A flexible automated production line

Abstract

The invention discloses a flexible automated production line, which relates to the technical field of welding automation. In order to solve the problem that the existing clamps cannot adapt to the transportation needs of workpieces of various specifications, the production line includes a base, and the top surface of the base is provided with a multi-axis welding machine, a transfer robot arm and a loading robot arm, which are all connected to the control device signal. The ends of the transfer robot arm and the loading robot arm are provided with execution terminals, and the surfaces of the execution terminals are provided with plug sockets. A transfer plate is provided on the top surface of the base, and the bottom surface of the transfer plate is provided with a plurality of electrode sockets located at different positions. The top surface of the transfer plate is provided with power terminals matched with the plug sockets, and the power terminals are connected to the electrode sockets through power lines. The surfaces of the power terminals are provided with electric slip rings, and a plurality of adaptive suction cups are provided. The plurality of adaptive suction cups are detachably arranged on the transfer plate, and the top of the adaptive suction cup is provided with a pluggable electrode plug arranged on the electrode socket. Such an arrangement can be applicable to the transportation needs of workpieces of various specifications.

Description

Technical Field

[0001] The present invention relates to the technical field of welding automation, and more specifically to a flexible automated production line. Background Art

[0002] Welding refers to the process of heating, pressurizing, or both, with or without filler materials, the workpieces (of the same or different materials) to achieve atomic bonding and permanent connection. Welding is widely used and can be used for both metals and non-metals. Welded products are lighter than riveted parts, castings and forgings, have good sealing properties, and are very economical. The use of welding technology can effectively utilize materials. Welded structures can use materials with different properties in different parts, giving full play to the strengths of various materials to achieve economic and high-quality goals.

[0003] Welding has become an indispensable and increasingly important processing method in modern industry. In existing welding automation production lines, fixed fixtures are usually used to achieve workpiece positioning and transportation. These fixtures are usually installed directly on the work platform, lacking flexibility, and the fixed installation position is difficult to adjust. They are mostly of a single specification and cannot adapt to the transportation and operation requirements of multi-variety and multi-specification workpieces. When faced with frequent changes in production tasks, the machine needs to be stopped to disassemble and adjust the fixture, resulting in a decrease in production efficiency and difficulty in meeting the production needs of rapid switching.

[0004] Therefore, how to solve the problem that the existing fixtures cannot adapt to the transportation requirements of workpieces of various specifications is an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a flexible automated production line that can meet the transportation needs of workpieces of various specifications, improve the adaptability of the transfer robot arm and the loading robot arm, improve the flexibility of the production line, and quickly switch production tasks without long-term shutdown adjustments.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A flexible automated production line, comprising:

[0008] A base, the top surface of which is provided with a multi-axis welding machine, a transfer robot arm and a loading robot arm, all of which are connected to the control device signal, and the ends of the transfer robot arm and the loading robot arm are provided with execution terminals, and the surfaces of the execution terminals are provided with plug sockets;

[0009] The transfer plate is arranged on the top surface of the base, and the bottom surface of the transfer plate is provided with a plurality of electrode jacks located at different positions, and the top surface of the transfer plate is provided with a power terminal adapted to the plug socket, the power terminal is connected to the electrode jack through a power line, and an electric slip ring is provided on the surface of the power terminal;

[0010] The adaptive suction cups are provided in a plurality, and the plurality of adaptive suction cups are detachably arranged on the transfer plate, and the top ends of the adaptive suction cups are provided with pluggable electrode plugs arranged on the electrode sockets.

[0011] Preferably, it also includes a tooling positioning assembly, which includes a fixed seat, a discharge pressure plate and a driving source, the fixed seat is fixed to the top surface of the base, the discharge pressure plate is located above the fixed seat and arranged parallel to the fixed seat, one end of the driving source is fixed to the fixed seat, the output end of the driving source is movably connected to the surface of the connecting rod, one end of the connecting rod is movably connected to the fixed seat, and the other end of the connecting rod is movably connected to the surface of the discharge pressure plate, so that the driving source drives the connecting rod to deflect during the telescopic movement, and the driving source is connected to the control device signal.

