A hemming system and a hemming up and down method

Abstract

The application discloses a rolling system and a rolling workpiece feeding and discharging method, and belongs to the technical field of automobile manufacturing. The rolling system comprises a turnover device, a gripper assembly, a carrying robot, a transfer table, a working position, a feeding position and a discharging position. The turnover device is provided with a first receiving assembly matched with the gripper assembly. The rear end of the gripper assembly is provided with a gun changing part matched with the carrying robot. The front end of the gripper assembly is provided with a clamping mechanism matched with the workpiece. The feeding position and the discharging position are respectively provided with the turnover device. The transfer table is provided with a second receiving assembly matched with the gripper assembly. The working position is arranged on one side of the first carrying robot and the second carrying robot. The gripper assembly circulates in the rolling system, thereby reducing the investment of the feeding position and the discharging position. Through the cooperation of the two carrying robots and the gripper assembly, the waiting time of the rolling workpiece in the working position and the waiting of the carrying robot are reduced, and the processing efficiency and the resource utilization rate are improved.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and more specifically to a hemming system and a hemming loading / unloading method. Background Technology

[0002] The existing automotive door cover hemming system has an upper part position and an lower part position. Currently, there are two processing methods: (1) A transport robot picks up the workpiece from the upper part position and places it in the working position; after processing, the transport robot picks up the workpiece from the working position and places it in the lower part position to complete the workpiece transfer. In the hemming process, there is a situation where the working position waits for the transport robot to transport the workpiece, resulting in low hemming efficiency. (2) As Figure 10 Each workstation is equipped with two transport robots, one for transporting workpieces from the loading station to the workstation, and the other for transporting processed workpieces from the workstation to the unloading station. The operation steps are as follows: Transport robot R3 picks up a workpiece at the loading station, places it at the workstation, and returns to the loading station; transport robot R4 picks up the processed workpiece from the workstation and places it at the unloading station. However, in the hemming process, the transport robot's cycle time is shorter than the workstation's processing cycle, resulting in waiting times for the transport robots. This leads to underutilization of the transport robots' workload and wasted resources. Summary of the Invention

[0003] In view of the above-mentioned technical problems existing in the prior art, the present invention provides a hemming system that reduces the waiting time of the workstation and the handling robot, and improves the hemming processing efficiency and resource utilization.

[0004] This invention discloses a hemming system, including a turnover device, a gripper assembly, a transport robot, a transfer platform, a workstation, an loading station, and a unloading station. The turnover device is equipped with a first receiving component that cooperates with the gripper assembly; the rear end of the gripper assembly is equipped with a changing tool that cooperates with the transport robot; the front end of the gripper assembly is equipped with a gripping mechanism that cooperates with the workpiece; the loading station and the unloading station are each equipped with a turnover device; the transfer platform is equipped with a second receiving component that cooperates with the gripper assembly; the transport robot includes a first transport robot and a second transport robot arranged at intervals, with the workstation located on one side of the first and second transport robots; the loading station, the transfer platform, and the unloading station are sequentially located on the other side of the first and second transport robots.

[0005] The turnover device further includes a frame, on which multiple first receiving components are mounted. Each first receiving component includes a first support block, a clamping cylinder, and a clamping member. A second support block that mates with the first support block is located on the outer side of the gripper component. A clamping cylinder is located on one side of the first support block, and a clamping member is located at the output end of the clamping cylinder, extending towards the first support block. A first positioning member is located on the first support block, and a bushing that mates with the first positioning member is located on the second support block. The frame is inclined. A mounting position for the gripper component is located within the frame, and a base is located on its lower side. A mounting seat is located on one side of the first support block, and the clamping cylinder is mounted on the mounting seat. The first receiving component also includes a proximity switch located on the first support block or the clamping member.

[0006] The gripping mechanism includes a suction cup and / or a gripping cylinder; the output end of the gripping cylinder is equipped with a workpiece clamping fixture; a connecting arm is provided on the outside of the gripper assembly, and the second support block is mounted on the connecting arm. The end effector of the handling robot is equipped with a suction assembly that cooperates with the gun-changing component.

