A robotic flexible punch gun with multiple sets of punch dies

Abstract

The application discloses a kind of robot flexible punching gun with multiple groups of punching die, it is related to punching equipment technical field, including shell unit, core unit, zero reset unit, floating unit, TCP unit.The present application is scientific and reasonable, it is safe and convenient to use, and multiple punching die is used to realize the robot flexible punching gun of multiple punching specifications;Multiple sets of punch units are installed on the shell and multiple sets of die units are installed on the core to realize the blanking of multiple aperture specifications, while saving the time of quick-change punching gun to improve the beat and stability, without quick-change punching gun also reduces the problem of hydraulic oil leakage of hydraulic drive system;The design of floating unit realizes the fluctuation of the blanked surface within the position tolerance allowable range due to welding, avoids the occurrence of rigid hard pulling blanking phenomenon of punching gun on the surface that needs to be punched within the profile tolerance fluctuation tolerance range, and causes the damage of the punched part.

Description

Technical Field

[0001] This invention relates to the field of punching equipment technology, specifically to a robotic flexible punching gun with multiple sets of punching dies. Background Technology

[0002] In the automotive equipment field, most automotive parts are welded or cast. To ensure the precision of the assembly holes, punching equipment is often used as the final process. Examples include chassis modules, seats, exhaust systems, fuel filler pipes, and bumpers (plastic parts). This is especially true for the front and rear subframes on the chassis, where the positional precision of the holes is high, and most are arc-welded. Arc welding causes significant deformation that is difficult to control. Without punching equipment after welding, the quality stability of the parts cannot be guaranteed.

[0003] Some existing punching inserts can only punch one type of hole size. To meet customer needs, one can either increase the number of machines or use quick-change punching inserts. Increasing the number of machines will increase customer investment costs, while using quick-change punching guns will increase the quick-change time, thereby reducing production cycle and equipment stability. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic flexible punching gun with multiple sets of punching dies to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a robotic flexible punching gun with multiple sets of punching dies, comprising a housing unit, a core unit, a zero-position reset unit, a floating unit, and a TCP unit. The housing unit is located on the outside of the entire device, the core unit is located inside the housing unit, and the floating unit and the zero-position reset unit are located on the top of the housing unit.

[0006] Furthermore, the housing unit includes a main drive cylinder, a first housing, a main cylinder position detector, a proximity switch mounting plate, a first T-shaped slide rail, a first punch mounting seat, a first punch, a first rectangular spring, a first pressure plate, a second pressure plate, a second punch, a second rectangular spring, a second punch mounting seat, a second T-shaped slide rail, a third T-shaped slide rail, a third punch mounting seat, a third punch, a third pressure plate, a fourth pressure plate, a fourth punch, a fourth T-shaped slide rail, a fourth punch mounting seat, a second housing, a third housing, a fifth T-shaped slide rail, a fifth punch mounting seat, a fifth punch, a fifth pressure plate, a sixth punch, a sixth pressure plate, a sixth punch mounting seat, a sixth T-shaped slide rail, a seventh T-shaped slide rail, a seventh punch mounting seat, a seventh pressure plate, an eighth pressure plate, an eighth punch, an eighth punch mounting seat, an eighth T-shaped slide rail, and a fourth housing.

[0007] Furthermore, the first housing, the second housing, the third housing, and the fourth housing are respectively fixed around the outer wall of the main drive cylinder. The main cylinder position detector is mounted on the proximity switch mounting plate. The first T-shaped slide rail is mounted on the first housing. The first punch mounting seat is mounted on the first housing. The first punch is mounted on the first punch mounting seat. The first rectangular spring is mounted inside the first punch mounting seat. The first pressure plate is mounted inside the first punch mounting seat.

[0008] Furthermore, the second pressure plate is installed inside the second punch mounting base, the second punch is installed on the second punch mounting base, the second T-shaped slide rail is installed on the first housing, the third T-shaped slide rail is installed on the second housing, the third punch mounting base is installed on the second housing, the third punch is installed on the third punch mounting base, the third pressure plate is installed on the third punch mounting base, the fourth pressure plate is installed on the fourth punch mounting base, the fourth punch is installed on the fourth punch mounting base, the fourth T-shaped slide rail is installed on the second housing, and the fourth punch mounting base is installed on the second housing.

