An automatic design method for the end pick-up model of a stamping automatic production line

Abstract

The present invention belongs to the field of mechanical design, and discloses an automatic design method for an end picker model of an automatic stamping production line. The method realizes the automatic assembly and automatic design of the end picker structure by designing the assembly logic of each level of the end picker parts in a computer simulation environment. The present invention calculates the end picker reference plane by making multiple points and planes in a computer simulation environment, determines the position of the support rod connector, determines the suction cup connector reference plane, determines the suction cup connector assembly position, generates a complete connection skeleton model of the end picker, and realizes the simulation design and automatic design of the end picker. Compared with the traditional on-site construction method of the end picker, the present invention transfers the actual on-site work to a virtual simulation environment, which can effectively improve the efficiency of on-site end picker construction and reduce on-site debugging time; at the same time, compared with the existing end picker virtual simulation design method, it can effectively improve the efficiency and accuracy of end picker design.

Description

Technical Field

[0001] The invention belongs to the field of mechanical design, in particular to an automatic design method for an end pick-up model of an automatic stamping production line. Background Art

[0002] With the continuous development and application of stamping automation technology, stamping automatic production lines and their derived simulation technologies have been widely popularized. As a special tooling for stamping automatic production lines to transfer parts, the modeling of end pickers has become increasingly important. At present, there is no automatic modeling solution for end pickers in the industry, and CATIA and other modeling software are generally used for manual assembly. However, due to the special structure of the end picker, its shape changes with the shape of the stamping part, resulting in low efficiency and accuracy of end picker modeling. Summary of the invention

[0003] On the basis of the above, the present invention provides an automatic design method for an end picker model of an automatic stamping production line. The method realizes the automatic assembly and automatic design of the end picker structure by designing the assembly logic of the parts of each level of the end picker in a computer simulation environment. The present invention realizes the simulation design and automatic design of the end picker in a computer simulation environment. Compared with the traditional on-site construction method of the end picker, the present invention transfers the actual work on site to a virtual simulation environment, which can effectively improve the efficiency of the on-site end picker construction and reduce the on-site debugging time; at the same time, compared with the existing virtual simulation design method of the end picker, it can effectively improve the efficiency and accuracy of the end picker design.

[0004] The technical solution of the present invention is as follows: a method for automatically designing a model of an end pick-up for a stamping automatic production line:

[0005] S1 Establishment of standard parts database for end pick-up

[0006] The S2 program generates the fixed main rod skeleton model of the end effector and arranges the assembly structure and peripheral parts of the end effector.

[0007] S3 determines whether the fixed main rod skeleton model in S2 can be solved correctly, and whether there is interference with the arranged end-tool assembly structure and surrounding parts:

[0008] If the solution is correct and there is no interference, go to step S4.

[0009] If the solution can be obtained correctly but there is interference, go to step S5.

[0010] If the solution cannot be obtained correctly and there is no interference, go to step S6.

[0011] If the solution cannot be obtained correctly and there is interference, go to step S7;

[0012] S4, the end picker generated by the program according to the algorithm automatically calculated is a 90-degree support rod end picker;

[0013] S5, the end picker generated by the program according to the algorithm automatically calculated is a 45-degree support rod end picker;

[0014] S6, the type of end picker generated by the program according to the algorithm automatically calculated is a two-stage support rod end picker;

[0015] S7, the program determines not to generate an end picker.

[0016] Furthermore, the database in S1 includes each component of the end effector and the model, diameter and size information of the end effector.

[0017] Furthermore, each component of the end picker is a suction cup, a suction cup joint, a main rod, a support rod connecting component, a support rod, and a suction cup connecting piece.

[0018] Further, the algorithm is: selecting a suction cup generation point, and calculating the end picker reference plane by making a plurality of points and planes;

[0019] Determine the position of the support rod connector;

[0020] Determine the reference plane of the suction cup connector;

[0021] Determine the assembly position of the suction cup connector;

[0022] Generate a complete connection skeleton model of the end effector.

