A pneumatic servo flying hemming tool

Abstract

The present invention discloses a pneumatic servo flying rolling tool, which includes a tool housing, a sliding part, a clamping part and a working part, wherein the tool housing is connected to a robot flange, the sliding part includes a cylinder, a strain sensor, two slide rails, a clamping part and a working part, the cylinder and the two slide rails are connected to the tool housing, the strain sensor is installed at the front end of the cylinder and connected to the working part, the working part is composed of a clamping part, a supporting wheel and a working wheel, so that when the working part is working, the pressure generated by the supporting wheel is transmitted to an input module through the strain sensor, and the valve island is transmitted to the proportional valve through the output module, and the proportional valve adjusts the air pressure of the cylinder after calculation, thereby achieving the premise that the tool does not have fetal membrane equipment. Effectively improve the utilization rate and accuracy, and save factory costs.

Description

Technical Field

[0001] The invention belongs to the technical field of robot intelligent flexible hemming system, and in particular relates to a pneumatic servo flying hemming tool. Background Art

[0002] At present, with the rise of intelligent manufacturing in the automotive industry, there is a large demand for the connection of opening and closing parts in the automotive production automation industry, and the fast and cheap hemming process has higher and higher requirements for the hemming head.

[0003] In traditional automobile manufacturing, the connection between the inner and outer panels of the side panels is spot welding, which results in a large blind area of ​​the left and right A-pillars of the front windshield, affecting the field of vision when turning. In order to solve this problem, people have designed a rolling connection form, which can minimize the area of ​​the left and right A-pillars of the front windshield to increase the field of vision. Therefore, the demand for new rolling technology in the automobile production automation industry is becoming increasingly strong.

[0004] Existing similar hemming head components are in hard contact with each other and require matching fetal membrane equipment. Although they can meet the requirements of hemming, they are relatively expensive and have a long design and manufacturing cycle. They also cannot achieve fine-tuning during the hemming process, making it difficult to achieve an ideal hemming effect.

[0005] Therefore, providing a pneumatic servo flying hemming tool with simple structure, reasonable design, easy application, reduced cost and significant effect is one of the problems that technicians in this field should address. Summary of the invention

[0006] In order to solve the above problems, the purpose of the present application is to provide a pneumatic servo flying hemming tool.

[0007] To achieve the purpose of the present invention, the present invention provides a pneumatic servo flying hemming tool.

[0008] It includes a flange, an external mounting seat and a valve island, a first cylinder, a position sensor, a strain sensor, a second cylinder, a first proportional valve, a first slide rail, a floating joint, a second slide rail, a pre-pressing pair of wheels, a process pair of wheels, a compacting support wheel, a compacting working wheel, a second proportional valve, a compacting active matrix, a working matrix, and a limit block.

[0009] The upper part of the flange is connected to the flange of the robot or the tool side of the gun changing plate; the lower surface of the flange is connected to the external mounting seat; the valve island, the position sensor, the first proportional valve, and the second proportional valve are connected to the outside of the external mounting seat by bolts;

[0010] The first cylinder body is installed to the inner side of the external mounting seat through a connecting piece, a pin and a bolt, and a limit block is connected to the connecting piece; the first slide rail slider is installed to the inner side of the external mounting seat; the front end of the first cylinder guide rod is connected to the strain sensor through a connecting piece and a bolt; the strain sensor is connected to the working base by a connecting piece and a bolt, and the connecting piece and the working base are in a floating state; the end of the working base is connected to the limit block; the first slide rail guide is connected to both sides of the working base; the second cylinder body is connected to the upper side of the working base by a connecting piece, a pin and a bolt, the floating joint is connected to the second cylinder guide rod, the floating joint is connected to the clamping active base, the front end of the clamping active base is connected to the clamping active base by installing a compacting working wheel, the second slide rail guide is connected to the clamping active base, and the second slide rail slider is installed to the working base;

[0011] The compaction support wheel, the pre-compacting wheel and the process wheel are installed on the working base;

[0012] The first cylinder, the strain sensor, the first proportional valve and the valve island form a closed-loop pneumatic servo system;

[0013] The second cylinder, the position sensor, the second proportional valve and the valve island form a closed-loop pneumatic servo system.

