A double-station robot hemming workstation

Abstract

The present invention discloses a double-station robot hemming workstation, which relates to the technical field of robot workstations and includes two hemming clamping tables, a hemming manipulator, an electrical cabinet and a control cabinet. The two hemming clamping tables are arranged on both sides of the hemming manipulator. Each hemming clamping table is provided with a longitudinal lifting arm, and several top pressing rods are arranged on each longitudinal lifting arm. Each hemming clamping table is also rotatably provided with a hemming turntable. A rolling actuator is arranged at the execution end of the hemming manipulator. Several side positioners are installed on each hemming turntable, and the several side positioners are arranged in a circumferential and evenly distributed manner. The several side positioners and the several top pressing rods clamp and fix the workpiece. The rolling actuator performs hemming on the workpiece, and the rolling wheel repeatedly hammers the workpiece to be hemmed through vibration, realizing the function of simultaneous hammering and rotary hemming.

Description

Technical Field

[0001] The present invention relates to the technical field of robot workstations, and specifically to a double-station robot edge wrapping workstation. Background Art

[0002] An edge wrapping robot workstation is a working device used for processing product edge wrapping in the automated production process. It combines advanced technologies such as robot technology, automated control, and robotic arms, and can efficiently and accurately complete the edge wrapping operation. It is mainly applied to industries such as woodworking, furniture manufacturing, automotive interiors, household appliances, and other industries involving edge processing. The edge wrapping workstation usually consists of a turntable workbench and a manipulator. The workpieces to be edge wrapped are often heavy, and the turntable workbench needs to drive these workpieces to rotate. Under the action of uneven radial force, the main drive shaft of the turntable workbench wears very quickly. Therefore, it is necessary to manually adjust the rotational balance of the clamped workpieces, which is time-consuming and laborious. Before the edge wrapping operation, the operator often needs to first use a hammer to strike the edge wrapping workpiece for pre-cladding, and then the edge wrapping wheel can be used for the edge wrapping operation, and full automation cannot be achieved. Summary of the Invention

[0003] The purpose of the present invention is to provide a double-station robot edge wrapping workstation to solve the problems raised in the prior art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A double-station robot edge wrapping workstation includes two edge wrapping clamping tables, an edge wrapping manipulator, an electrical cabinet, and a control cabinet. The two edge wrapping clamping tables are arranged on both sides of the edge wrapping manipulator. Each edge wrapping clamping table is provided with a longitudinal lifting arm, and each longitudinal lifting arm is provided with several top pressing rods. Each edge wrapping clamping table is also rotatably provided with an edge wrapping turntable. The execution end of the edge wrapping manipulator is provided with a rolling actuator. Several side positioners are installed on each edge wrapping turntable, and the several side positioners are evenly distributed in a circumferential shape. The several side positioners and the several top pressing rods clamp and fix the workpiece, and the rolling actuator performs edge wrapping on the workpiece.

[0005] Furthermore, each of the side locators includes a side top plate, a main slide, a front plate, a rear plate and a moving module, the main slide is slidably mounted on the hemming turntable, the moving module is arranged at the bottom of the main slide, the moving module is connected to a control system through a circuit, the front plate and the rear plate have the same length, the front plate and the rear plate are rotatably mounted on the main slide, the side top plate is connected to the end of the front plate and the rear plate away from the main slide, before hemming the workpiece, the operator places the workpiece on the hemming turntable, the control system moves the side locator through the moving module, so that the side top plates on all the side locators contact the workpiece, the side top plates are resisted after contacting the workpiece, if the main slide continues to move closer to the workpiece, the front plate and the rear plate tilt backwards, the rear plate pushes the slider through the connecting rod, the slider overcomes the tension of the spring and slides on the hollow shaft, when all the pressure sensors detect the same pressure, the side locator stops moving.

[0006] Furthermore, a pressure sensor is provided at one end of the side top plate away from the front plate, and the pressure sensor is connected to the control system circuit. A hollow shaft is provided in the main slide, and a slider is slidably installed in the main slide. The slider is slidably connected to the hollow shaft, and a spring is connected between the slider and the main slide. A connecting rod is rotatably connected to the middle part of the rear plate, and the other end of the connecting rod is rotatably connected to the slider. Since the outer contour of the workpiece to be edged is irregular, after the workpiece is supported by the side top plate, the control system drives the edge wrapping turntable to rotate slowly, and the workpiece on the edge wrapping turntable rotates accordingly. The more the workpiece deviates from the center of rotation as a whole or the greater the local mass, the greater the centrifugal force it is subjected to. The pressure values ​​detected by the pressure sensors in the side locators symmetrically on both sides will change. The side locators with increased detected pressure values ​​are under pressure, indicating that the side of the workpiece deviates farther from the center of rotation as a whole or the local mass is greater.

