Parallel robot edge-coating system with a rotary table

Abstract

This invention relates to parallel-type robot system for edge covering with rotating table, comprising six-degrees freedom parallel-type robot attached with rolling machine and driving it to move roller along edge direction; rolling machine equipped with work piece and rotating table preparing the other side of work piece to be ready-covered edge. The invention has the advantages of high accuracy to improve edge-covering efficiency and quality.

Description

technical field [0001] The invention relates to a robot hemming system, in particular to a parallel robot hemming system with a rotary workbench, which is used in the field of automobile manufacturing. Background technique [0002] Hemming refers to folding the workpiece after flanging to 180°, which is a connection technology between the inner and outer plates of thin plate parts. There are mainly four kinds of hemming methods: manual hemming, hydraulic special hemming machine hemming, molded hemming and robot hemming. The production efficiency of manual hemming is low, and the product appearance quality is poor. Due to the limitation of its structure, the hemming action of hydraulic special hemming machine needs to be realized step by step, the door is prone to indentation, and the overall hemming quality is not high. One-time forming of molded hemming has the advantages of high production efficiency, good hemming quality and appearance, but it needs molds, which require...

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Problems solved by technology

[0003] After searching the documents of the prior art, it was found that Derwent's patent number is: 2002-754571[82], and the name is: Roll hemming method for joining panels, involving performing primary bending of outer panel flange , using primary roller having outer diameter larger than outer diameter of secondary roller), the patented technology reads as: the main roller (its outer diameter is larger than the secondary roller) installed on the robot arm completes the flanging of the outer plate, and the angle of the flanging It is determined by the slope angle of the main roller, and then the hemming is completed by the secondary roller. The advantage of this patented technology is that the worktable is fixed and the structure is simple, but the lower mold is still required, and the tandem robot is used, so the rigidity is low

The robot grabbing and moving the workpiece in this solution has high requirements on the mechanical and dynamic performance of the robot. As high-strength steel is commonly used in parts such as car doors, the required hemming force will increase exponentially, and the quality of hemming is difficult to guarantee.

The main disadvantages of the above patents are: molds are still needed, which affects the flexibility of the system to a certain extent; the robot is a tandem robot with low rigidity, which is the bottleneck for further improving the quality of hemming. When the workpiece is high-strength steel, the tandem robot Robotic flaws will manifest more clearly

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