[0014] Further,

[0015] Also included is a vision sensor, which is connected to the outside of the external mounting base.

[0016] Further,

[0017] The pre-stressing wheel pair includes a first pre-stressing wheel pair and a second pre-stressing wheel pair. The pre-stressing wheel pair is used for rolling hemming work with a flanging angle greater than 120°, and the pre-stressing wheel pair is used for rolling hemming work with a flanging angle less than or equal to 120°.

[0018] Further,

[0019] The pre-pressing pair of wheels and the process pair of wheels each include a supporting wheel and a working wheel, and each pair of rollers form different angles, thereby forming a pre-pressing rolling edge and an intermediate rolling edge.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] Advantages of the present invention:

[0022] 1. A closed-loop pneumatic servo system consisting of a cylinder, a valve island, a proportional valve and a strain sensor can fine-tune the pressure during hemming by the pressure on the support wheel, thereby achieving force balance. This can more effectively overcome the flash and wrinkles that are often encountered in ordinary hemming, and greatly improve the hemming quality;

[0023] 2. A closed-loop pneumatic servo system consisting of a cylinder, a valve island, a proportional valve and a position sensor is used to realize rolling under different material thicknesses through the adjustability of the working wheel on the pressing component during compaction and rolling. This overcomes the problems of unbalanced pressure in ordinary rolling, sheet metal cracks caused by excessive pressure, and insufficient rolling effect caused by insufficient pressure, and greatly improves the quality of rolling.

[0024] 3. Each time the hemming is performed, the visual sensor selects three or four points on the machine part to determine the quantitative value and guide the robot to the starting position of the hemming, thereby solving the problem of poor hemming effect caused by the deviation of the machine part and facilitating debugging;

[0025] 4. This tool needs to be equipped with a set of clamping equipment, while ordinary hemming heads need to be equipped with a set of tire membrane equipment with complex design, long processing cycle and high cost. This tool can better meet the current automobile manufacturing pursuit of short cycle and low cost requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a partial cross-sectional schematic diagram of the structure of the present invention;

[0027] Figure 2 It is a schematic cross-sectional view of the structure of the present invention;

[0028] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention;

[0029] Figure 4 This is a schematic diagram of the three-dimensional structure of the present invention turned 180°;

[0030] In the figure: 1. flange, 2. external mounting seat, 3. valve island, 4. first cylinder, 5. position sensor, 6. strain sensor, 7. second cylinder, 8. first proportional valve, 9. visual sensor, 10. first slide rail, 11. floating joint, 12. second slide rail, 13. first pre-loaded pair of wheels, 14. second pre-loaded pair of wheels, 15. process pair of wheels, 16. compaction support wheel, 17. compaction working wheel, 18. second proportional valve, 19. compaction movable base, 20. working base, 21. limit block. DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] The specific implementation methods, structures and features provided by the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments:

[0034] It should be noted that the present application discloses a pneumatic servo flying hemming tool, including a tool housing and a sliding part, wherein the tool housing includes a flange, two external mounting seats, a valve island, two proportional valves, a visual sensor and a position sensor; the sliding part is installed inside the two external mounting seats, wherein the sliding part includes a cylinder, a strain sensor, two slide rails, a clamping part and a working part, the cylinder body and the two slide rail sliders are connected to the inner sides of the two external mounting seats, the slide rail guide is connected to the working part, and the strain sensor is installed at the front end of the cylinder and connected to the working base; the working part includes a clamping part, three pairs of rollers, a support The machine is composed of a holding wheel and a working base, wherein each pair of rollers is composed of a supporting wheel and a working wheel, and each pair of rollers is at a different angle, thereby forming a pre-pressed rolling edge and an intermediate rolling edge; the pressing part, three pairs of wheels, and a compacting support wheel are installed on the working base; the above-mentioned pressing part includes a cylinder, a floating joint, a compacting movable base, a working wheel and a slide rail, the cylinder body is installed on the working base, the floating joint is installed at the front end of the cylinder guide rod and connected to the compacting movable base, the compacting movable base is connected to the slide rail, and a compacting working wheel is installed on the front side, and the slide rail slider is connected to the working base, so that the last compacting rolling edge can achieve no thickness difference of the sheet metal material. Among them, the compacting working wheel and a compacting support wheel installed on the working base form a pair of compacting rolling edges, namely, compacting pairs of wheels.