[0007] Furthermore, the hollow shaft is provided with several fine slits evenly distributed in an annular shape, and an electric push rod is installed in the main slide, and the electric push rod is located at one end of the hollow shaft away from the side top plate, and a conical top block is installed on the push rod of the electric push rod, and the conical top of the conical top block is located inside the hollow shaft. The control system pushes the conical top block into the hollow shaft through the electric push rod, and the conical surface applies pressure to the hollow shaft, so that the hollow shaft is stretched outward along the direction of the fine slit, so that the slider cannot slide. At this time, if the moving module drives the main slide to move again, the side top plate moves together, and the data detected by all pressure sensors are used to enable the side locator to push the workpiece to move and change its position on the hemming turntable. The centrifugal moments generated at various parts of the workpiece relative to the rotation center of the hemming turntable balance and offset each other, and maintain the rotation stability during the subsequent rotation and hemming process, thereby improving the hemming effect of the workpiece and protecting the main shaft of the hemming clamping table. When the side locator is clamped, the longitudinal lifting arm presses down several top pressure rods to fix the hemming workpiece.

[0008] Further, the rolling actuator includes an upper chassis, a cylinder barrel, a rolling wheel, and a cross sleeve. The upper chassis is connected to the execution end of the hemming manipulator. The cylinder barrel is connected below the upper chassis. The cross sleeve is integrally provided with the rolling wheel. The cross sleeve is slidably installed at the bottom of the cylinder barrel. A sand filling cavity is formed inside the rolling wheel, and sand grains are filled inside the sand filling cavity.

[0009] Further, the rolling actuator further includes a cross shaft and a driven sliding plug. A driven bevel gear is provided at the top of the cross shaft. The driven bevel gear is rotatably connected to the upper chassis. The bottom of the cross shaft is slidably connected to the cross sleeve. The driven sliding plug is slidably installed inside the cylinder barrel. The cross shaft penetrates through the middle of the driven sliding plug and is slidably connected thereto. A first servo motor is installed in the upper chassis. A driving bevel gear is installed on the first servo motor. The driving bevel gear meshes with the driven bevel gear. When the first servo motor is powered on, it drives the driving bevel gear to rotate. The driving bevel gear drives the cross shaft to rotate through the driven bevel gear. The cross shaft drives the cross sleeve to rotate. The cross sleeve drives the rolling wheel to rotate. The rolling wheel performs rolling hemming on the edge of the workpiece.

[0010] Further, a curve ring groove is formed on the inner wall of the inner part of the cylinder barrel. A pin is installed outside the driven sliding plug. The pin is slidably arranged in the curve ring groove. While the cross shaft rotates, it drives the driven sliding plug to rotate. The pin on the driven sliding plug moves along the curve ring groove. The driven sliding plug rotates and slides up and down inside the cylinder barrel at the same time. The air pressure between the driven sliding plug and the cross sleeve changes accordingly. Since the cross sleeve can also rotate and slide up and down inside the cylinder barrel at the same time, the rolling wheel vibrates repeatedly during the rotation process, and the workpiece to be hemmed is repeatedly hammered through the vibration. The sand grains filled inside the sand filling cavity reduce the rebound during hammering, realizing the function of simultaneous hammering and rotary hemming.

[0011] Further, heat dissipation grooves are formed on the outer surface of the cylinder barrel. A gas guide jacket shell is rotatably installed outside the cylinder barrel. The top and bottom of the gas guide jacket shell are rotatably and sealingly connected to the cylinder barrel. A tooth groove is formed at the top of the gas guide jacket shell. A second servo motor is installed in the upper chassis. The motor shaft of the second servo motor penetrates through the upper chassis. A small gear is connected to the motor shaft of the second servo motor. The small gear meshes with the tooth groove. During the up and down movement of the driven sliding plug, high temperature will be generated in the cylinder barrel along with air compression and friction. When the driven sliding plug moves downward, the air pressure in the upper chassis decreases, and external air enters the upper chassis through the air inlet hole. When the driven sliding plug moves upward, the air pressure in the upper chassis increases, and the gas in the upper chassis enters the pump air pipe through the air outlet hole, and finally enters the gas guide jacket shell from the pump air pipe. The heat of the cylinder barrel is dissipated along with the air flow in the gas guide jacket shell, and the pulsed air flow carrying heat is ejected from the air jet pipe.