[0012] Preferably, the connecting rod is a two parallel connecting rod structure, and the connecting rods are symmetrically arranged on both sides of the unloading pressure plate, and the output end of the driving source is movably connected to the middle section of the surface of the connecting rod.

[0013] Preferably, the unloading pressing plate is a frame-shaped structure, and a withdrawal groove corresponding to the position of the adaptive suction cup is provided on the surface of the unloading pressing plate.

[0014] Preferably, the tooling positioning assembly also includes a first push rod member, a second push rod member and a positioning protrusion arranged on the surface of the fixed seat, the first push rod member and the second push rod member both include an actuator cylinder fixed to the bottom surface of the fixed seat, the actuator cylinder is connected to the control device signal, the output end of the actuator cylinder is connected to a rod, and the rods of the first push rod member and the second push rod member are perpendicular to each other in the plane, the first push rod member is located at one end of the top surface of the fixed seat, and the positioning protrusion is located at the other end of the top surface of the fixed seat.

[0015] Preferably, the adaptive suction cup includes a drive cylinder, a motor and a disc-shaped suction cup, an exhaust hole is provided on the surface of the drive cylinder, a piston cylinder seat is provided inside the drive cylinder, a plurality of piston cylinders evenly distributed in a circumferential direction are provided on the surface of the piston cylinder seat, an air valve plunger is slidably installed in the piston cylinder, and a one-way air intake valve is provided at the bottom end of the piston cylinder, the motor is provided in the drive cylinder and is located at the top end of the drive cylinder, the output end of the motor is connected to the swash plate rotor, and the bottom surface of the swash plate rotor is movably connected with a butt ring, the bottom surface of the butt ring is elastically abutted against the top end of each air valve plunger, and the disc-shaped suction cup is sleeved on the bottom end of the drive cylinder.

[0016] Preferably, an air inlet hole is provided at the bottom of the one-way air inlet valve, the air inlet hole is connected to the inner cavity of the disc-shaped suction cup, an air duct is provided in the one-way air inlet valve, a first air outlet is provided at the top of the one-way air inlet valve, both the air inlet hole and the first air outlet are connected to the air duct, and a one-way valve core is provided in the air duct.

[0017] Preferably, a through hole connected to the first air outlet is provided at the bottom end of the air valve plunger, a second air outlet is provided on the surface of the air valve plunger, an air passage connected to the through hole and the second air outlet is provided inside the air valve plunger, and a one-way valve core is provided inside the air passage.

[0018] Preferably, a spring is provided on the outer sleeve of the air valve plunger, and an outer cap matching the top of the spring is provided on the top of the air valve plunger. The spring is used to provide a preload force to ensure that the top of the air valve plunger is always in contact with the bottom surface of the abutment ring. An installation groove for installing the spring is provided on the piston cylinder seat.

[0019] Preferably, the bottom surface of the swash plate rotor is arranged obliquely, and the center of the swash plate rotor coincides with the axis of the motor and the piston cylinder seat.

[0020] Preferably, the retaining ring is in the shape of a ring, and the top surface of the retaining ring is provided with a ball that fits with the bottom surface of the swash plate rotor, the bottom surface of the retaining ring is provided with a ball, and the top surface of the valve plunger is provided with a spherical groove that matches the ball.

[0021] Preferably, the power line is arranged in the transfer plate and connected to the electric slip ring.

[0022] The flexible automated production line provided by the present invention includes a base, a multi-axis welding machine, a transfer robot arm, a loading robot arm, a transfer plate and an adaptive suction cup. Specifically, the top surface of the base is provided with a multi-axis welding machine, a transfer robot arm and a loading robot arm, all of which are connected to the control device signal. The base is used to support the entire production line, and the automatic grasping, transfer and unloading of the workpiece is achieved by controlling the transfer robot arm and the loading robot arm, and the workpiece is processed by the multi-axis welding machine.

