemming turntable 8, the execution end of the hemming manipulator 2 is provided with a rolling actuator 5, each hemming turntable 8 is installed with a plurality of side positioners 9, the plurality of side positioners 9 are evenly distributed in a circle, the plurality of side positioners 9 and the plurality of top pressure rods 7 clamp and fix the workpiece, and the rolling actuator 5 hems the workpiece.

[0020] Each side positioner 9 includes a side top plate 25, a main slide 26, a front plate 27, a rear plate 28 and a movable module 34. The main slide 26 is slidably mounted on the hemming turntable 8, and the movable module 34 is arranged at the bottom of the main slide 26. The movable module 34 is connected to the control system through a circuit. The front plate 27 and the rear plate 28 have the same length. The front plate 27 and the rear plate 28 are both rotatably mounted on the main slide 26. The side top plate 25 is connected to one end of the front plate 27 and the rear plate 28 away from the main slide 26. A pressure sensor is arranged at one end of the side top plate 25 away from the front plate 27, and the pressure sensor is connected to the control system circuit. A hollow shaft 31 is arranged in the main slide 26, and a slider 30 is slidably mounted in the main slide 26. The slider 30 is slidably connected to the hollow shaft 31, and a spring is connected between the slider 30 and the main slide 26. A connecting rod 29 is rotatably connected to the middle part of the rear plate 28, and the other end of the connecting rod 29 is rotatably connected to the slider 30.

[0021] Before hemming the workpiece, the operator places the workpiece on the hemming turntable 8. The control system moves the side positioners 9 through the moving module 34, so that the side top plates 25 on all the side positioners 9 are in contact with the workpiece. After the side top plates 25 contact the workpiece, they are resisted. If the main slide 26 continues to move closer to the workpiece, the front plate 27 and the rear plate 28 tilt backwards, and the rear plate 28 pushes the slider 30 through the connecting rod 29. The slider 30 overcomes the tension of the spring and slides on the hollow shaft 31. When all the pressure sensors detect the same pressure, the side The locator 9 stops moving. Since the outer contour of the workpiece to be hemmed is irregular, after the workpiece is supported by the side top plate 25, the control system drives the hemming turntable 8 to rotate slowly, and the workpiece on the hemming turntable 8 rotates accordingly. The more the workpiece deviates from the rotation center as a whole or the greater the local mass, the greater the centrifugal force it is subjected to. The pressure values ​​detected by the pressure sensors in the side locators 9 symmetrically on both sides will change. The side locator 9 with an increased detected pressure value is under pressure, indicating that the workpiece on this side deviates further from the rotation center as a whole or the local mass is greater.

[0022] The hollow shaft 31 is provided with a plurality of slits evenly distributed in an annular shape. An electric push rod 32 is installed in the main slide seat 26. The electric push rod 32 is located at the end of the hollow shaft 31 away from the side top plate 25. A conical top block 33 is installed on the push rod of the electric push rod 32. The conical top of the conical top block 33 is located inside the hollow shaft 31. The control system pushes the conical top block 33 into the hollow shaft 31 through the electric push rod 32. The conical surface applies pressure to the hollow shaft 31, so that the hollow shaft 31 is stretched outward along the direction of the slit, so that the slider 30 cannot slide. At this time, if the moving module 34 is moved again The main slide 26 is driven to move, and the side top plate 25 moves together. Through the data detected by all pressure sensors, the side positioner 9 pushes the workpiece to move and change its position on the hemming turntable 8. The centrifugal moments generated at various parts of the workpiece relative to the rotation center of the hemming turntable 8 are balanced and offset each other, and the rotation stability is maintained during the subsequent rotation and hemming process, thereby improving the hemming effect of the workpiece and protecting the main axis of the hemming clamping table 1. When the side positioner 9 is clamped, the longitudinal lifting arm 6 presses down several top pressure rods 7 to fix the hemmed workpiece.