[0012] Furthermore, intake holes and air outlet holes are provided on the upper chassis, and one-way valves are provided on both the intake holes and the air outlet holes. One end of a pump air pipe is connected to the top of the air guide jacket housing, and the other end of the pump air pipe is connected to the air outlet hole. A jet pipe is provided at the bottom of the air guide jacket housing. An obliquely cut jet orifice is provided at one end of the jet pipe away from the air guide jacket housing. The second servo motor drives the small gear to rotate, and the small gear drives the air guide jacket housing to rotate through the tooth groove, so that the air outlet end of the jet pipe faces the workpiece, and the hot air can touch the surface of the workpiece, which can not only remove dust from the surface of the workpiece, but also preheat the workpiece.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] 1. By detecting the change of the pressure value through the pressure sensor in the side positioner, the side positioner is made to push the workpiece to move and change its position on the edge wrapping turntable, and the centrifugal torques generated by each part of the workpiece relative to the rotation center of the edge wrapping turntable are balanced and offset from each other, maintaining the stability of rotation during the subsequent edge wrapping process, improving the edge wrapping effect of the workpiece, and playing a role in protecting the main shaft of the edge wrapping clamping table.

[0015] 2. The driven sliding plug drives the rolling wheel to vibrate repeatedly during rotation, and the workpiece to be edge wrapped is repeatedly hammered through the vibration. Sand grains are filled inside the sand filling cavity to reduce the rebound during hammering, realizing the function of simultaneous hammering and rotary edge wrapping.

[0016] 3. The heat of the cylinder is dissipated along with the airflow in the air guide jacket housing, and the pulsed airflow carrying heat is ejected from the jet pipe, and the hot air can touch the surface of the workpiece, which can not only remove dust from the surface of the workpiece, but also preheat the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a schematic diagram of the structure of the edge wrapping turntable part of the present invention;

[0019] Figure 3 is a schematic diagram of the structure of the side positioner of the present invention;

[0020] Figure 4 is a schematic diagram of the external structure of the rolling actuator of the present invention Figure 1 ;

[0021] Figure 5 is a schematic diagram of the external structure of the rolling actuator of the present invention Figure 2 ;

[0022] Figure 6 is a schematic diagram of the internal structure of the rolling actuator of the present invention Figure 1;

[0023] Figure 7 Schematic diagram of the internal structure of the rolling actuator of the present invention Figure 2 ;

[0024] Figure 8 Schematic diagram of the structure of the cylinder part of the present invention.

[0025] In the figure: 1, hemming clamping table; 2, hemming manipulator; 3, electrical cabinet; 4, control cabinet; 5, rolling actuator; 6, longitudinal lifting arm; 7, top pressure rod; 8, hemming turntable; 9, side positioner; 10, rolling wheel; 11, sand filling cavity; 12, cross sleeve; 13, cross shaft; 14, cylinder; 15, air guide jacket shell; 16, air injection pipe; 17, curve ring groove; 18, driven sliding plug; 19, pin; 20, driven bevel gear; 21, driving bevel gear; 22, first servo motor; 23, second servo motor; 24, pinion; 25, side top plate; 26, main sliding seat; 27, front plate; 28, rear plate; 29, connecting rod; 30, slider; 31, hollow shaft; 32, electric push rod; 33, conical top block; 34, moving module; 35, upper machine case. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Embodiment: As Figures 1 - 8 shown, the present invention provides a technical solution, a double-station robot hemming workstation, including two hemming clamping tables 1, hemming manipulators 2, electrical cabinets 3 and control cabinets 4. The two hemming clamping tables 1 are arranged on both sides of the hemming manipulator 2. Each hemming clamping table 1 is provided with a longitudinal lifting arm 6, and each longitudinal lifting arm 6 is provided with several top pressure rods 7. Each hemming clamping table 1 is also rotatably provided with a hemming turntable 8. The execution end of the hemming manipulator 2 is provided with a rolling actuator 5. Each hemming turntable 8 is provided with several side positioners 9. The several side positioners 9 are evenly distributed in a circumferential shape. The several side positioners 9 and the several top pressure rods 7 clamp and fix the workpiece, and the rolling actuator 5 performs hemming on the workpiece.