[0009] Furthermore, the fifth T-shaped slide rail is mounted on the third housing, the fifth punch mounting seat is mounted on the second housing, the fifth punch is mounted on the fifth punch mounting seat, the fifth pressure plate is mounted on the fifth punch mounting seat, the sixth punch is mounted on the sixth punch mounting seat, the sixth pressure plate is mounted on the sixth punch mounting seat, the sixth punch mounting seat is mounted on the third housing, the sixth T-shaped slide rail is mounted on the third housing, the seventh T-shaped slide rail is mounted on the fourth housing, the seventh punch mounting seat is mounted on the fourth housing, the seventh pressure plate is mounted on the seventh punch mounting seat, the eighth pressure plate is mounted on the eighth punch mounting seat, the eighth punch is mounted on the eighth punch mounting seat, the eighth punch mounting seat is mounted on the fourth housing, and the eighth T-shaped slide rail is mounted on the fourth housing.

[0010] Furthermore, the first punch and the second punch are symmetrically arranged; the third punch and the fourth punch are symmetrically arranged; the fifth punch and the sixth punch are symmetrically arranged; and the seventh punch and the eighth punch are symmetrically arranged.

[0011] Furthermore, the core unit includes a hydraulic cylinder piston, a piston rod connector, a core die holder, a first die, a second die, a third die, a fourth die, a first die mounting base, a fifth die, a sixth die, a seventh die, and an eighth die. The piston rod connector is mounted on the hydraulic cylinder piston. The first die, the second die, the third die, and the fourth die are all mounted on the core die holder. The fifth die, the sixth die, the seventh die, and the eighth die are all mounted on the first die mounting base.

[0012] Furthermore, the first die and the second die are symmetrically arranged, and the third die and the fourth die are symmetrically arranged.

[0013] Furthermore, the floating unit includes a robot six-axis connecting flange, a slider mounting plate, and a slide rail; the zero-position reset unit includes a main cylinder zero-position reset block, a floating unit reset block, an I / O module mounting plate, an I / O module, a solenoid valve, a first reset drive cylinder, a reset cylinder fixing seat, a connecting block, a first reset cylinder connector, a second reset cylinder connector, and a second reset drive cylinder; the TCP unit includes a TCP connecting rod and a TCP.

[0014] Furthermore, the robot six-axis connecting flange is mounted on the robot six-axis flange, the slider mounting plate is mounted on the robot six-axis connecting flange, the slide rail is mounted on the slider mounting plate, the main cylinder zero-position reset block is mounted on the core die seat, the floating unit reset block is mounted on the slider mounting plate, the TCP connecting rod is mounted on the reset cylinder fixing seat, the TCP is mounted on the TCP connecting rod, the I / O module mounting plate is mounted on the robot six-axis connecting flange, the I / O module is mounted on the I / O module mounting plate, the solenoid valve is mounted on the I / O module mounting plate, the first reset drive cylinder is mounted on the reset cylinder fixing seat, the reset cylinder fixing seat is mounted on the connecting block, the connecting block is mounted on the slider mounting plate, the first reset cylinder connector is mounted on the first reset drive cylinder, and the second reset cylinder connector is mounted on the second reset drive cylinder.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0016] 1. This invention comprises a shell unit, a core unit, a zero-position reset unit, a floating unit, and a TCP unit. The shell unit's structural design forms a sliding pair unit consisting of a multi-sided mounted punch unit, a four-sided T-shaped slide rail, and a four-sided shell. The shell unit is located outside the flexible punching gun body and needs to cooperate with the slider pair formed by the core unit to form a complete sliding pair structure. In the core unit, where the die mounting base and core are traditionally separately bolted together, this structure uses the die mounting base and core as a single piece of raw material, i.e., the core and die mounting base are an integral unit, reducing excessive connections and increasing the accuracy and stability of the punching insert. The four-sided groove of the core serves as a slider pair, forming the core unit with the die, etc., and needs to cooperate with the slide rail pair formed by the shell unit to form a complete sliding pair structure. The sliding pair structure and floating unit design enable the entire punch gun to adapt to fluctuations in the position tolerance range of the punched surface caused by welding. This avoids damage to the punched parts caused by the rigid pulling punching phenomenon within the allowable fluctuation tolerance range of the profile of the surface to be punched (the weld seam of the welded part may be torn), or the fluctuation of the hole position accuracy caused by the springback of the punched part after punching. The slider connecting plate and the housing are connected by a slide rail to achieve the floating purpose of the entire flexible punch gun. This enables the entire flexible punch gun to adapt to fluctuations in the position tolerance range of the punched surface caused by welding. There is a reset drive cylinder on the left and right sides in the floating direction to realize the function of restoring the entire flexible punch insert to the zero position after punching.