[0023] Furthermore, the method also includes

[0024] If S8 calculates the complete connection skeleton model of the end picker model, it reads the background configuration file, confirms the model information of each component of the end picker at the current workstation, reads the positioning information of each component, and constrains the standard parts to the corresponding skeleton model position through assembly constraints.

[0025] S9 repeats steps S1-S3 to complete the automatic generation of all end pick-up assembly structures of all workstations in the current production line, and updates the entire assembly structure in the DELMIA and CATIA working environment to ensure that all end pick-up assembly parts are in the correct position and complete the automatic creation function of the end pick-up model.

[0026] The beneficial effects of the present invention are:

[0027] The present invention realizes automatic assembly and automatic design of the end picker structure by designing the assembly logic of the parts of each level of the end picker in a computer simulation environment. Compared with the traditional on-site construction method of the end picker, the present invention transfers the actual work on site to the virtual simulation environment, which can effectively improve the efficiency of on-site end picker construction and reduce on-site debugging time; at the same time, compared with the existing end picker virtual simulation design method, it can effectively improve the efficiency and accuracy of end picker design. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 a, b, c, and d are schematic diagrams of the special parts for the primary support rod end picker of the present invention at different angles.

[0029] Figure 2 a and b are schematic diagrams of the special parts for the secondary support rod end picker of the present invention at different angles.

[0030] Figure 3 a and b are schematic diagrams of the structure of the 90° support rod end pick-up of the present invention.

[0031] Figure 4 a and b are schematic diagrams of the structure of the 45° support rod end pick-up of the present invention.

[0032] Figure 5 a and b are schematic diagrams of the structure of the secondary support rod end pick-up of the present invention.

[0033] Figure 6 Generate a schematic diagram for the 45° or 90° support rod end effector of the present invention.

[0034] Figure 7 Schematic diagram of the secondary support rod end pick-up generator of the present invention

[0035] A-suction cup; B-suction cup joint; C-main rod; D-bracket connecting assembly; E-primary branch rod; F-suction cup connecting piece; G-vertical conversion block; H-secondary branch rod; 1-first point; 2-normal line; 3-second point; 4-first plane; 5-third point; 6-second plane; 7-third plane; 8-fourth point; 9-fifth point; 10-sixth point; 11-fourth plane; 12-seventh point; 13-eighth point; 14-fifth plane; 15-ninth point; 16-tenth point; 17-eleventh point; 18-twelfth point; 19-sixth plane; 20-seventh plane; 21-axis line of main rod fixed by end pick; 22-eighth plane; 23-thirteenth point; X-projection line. DETAILED DESCRIPTION

[0036] The resources of the DELMIA structure tree of each stamping production line include the production line structure, the end picker installation mechanism, the end picker main rod and the stamping parts. The end picker is a set of mechanisms fixed on the main rod for grabbing and moving the stamping parts at the specified position. The automatic generation function of the end picker model is a program that automatically generates and assembles the end picker parts after selecting the specified grab point and main rod. These end picker parts include: suction cup A, suction cup joint B, main rod C, support rod connection assembly D, primary support rod E and suction cup connection F, such as Figure 1 As shown; in the secondary support rod type end picker parts, there are special end picker parts: vertical conversion block G, secondary support rod H, such as Figure 2 shown.

[0037] The detailed principle of the automatic creation of the end picker model is as follows: First, the generation type of the end picker is automatically calculated according to the selected suction cup gripping point and the corresponding main rod structure, including three types: 90-degree branch rod end picker, 45-degree branch rod end picker and secondary branch rod end picker, such as Figure 3-5 .

[0038] All standard parts selection information of the current production line is stored in the background configuration file, including the standard parts definition of each workstation end picker, such as the suction cup model that can be selected for the current workstation, as well as the models of assembly parts such as the support rod connection assembly, support rod, suction cup connector, etc. Based on the model information of these standard parts, the size information of each standard part is further obtained, such as the height and diameter of the circular suction cup of the specified model.