[0007] The second receiving component includes multiple third support blocks disposed on the upper side of the transfer platform, and a third positioning element is disposed on the upper side of each third support block. The multiple third support blocks are horizontally arranged; casters are disposed on the lower side of the transfer platform; the third receiving component, which cooperates with the gripper assembly, is disposed on the workpiece's mold; the gripper assembly is also provided with multiple product positioning elements.

[0008] The loading station, working station, and transfer station are arranged around the outside of the first transport robot and cooperate with the first transport robot. The working station, unloading station, and transfer station are arranged around the outside of the second transport robot and cooperate with the second transport robot.

[0009] The present invention also provides a method for loading and unloading parts based on the above-mentioned hemming system, comprising the following steps:

[0010] Step 101: Install a gripper component in the upper part;

[0011] Step 102: The first handling robot places the gripper assembly into the work station;

[0012] Step 103: The first handling robot disengages from the gripper assembly, enters the transfer platform to grab another gripper assembly, and then enters the loading position to load the item.

[0013] Step 104: The second handling robot places the rolled workpiece and the gripper assembly into the next workpiece position;

[0014] Step 105: After unloading, the second handling robot places the gripper assembly on the transfer platform and detaches the gripper assembly.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the gripper assembly circulates in the hemming system, reducing the input of the upper and lower parts positions; the cooperation of two handling robots and the gripper assembly reduces the waiting time of hemming processing in the work position and the waiting time of the handling robots, thereby improving processing efficiency and resource utilization. Attached Figure Description

[0016] Figure 1 This is a logic block diagram of the hemming system of the present invention;

[0017] Figure 2 This is a schematic diagram of the turnover device;

[0018] Figure 3 This is a schematic diagram of the structure of the first receiving component;

[0019] Figure 4 This is a schematic diagram of the structure of the receiving gripper assembly of the turnover device;

[0020] Figure 5 This is a schematic diagram of the structure of the first receiving component clamping the second support block;

[0021] Figure 6 This is a structural diagram of the gripper assembly;

[0022] Figure 7 This is a schematic diagram of the suction cup and gripping cylinder.

[0023] Figure 8 This is a schematic diagram of the gripper assembly gripping the workpiece;

[0024] Figure 9 This is a structural diagram of the transfer station;

[0025] Figure 10 This is a schematic diagram of an existing edge island.

[0026] In the diagram, the following components are marked: 2. Turnover device; 21. Frame; 22. First receiving assembly; 23. Clamping cylinder; 24. First positioning element; 25. Clamping element; 26. Base; 27. Mounting base; 28. First support block.

[0027] 3. Gripper assembly; 31. Connecting arm; 32. Engaging mechanism; 33. Second support block; 34. Bushing; 35. Gripping mechanism; 36. Gun changing parts; 37. Suction cup; 38. Gripping cylinder; 39. Clamping fixture.

[0028] 4. Transfer platform; 41. Casters; 42. Third support block; 43. Third positioning component; 44. Second receiving assembly.

[0029] 5. Workpiece; 51. Membrane; 52. Third receiving component; 53. Product positioning component; R1. First handling robot; R2. Second handling robot; 6. Loading position; 7. Unloading position; 8. Working position. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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] The present invention will now be described in further detail with reference to the accompanying drawings:

[0032] A type of hemming system, also known as hemming islands, such as Figure 1-9 As shown, the system includes a turnover device 2, a gripper assembly 3, a transport robot, a transfer platform 4, a workstation 8, an loading station 6, and a unloading station 7. The turnover device 2 is equipped with a first receiving component 22 that cooperates with the gripper assembly 3 for receiving the gripper assembly 3. The rear end of the gripper assembly 3 is equipped with a gun-changing component 36 that cooperates with the transport robot, allowing the transport robot to grip or detach from the gripper assembly 3. The front end of the gripper assembly 3 is equipped with a gripping mechanism 35 that cooperates with the workpiece 5 for gripping the workpiece 5. The loading station 6 and the unloading station 7 are each equipped with a turnover device 2. The transfer platform 4 is equipped with a second receiving component 44 that cooperates with the gripper assembly 3 for receiving the gripper assembly 3. The transport robot includes a first transport robot R1 and a second transport robot R2 that are spaced apart.