[0017] 2. This invention is scientifically sound, safe, and convenient to use. It features a robotic flexible punching gun with multiple sets of punching dies to achieve various punching specifications. Guide rails and sliders enhance the torsional resistance of the sliding pair and reduce its volume. Multiple punch units mounted on the housing and multiple die units mounted on the core enable punching of various hole diameters, meeting the needs of various subframe shapes or other parts for punching multiple punching specifications without changing the punching gun. This saves time on quick-change punching guns, improving cycle time and stability. Eliminating the need for quick-change also reduces hydraulic oil leakage in the hydraulic drive system. The floating unit design allows the entire punching gun to adapt to fluctuations in the positional tolerance of the punched surface caused by welding, preventing rigid pulling and punching of the punched surface within the allowable profile tolerance, thus avoiding damage to the punched parts. The TCP unit, installed on the six-axis flange connection of the floating unit, establishes a workpiece coordinate system, calibrates the punching trajectory, and provides rapid deviation compensation for punching errors, similar to the tool setting and differential compensation functions of a machining center. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the housing unit of the present invention;

[0021] Figure 3 This is a top cross-sectional view of the housing unit of the present invention;

[0022] Figure 4 This is a front sectional view of the housing unit of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the core unit of the present invention;

[0024] Figure 6 This is a top cross-sectional view of the core unit of the present invention;

[0025] Figure 7 This is a front cross-sectional view of the core unit of the present invention;

[0026] Figure 8 This is a schematic diagram of the zero-position reset unit, floating unit, and TCP unit of the present invention;

[0027] Figure 9 This is the present invention. Figure 8 Front sectional view;

[0028] Figure 10 This is the present invention. Figure 8 Top view sectional view;

[0029] In the diagram: 1. Main drive cylinder; 2. First housing; 3. Main cylinder position detector; 4. Proximity switch mounting plate; 5. First T-shaped slide rail; 6. First punch mounting base; 7. First punch; 8. First rectangular spring; 9. First pressure plate; 10. Second pressure plate; 11. Second punch; 12. Second rectangular spring; 13. Second punch mounting base; 14. Second T-shaped slide rail; 15. Third T-shaped slide rail; 16. Third punch mounting base; 17. Third punch; 18. 19. Third pressure plate; 20. Fourth pressure plate; 21. Fourth punch; 22. Fourth T-shaped slide rail; 23. Fourth punch mounting base; 24. Second housing; 25. Third housing; 26. Fifth T-shaped slide rail; 27. Fifth punch; 28. Fifth pressure plate; 29. ​​Sixth punch; 30. Sixth pressure plate; 31. Sixth punch mounting base; 32. Sixth T-shaped slide rail; 33. Seventh T-shaped slide rail; 34. Seventh punch mounting base; 35. Seventh... 36. Seventh pressure plate; 37. Eighth pressure plate; 38. Eighth punch; 39. Eighth punch mounting base; 40. Eighth T-shaped slide rail; 41. Fourth housing; 42. Hydraulic cylinder piston; 43. Piston rod connector; 44. Core die holder; 45. First die; 46. Second die; 47. Third die; 48. Fourth die; 49. First die mounting base; 50. Fifth die; 51. Sixth die; 52. Seventh die; 53. Eighth die; 54. 55. Robot six-axis connecting flange; 56. Slider mounting plate; 57. Slide rail; 58. Main cylinder zero-position reset block; 59. Floating unit reset block; 60. TCP connecting rod; 61. TCP; 62. I / O module mounting plate; 63. I / O module; 64. Solenoid valve; 65. First reset drive cylinder; 66. Reset cylinder fixing seat; 67. Connecting block; 68. First reset cylinder connector; 69. Second reset cylinder connector; 60. Second reset drive cylinder. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figure 1-10The illustrated robotic flexible punching gun with multiple sets of punching dies includes a housing unit, a core unit, a zero-position reset unit, a floating unit, and a TCP unit. The housing unit is located on the outside of the entire device, the core unit is located inside the housing unit, and the floating unit and zero-position reset unit are located on top of the housing unit. The housing unit includes a main drive cylinder 1, a first housing 2, a main cylinder position detector 3, a proximity switch mounting plate 4, a first T-shaped slide rail 5, a first punch mounting base 6, a first punch 7, a first rectangular spring 8, a first pressure plate 9, a second pressure plate 10, a second punch 11, a second rectangular spring 12, a second punch mounting base, and a second T-shaped slide rail 14. 15. Third T-shaped slide rail; 16. Third punch mounting base; 17. Third punch; 18. Third pressure plate; 19. Fourth pressure plate; 20. Fourth punch; 21. Fourth T-shaped slide rail; 22. Fourth punch mounting base; 23. Second housing; 24. Third housing; 25. Fifth T-shaped slide rail; 26. Fifth punch; 27. Fifth pressure plate; 28. Sixth punch; 29. ​​Sixth pressure plate; 30. Sixth punch mounting base; 31. Sixth T-shaped slide rail; 32. Seventh T-shaped slide rail; 33. Seventh punch mounting base; 34. Seventh punch; 35. Seventh pressure plate; 36. Eighth pressure plate; 37. Eighth punch; 38. Eighth punch mounting base; 39. Eighth T-shaped slide rail; 40. Fourth housing; 41.