[0023] The rolling actuator 5 includes an upper chassis 35, a cylinder 14, a rolling wheel 10 and a cross sleeve 12. The upper chassis 35 is connected to the execution end of the hemming manipulator 2, the cylinder 14 is connected to the bottom of the upper chassis 35, the cross sleeve 12 is integrally arranged with the rolling wheel 10, the cross sleeve 12 is slidably mounted on the bottom of the cylinder 14, the interior of the rolling wheel 10 is provided with a sand filling cavity 11, the interior of the sand filling cavity 11 is filled with sand, the rolling actuator 5 also includes a cross shaft 13 and a driven sliding plug 18, the top of the cross shaft 13 is provided with a driven bevel gear 20, and the driven bevel gear 20 is connected to the upper chassis The upper case 35 is rotatably connected, the bottom of the cross shaft 13 is slidably connected to the cross sleeve 12, the driven slide plug 18 is slidably installed in the interior of the cylinder 14, the cross shaft 13 passes through the middle of the driven slide plug 18 and is slidably connected thereto, a first servo motor 22 is installed in the upper case 35, a driving bevel gear 21 is installed on the first servo motor 22, the driving bevel gear 21 is meshed with the driven bevel gear 20, a curved annular groove 17 is provided on the inner wall of the cylinder 14, a pin 19 is installed on the outside of the driven slide plug 18, and the pin 19 is slidably set in the curved annular groove 17.

[0024] The first servo motor 22 is energized to drive the active bevel gear 21 to rotate. The active bevel gear 21 drives the cross shaft 13 to rotate through the driven bevel gear 20. The cross shaft 13 drives the cross sleeve 12 to rotate. The cross sleeve 12 drives the rolling wheel 10 to rotate. The rolling wheel 10 rolls and hems the edge of the workpiece. The rotation of the cross shaft 13 drives the driven slide 18 to rotate. The pin 19 on the driven slide 18 moves along the curved ring groove 17. The driven slide 18 slides up and down along the inside of the cylinder 14 while rotating. The air pressure between the driven slide 18 and the cross sleeve 12 changes accordingly. Since the cross sleeve 12 can also slide up and down along the inside of the cylinder 14 while rotating, the rolling wheel 10 vibrates repeatedly during the rotation process, and repeatedly hammers the workpiece to be hemmed through the vibration. The interior of the sand filling cavity 11 is filled with sand to reduce the rebound during hammering, thereby realizing the function of hammering and rotating hemming at the same time.

[0025] A heat dissipation groove is provided on the outer surface of the cylinder 14, and an air guide jacket shell 15 is rotatably installed on the outer side of the cylinder 14. The top and bottom of the air guide jacket shell 15 are rotatably sealed and connected to the cylinder 14. A tooth groove is provided on the top of the air guide jacket shell 15. A second servo motor 23 is installed in the upper chassis 35. The motor shaft of the second servo motor 23 passes through the upper chassis 35. A pinion 24 is connected to the motor shaft of the second servo motor 23, and the pinion 24 is meshed with the tooth groove. An air inlet and an air outlet (not shown in the figure) are provided on the upper chassis 35. A one-way valve is provided on the air inlet and the air outlet. A pump air pipe (not shown in the figure) is connected to the top of the air guide jacket shell 15, and the other end of the pump air pipe is connected to the air outlet. An injection pipe 16 is provided at the bottom of the air guide jacket shell 15, and an oblique injection port is provided at one end of the injection pipe 16 away from the air guide jacket shell 15.

[0026] During the up and down movement of the driven slide 18, accompanied by the compression and friction of the air, high temperature will be generated in the cylinder 14. When the driven slide 18 moves downward, the air pressure in the upper chassis 35 decreases, and the external air enters the upper chassis 35 through the air inlet hole. When the driven slide 18 moves upward, the air pressure in the upper chassis 35 increases, and the gas in the upper chassis 35 enters the pump air pipe through the air outlet hole, and finally enters the air guide jacket shell 15 from the pump air pipe. The heat of the cylinder 14 is dissipated along with the air flow in the air guide jacket shell 15, and the pulse air flow carrying heat is ejected from the injection pipe 16. The second servo motor 23 drives the pinion 24 to rotate, and the pinion 24 drives the air guide jacket shell 15 to rotate through the tooth groove, so that the air outlet end of the injection pipe 16 faces the workpiece, and the hot air can hit the surface of the workpiece, which can not only remove dust from the surface of the workpiece, but also preheat the workpiece.

[0027] The working principle of the present invention is as follows: before hemming the workpiece, the operator places the workpiece on the hemming turntable 8, and the control system moves the side locator 9 through the moving module 34, so that the side top plates 25 on all the side locators 9 are in contact with the workpiece. After the side top plates 25 contact the workpiece, they are resisted. If the main slide 26 continues to move closer to the workpiece, the front plate 27 and the rear plate 28 tilt backwards, and the rear plate 28 pushes the slider 30 through the connecting rod 29. The slider 30 overcomes the tension of the spring and slides on the hollow shaft 31. When all the pressure sensors detect the same pressure, the side locator 9 stops moving.