[0033] like Figure 1 The work station 8 is located on one side of the first transport robot R1 and the second transport robot R2; the work station 8, the unloading station 7 and the transfer platform 4 are located on the other side of the first transport robot R1 and the second transport robot R2, and the transfer platform 4 is located between the loading station 6 and the unloading station 7; the loading station 6, the work station 8 and the transfer platform 4 are arranged in a ring around the outside of the first transport robot R1 and cooperate with the first transport robot R1, and the work station 8, the unloading station 7 and the transfer platform 4 are arranged in a ring around the outside of the second transport robot R2 and cooperate with the second transport robot R2.

[0034] The above-mentioned hemming system's hemming method for loading and unloading parts includes the following steps:

[0035] Step 101: Loading a workpiece onto a gripper assembly at the loading position. The first receiving assembly 22 of the turnover device 2 located at the loading position 6 receives the gripper assembly 3 and grips the workpiece to achieve loading. The workpiece can be placed onto the gripping mechanism 35 of the gripper assembly 3 manually or by a robotic arm.

[0036] Step 102: The gripper assembly is placed into the work station by the first handling robot.

[0037] Step 103: The first handling robot disengages from the gripper assembly's gun-changing plate, enters the transfer station to grab another gripper assembly, and then enters the loading position.

[0038] At the same time, the workstation performs edge rolling processing on the workpiece. When the first handling robot R1 arrives at the transfer station 4, if the transfer station 4 has a gripper assembly 3, it will grab the gripper assembly 3 and place it in the loading position 6 to wait for loading; if the transfer station 4 does not have a gripper assembly 3, it will enter the loading position 6, wait, or return to the origin.

[0039] The first handling robot repeatedly executes steps 101-103.

[0040] Step 104: The second handling robot enters the processing station and places the rolled workpiece and the gripper assembly into the unloading station. The unloading can be done manually or by a robotic arm.

[0041] Step 105: After unloading, the second handling robot places the gripper assembly on the transfer platform and detaches the gripper assembly.

[0042] The second handling robot repeatedly executes steps 104-105.

[0043] like Figure 1 The dotted line indicates the flow direction of the gripper assembly. The first and second handling robots move clockwise during operation, completing one work cycle with one full rotation, thus reducing the waiting and idling time of the handling robots.

[0044] Specifically, through the transfer station 4 and the turnover device 2, the gripper assembly 3 is circulated in the hemming system, reducing the investment in the upper and lower parts positions. During the hemming process at workstation 8, the first transport robot R1 picks up the workpiece from the upper part position, waits to enter the workstation, and places the gripper assembly 3 from the transfer station to the upper part position. The second transport robot places the gripper assembly from the previous hemming process into the lower part position 7 and then places it on the transfer station. The cooperation of the two transport robots reduces the waiting time for hemming in workstation 8 and improves processing efficiency.

[0045] The working station 8 may be equipped with a mold 51, which can receive the workpiece 5 and the gripper assembly 3. For example... Figure 8The mold 51 receives the gripper assembly 3 through the third receiving component 52. The structure and principle of the third receiving component 52 are the same as those of the first receiving component 22, and will not be described again in this invention. The gripper assembly 3 may also be provided with multiple product positioning elements 53.