[0023] The ends of the transfer robot arm and the loading robot arm are both provided with execution ends, and the surfaces of the execution ends are provided with plug sockets. The transfer plate is arranged on the top surface of the base platform, and the top surface of the transfer plate is provided with power terminals compatible with the plug sockets. The transfer robot arm and the loading robot arm are connected with the power terminals of the transfer plate through the plug sockets of the execution ends to realize the mechanical and electrical connection between the transfer robot arm, the loading robot arm and the transfer plate, so as to realize the control of the transfer plate through the control circuits of the transfer robot arm and the loading robot arm. The bottom surface of the transfer plate is provided with a plurality of electrode sockets located at different positions, and the power terminals are connected with the electrode sockets through power cords to energize the electrode sockets. A plurality of adaptive suction cups are provided, and a plurality of adaptive suction cups are detachably arranged on the transfer plate. The top of the adaptive suction cup is provided with a pluggable electrode plug arranged on the electrode socket. The pluggable design of the electrode plug and the electrode socket is used to fix the positions of a plurality of adaptive suction cups and realize power connection, so as to realize the detachable installation and flexible arrangement of the adaptive suction cups.

[0024] Through the detachable design of the transfer plate and adaptive suction cup, combined with the multi-axis motion capabilities of the transfer robot arm and the loading robot arm, the production line can adapt to the production of workpieces of various specifications and quickly switch production tasks without long-term shutdown adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the structure of the flexible automated production line provided by the present invention;

[0027] Figure 2 A partial enlarged view of the flexible automated production line provided by the present invention;

[0028] Figure 3 A partial exploded view of the flexible automated production line provided by the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of the tooling positioning assembly provided by the present invention;

[0030] Figure 5 A partial exploded view of the tooling positioning assembly provided by the present invention;

[0031] Figure 6 for Figure 4 A schematic diagram of the structure from another perspective;

[0032] Figure 7 A schematic diagram of the structure of the adaptive suction cup provided by the present invention;

[0033] Figure 8 An exploded view of the adaptive suction cup provided by the present invention;

[0034] Fig. 9 A cross-sectional view of the adaptive suction cup provided by the present invention;

[0035] Fig.10 This is a partial exploded view of the adaptive suction cup provided by the present invention.

[0036] Reference numerals:

[0037] 1-base; 2-multi-axis welding machine; 3-transfer robot arm; 4-loading robot arm; 5-execution end; 6-plug socket; 7-transfer plate; 8-power terminal; 9-adaptive suction cup, 91-driving cylinder, 911-exhaust hole, 92-motor, 93-dish suction cup, 94-piston cylinder seat, 95-valve plunger, 951-second air outlet, 96-one-way air inlet valve, 961-first air outlet, 97-swash plate rotor, 98-back ring, 99-spring; 10-tool positioning assembly, 101-fixed seat, 102-unloading pressure plate, 1021-exit groove, 103-driving source, 104-connecting rod, 105-first push rod member, 106-second push rod member, 107-positioning bump. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] It should be noted that the directional words such as "upper" and "lower" mentioned below are defined based on the drawings in the specification.

[0041] The core of the present invention is to provide a flexible automated production line that can meet the transportation needs of workpieces of various specifications, improve the adaptability of the transfer robot arm 3 and the loading robot arm 4, improve the flexibility of the production line, and quickly switch production tasks without long-term shutdown adjustments.

[0042] Please refer to Figure 1 , Figure 2 and Figure 3 A flexible automated production line includes a base 1, a multi-axis welding machine 2, a transfer robot arm 3, a loading robot arm 4, a transfer plate 7 and an adaptive suction cup 9.

[0043] Specifically, the top surface of the base 1 is provided with a multi-axis welding machine 2, a transfer robot arm 3 and a loading robot arm 4, which are all connected to the control device signal. The base 1 is used to support the entire production line, and the automatic grasping, transfer and unloading of the workpiece are achieved by controlling the transfer robot arm 3 and the loading robot arm 4, and the workpiece is processed by the multi-axis welding machine 2.