[0028] Since the outer contour of the workpiece to be hemmed is irregular, after the workpiece is supported by the side top plate 25, the control system drives the hemming turntable 8 to rotate slowly, and the workpiece on the hemming turntable 8 rotates accordingly. The more the workpiece deviates from the rotation center as a whole or the greater the local mass is, the greater the centrifugal force it is subjected to. The pressure value detected by the pressure sensor in the side locator 9 symmetrically on both sides will change. The side locator 9 with an increased pressure value is under pressure, indicating that the workpiece on this side deviates from the rotation center as a whole or the local mass is large. The control system pushes the conical top block 33 into the hollow shaft 31 through the electric push rod 32, and the conical surface applies pressure to the hollow shaft 31, so that the hollow shaft 31 is stretched outward along the direction of the slit, so that the slider 30 cannot slide. At this time, if the moving module 34 drives the main slide 26 to move, the side top plate 25 moves together. Through the data detected by all pressure sensors, the side positioner 9 pushes the workpiece to move and change its position on the hemming turntable 8. The centrifugal moments generated by various parts of the workpiece relative to the rotation center of the hemming turntable 8 are balanced and offset each other, and the rotation stability is maintained during the subsequent rotation and hemming process, thereby improving the hemming effect of the workpiece and protecting the main axis of the hemming clamping table 1. When the side positioner 9 is clamped, the longitudinal lifting arm 6 presses down several top pressure rods 7 to fix the hemmed workpiece.

[0029] The first servo motor 22 is energized to drive the active bevel gear 21 to rotate. The active bevel gear 21 drives the cross shaft 13 to rotate through the driven bevel gear 20. The cross shaft 13 drives the cross sleeve 12 to rotate. The cross sleeve 12 drives the rolling wheel 10 to rotate. The rolling wheel 10 rolls and hems the edge of the workpiece. The rotation of the cross shaft 13 drives the driven slide 18 to rotate. The pin 19 on the driven slide 18 moves along the curved ring groove 17. The driven slide 18 slides up and down along the inside of the cylinder 14 while rotating. The air pressure between the driven slide 18 and the cross sleeve 12 changes accordingly. Since the cross sleeve 12 can also slide up and down along the inside of the cylinder 14 while rotating, the rolling wheel 10 vibrates repeatedly during the rotation process, and repeatedly hammers the workpiece to be hemmed through the vibration. The sand filling cavity 11 is filled with sand to reduce the rebound during hammering, thereby realizing the simultaneous hammering and rotary hemming. During the up and down movement of the driven slide 18, accompanied by the compression and friction of the air, high temperature will be generated in the cylinder 14. When the driven slide 18 moves downward, the air pressure in the upper chassis 35 decreases, and the external air enters the upper chassis 35 through the air inlet hole. When the driven slide 18 moves upward, the air pressure in the upper chassis 35 increases, and the gas in the upper chassis 35 enters the pump air pipe through the air outlet hole, and finally enters the air guide jacket shell 15 from the pump air pipe. The heat of the cylinder 14 is dissipated along with the air flow in the air guide jacket shell 15, and the pulse air flow carrying heat is ejected from the injection pipe 16. The second servo motor 23 drives the pinion 24 to rotate, and the pinion 24 drives the air guide jacket shell 15 to rotate through the tooth groove, so that the air outlet end of the injection pipe 16 faces the workpiece, and the hot air can hit the surface of the workpiece, which can not only remove dust from the surface of the workpiece, but also preheat the workpiece.

[0030] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A double-station robot hemming workstation, comprising two hemming clamping tables (1), an hemming manipulator (2), an electrical cabinet (3) and a control cabinet (4), wherein the two hemming clamping tables (1) are arranged on both sides of the hemming manipulator (2), each of the hemming clamping tables (1) is provided with a longitudinal lifting arm (6), each of the longitudinal lifting arms (6) is provided with a plurality of top pressure rods (7), and each of the hemming clamping tables (1) is also rotatably provided with an hemming turntable (8), characterized in that: The execution end of the hemming robot (2) is provided with a rolling actuator (5), and each of the hemming turntables (8) is provided with a plurality of side positioners (9), and the plurality of side positioners (9) are evenly distributed in a circular shape. The plurality of side positioners (9) and the plurality of top pressure rods (7) clamp and fix the workpiece, and the rolling actuator (5) hems the workpiece.