[0032] The first housing 2, the second housing 23, the third housing 24, and the fourth housing 41 are respectively fixed around the outer wall of the main drive cylinder 1. The main cylinder position detector 3 is mounted on the proximity switch mounting plate 4. The first T-shaped slide rail 5 is mounted on the first housing 2. The first punch mounting seat 6 is mounted on the first housing 2. The first punch 7 is mounted on the first punch mounting seat 6. The first rectangular spring 8 is mounted inside the first punch mounting seat 6. The first pressure plate 9 is mounted inside the first punch mounting seat 6. The second pressure plate 10 is mounted inside the second punch mounting seat 13. The second punch 11 is mounted on the second punch mounting seat 14. On mounting base 13, the second T-shaped slide rail 14 is mounted on the first housing 2, the third T-shaped slide rail 15 is mounted on the second housing 23, the third punch mounting base 16 is mounted on the second housing 23, the third punch 17 is mounted on the third punch mounting base 16, the third pressure plate 18 is mounted on the third punch mounting base 16, the fourth pressure plate 19 is mounted on the fourth punch mounting base 22, the fourth punch 20 is mounted on the fourth punch mounting base 22, the fourth T-shaped slide rail 21 is mounted on the second housing 23, and the fourth punch mounting base 22 is mounted on the second housing 23; the fifth T-shaped slide rail 2... 5. The fifth punch 27 is mounted on the third housing 24. The fifth punch 28 is mounted on the fifth punch mounting base 26. The sixth punch 29 is mounted on the sixth punch mounting base 31. The sixth punch 30 is mounted on the sixth punch mounting base 31. The sixth punch mounting base 31 is mounted on the third housing 24. The sixth T-shaped slide rail 32 is mounted on the third housing 24. The seventh T-shaped slide rail 33 is mounted on the fourth housing 41. The seventh punch mounting base 34 is mounted on the fourth housing 41. The seventh punch 35 is mounted on the seventh punch mounting base 34, the seventh pressure plate 36 is mounted on the seventh punch mounting base 34, the eighth pressure plate 37 is mounted on the eighth punch mounting base 39, the eighth punch 38 is mounted on the eighth punch mounting base 39, the eighth punch mounting base 39 is mounted on the fourth housing 41, and the eighth T-shaped slide rail 40 is mounted on the fourth housing 41; the first punch 7 and the second punch 11 are symmetrically arranged; the third punch 17 and the fourth punch 20 are symmetrically arranged; the fifth punch 27 and the sixth punch 29 are symmetrically arranged; and the seventh punch 35 and the eighth punch 38 are symmetrically arranged.

