Automatic optimizing desing method for end pick up

Abstract

The invention belongs to the field of machine design and is especially about an automatic optimization design for the end view equipment. The design bases on the further development to the CAD system, and use the algorithm to automatic optimization, The spatial structure of the end view equipment is be regarded as the spatial structure with five freedoms in it. A non-linear multivariant equation set can be gained by the alternation of the coordinate or the Robot kinematics. The location information of the module and the type of the sucking disc can be obtained by solve it. The iteration method is used in the design and the standard sucking disc can be chosen by changing the location of the vice-pole. The location of the sucking disc is altered on the curved surface of pressing part according to the iteration method, thus we can gain an accurate result suit for the length of the standard pole. The structure of the end-viewing equipment is optimized by this invention, and the difficulty and time for design are decreased, the design quality is improved, the component chosen can be assembled to be an end viewing equipment for practical application, needing not to be processed and cut out furthermore. Because the error of each sucking-disc point is guaranteed to be in the range requested while they are designed, the installation quality has been improved, and the ordinary work of the end-viewing has been guaranteed. And the time on preparing for the production has been shortened and the production efficiency has been improved, and the cost for production has been decreased.

Description

technical field

[0001] The invention belongs to the field of mechanical design, and in particular relates to an automatic optimal design method for a stamping line end picker. Background technique

[0002] The end picker is a grabbing mechanism composed of rods and suction cups or grippers installed on the conveying manipulator. On the stamping line, stamped parts are transported from one station to the next through the end picker. The process is to move the end picker to a suitable position through the manipulator, contact the suction cup with the stamping part, and then vacuumize the stamping part to be tightly adsorbed to the end picker, and then use the manipulator and end picker to remove the stamping part from the mold Take it out and transport it to the next station.

[0003] The end effector is composed of a main rod, a secondary rod, a connecting arm, a steering knuckle and a suction cup. The lengths of the standard rod and the connecting arm are in series, that is...

Examples

Embodiment 1

[0081] Embodiment 1, realization system adopts VB to carry out secondary development on the basis of CATIA V5 R14 CAD software, after starting the software developed with VB, system automatically starts CATIA software, then carries out according to aforementioned design steps:

[0082] 1. Import the 3D models of the press, manipulator, mold and stamping parts into CATIA, and the positional relationship between the parts is determined in advance before the mold design;

[0083] 2. The initial position of the manipulator is determined in advance. If it needs to be adjusted, the manipulator can be moved in CATIA through the buttons provided by the software, and the manipulator can be adjusted to a suitable position;

[0084] 3. The designer selects the brand of the standard part of the end picker, and then selects the main rod of the appropriate model for installation, and the system automatically installs the main rod on the manipulator;

[0085] 4. Determine the point where the...

technical field

[0001] The invention belongs to the field of mechanical design, and in particular relates to an automatic optimal design method for a stamping line end picker. Background technique

[0002] The end picker is a grabbing mechanism composed of rods and suction cups or grippers installed on the conveying manipulator. On the stamping line, stamped parts are transported from one station to the next through the end picker. The process is to move the end picker to a suitable position through the manipulator, contact the suction cup with the stamping part, and then vacuumize the stamping part to be tightly adsorbed to the end picker, and then use the manipulator and end picker to remove the stamping part from the mold Take it out and transport it to the next station.

[0003] The end effector is composed of a main rod, a secondary rod, a connecting arm, a steering knuckle and a suction cup. The lengths of the standard rod and the connecting arm are in series, that is...

Examples

Embodiment 1

[0081] Embodiment 1, realization system adopts VB to carry out secondary development on the basis of CATIA V5 R14 CAD software, after starting the software developed with VB, system automatically starts CATIA software, then carries out according to aforementioned design steps:

[0082] 1. Import the 3D models of the press, manipulator, mold and stamping parts into CATIA, and the positional relationship between the parts is determined in advance before the mold design;

[0083] 2. The initial position of the manipulator is determined in advance. If it needs to be adjusted, the manipulator can be moved in CATIA through the buttons provided by the software, and the manipulator can be adjusted to a suitable position;

[0084] 3. The designer selects the brand of the standard part of the end picker, and then selects the main rod of the appropriate model for installation, and the system automatically installs the main rod on the manipulator;

[0085] 4. Determine the point where the...

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