A quick and automatic replacement device for end pick-up of an automated stamping line

Abstract

The invention discloses a device for quickly and automatically replacing an end picker of an automated stamping line, and relates to the technical field of end picker replacement devices, including two bracket assemblies and a trolley assembly, wherein the two bracket assemblies are arranged at the upper end of the trolley assembly; the bracket assembly includes two brackets, and the upper ends of the two brackets are provided with support frames, and both ends of the support frames are provided with movable plates through transition brackets, and the movable plates are provided with pins connected to the transition brackets through second linear sleeves, and positioning pins and detection switches are fixedly provided on the movable plates, and the end of the positioning pins is a conical surface; a positioning assembly is provided at the lower end of the trolley, and the positioning assembly includes a positioning hole and a positioning cylinder, and the positioning cylinder is arranged on the ground, and the positioning hole is arranged at the lower end of the vehicle body, and the positioning cylinder extends a positioning rod and is inserted into the positioning hole. The invention is simple to operate, has a high degree of automation, is safe and reliable, reduces production and processing costs, liberates manual labor, and improves the efficiency of automation.

Description

Technical Field

[0001] The invention relates to the technical field of end picker replacement devices, in particular to an end picker rapid and automatic replacement device for an automated punching line. Background Art

[0002] In recent years, with the continuous increase in the production and sales of passenger cars at home and abroad, as well as the increasing personalized needs of consumers, the demand for more and more passenger car models has led to an increasing number of stamping parts, which requires frequent replacement of molds during stamping production. For automated production lines, sheet metal grabbing is completed by end pickers. Therefore, when replacing the mold, the end picker corresponding to the mold needs to be replaced.

[0003] Currently, most of the end pickers in high-speed, automated stamping production lines are still replaced manually, which has poor safety and low efficiency, and cannot meet the overall production needs of safe and efficient automated stamping production lines. Summary of the invention

[0004] In view of the shortcomings and defects in the prior art, the present invention provides a device for quickly and automatically replacing end pickers of an automated stamping line, which does not require manual intervention, and is used to solve the current situation that manual replacement cannot meet the safety and efficiency requirements of automated stamping production lines.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: a device for quickly and automatically replacing end pickers of an automated stamping line, comprising two bracket assemblies and a trolley assembly, wherein the two bracket assemblies are arranged at the upper end of the trolley assembly; the bracket assembly comprises two brackets, and support frames are provided at the upper ends of the two brackets, and the two support frames are connected through a support optical axis, and the support optical axis is connected to the two support frames through a first linear sleeve, and the support frame is a rectangular frame, two faces of the rectangular frame are parallel to the support optical axis, and the other two faces are perpendicular to the support optical axis, and the two side faces of the support frame parallel to the support optical axis are connected to the transition bracket through a linear guide pair, and the transition bracket A movable plate is provided on the frame, and a pin is provided on the movable plate, and the pin is connected to the transition bracket through a second linear bushing, a positioning pin is fixedly provided on the movable plate, a through hole is provided in the middle of the movable plate, and a shaft is fixedly provided in the through hole, a hook is rotatably provided on the shaft, a buckle is provided at one end of the hook, and the other end is sleeved on a fixing screw, and the end of the positioning pin is a conical surface; the trolley assembly includes a vehicle body, and a wheel, a driving motor, a positioning assembly and a travel switch are provided at the lower end of the vehicle body, the positioning assembly includes a positioning hole and a positioning cylinder, the positioning cylinder is provided on the ground, the positioning hole is provided at the lower end of the vehicle body, and the wheel axle of the wheel is connected to the output shaft of the driving motor.

[0006] As a further improvement of the present invention, the transition bracket is slidably arranged on the support bracket. A support plate is further provided at the lower end of the transition bracket. The support plate is fixed on the support bracket. The support plate and the transition bracket are connected by a fixed shaft. A first spring is arranged outside the fixed shaft. The transition bracket makes a fine adjustment in the vertical direction to the support bracket through the first spring.

[0007] As a further improvement of the present invention, a second spring is arranged on the pin shaft. The movable plate makes a fine adjustment in the axial direction of the positioning pin shaft through the second spring.

[0008] As a further improvement of the present invention, a third spring is arranged between the support bracket and the bracket. The third spring is symmetrically arranged along the center line of the bracket. The support bracket makes a horizontal fine adjustment in the horizontal plane.

[0009] As a further improvement of the present invention, a fourth spring is arranged outside the fixing screw. One end of the catch is arranged outside the fourth spring on the fixing screw. The fourth spring plays a role in resetting the catch.