[0028] Each side positioner 9 includes a side top plate 25, a main slide 26, a front plate 27, a rear plate 28 and a movable module 34. The main slide 26 is slidably mounted on the hemming turntable 8, and the movable module 34 is arranged at the bottom of the main slide 26. The movable module 34 is connected to the control system through a circuit. The front plate 27 and the rear plate 28 have the same length. The front plate 27 and the rear plate 28 are both rotatably mounted on the main slide 26. The side top plate 25 is connected to one end of the front plate 27 and the rear plate 28 away from the main slide 26. A pressure sensor is arranged at one end of the side top plate 25 away from the front plate 27, and the pressure sensor is connected to the control system circuit. A hollow shaft 31 is arranged in the main slide 26, and a slider 30 is slidably mounted in the main slide 26. The slider 30 is slidably connected to the hollow shaft 31, and a spring is connected between the slider 30 and the main slide 26. A connecting rod 29 is rotatably connected to the middle part of the rear plate 28, and the other end of the connecting rod 29 is rotatably connected to the slider 30.

[0029] Before hemming the workpiece, the operator places the workpiece on the hemming turntable 8. The control system moves the side positioners 9 through the moving module 34, so that the side top plates 25 on all the side positioners 9 are in contact with the workpiece. After the side top plates 25 contact the workpiece, they are resisted. If the main slide 26 continues to move closer to the workpiece, the front plate 27 and the rear plate 28 tilt backwards, and the rear plate 28 pushes the slider 30 through the connecting rod 29. The slider 30 overcomes the tension of the spring and slides on the hollow shaft 31. When all the pressure sensors detect the same pressure, the side The locator 9 stops moving. Since the outer contour of the workpiece to be hemmed is irregular, after the workpiece is supported by the side top plate 25, the control system drives the hemming turntable 8 to rotate slowly, and the workpiece on the hemming turntable 8 rotates accordingly. The more the workpiece deviates from the rotation center as a whole or the greater the local mass, the greater the centrifugal force it is subjected to. The pressure values ​​detected by the pressure sensors in the side locators 9 symmetrically on both sides will change. The side locator 9 with an increased detected pressure value is under pressure, indicating that the workpiece on this side deviates further from the rotation center as a whole or the local mass is greater.

[0030] A plurality of fine slits are evenly arranged in a ring on the hollow shaft 31. An electric push rod 32 is installed in the main slide block 26. The electric push rod 32 is located at one end of the hollow shaft 31 away from the side top plate 25. A conical top block 33 is installed on the push rod of the electric push rod 32. The tip of the conical top of the conical top block 33 is located inside the hollow shaft 31. The control system pushes the conical top block 33 into the hollow shaft 31 through the electric push rod 32, and the conical surface applies pressure to the hollow shaft 31, causing the hollow shaft 31 to expand outward along the direction of the fine slits, so that the slider 30 cannot slide. At this time, if the moving module 34 drives the main slide block 26 to move again, the side top plate 25 will move together. Through the data detected by all the pressure sensors, the side positioner 9 is made to push the workpiece to move and change its position on the edge wrapping turntable 8. The centrifugal torques generated by each part of the workpiece relative to the rotation center of the edge wrapping turntable 8 are balanced and offset from each other, maintaining the stability of rotation during the subsequent edge wrapping process, improving the edge wrapping effect of the workpiece, and playing a role in protecting the main shaft of the edge wrapping clamping table 1. When the side positioner 9 finishes clamping, the longitudinal lifting arm 6 presses down several top pressing rods 7 to fix the edge wrapped workpiece.

[0031] The rolling actuator 5 includes an upper machine case 35, a cylinder barrel 14, a rolling wheel 10 and a cross sleeve 12. The upper machine case 35 is connected to the execution end of the edge wrapping manipulator 2. The cylinder barrel 14 is connected below the upper machine case 35. The cross sleeve 12 is integrally provided with the rolling wheel 10. The cross sleeve 12 is slidably installed at the bottom of the cylinder barrel 14. A sand filling cavity 11 is opened inside the rolling wheel 10, and sand grains are filled inside the sand filling cavity 11. The rolling actuator 5 further includes a cross shaft 13 and a driven piston 18. A driven bevel gear 20 is arranged at the top of the cross shaft 13. The driven bevel gear 20 is rotatably connected to the upper machine case 35. The bottom of the cross shaft 13 is slidably connected to the cross sleeve 12. The driven piston 18 is slidably installed inside the cylinder barrel 14. The cross shaft 13 passes through the middle of the driven piston 18 and is slidably connected thereto. A first servo motor 22 is installed in the upper machine case 35. A driving bevel gear 21 is installed on the first servo motor 22. The driving bevel gear 21 meshes with the driven bevel gear 20. A curve ring groove 17 is opened on the inner wall of the cylinder barrel 14. A pin 19 is installed outside the driven piston 18. The pin 19 is slidably arranged in the curve ring groove 17.