[0044] The ends of the transfer robot arm 3 and the loading robot arm 4 are both provided with an execution terminal 5, and the surface of the execution terminal 5 is provided with a plug socket 6, the transfer plate 7 is arranged on the top surface of the base 1, and the top surface of the transfer plate 7 is provided with an electrical terminal 8 adapted to the plug socket 6, the transfer robot arm 3 and the loading robot arm 4 are connected to the electrical terminal 8 of the transfer plate 7 through the plug socket 6 of the execution terminal 5, so as to realize the mechanical and electrical connection between the transfer robot arm 3, the loading robot arm 4 and the transfer plate 7, so as to realize the transfer through the control circuit of the transfer robot arm 3 and the loading robot arm 4 The transfer plate 7 is controlled by a plurality of electrode sockets at different positions on the bottom surface of the transfer plate 7, and the power terminal 8 is connected to the electrode socket through a power line to energize the electrode socket. A plurality of adaptive suction cups 9 are provided, and the plurality of adaptive suction cups 9 are detachably arranged on the transfer plate 7. The top of the adaptive suction cup 9 is provided with a pluggable electrode plug arranged on the electrode socket. The pluggable design of the electrode plug and the electrode socket is used to fix the positions of the plurality of adaptive suction cups 9 and realize the power connection, so as to realize the detachable installation and flexible arrangement of the adaptive suction cups 9.

[0045] Through the detachable design of the transfer plate 7 and the adaptive suction cup 9, combined with the multi-axis movement capabilities of the transfer robot arm 3 and the loading robot arm 4, the production line can adapt to the production of workpieces of multiple specifications and quickly switch production tasks without long-term shutdown adjustments.

[0046] The flexible automated production line set up in the above manner, by setting up a new adaptive suction cup 9 structure and arbitrarily arranging it on the bottom surface of transfer plates 7 of various specifications and types, can select transfer plates 7 of similar shapes and specifications according to the size of the workpieces, and reasonably disassemble and arrange the positions of the adaptive suction cups 9, thereby improving the adaptability of the transfer robot arm 3 and the loading robot arm 4, improving the flexibility of the production line, being able to adapt to the production of multiple varieties, and quickly switching production tasks without long-term shutdown adjustments.

[0047] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6, also includes a tooling positioning component 10, the tooling positioning component 10 includes a fixed seat 101, a discharge pressure plate 102 and a driving source 103, the fixed seat 101 is fixed to the top surface of the base 1, the discharge pressure plate 102 is located above the fixed seat 101 and is arranged parallel to the fixed seat 101, one end of the driving source 103 is fixed to the fixed seat 101, the output end of the driving source 103 is movably connected to the surface of the connecting rod 104, one end of the connecting rod 104 is movably connected to the fixed seat 101, and the other end of the connecting rod 104 is movably connected to the surface of the discharge pressure plate 102, so that the driving source 103 drives the connecting rod 104 to deflect during the telescopic movement, and the driving source 103 is connected to the control device signal.

[0048] It should be noted that the tooling positioning assembly 10 is fixed to the surface of the base 1 and is used for positioning and pre-processing of the workpiece. The control device controls the driving source 103 to start, so as to drive the connecting rod 104 to deflect, and the deflection of the connecting rod 104 drives the movement of the unloading pressing plate 102, and the unloading pressing plate 102 presses the workpiece downward to meet the high-precision positioning requirements.

[0049] In the above case, the connecting rod 104 is a structure of two parallel connecting rods 104 , and the connecting rods 104 are symmetrically arranged on both sides of the discharge plate 102 , and the output end of the driving source 103 is movably connected to the middle section of the surface of the connecting rod 104 .

[0050] It can be understood that, through the design of the parallel connecting rod 104 and the drive of the driving source 103, the deflection movement of the unloading pressure plate 102 is realized, and uniform pressure is provided when pressing down the workpiece, thereby improving the accuracy and stability of positioning.