[0010] As a further improvement of the present invention, three travel switches are provided and arranged in a straight line. The middle travel switch is a stop switch, which is shared in both forward and reverse travels. The travel switches at both ends are deceleration switches, which are respectively responsible for deceleration in the forward and reverse travels. A stop block is provided at the corresponding position on the ground.

[0011] As a further improvement of the present invention, a magnet block is arranged on the back of the catch.

[0012] As a further improvement of the present invention, a V-shaped protrusion is arranged on the wheel on one side. A V-shaped groove is arranged on the ground rail corresponding to the wheel with the V-shaped protrusion, which has a guiding effect on the left and right of the trolley travel.

[0013] As a further improvement of the present invention, the support optical axes of the two frame assemblies are parallel to the direction of the ground rail, and the movable plates on one side of the two frame assemblies are on the same straight line.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: After the positioning of the positioning cylinder at the lower end of the trolley in the present invention, when the positioning pin shaft on the bracket assembly is clamped into the positioning hole of the end effector, due to the conical surface design of the positioning pin shaft, it makes self-aligning under the drive of the first spring, the second spring and the third spring, solves the problem of over-positioning, realizes rapid positioning, ensures the smooth insertion and extraction of the entire end effector, has a high degree of automation, is safe and reliable, reduces the production and processing cost, liberates manual labor, and improves the efficiency of automation. Description of the Drawings

[0015] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the trolley assembly;

[0018] Figure 3 is a schematic diagram of the bracket assembly structure;

[0019] Figure 4 is a front view schematic diagram of the bracket assembly;

[0020] Figure 5 for Figure 4 Schematic cross-section diagram of

[0021] Figure 6 for Figure 5 A magnified view of middle;

[0022] Figure 7 is a side view schematic diagram of the bracket assembly (the lower end of the bracket is omitted);

[0023] Figure 8 is a schematic diagram of the top view of the bracket assembly;

[0024] Fig. 9 for Figure 8 Enlarged view of middle B;

[0025] Fig.10 This is the front view of the trolley assembly.

[0026] In the figure: 1. bracket assembly, 2. trolley assembly, 3. vehicle body, 5. drive motor, 6. travel switch, 7. positioning hole, 8. ground rail, 9. bracket, 10. support frame, 11. support optical axis, 12. first linear shaft sleeve, 13. transition bracket, 14. movable plate, 15. positioning pin shaft, 17. hook, 18. support plate, 19. fixed shaft, 20. first spring, 21. pin shaft, 22. second spring, 23. second linear shaft sleeve, 24. third spring, 25. shaft, 26. fixing screw, 27. buckle, 28. magnet block, 29. fourth spring, 30 through hole.

[0027] It is worth noting that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. DETAILED DESCRIPTION

[0029] In order to make the technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific implementation methods described herein are only used to understand the present invention and are not used to limit the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 9 , the present invention provides a technical solution: a device for quickly and automatically replacing an end picker of an automated stamping line, comprising two bracket assemblies 1 and a trolley assembly 2, wherein the two bracket assemblies 1 are arranged at the upper end of the trolley assembly 2;

[0031] The bracket assembly 1 includes two brackets 9, and the upper ends of the two brackets 9 are provided with a support frame 10, and the two support frames 10 are connected through a support optical axis 11, and the support optical axis 11 is connected to the two support frames 10 through a first linear sleeve 12. The support frame 10 is a rectangular frame, two side surfaces of which are parallel to the support optical axis 11, and the other two side surfaces are perpendicular to the support optical axis 11. The two side surfaces of the support frame 10 parallel to the support optical axis 11 are connected to the transition bracket 13 through a linear guide pair, and a movable plate 14 is provided on the transition bracket 13, and a pin 21 is provided on the movable plate 14. The pin 21 is connected to the transition bracket 13 through a second linear sleeve 23, and the movable plate 14 is fixed A positioning pin 15 is fixedly provided, a through hole 30 is provided in the middle of the movable plate 14, a shaft 25 is fixedly provided in the through hole 30, a hook 17 is rotatably provided on the shaft 25, one end of the hook 17 is provided with a buckle, and the other end is sleeved on the fixing screw 26, and the end of the positioning pin 15 is a conical surface; the trolley assembly 2 includes a vehicle body 3, and the lower end of the vehicle body 3 is provided with a wheel, a drive motor 5, a positioning component and a travel switch 6, the positioning component includes a positioning hole 7 and a positioning cylinder, the positioning cylinder is arranged on the ground, and a positioning shaft is arranged on the piston rod of the positioning cylinder, and the end of the positioning shaft is a conical surface, the positioning hole 7 is arranged at the lower end of the vehicle body, and the wheel axle of the wheel is connected to the output shaft of the drive motor 5.