[0032] The first servo motor 22 is energized to drive the driving bevel gear 21 to rotate. The driving bevel gear 21 drives the cross shaft 13 to rotate through the driven bevel gear 20. The cross shaft 13 drives the cross sleeve 12 to rotate. The cross sleeve 12 drives the rolling wheel 10 to rotate. The rolling wheel 10 performs rolling edge wrapping on the edge of the workpiece. While the cross shaft 13 rotates, it drives the driven sliding plug 18 to rotate. The pin 19 on the driven sliding plug 18 moves along the curved annular groove 17. The driven sliding plug 18 rotates and slides up and down inside the cylinder barrel 14. The air pressure between the driven sliding plug 18 and the cross sleeve 12 changes accordingly. Since the cross sleeve 12 can also rotate and slide up and down inside the cylinder barrel 14, the rolling wheel 10 vibrates repeatedly during rotation, repeatedly hammering the workpiece to be edge wrapped. The inside of the sand filling cavity 11 is filled with sand grains to reduce the rebound during hammering, realizing the function of simultaneous hammering and rotary edge wrapping.

[0033] Heat dissipation grooves are provided on the outer surface of the cylinder barrel 14. A gas guiding jacket shell 15 is rotatably installed outside the cylinder barrel 14. The top and bottom of the gas guiding jacket shell 15 are rotatably and sealingly connected to the cylinder barrel 14. Tooth grooves are provided at the top of the gas guiding jacket shell 15. A second servo motor 23 is installed in the upper machine case 35. The motor shaft of the second servo motor 23 penetrates through the upper machine case 35. A small gear 24 is connected to the motor shaft of the second servo motor 23. The small gear 24 meshes with the tooth grooves. An air inlet hole and an air outlet hole (not shown in the figure) are provided on the upper machine case 35. One-way valves are provided on both the air inlet hole and the air outlet hole. One end of a pump air pipe (not shown in the figure) is connected to the top of the gas guiding jacket shell 15. The other end of the pump air pipe is connected to the air outlet hole. A jet pipe 16 is provided at the bottom of the gas guiding jacket shell 15. The end of the jet pipe 16 away from the gas guiding jacket shell 15 is provided with an obliquely cut jet orifice.

[0034] During the up and down movement of the driven sliding plug 18, accompanied by air compression and friction, high temperature will be generated in the cylinder barrel 14. When the driven sliding plug 18 moves downward, the air pressure in the upper machine case 35 decreases, and external air enters the upper machine case 35 through the air inlet hole. When the driven sliding plug 18 moves upward, the air pressure in the upper machine case 35 increases. The gas in the upper machine case 35 enters the pump air pipe through the air outlet hole, and finally enters the gas guiding jacket shell 15 from the pump air pipe. The heat of the cylinder barrel 14 is dissipated along with the air flow in the gas guiding jacket shell 15. The pulsed air flow carrying heat is ejected from the jet pipe 16. The second servo motor 23 drives the small gear 24 to rotate. The small gear 24 drives the gas guiding jacket shell 15 to rotate through the tooth grooves, so that the air outlet end of the jet pipe 16 faces the workpiece, and the hot air can touch the surface of the workpiece, which can not only remove dust from the surface of the workpiece, but also preheat the workpiece.

[0035] The working principle of the present invention is as follows: before hemming the workpiece, the operator places the workpiece on the hemming turntable 8, and the control system moves the side locator 9 through the moving module 34, so that the side top plates 25 on all the side locators 9 come into contact with the workpiece. After the side top plates 25 come into contact with the workpiece, they are resisted. If the main slide 26 continues to move closer to the workpiece, the front plate 27 and the rear plate 28 tilt backwards, and the rear plate 28 pushes the slider 30 through the connecting rod 29. The slider 30 overcomes the tension of the spring and slides on the hollow shaft 31. When all the pressure sensors detect the same pressure, the side locator 9 stops moving.