[0046] like Figure 2-5 The turnover device 2 also includes a frame 21, on which a plurality of first receiving components 22 are disposed; the first receiving component 22 includes a first support block 28, a clamping cylinder 23 and a clamping member 25. The outside of the gripper assembly 3 is provided with a connecting mechanism 32 that cooperates with the first support block 28. The connecting mechanism 32 includes a second support block 33. The clamping cylinder 23 is provided on one side of the first support block 28. The output end of the clamping cylinder 23 is provided with a clamping member 25. The clamping member 25 extends toward the first support block 28 and is used to clamp the second support block 33, thereby clamping the gripper assembly 3.

[0047] The first support block 28 may also be provided with a first positioning element 24, and the engaging mechanism 32 further includes a bushing 34. The second support block 33 is provided with a bushing 34 that cooperates with the first positioning element 24 to realize the positioning of the gripper assembly. The frame can be inclined, for example, at 45° to the horizontal direction, which is beneficial to the operation of the handling robot. The frame 21 is provided with a mounting position for the gripper assembly 3 and a base 26 is provided on the lower side. Among them, a mounting seat 27 can be provided on one side of the first support block 28, and the clamping cylinder 23 is mounted on the mounting seat 27. The first receiving component 22 also includes a proximity switch provided on the first support block 28 or the clamping element 25 for detecting the gripping state of the gripper assembly 3.

[0048] like Figure 6-8 The gripping mechanism 35 includes a suction cup 37 and / or a gripping cylinder 38; the output end of the gripping cylinder 38 is provided with a clamping fixture 39 for the workpiece 5; a connecting arm 31 may be provided on the outside of the gripper assembly 3, and a second support block 33 is mounted on the connecting arm 31. For example, the inner panel and outer panel of the car door can be gripped by the suction cup 37 and the gripping cylinder 38 respectively.

[0049] The end effector of the handling robot is equipped with a suction component (not shown in the figure) that cooperates with the gun changing component 36. Specifically, the gun changing component 36 is designed as a gun changing disc, but is not limited to this.

[0050] like Figure 9 The second receiving component 44 includes multiple third support blocks 42 disposed on the upper side of the transfer platform 4, and a third positioning element 43 disposed on the upper side of the third support block 42; casters 41 are disposed on the lower side of the transfer platform 4 for moving and fixing the transfer platform 4, and the transfer platform can be replaced when changing the door model. The third support blocks 42 on the transfer platform 4 are horizontally disposed.

[0051] It should be noted that different door models have different molds and product positioning components. When switching car models or door models, the mold 51 and the gripper assembly 3 need to be replaced. Different types of gripper assemblies 3 have different product positioning components 53, but have the same engagement mechanism 32. That is, the engagement mechanism 32 of different types of gripper assemblies 3 can all cooperate with the first receiving assembly 22 of the turnover device 2, realizing the common use of the turnover device 2. When changing the door model, one gripper assembly is placed on the mold 51, and the other gripper assembly 3 is placed on the transfer table 4. Both the mold 51 and the transfer table 4 can be pushed in and pushed out.

[0052] In a specific test Figure 10 The rolling system of the present invention has a production rate of 45 JHP per hour, while the rolling system of the present invention has a production rate of 51.4-54 JHP per hour, and the cycle time per workpiece can be reduced by 9-12 seconds.

[0053] In this invention, R1 is used for loading / unloading, responsible for grabbing the gripper assembly from the transfer station, then grabbing the item at the loading position, and finally placing it at workstation 8. R2 is used for unloading / unloading, responsible for grabbing the item at the workstation, placing it at the unloading position, and then placing the gripper assembly at the transfer station. During operation, the gripper assembly 3 is used cyclically along the sequence of loading position 6 - workstation 8 - unloading position 7 - transfer station 4 - loading position 6, reducing waiting time. In one specific embodiment, the initial state of R1 is the loading position; the initial state of R2 is the transfer station. The loading and unloading positions have the same structure of the turnover device 2, and the gripper assembly 3 acts as either the loading or unloading platform, reducing the investment in loading / unloading platforms and reducing space usage. Specifically, two sets of gripper assemblies 3 are used.