[0033] The core unit includes a hydraulic cylinder piston 42, a piston rod connector 43, a core die holder 44, a first die 45, a second die 46, a third die 47, a fourth die 48, a first die mounting base 49, a fifth die 50, a sixth die 51, a seventh die 52, and an eighth die 53. The piston rod connector 43 is mounted on the hydraulic cylinder piston 42. The first die 45, the second die 46, the third die 47, and the fourth die 48 are all mounted on the core die holder 44. The fifth die 50, the sixth die 51, the seventh die 52, and the eighth die 53 are all mounted on the first die mounting base 49. The first die 45 and the second die 46 are symmetrically arranged, as are the third die 47 and the fourth die 48.

[0034] The floating unit includes a robot six-axis connecting flange 54, a slider mounting plate 55, and a slide rail 56; the zero-position reset unit includes a main cylinder zero-position reset block 57, a floating unit reset block 58, an I / O module mounting plate 61, an I / O module 62, a solenoid valve 63, a first reset drive cylinder 64, a reset cylinder fixing seat 65, a connecting block 66, a first reset cylinder connector 67, a second reset cylinder connector 68, and a second reset drive cylinder 69; the TCP unit includes TCP connecting rods 59 and TCP 60; the robot six-axis connecting flange 54 is mounted on the robot six-axis flange, the slider mounting plate 55 is mounted on the robot six-axis connecting flange 54, the slide rail 56 is mounted on the slider mounting plate 55, and the main cylinder zero-position reset block 57 is mounted on the core die seat 44. Above, the floating unit reset block 58 is mounted on the slider mounting plate 55, the TCP connecting rod 59 is mounted on the reset cylinder fixing seat 65, the TCP 60 is mounted on the TCP connecting rod 59, the I / O module mounting plate 61 is mounted on the robot six-axis connecting flange 54, the I / O module 62 is mounted on the I / O module mounting plate 61, the solenoid valve 63 is mounted on the I / O module mounting plate 61, the first reset drive cylinder 64 is mounted on the reset cylinder fixing seat 65, the reset cylinder fixing seat 65 is mounted on the connecting block 66, the connecting block 66 is mounted on the slider mounting plate 55, the first reset cylinder connector 67 is mounted on the first reset drive cylinder 64, and the second reset cylinder connector 68 is mounted on the second reset drive cylinder 69.

[0035] The specific implementation method is as follows: In use, a shell unit, a core unit, a zero-position reset unit, a floating unit, and a TCP unit are set up;

[0036] The structural design of the housing unit consists of a multi-faceted punch unit, a four-sided T-shaped slide rail, and a sliding pair unit composed of a four-sided housing. The housing unit is located on the outside of the flexible punch gun body and needs to cooperate with the slider pair composed of the core unit to form a complete sliding pair structure.

[0037] In the core unit, the die mounting base and the core were previously connected by separate bolts. This structure uses the die mounting base and the core to be machined from the same raw material, that is, the core and the die mounting base are a whole, which reduces excessive connection, increases the accuracy and stability of the punching insert; the four-sided groove of the core serves as a slider pair, which, together with the die, etc., forms the core unit; it needs to cooperate with the slide rail pair formed by the housing unit to form a complete sliding pair structure;

[0038] The floating unit design enables the entire punch gun to adapt to fluctuations in the positional tolerance of the punched surface caused by welding. This avoids damage to the punched parts caused by the rigid pulling punching phenomenon within the allowable fluctuation tolerance of the profile of the punched surface (the weld seam may be torn) or fluctuations in the hole position accuracy caused by the springback of the punched parts after punching. The slider connecting plate and the housing are connected by a slide rail to achieve the floating purpose of the entire flexible punch gun. This enables the entire flexible punch gun to adapt to fluctuations in the positional tolerance of the punched surface caused by welding. There is a reset drive cylinder on each side of the floating direction to realize the function of the entire flexible punch insert returning to the zero position after punching.

[0039] The TCP unit is installed on the fixed side of the six-axis flange connection of the floating unit. Its function is to establish the workpiece coordinate system, realize the calibration of the punching trajectory and the rapid deviation compensation of punching error, similar to the tool setting and differential compensation function of the machining center.