[0036] Since the outer contour of the workpiece to be hemmed is irregular, after the workpiece is supported by the side top plate 25, the control system drives the hemming turntable 8 to rotate slowly, and the workpiece on the hemming turntable 8 rotates accordingly. The more the workpiece deviates from the rotation center as a whole or the greater the local mass is, the greater the centrifugal force it is subjected to. The pressure value detected by the pressure sensor in the side locator 9 symmetrically on both sides will change. The side locator 9 with an increased pressure value is under pressure, indicating that the workpiece on this side deviates from the rotation center as a whole or the local mass is large. The control system pushes the conical top block 33 into the hollow shaft 31 through the electric push rod 32, and the conical surface applies pressure to the hollow shaft 31, so that the hollow shaft 31 is stretched outward along the direction of the slit, so that the slider 30 cannot slide. At this time, if the moving module 34 drives the main slide 26 to move, the side top plate 25 moves together. Through the data detected by all pressure sensors, the side positioner 9 pushes the workpiece to move and change its position on the hemming turntable 8. The centrifugal moments generated by various parts of the workpiece relative to the rotation center of the hemming turntable 8 are balanced and offset each other, and the rotation stability is maintained during the subsequent rotation and hemming process, thereby improving the hemming effect of the workpiece and protecting the main axis of the hemming clamping table 1. When the side positioner 9 is clamped, the longitudinal lifting arm 6 presses down several top pressure rods 7 to fix the hemmed workpiece.

[0037] The first servo motor 22 is energized to drive the active bevel gear 21 to rotate. The active bevel gear 21 drives the cross shaft 13 to rotate through the driven bevel gear 20. The cross shaft 13 drives the cross sleeve 12 to rotate. The cross sleeve 12 drives the rolling wheel 10 to rotate. The rolling wheel 10 rolls and hems the edge of the workpiece. The rotation of the cross shaft 13 drives the driven slide 18 to rotate. The pin 19 on the driven slide 18 moves along the curved ring groove 17. The driven slide 18 slides up and down along the inside of the cylinder 14 while rotating. The air pressure between the driven slide 18 and the cross sleeve 12 changes accordingly. Since the cross sleeve 12 can also slide up and down along the inside of the cylinder 14 while rotating, the rolling wheel 10 vibrates repeatedly during the rotation process, and repeatedly hammers the workpiece to be hemmed through the vibration. The interior of the sand filling cavity 11 is filled with sand to reduce the rebound during hammering, thereby realizing the function of hammering and rotating hemming at the same time.

[0038] During the up-and-down movement of the driven sliding plug 18, high temperature will be generated in the cylinder barrel 14 due to air compression and friction. When the driven sliding plug 18 moves downward, the air pressure in the upper machine case 35 decreases, and external air enters the upper machine case 35 through the air inlet hole. When the driven sliding plug 18 moves upward, the air pressure in the upper machine case 35 increases, and the gas in the upper machine case 35 enters the pump air pipe through the air outlet hole and finally enters the air guide jacket housing 15 from the pump air pipe. The heat of the cylinder barrel 14 is dissipated along with the air flow in the air guide jacket housing 15, and the pulsed air flow carrying heat is ejected from the air injection pipe 16. The second servo motor 23 drives the small gear 24 to rotate, and the small gear 24 drives the air guide jacket housing 15 to rotate through the tooth groove, so that the air outlet end of the air injection pipe 16 faces the workpiece, and the hot air can touch the surface of the workpiece, which can not only remove dust from the surface of the workpiece but also preheat the workpiece.

[0039] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A double-station robot hemming workstation, comprising two hemming clamping tables (1), a hemming manipulator (2), an electrical cabinet (3) and a control cabinet (4). The two hemming clamping tables (1) are arranged on both sides of the hemming manipulator (2). Each hemming clamping table (1) is provided with a longitudinal lifting arm (6), and several top pressure rods (7) are arranged on each longitudinal lifting arm (6). Each hemming clamping table (1) is also rotatably provided with a hemming turntable (8), and it is characterized in that: The execution end of the hemming robot (2) is provided with a rolling actuator (5), and each of the hemming turntables (8) is provided with a plurality of side positioners (9), and the plurality of side positioners (9) are evenly distributed in a circular shape. The plurality of side positioners (9) and the plurality of top pressure rods (7) clamp and fix the workpiece, and the rolling actuator (5) hems the workpiece; Each of the side positioners (9) comprises a side top plate (25), a main slide (26), a front plate (27), a rear plate (28) and a movable module (34); the main slide (26) is slidably mounted on the hemming turntable (8); the movable module (34) is arranged at the bottom of the main slide (26); the movable module (34) is connected to a control system via a circuit; the front plate (27) and the rear plate (28) have the same length; the front plate (27) and the rear plate (28) are both rotatably mounted on the main slide (26); and the side top plate (25) is connected to one end of the front plate (27) and the rear plate (28) away from the main slide (26).