2. A double-station robot hemming workstation according to claim 1, characterized in that: Each of the side positioners (9) comprises a side top plate (25), a main slide (26), a front plate (27), a rear plate (28) and a movable module (34); the main slide (26) is slidably mounted on the hemming turntable (8); the movable module (34) is arranged at the bottom of the main slide (26); the movable module (34) is connected to a control system via a circuit; the front plate (27) and the rear plate (28) have the same length; the front plate (27) and the rear plate (28) are both rotatably mounted on the main slide (26); and the side top plate (25) is connected to one end of the front plate (27) and the rear plate (28) away from the main slide (26).

3. A double-station robot hemming workstation according to claim 2, characterized in that: A pressure sensor is provided at one end of the side top plate (25) away from the front plate (27), and the pressure sensor is connected to a control system circuit. A hollow shaft (31) is provided in the main slide seat (26), and a slider (30) is slidably installed in the main slide seat (26). The slider (30) is slidably connected to the hollow shaft (31), and a spring is connected between the slider (30) and the main slide seat (26). A connecting rod (29) is rotatably connected to the middle part of the rear plate (28), and the other end of the connecting rod (29) is rotatably connected to the slider (30).

4. A double-station robot hemming workstation according to claim 3, characterized in that: The hollow shaft (31) is provided with a plurality of slits evenly distributed in an annular shape. An electric push rod (32) is installed in the main slide seat (26). The electric push rod (32) is located at an end of the hollow shaft (31) away from the side top plate (25). A conical top block (33) is installed on the push rod of the electric push rod (32). The conical top of the conical top block (33) is located inside the hollow shaft (31).

5. A double-station robot hemming workstation according to claim 1, characterized in that: The rolling actuator (5) comprises an upper chassis (35), a cylinder (14), a rolling wheel (10) and a cross sleeve (12); the upper chassis (35) is connected to the execution end of the hemming robot (2); the cylinder (14) is connected below the upper chassis (35); the cross sleeve (12) and the rolling wheel (10) are integrally arranged; the cross sleeve (12) is slidably mounted on the bottom of the cylinder (14); a sand filling cavity (11) is provided inside the rolling wheel (10); and sand is filled inside the sand filling cavity (11).

6. A double-station robot hemming workstation according to claim 5, characterized in that: The rolling actuator (5) further comprises a cross shaft (13) and a driven sliding plug (18); a driven bevel gear (20) is arranged on the top of the cross shaft (13); the driven bevel gear (20) is rotatably connected to the upper chassis (35); the bottom of the cross shaft (13) is slidably connected to the cross sleeve (12); the driven sliding plug (18) is slidably mounted inside the cylinder (14); the cross shaft (13) passes through the middle of the driven sliding plug (18) and is slidably connected thereto; a first servo motor (22) is mounted in the upper chassis (35); a driving bevel gear (21) is mounted on the first servo motor (22); the driving bevel gear (21) is meshed with the driven bevel gear (20).

7. A double-station robot hemming workstation according to claim 6, characterized in that: A curved annular groove (17) is provided on the inner wall of the cylinder barrel (14), and a pin (19) is installed on the outside of the driven sliding plug (18), wherein the pin (19) is slidably disposed in the curved annular groove (17).

8. A double-station robot hemming workstation according to claim 6, characterized in that: The outer surface of the cylinder (14) is provided with a heat dissipation groove, an air guide jacket shell (15) is rotatably mounted on the outer side of the cylinder (14), the top and bottom of the air guide jacket shell (15) are rotatably sealed with the cylinder (14), a tooth groove is provided on the top of the air guide jacket shell (15), a second servo motor (23) is mounted in the upper chassis (35), a motor shaft of the second servo motor (23) passes through the upper chassis (35), a pinion (24) is connected to the motor shaft of the second servo motor (23), and the pinion (24) is meshed with the tooth groove.

9. A double-station robot hemming workstation according to claim 8, characterized in that: An air inlet and an air outlet are provided on the upper case (35), and a one-way valve is provided on each of the air inlet and the air outlet. A pump air pipe is connected to the top of the air guide jacket shell (15), and the other end of the pump air pipe is connected to the air outlet. An air jet pipe (16) is provided at the bottom of the air guide jacket shell (15), and an oblique air jet port is provided at one end of the air jet pipe (16) away from the air guide jacket shell (15).

Images