[0054] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A hemming system, characterized in that, It includes a turnover device (2), a gripper assembly (3), a handling robot, a transfer station (4), a workstation (8), an loading station (6), and an unloading station (7). The turnover device (2) is provided with a first receiving component (22) that cooperates with the gripper assembly (3). The gripper assembly (3) has a gun-changing component (36) at the rear end that cooperates with the handling robot and a gripping mechanism (35) at the front end that cooperates with the workpiece (5). The upper part position (6) and the lower part position (7) are respectively provided with turnover devices (2); the transfer platform (4) is provided with a second receiving component (44) that cooperates with the gripper assembly (3). The transport robots include a first transport robot (R1) and a second transport robot (R2) arranged at intervals. The workstation (8) is located on one side of the first handling robot (R1) and the second handling robot (R2); The loading position (6), the transfer station (4), and the unloading position (7) are set on the other side of the first handling robot (R1) and the second handling robot (R2).

2. The hemming system according to claim 1, characterized in that, The turnover device (2) also includes a frame (21), on which a plurality of first receiving components (22) are disposed; The first receiving component (22) includes a first support block (28), a clamping cylinder (23) and a clamping member (25). The gripper component (3) has a second support block (33) on its outer side that cooperates with the first support block (28). A clamping cylinder (23) is provided on one side of the first support block (28), and a clamping member (25) is provided at the output end of the clamping cylinder (23), and the clamping member (25) extends toward the first support block (28).

3. The hemming system according to claim 2, characterized in that, The first support block (28) is provided with a first positioning element (24), and the second support block (33) is provided with a bushing (34) that cooperates with the first positioning element (24). The frame (21) is tilted; the frame (21) has a mounting position for the gripper assembly (3) and a base (26) on the lower side. The first support block (28) has a mounting base (27) on one side, and the clamping cylinder (23) is mounted on the mounting base (27).

4. The hemming system according to claim 2, characterized in that, The first receiving component (22) also includes a proximity switch disposed on the first support block (28) or clamp (25).

5. The hemming system according to claim 2, characterized in that, The gripping mechanism (35) includes a suction cup (37) and / or a gripping cylinder (38); The output end of the gripping cylinder (38) is provided with a workpiece clamping fixture (39). The gripper assembly (3) has a connecting arm (31) on its outer side, and the second support block (33) is mounted on the connecting arm (31).

6. The hemming system according to claim 1, characterized in that, The end of the transport robot is provided with a suction component that cooperates with the gun changing component (36).

7. The hemming system according to claim 1, characterized in that, The second receiving component (44) includes a plurality of third support blocks (42) disposed on the upper side of the transfer station (4), and a third positioning element (43) is disposed on the upper side of the third support block (42).

8. The hemming system according to claim 7, characterized in that, Multiple third support blocks (42) are arranged horizontally; casters (41) are provided on the lower side of the transfer platform (4); The workpiece has a third receiving component (52) that cooperates with the gripper assembly (3) on its membrane; The gripper assembly (3) is also provided with multiple product positioning components (53).

9. The hemming system according to claim 1, characterized in that, The loading position (6), the working position (8) and the transfer station (4) are arranged around the outside of the first transport robot (R1) and cooperate with the first transport robot (R1). The working position (8), the unloading position (7) and the transfer station (4) are arranged around the outside of the second transport robot (R2) and cooperate with the second transport robot (R2).

10. A method for hemming upper and lower parts, characterized in that, This is achieved through the hemming system as described in any one of claims 1-9. The method for hemming and loading / unloading parts includes the following steps: Step 101: Install a gripper assembly on the upper part; Step 102: The first handling robot places the gripper assembly into the work station; Step 103: The first handling robot detaches from the gripper assembly, enters the transfer platform to grab another gripper assembly, and then enters the loading position; Step 104: The second handling robot places the rolled workpiece and the gripper assembly into the next workpiece position; Step 105: After unloading, the second handling robot places the gripper assembly on the transfer platform and detaches the gripper assembly.

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