[0040] Working principle:

[0041] S1: Place the workpiece on the A station-tool fixture, and clamp the workpiece with the clamping cylinder; the zero-position reset unit is in the zero position (i.e., the floating unit is in the middle position and the piston of the main drive cylinder is in the middle position). The robot debugging engineer manually teaches the workpiece to the zero position in the opening of the 3-L hole group.

[0042] S2: The solenoid valve group of the first reset drive cylinder 64 and the second reset drive cylinder 69 on the hydraulic station is in the middle venting position; the robot debugging engineer manually triggers the solenoid valve group on the hydraulic station to supply oil to port A of the main drive cylinder 1 (the piston is in the zero position before the main drive cylinder moves, that is, the piston is in the middle position of the cylinder body). The piston rod of the main drive cylinder 1 drives the die unit to move to the end face of one die to be in contact with the inner end face of the workpiece bracket (at this time, the stroke of one side of the cylinder has not been completed). Then, under the action and reaction forces and the action of the floating unit, the punch unit starts to move to the end face of one punch to be in contact with the outer end face of the workpiece bracket. At this time, the cylinder continues to move until the punch inserts into the die, and the punching of one side of the hole group 3-L is completed.

[0043] S3: The solenoid valve group of the main drive cylinder 1 on the hydraulic station is in the middle leakage position; the robot debugging engineer manually triggers the solenoid valve group on the hydraulic station to supply oil to port A of the first reset drive cylinder 64 and the second reset drive cylinder 69 so that the floating unit and the cylinder piston are reset to the zero position.

[0044] S4: The solenoid valve group of the first reset drive cylinder 64 and the second reset drive cylinder 69 controlled by the hydraulic station is in the middle venting position; the robot debugging engineer manually triggers the solenoid valve group on the hydraulic station to supply oil to port B of the main drive cylinder 1 (the piston is in the zero position before the main drive cylinder moves, that is, the piston is in the middle position of the cylinder body). The cylinder piston rod drives the die unit to move to the other side die end face to contact the other side inner end face of the workpiece bracket (at this time, the other side stroke of the cylinder has not been completed). Then, under the action and reaction forces and the action of the floating unit, the punch unit begins to move to the other side punch end face to contact the other side outer end face of the workpiece bracket. At this time, the cylinder continues to move to the other side punch inserting into the other side die, and the punching of the other side of the hole group 3-L is completed; at this time, the punching of the hole group 3-L is completed.

[0045] S5: The robot debugging engineer manually teaches the jump to complete the punching of hole group 3-R, hole group 4-L, and hole group 4-R; the operating principle of hole group 3-R, hole group 4-L, and hole group 4-R is the same as that of hole group 3-L (S1-S4), and will not be described again; the difference is that different specifications of holes on the workpiece are realized by using punches on punch units and dies on die units of different specifications.

[0046] S6: The robot returns to the zero position (safe position) with the punch gun, and the positioner at station A drives the tooling fixture to rotate to a 180-degree state;

[0047] S7: The zero-position reset unit is in the zero position (i.e., the floating unit is in the middle position and the main drive cylinder piston is in the middle position). The robot debugging engineer manually teaches the jump to the zero position in the 5-L opening of the workpiece hole group.

[0048] S8: Completes the punching of hole group 5-L. The operating principle is the same as that of hole group 3-L (S1-S4), and will not be described again. The difference is that different specifications of holes on the workpiece are realized by punches and dies on punch units of different specifications.

[0049] S9: The robot debugging engineer manually teaches the jump to complete the punching of hole groups 5-R, 6-L, and 6-R. The operating principle of hole groups 5-R, 6-L, and 6-R is the same as that of hole group 3-L (S1-S4), and will not be described again; the difference is that different specifications of holes on the workpiece are realized by using punches and dies on punch units of different specifications.

[0050] S10: The robot returns to the zero position (safe position) with the punch gun. The positioner at station A drives the tooling fixture to rotate to the 0-degree state, and then the clamping cylinder on the fixture opens; completing one punching cycle.

[0051] S11: The principle of station B is the same as that of station A.

[0052] The above steps are for the manual mode debugging stage of robot debugging engineers. The working principle of the punch gun is the same in manual mode and automatic mode (the only difference is between manual mode and automatic mode).