2. The double-station robot hemming workstation according to claim 1, wherein: A pressure sensor is provided at one end of the side top plate (25) away from the front plate (27), and the pressure sensor is connected to a control system circuit. A hollow shaft (31) is provided in the main slide seat (26), and a slider (30) is slidably installed in the main slide seat (26). The slider (30) is slidably connected to the hollow shaft (31), and a spring is connected between the slider (30) and the main slide seat (26). A connecting rod (29) is rotatably connected to the middle part of the rear plate (28), and the other end of the connecting rod (29) is rotatably connected to the slider (30).

3. A double-station robot hemming workstation according to claim 2, characterized in that: The hollow shaft (31) is provided with a plurality of slits evenly distributed in an annular shape. An electric push rod (32) is installed in the main slide seat (26). The electric push rod (32) is located at an end of the hollow shaft (31) away from the side top plate (25). A conical top block (33) is installed on the push rod of the electric push rod (32). The conical top of the conical top block (33) is located inside the hollow shaft (31).

4. A double-station robot hemming workstation according to claim 1, characterized in that: The rolling actuator (5) comprises an upper chassis (35), a cylinder (14), a rolling wheel (10) and a cross sleeve (12); the upper chassis (35) is connected to the execution end of the hemming robot (2); the cylinder (14) is connected below the upper chassis (35); the cross sleeve (12) and the rolling wheel (10) are integrally arranged; the cross sleeve (12) is slidably mounted on the bottom of the cylinder (14); a sand filling cavity (11) is provided inside the rolling wheel (10); and sand is filled inside the sand filling cavity (11).

5. The double-station robot hemming workstation according to claim 4, wherein: The rolling actuator (5) further includes a cross shaft (13) and a driven slide plug (18). A driven bevel gear (20) is provided at the top of the cross shaft (13). The driven bevel gear (20) is rotatably connected to the upper machine case (35). The bottom of the cross shaft (13) is slidably connected to a cross sleeve (12). The driven slide plug (18) is slidably installed inside the cylinder barrel (14). The cross shaft (13) passes through the middle of the driven slide plug (18) and is slidably connected thereto. A first servo motor (22) is installed in the upper machine case (35). A driving bevel gear (21) is installed on the first servo motor (22). The driving bevel gear (21) meshes with the driven bevel gear (20).

6. A double-station robot hemming workstation according to claim 5, wherein: A curve ring groove (17) is formed on the inner wall of the inner part of the cylinder barrel (14). A pin (19) is installed outside the driven slide plug (18). The pin (19) is slidably arranged in the curve ring groove (17).

7. A double-station robot hemming workstation according to claim 5, characterized in that: Heat dissipation grooves are formed on the outer surface of the cylinder barrel (14). An air guide jacket shell (15) is rotatably installed outside the cylinder barrel (14). The top and bottom of the air guide jacket shell (15) are rotatably and sealingly connected to the cylinder barrel (14). Tooth grooves are formed at the top of the air guide jacket shell (15). A second servo motor (23) is installed in the upper machine case (35). The motor shaft of the second servo motor (23) passes through the upper machine case (35). A small gear (24) is connected to the motor shaft of the second servo motor (23). The small gear (24) meshes with the tooth grooves.

8. A double-station robot hemming workstation according to claim 7, characterized in that: An air inlet hole and an air outlet hole are formed in the upper machine case (35). Check valves are provided on both the air inlet hole and the air outlet hole. A pump air pipe is connected to the top of the air guide jacket shell (15). The other end of the pump air pipe is connected to the air outlet hole. An air spraying pipe (16) is provided at the bottom of the air guide jacket shell (15). An obliquely cut air spraying port is formed at one end of the air spraying pipe (16) away from the air guide jacket shell (15).

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