[0035] Each pair of rollers is composed of a supporting wheel and a working wheel. The supporting wheel replaces the conventional fetal membrane equipment, and the working wheel performs the rolling work. Each pair of rollers forms different angles, thereby forming pre-pressing rolling and process rolling.

[0036] See also Figure 1-Figure 4 ,

[0037] An air servo flying hemming tool provided in an embodiment of the present application includes a flange 1, an external mounting seat 2, a valve island 3, a first cylinder 4, a position sensor 5, a strain sensor 6, a second cylinder 7, a first proportional valve 8, a visual sensor 9, a first slide rail 10, a floating joint 11, a second slide rail 12, a first pre-stressing pair of wheels 13, a second pre-stressing pair of wheels 14, a process pair of wheels 15, a compacting support wheel 16, a compacting working wheel 17, a second proportional valve 18, a clamping movable base 19, a working base 20, and a limit block 21.

[0038] The upper part of the flange 1 is connected to the flange of the robot through pins and bolts; the lower surface of the flange 1 is connected to the external mounting seat 2, and the outer contour of the external mounting seat 2 is L-shaped.

[0039] The valve island 3, the position sensor 5, the first proportional valve 8, the visual sensor 9, and the second proportional valve 18 are connected to the outside of the external mounting seat 2 by bolts;

[0040] The first cylinder body is mounted to the inner side of the external mounting seat 2 through a connecting piece, a pin and a bolt, and the limit block 21 is connected to the connecting piece; the first slide rail 10 slider is mounted to the inner side of the external mounting seat 2 with bolts;

[0041] The front end of the guide rod of the first cylinder 4 is connected to the strain sensor 6 through a connecting piece and a bolt; the strain sensor 6 is connected to the working base 20 through a connecting piece and a bolt, and the connecting piece and the working base 20 are in a floating state;

[0042] The end of the working base 20 is connected to the limit block 21 by bolts, and there are two limit blocks; the first slide rail 10 guide rail is connected to both sides of the working base 20 by bolts; the second cylinder 7 cylinder body is connected to the upper side of the working base 20 by connecting parts, pins and bolts, the floating joint 11 is connected to the guide rod of the second cylinder 7, the floating joint 11 is connected to the clamping movable base 19, the front end side of the clamping movable base 19 is installed with a compacting working wheel 17 by bolts, the second slide rail 12 guide rail is connected to the clamping movable base 19 by bolts, and the second slide rail 12 slider is installed on the working base 20 by bolts;

[0043] The compaction support wheel 16, the first pre-stressing wheel 13, the second pre-stressing wheel 14, and the process wheel 15 are installed on the working base 20 by bolts, and the middle part of all rollers is inlaid with a sleeve, bearings are installed inside, and connected to the working base 20 by a shaft. The first pre-stressing wheel 13 is mainly used for hemming work with a flanging angle greater than 120°, the second pre-stressing wheel 14 is mainly used for hemming work with a flanging angle less than or equal to 120°, and the compaction working wheel 17 is mainly used to adjust the pressure of different material thicknesses of the inner panel through the air servo system to achieve force balance. This structure is mainly used for door opening hemming, front and rear cover hemming, and the entire hemming process from initial packaging to final packaging can be achieved through the movement of the robot and the fine-tuning of the air servo system.