[0039] Through this dimensional information, these standard parts can be combined into different connection forms of end picker assembly structures, such as 90-degree support rod end picker, 45-degree support rod end picker and two-stage support rod end picker, as well as the connection form of each type at the current workstation, such as the connection form of solid support rod, hollow support rod, spring rod or shovel, etc. Then, the end picker skeleton model with dimensions can be generated.

[0040] The program first generates a skeleton model of a 90-degree support rod end pick-up, and determines whether the skeleton model can be correctly solved under the standard part size of the workstation, and whether there is interference with the arranged end pick-up assembly structure and surrounding parts. If it can be correctly solved and there is no interference, the end pick-up generation type automatically calculated by the program is a 90-degree support rod end pick-up. Otherwise, the program continues to determine whether the automatically calculated end pick-up generation type is a 45-degree support rod end pick-up according to the above steps, and finally determines whether it is a secondary support rod end pick-up.

[0041] Normally, the program can automatically calculate the generation type of end pick-up, which can only be 90-degree support rod end pick-up, 45-degree support rod end pick-up and two-stage support rod end pick-up. However, if there is no correct solution in special circumstances, the program will prompt that the currently selected suction cup gripping point cannot generate the end pick-up structure.

[0042] After determining the type of end pick-up, the automatic design calculation method of the end pick-up is as follows.

[0043] It should be noted that although the end pick suction cup and support rod connector are non-standard parts, the length, width and height of the connectors used at each site are fixed parameters. In order to facilitate understanding and explanation in the algorithm of the present invention, they are uniformly referred to as the fixed installation distance of the corresponding type of connector.

[0044] The design methods for 90 degree support rod end pick-up and 45 degree support rod end pick-up are as follows: Figure 5 shown.

[0045] Note: The corresponding type of connector refers to the corresponding end picker connection part, which has a certain installation size. The size varies according to the selection of the part, but its distance can be regarded as a fixed parameter in this method, where:

[0046] The corresponding form of connecting part A is the suction cup A, the corresponding form of connecting part B is the suction cup joint B, the corresponding form of connecting part D is the support rod connection assembly D, the corresponding form of connecting part E is the primary support rod E, the corresponding form of connecting part F is the suction cup connecting part F, the corresponding form of connecting part G is the vertical conversion block G, and the corresponding form of connecting part H is the secondary support rod H.

[0047] First, we select the first point (1) where the suction cup A needs to be generated on the workpiece. After the first point (1) is selected, the automatic calculation begins. The normal line (2) is obtained through the first point (1). The second point (3) is obtained by adding the fixed installation distance of the "corresponding form connector A" on the normal line (2). The seventh plane (20) perpendicular to the axis (21) of the end-effector fixed main rod is made through the second point (3). The seventh plane (20) is the reference plane in the algorithm.

[0048] After the seventh plane (20) is obtained, a first plane (4) is made through the normal line (2) at a specified angle (45° or 90° is automatically selected according to the end effector form) with the seventh plane (20), and the plane 4 intersects with the axis (21) of the main rod fixed by the end effector, and the third point (5) of the intersection is obtained. The third point (5) is the position of the support rod connector that needs to be generated on the main rod and is automatically calculated through the first point (1).

[0049] The calculation of the sixth plane (19) of the suction cup connector reference plane is divided into the following two cases:

[0050] 1. When a single-bolt rotating arm is used, the first plane (4) and the sixth plane (19) are on the same plane, and the first plane (4) is the reference plane of the suction cup connector;

[0051] 2. When using a spiral arm venturi, a plane is drawn through the first point (1), the second point (3) and the third point (5), and the resulting plane is the sixth plane (19).