[0053] This invention is scientifically sound, safe, and convenient to use. It features a robotic flexible punching gun with multiple sets of punching dies to achieve various punching specifications. Guide rails and sliders enhance the torsional resistance of the sliding pair and reduce its volume. Multiple punch units mounted on the housing and multiple die units mounted on the core enable punching of various hole diameters, meeting the needs of various subframe shapes or other parts for punching multiple punching specifications without changing the punching gun. This saves time on quick-change punching guns, improving cycle time and stability, and also reduces hydraulic oil leakage in the hydraulic drive system. The floating unit design allows the entire punching gun to adapt to fluctuations in the positional tolerance of the punched surface caused by welding, avoiding rigid pulling and punching of the punched surface within the allowable profile tolerance, thus preventing damage to the punched parts. The TCP unit, installed on the fixed side of the six-axis flange connection of the floating unit, establishes the workpiece coordinate system, calibrates the punching trajectory, and provides rapid deviation compensation for punching errors, similar to the tool setting and differential compensation functions of a machining center.

[0054] By optimizing the load-bearing capacity and volume / weight of the sliding pairs in the housing unit and the slider pairs in the core unit, the shell unit can be equipped with punch units on multiple sides and the core unit can be equipped with die units on multiple sides, thus meeting the punching requirements of various hole specifications. While fulfilling customer needs, it reduces the amount of punching equipment required by customers, thereby reducing the investment cost of punching equipment and the area occupied. It also eliminates the need for quick-change punch guns, thereby improving production cycle and equipment stability, while avoiding hydraulic oil leakage in the hydraulic drive system.

[0055] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic flexible punching gun with multiple sets of punching dies, comprising a housing unit, a core unit, a zero-position reset unit, a floating unit, and a TCP unit, characterized in that: The housing unit is located on the outside of the entire device, the core unit is located inside the housing unit, and the floating unit and zero-position reset unit are located on the top of the housing unit; the housing unit includes a main drive cylinder (1), a first housing (2), a main cylinder position detector (3), a proximity switch mounting plate (4), a first T-shaped slide rail (5), a first punch mounting seat (6), a first punch (7), a first rectangular spring (8), a first pressure plate (9), a second pressure plate (10), a second punch (11), a second rectangular spring (12), a second punch mounting seat (13), a second T-shaped slide rail (14), a third T-shaped slide rail (15), a third punch mounting seat (16), a third punch (17), a third pressure plate (18), and a third T-shaped slide rail (19). Fourth pressure plate (19), fourth punch (20), fourth T-shaped slide rail (21), fourth punch mounting base (22), second housing (23), third housing (24), fifth T-shaped slide rail (25), fifth punch mounting base (26), fifth punch (27), fifth pressure plate (28), sixth punch (29), sixth pressure plate (30), sixth punch mounting base (31), sixth T-shaped slide rail (32), seventh T-shaped slide rail (33), seventh punch mounting base (34), seventh punch (35), seventh pressure plate (36), eighth pressure plate (37), eighth punch (38), eighth punch mounting base (39), eighth T-shaped slide rail (40), fourth housing (41); first housing (2). The second housing (23), the third housing (24), and the fourth housing (41) are respectively fixed around the outer wall of the main drive cylinder (1). The main cylinder position detector (3) is mounted on the proximity switch mounting plate (4). The first T-shaped slide rail (5) is mounted on the first housing (2). The first punch mounting seat (6) is mounted on the first housing (2). The first punch (7) is mounted on the first punch mounting seat (6). The first rectangular spring (8) is mounted inside the first punch mounting seat (6). The first pressure plate (9) is mounted inside the first punch mounting seat (6). The core unit includes a cylinder piston (42), a piston rod connector (43), a core die seat (44), a first die (45), and a second die. The unit comprises a mold (46), a third mold (47), a fourth mold (48), a first mold mounting base (49), a fifth mold (50), a sixth mold (51), a seventh mold (52), and an eighth mold (53). The piston rod connector (43) is mounted on the cylinder piston (42). The first mold (45), second mold (46), third mold (47), and fourth mold (48) are all mounted on the core mold base (44). The fifth mold (50), sixth mold (51), seventh mold (52), and eighth mold (53) are all mounted on the first mold mounting base (49). The floating unit includes a robot six-axis connecting flange (54), a slider mounting plate (55), and a slide rail (56).The zero-position reset unit includes a main cylinder zero-position reset block (57), a floating unit reset block (58), an I / O module mounting plate (61), an I / O module (62), a solenoid valve (63), a first reset drive cylinder (64), a reset cylinder fixing seat (65), a connecting block (66), a first reset cylinder connector (67), a second reset cylinder connector (68), and a second reset drive cylinder (69); the TCP unit includes a TCP connecting rod (59) and a TCP (60); the robot six-axis connecting flange (54) is installed on the robot six-axis flange, the slider mounting plate (55) is installed on the robot six-axis connecting flange (54), the slide rail (56) is installed on the slider mounting plate (55), the main cylinder zero-position reset block (57) is installed on the core die seat (44), and the floating unit reset block (58) is installed on the core die seat (44). On the slider mounting plate (55), the TCP connecting rod (59) is mounted on the reset cylinder fixing seat (65), the TCP (60) is mounted on the TCP connecting rod (59), the I / O module mounting plate (61) is mounted on the robot six-axis connecting flange (54), the I / O module (62) is mounted on the I / O module mounting plate (61), the solenoid valve (63) is mounted on the I / O module mounting plate (61), the first reset drive cylinder (64) is mounted on the reset cylinder fixing seat (65), the reset cylinder fixing seat (65) is mounted on the connecting block (66), the connecting block (66) is mounted on the slider mounting plate (55), the first reset cylinder connector (67) is mounted on the first reset drive cylinder (64), and the second reset cylinder connector (68) is mounted on the second reset drive cylinder (69).