[0032] Among them, the supporting optical axes of the two frame assemblies are parallel to the direction of the ground rail, and the movable plates on one side of the two frame assemblies are on the same straight line. In this way, there are 4 positioning pins on the movable plate on the same side, and the 4 positioning pins are used to position a set of end pickers.

[0033] Preferably, the transition bracket 13 can be slidably arranged on the support frame 10 up and down, and a support plate 18 is also arranged at the lower end of the transition bracket 13. The support plate 18 is fixed on the support frame 10. The support plate 18 is connected to the transition bracket 13 through a fixed shaft 19. A first spring 20 is arranged on the outside of the fixed shaft 19. The transition bracket 13 can be finely adjusted up and down in the vertical direction under the guidance of the linear guide pair through the first spring 20.

[0034] Preferably, a second spring 22 is provided on the pin shaft 21 , and the movable plate 14 performs a fine adjustment of the axial direction of the positioning pin shaft 15 through the second spring 22 .

[0035] Preferably, a third spring 24 is provided between the support frame 10 and the support frame 9. The third spring 24 is symmetrically arranged along the center line of the support frame 9. Under the action of the third spring, the support frame 10 can be slightly adjusted left and right along the supporting optical axis.

[0036] Preferably, a fourth spring 29 is disposed outside the fixing screw 26 , and the hook 17 is disposed outside the fourth spring 29 at one end of the fixing screw 26 , and the fourth spring 29 plays a role in resetting the hook 17 .

[0037] Preferably, three travel switches 6 are arranged in a straight line. The middle travel switch 6 is a stop switch, which is shared in the forward and reverse travels. The travel switches 6 at both ends are deceleration switches, which are respectively responsible for the deceleration of the forward and reverse travels. Blocks are provided at corresponding positions on the ground. During driving, the first travel switch 6 in the forward direction touches the block, and then the first travel switch 6 transmits a signal to the PLC controller, and the PLC controller controls the trolley to start decelerating. As the trolley continues to move forward, the second travel switch touches the block, and then the second travel switch transmits a signal to the PLC controller. At this time, the PLC controller controls the trolley to stop moving, so that the trolley completes the rough positioning.

[0038] Preferably, a magnet block 28 is provided on the back of the hook 17 , and when the end picker is manually installed, the hook 17 needs to be operated manually with the help of the magnet block 28 .

[0039] Preferably, a V-shaped protrusion is provided on one side of the wheel, and a V-shaped groove is provided on the ground rail 8 corresponding to the wheel on the V-shaped protrusion side, which guides the vehicle to travel left and right and ensures that the vehicle travels straight along the straight V-shaped groove.

[0040] The working process of the present invention: the end picker rapid automatic replacement device includes 1 trolley assembly and 2 frame assemblies, and both sides of the 2 bracket assemblies are respectively provided with 2 positioning pins, so that one side of the end picker rapid automatic replacement device has 4 positioning pins 15, and the positioning pins 15 on both sides are respectively installed with the new end picker and the old end picker.

[0041] First, install the required new end picker on the positioning pin shaft 15 on one side of the bracket assembly 1, and then turn on the drive motor 5. The drive motor 5 drives the wheel to rotate, and the V-shaped protrusion of the wheel travels in the V-shaped groove of the ground rail. During the driving process, the first travel switch 6 in the forward direction of travel first touches the block, and then the first travel switch 6 transmits a signal to the PLC controller, and the PLC controller controls the trolley to start decelerating. As the trolley continues to move forward, the second travel switch touches the block, and then the second travel switch transmits a signal to the PLC controller, and at this time the PLC controller controls the trolley to stop moving, so that the trolley completes the rough positioning; after rough positioning, the positioning cylinder set on the ground lifts the positioning shaft, and the conical surface at the end of the positioning shaft plays a guiding role. The positioning shaft is lifted and inserted into the corresponding positioning hole 7 of the car body through the conical surface guide, thereby realizing the precise positioning function of the trolley, and effectively avoiding the deviation of the trolley position caused by the positioning shaft being unable to be accurately inserted into the positioning hole 7 due to errors.