[0052] After obtaining the reference plane of the suction cup connector, the specific position parameters of the suction cup connector are calculated. The normal direction is parallel to the sixth plane (19), and passes through the normal (2) and the first point (3) to obtain the second plane (6). The second plane (6) is offset by the fixed installation distance of the "corresponding form connector B" to obtain the third plane (7). The first point (3) is projected onto the third plane (7) to obtain the fourth point (8). The normal (2) is projected onto the sixth plane (19) to obtain the projection line (X). The fourth point (8) moves along the projection line (X) away from the first point (1) to the fixed installation distance of the "corresponding form connector F" to obtain the fifth point (9). The sixth plane (19) is offset by the fixed installation distance of the "corresponding form connector E" to obtain the fourth plane (11). The fifth point (9) is projected onto the fourth plane (11) to obtain the sixth point (10). The axis (21) of the end tool main rod intersects with the fourth plane (11) to obtain the seventh point (12). Through the above calculations, the fourth point (8), the fifth point (9), and the sixth point (10) of the suction cup connector fixing point have been determined. Finally, after the position of the eighth point (13) is determined, the position of the suction cup connector can be determined and automatic assembly can be achieved.

[0053] The distance between the sixth point (10) and the eighth point (13) is the fixed installation distance of the "corresponding form connection member D". Through this distance and the distance between the sixth point (10) and the seventh point (12), on the fourth plane (11), the distance between the seventh point (12) and the eighth point (13) can be calculated through a right-angle triangle relationship.

[0054] A straight line is constructed to connect the sixth point (10) and the seventh point (12). The angle value of the angle between the seventh point (12) and the eighth point (13) is calculated according to the two sides of the right triangle. The line connecting the sixth point (10) and the seventh point (12) is rotated about the point (12) by the angle value, and the direction of the primary support rod is obtained to be the line connecting the seventh point (12) and the eighth point (13). The third point (5) of the mounting point of the support rod connecting component D has been determined before. On the fourth plane (11), the seventh point (12) is moved along the direction of the primary support rod by the distance between the seventh point (12) and the eighth point (13) that has been calculated to obtain the eighth point (13). After the eighth point (13) is determined, the assembly position of the suction cup connector can be determined.

[0055] Through the above calculation process, the automatic calculation of the installation structure of the 90-degree support rod end pick-up and the 45-degree support rod end pick-up can be realized and the complete end pick-up assembly relationship points can be obtained, thereby obtaining the complete connection skeleton of the end pick-up model.

[0056] The design method of the secondary support rod end pick-up is basically the same as the above two forms, with only slight differences in solving the sixth plane (19) and the seventh point (12). The following focuses on the calculation process of solving the sixth plane (19) and the seventh point (12), and the rest of the calculation process will not be repeated here. Figure 6As shown, after obtaining the second point (3), the eighth plane (22) perpendicular to the axis of the main rod C of the end-tool is made through the second point (3). The eighth plane (22) is the reference plane in the algorithm. The eighth plane (22) is moved along the axis of the main rod C of the end-tool by the length of the secondary support rod to obtain the fifth plane (14), and intersects with the axis of the main rod of the end-tool to obtain the ninth point (15). The ninth point (3) is projected onto the fifth plane (14) to obtain the tenth point (16). The tenth point (16) is moved upward along the normal (2) by the fixed installation distance of the secondary support rod corresponding to the connecting piece F to obtain the eleventh point (17). The eleventh point (17) and the ninth point (15) are connected to obtain (15)-(17), which is the primary support rod line. The seventh plane (20) is made through the first point (3) and perpendicular to the primary support rod line. The seventh plane (20) intersects with the primary support rod line to obtain the intersection point thirteenth point (23). The thirteenth point (21) is on the fifth plane (14). ) is moved along the direction of 90 degrees with the primary support rod to obtain the twelfth point (18) (at this time, line 21-18 is perpendicular to the primary support rod and in the fifth plane 14). In most cases, the seventh plane (20) and the sixth plane (19) are on the same plane, and the sixth plane (19) is the reference plane of the suction cup connection member; however, if the fixed installation distance of the corresponding type of connection member F is 0, a plane is made through the eleventh point (17), the second point (3) and the first point (1), and the obtained plane is the sixth plane (19); after the fifth point (9) is projected onto the fourth plane (11) to obtain the sixth point (10), the twelfth point (18) is projected onto the fourth plane (11) to obtain the seventh point (12). The sixth plane (19) and the seventh point (12) can be obtained through the above algorithm. The remaining calculation methods are consistent with the calculation methods of the 90-degree support rod end pick-up and the 45-degree support rod end pick-up, so that the complete end pick-up assembly relationship points can be obtained, and then the complete connection skeleton of the end pick-up model can be obtained.