2. The robotic flexible punching gun with multiple sets of punching dies according to claim 1, characterized in that: The second pressure plate (10) is installed inside the second punch mounting base (13), the second punch (11) is installed on the second punch mounting base (13), the second T-shaped slide rail (14) is installed on the first housing (2), the third T-shaped slide rail (15) is installed on the second housing (23), the third punch mounting base (16) is installed on the second housing (23), the third punch (17) is installed on the third punch mounting base (16), the third pressure plate (18) is installed on the third punch mounting base (16), the fourth pressure plate (19) is installed on the fourth punch mounting base (22), the fourth punch (20) is installed on the fourth punch mounting base (22), the fourth T-shaped slide rail (21) is installed on the second housing (23), and the fourth punch mounting base (22) is installed on the second housing (23).

3. A robotic flexible punching gun with multiple sets of punching dies according to claim 2, characterized in that: The fifth T-shaped slide rail (25) is mounted on the third housing (24), the fifth punch mounting seat (26) is mounted on the second housing (23), the fifth punch (27) is mounted on the fifth punch mounting seat (26), the fifth pressure plate (28) is mounted on the fifth punch mounting seat (26), the sixth punch (29) is mounted on the sixth punch mounting seat (31), the sixth pressure plate (30) is mounted on the sixth punch mounting seat (31), the sixth punch mounting seat (31) is mounted on the third housing (24), and the sixth T-shaped slide rail (32) is mounted on the third housing (24). The seventh T-shaped slide rail (33) is mounted on the fourth housing (41), the seventh punch mounting seat (34) is mounted on the fourth housing (41), the seventh punch (35) is mounted on the seventh punch mounting seat (34), the seventh pressure plate (36) is mounted on the seventh punch mounting seat (34), the eighth pressure plate (37) is mounted on the eighth punch mounting seat (39), the eighth punch (38) is mounted on the eighth punch mounting seat (39), the eighth punch mounting seat (39) is mounted on the fourth housing (41), and the eighth T-shaped slide rail (40) is mounted on the fourth housing (41).

4. A robotic flexible punching gun with multiple sets of punching dies according to claim 1, characterized in that: The first punch (7) and the second punch (11) are symmetrically arranged; the third punch (17) and the fourth punch (20) are symmetrically arranged; the fifth punch (27) and the sixth punch (29) are symmetrically arranged; the seventh punch (35) and the eighth punch (38) are symmetrically arranged.

5. A robotic flexible punching gun with multiple sets of punching dies according to claim 1, characterized in that: The first die (45) and the second die (46) are symmetrically arranged, and the third die (47) and the fourth die (48) are symmetrically arranged.

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