[0044] Before the tool starts working, the visual sensor 9 first measures the specified three points on the workpiece to determine the quantitative value and guide the robot to the starting position of the hemming, thereby solving the problem of poor hemming effect caused by the deviation of the machined parts and facilitating debugging;

[0045] When the wheels start to work, the pressure is transmitted to the working base 20 through the supporting wheel, and then transmitted to the strain sensor 6 through the working base 20. The strain sensor 6 transmits the signal to the input module of the valve island 3 through the amplifier, and then transmits it to the first proportional valve 8 through the output module of the valve island 3. The first proportional valve 8 compares the force and adjusts the air pressure of the first cylinder 4 to achieve a balanced force state.

[0046] The pneumatic servo flying hemming tool is mainly used for the hemming of the edges of automobile door openings. When in use, it needs to be installed on the flange of the robot, and the robot drives the hemming of the car body. This tool effectively saves hemming costs and better controls the hemming quality. It has reliable performance and high efficiency.

[0047] It should be noted that the technical solutions not described in detail in this application adopt publicly known technologies.

[0048] The above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A pneumatic servo flying hemming tool, characterized in that: The invention comprises a flange (1), an external mounting seat (2), a valve island (3), a first cylinder (4), a position sensor (5), a strain sensor (6), a second cylinder (7), a first proportional valve (8), a first slide rail (10), a floating joint (11), a second slide rail (12), a pre-pressing pair of wheels, a process pair of wheels (15), a compacting support wheel (16), a compacting working wheel (17), a second proportional valve (18), a compacting movable base (19), a working base (20), and a limit block (21). The upper part of the flange (1) is connected to the flange of the robot or the tool side of the gun changing plate; the lower surface of the flange (1) is connected to the external mounting seat (2); the valve island (3), the position sensor (5), the first proportional valve (8), and the second proportional valve (18) are connected to the outside of the external mounting seat (2) by bolts; The cylinder body of the first cylinder (4) is mounted on the inner side of the external mounting seat (2) through a connecting piece, a pin and a bolt, and a limit block (21) is connected to the connecting piece; the slider of the first slide rail (10) is mounted on the inner side of the external mounting seat (2); the front end of the guide rod of the first cylinder (4) is connected to the strain sensor (6) through a connecting piece and a bolt; the strain sensor (6) is connected to the working base (20) through a connecting piece and a bolt, and the connecting piece and the working base (20) are in a floating state; the end of the working base (20) is connected to the limit block (2 1); the first slide rail (10) is connected to both sides of the working base (20); the cylinder body of the second cylinder (7) is connected to the upper side of the working base (20) by a connecting piece, a pin and a bolt; the floating joint (11) is connected to the guide rod of the second cylinder (7); the floating joint (11) is connected to the clamping movable base (19); a compacting working wheel (17) is installed at the front end of the clamping movable base (19); the second slide rail (12) is connected to the clamping movable base (19); and the slider of the second slide rail (12) is installed on the working base (20); The compaction support wheel (16), the pre-compacting counter wheel, and the process counter wheel (15) are mounted on the working base (20); The first cylinder (4), the strain sensor (6), the first proportional valve (8) and the valve island (3) form a closed-loop pneumatic servo system; The second cylinder (7), the position sensor (5), the second proportional valve (18) and the valve island (3) form a closed-loop pneumatic servo system; It also includes a visual sensor (9), wherein the visual sensor (9) is connected to the outside of the external mounting seat (2); The pre-pressing pair of wheels and the process pair of wheels (15) each comprise a supporting wheel and a working wheel, and each pair of supporting wheels and working wheels form different angles, thereby forming a pre-pressing roll edge and an intermediate roll edge.

2. The pneumatic servo flying hemming tool according to claim 1, characterized in that: The pre-stressing wheel pair comprises a first pre-stressing wheel pair (13) and a second pre-stressing wheel pair (14), wherein the first pre-stressing wheel pair (13) is used for hemming work with a flanging angle greater than 120°, and the second pre-stressing wheel pair (14) is used for hemming work with a flanging angle less than or equal to 120°.

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