[0057] Through the above method, after calculating the complete connection skeleton model of the end picker model, the model information of the current station support rod connection assembly, support rod, suction cup connection and suction cup standard parts is confirmed by reading the background configuration file, and then the positioning information of each standard part is further read. For example, the suction cup is defined by two positioning elements, namely the selected suction cup grabbing point and the normal direction of the point on the stamping part surface. Then, the standard part is constrained to the corresponding skeleton model position by means of assembly constraints, such as Figure 2 , Figure 3 , Figure 4 shown.

[0058] Finally, repeat the above steps to complete the automatic generation of all end pick-up assembly structures of all workstations in the current production line in turn, and update the entire assembly structure in the DELMIA and CATIA working environment to ensure that all end pick-up assembly parts are in the correct position and complete the automatic creation function of the end pick-up model.

[0059] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent replacement and improvement made by any person skilled in the art within the technical scope disclosed by the present invention and within the spirit and principle of the present invention shall be covered within the protection scope of the present invention. At the same time, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0060] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

Claims

1. A method for automatically designing a model of an end pick-up for a stamping automatic production line, characterized in that: The following steps are involved: S1 Establish a database of standard parts for end pick-ups; The S2 program generates the fixed main rod skeleton model of the end effector and arranges the assembly structure and peripheral parts of the end effector; The S3 program determines whether the fixed main rod skeleton model in S2 can be solved correctly, and whether there is interference with the arranged end-tool assembly structure and surrounding parts: If the solution can be obtained correctly and there is no interference, go to step S4. If the solution can be obtained correctly but there is interference, go to step S5. If the solution cannot be obtained correctly and there is no interference, then go to step S6. If the solution cannot be obtained correctly and there is interference, go to step S7; The type of end effector generated by the S4 program according to the algorithm automatically calculated is a 90-degree support rod end effector; The type of end effector generated by the S5 program according to the algorithm automatically calculated is a 45-degree support rod end effector; The type of end effector generated by the S6 program according to the algorithm automatically calculated is a two-stage support rod end effector; The S7 program determines that the end picker will not be generated; In step S1, the database includes the model, diameter and size information of each component of the end picker and the end picker. The components of the end picker are a suction cup, a suction cup joint, a main rod, a support rod connecting assembly, a support rod, and a suction cup connecting piece. In steps S4-S6, the algorithm is: select a suction cup generation point, and calculate the end picker reference plane, calculate the position of the support rod connecting assembly, determine the suction cup connecting piece reference plane, determine the suction cup connecting piece assembly position, and generate a complete connection skeleton model of the end picker.

2. The automatic design method of the end pick-up model of the stamping automatic production line according to claim 1 is characterized in that: The method further includes: After S8 calculates the complete connection skeleton model of the end picker model, it reads the background configuration file, confirms the model information of each component of the end picker at the current workstation, reads the positioning information of each component, and constrains the standard parts to the corresponding skeleton model position by means of assembly constraints; S9 repeats the above steps to complete the automatic generation of all end-picker assembly structures at all workstations in the current production line, and updates the entire assembly structure in the DELMIA and CATIA working environment to ensure that all end-picker assembly parts are in the correct position and complete the automatic creation function of the end-picker model.

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