[0042] After the trolley assembly 2 stops moving forward from the ground rail, the bracket assembly 1 is stably fixed on the trolley, and then the robot takes the end picker part and, under the control of the PLC controller, takes the end picker to the specified position. The positioning hole on the end picker at the specified position is aligned with the positioning pin shaft 15 on the bracket assembly 1. Then the robot slowly drives the end picker into the positioning pin shaft 15. During the actual insertion process, there will be a certain error in the relative position of the positioning pin shaft 15 and the positioning hole. This error can be corrected by the first spring 20, the second spring 22, the third spring 24 and the positioning pin. The conical surface of the shaft 15 is set to perform self-alignment in the longitudinal, transverse and vertical directions, so that the positioning pin shaft 15 automatically returns to the positioning hole, eliminates the error by itself, and ensures smooth insertion and removal of the end picker. When the end picker is inserted into place, the power system of the rear picker main rod pushes the hook 17, and then the hook 17 hooks the end picker to prevent the end picker from falling, and at the same time disengages the end picker main rod and the end picker branch; then the robot takes the end picker main rod to the other side of the frame assembly to pick up the new end picker. The picking method is opposite to the disengagement order of the old end picker, and the principle is the same, thereby realizing quick replacement of the end picker.

Claims

1. A quick and automatic replacement device for the end picker of an automated stamping line. Features : It includes two bracket assemblies and a trolley assembly, wherein the two bracket assemblies are arranged at the upper end of the trolley assembly: The bracket assembly includes two brackets, and the upper ends of the two brackets are provided with support frames, and the two support frames are connected through a support optical axis, and the support optical axis is connected to the two support frames through a first linear shaft sleeve. The support frame is a rectangular frame, and two faces of the rectangular frame are parallel to the support optical axis, and the other two faces are perpendicular to the support optical axis. The two side surfaces of the support frame parallel to the support optical axis are connected to the transition bracket through a linear guide pair, and a movable plate is provided on the transition bracket, and a pin is provided on the movable plate. The pin is connected to the transition bracket through a second linear shaft sleeve. The movable plate is provided with a positioning pin shaft, a through hole is provided in the middle of the movable plate, a shaft is fixed in the through hole, a hook is rotatably provided on the shaft, a buckle is provided at one end of the hook, and the other end is sleeved on the fixing screw, and the end of the positioning pin shaft is a conical surface; the trolley assembly includes a vehicle body, a wheel, a driving motor, a positioning assembly and a travel switch are provided at the lower end of the vehicle body, the positioning assembly includes a positioning hole and a positioning cylinder, the positioning cylinder is provided on the ground, the positioning hole is provided at the lower end of the vehicle body, and the wheel axle of the wheel is connected to the output shaft of the driving motor; The transition bracket is slidably arranged on the support frame, and a support plate is further arranged at the lower end of the transition bracket, and the support plate is fixed on the support frame. The support plate and the transition bracket are connected through a fixed shaft, and a first spring is arranged outside the fixed shaft, and the transition bracket performs a fine adjustment on the support frame in the vertical direction through the first spring; A magnet block is arranged on the back side of the hook.

2. According to claim 1, a quick and automatic replacement device for end pick-ups of an automated stamping line, Features : A second spring is provided on the pin shaft, and the movable plate is used to perform fine adjustment of the axial direction of the positioning pin shaft through the second spring.

3. According to claim 1, the end pick-up quick and automatic replacement device for an automated stamping line, Features : A third spring is provided between the support frame and the bracket, and the third spring is symmetrically arranged along the center line of the bracket. The support frame is finely adjusted laterally in the horizontal plane through the third spring.

4. According to claim 1, the end pick-up quick and automatic replacement device for an automated stamping line, Features A fourth spring is disposed outside the fixing screw, and the hook is disposed outside the fourth spring at one end of the fixing screw, and the fourth spring serves to reset the hook.

5. According to claim 1, the end pick-up quick and automatic replacement device for an automated stamping line, Features The travel switches are set to 3 and arranged in a straight line. The middle travel switch is a stop switch, which is shared in the positive and negative travels. The travel switches at both ends are deceleration switches, which are responsible for the deceleration of the positive and negative travels respectively. Blocks are provided at the corresponding positions on the ground.

6. According to claim 1, the automatic end pick-up quick replacement device for an automated stamping line, Features : A V-shaped protrusion is provided on the wheel on one side, and a V-shaped groove is provided on the ground rail corresponding to the wheel on the V-shaped protrusion side, which has a guiding effect on the travel of the trolley.

7. The device for quickly and automatically replacing end pick-ups of an automated stamping line according to claim 6, Features : The supporting optical axes of the two bracket assemblies are parallel to the direction of the ground rail, and the movable plates on one side of the two bracket assemblies are on the same straight line.

Images