[0051] Furthermore, the unloading pressing plate 102 is in a frame-shaped structure, and a withdrawal groove 1021 corresponding to the position of the adaptive suction cup 9 is provided on the surface of the unloading pressing plate 102 .

[0052] It should be noted that, by providing an exit groove 1021 on the unloading platen 102, the adaptive suction cup 9 is separated from the workpiece surface and exits the unloading platen 102 when the unloading platen 102 presses the workpiece. By designing the frame-shaped unloading platen 102 and providing the exit groove 1021, the accuracy of workpiece positioning is ensured, and the adaptive suction cup 9 can be smoothly separated from the workpiece, thereby improving the unloading efficiency. The frame-shaped design of the unloading platen 102 can adapt to workpieces of different specifications, and combined with the flexible adjustment of the adaptive suction cup 9 and the transfer plate 7, the production line can quickly complete the production switching of multiple varieties.

[0053] In the above embodiment, the tooling positioning assembly 10 also includes a first push rod member 105, a second push rod member 106 and a positioning protrusion 107 arranged on the surface of the fixed seat 101. The first push rod member 105 and the second push rod member 106 both include an actuator cylinder fixed to the bottom surface of the fixed seat 101. The actuator cylinder is connected to the control device signal, and the output end of the actuator cylinder is connected to a bar, and the bars of the first push rod member 105 and the second push rod member 106 are perpendicular to each other in the plane. The first push rod member 105 is located at one end of the top surface of the fixed seat 101, and the positioning protrusion 107 is located at the other end of the top surface of the fixed seat 101.

[0054] It can be understood that by arranging the first push rod member 105 and the second push rod member 106 on the surface of the fixing seat 101 and combining the telescopic action of the execution cylinder to achieve precise positioning, the fixing stability of the workpiece is effectively improved to prevent deviation during processing and transportation.

[0055] When positioning the workpiece, the workpiece is first moved to the surface of the fixed seat 101 through the cooperation of the transfer robot arm 3, the loading robot arm 4 and the transfer plate 7, and then the unloading pressure plate 102 is driven by the driving source 103 to realize the deflection movement, so as to unload the workpiece, and then the first push rod member 105 and the second push rod member 106 are driven by the execution cylinder, and cooperate with the positioning protrusion 107 to limit and fix the workpiece on all sides.

[0056] During operation, after the workpiece is transferred to the fixing seat 101, the first push rod 105 and the second push rod 106 push the workpiece for preliminary positioning; then, the control device starts the driving source 103 to drive the unloading pressing plate 102 to finally press down and fix the workpiece through the deflection movement of the connecting rod 104. During this process, the exit groove 1021 ensures that the adaptive suction cup 9 can be quickly separated from the workpiece surface, thereby improving the unloading efficiency.

[0057] Please refer to Figure 7 , Figure 8 , Fig. 9 and Fig.10 The adaptive suction cup 9 includes a driving cylinder 91, a motor 92 and a disc-shaped suction cup 93. An exhaust hole 911 is provided on the surface of the driving cylinder 91. A piston cylinder seat 94 is provided inside the driving cylinder 91. A plurality of piston cylinders evenly distributed in a circumferential direction are provided on the surface of the piston cylinder seat 94. An air valve plunger 95 is slidably installed in the piston cylinder, and a one-way air intake valve 96 is provided at the bottom end of the piston cylinder. The motor 92 is provided in the driving cylinder 91 and is located at the top end of the driving cylinder 91. The output end of the motor 92 is connected to a swash plate rotor 97, and a butt ring 98 is movably connected to the bottom surface of the swash plate rotor 97. The bottom surface of the butt ring 98 is elastically abutted against the top end of each air valve plunger 95. The disc-shaped suction cup 93 is sleeved on the bottom end of the driving cylinder 91.

[0058] It should be noted that the structure of the adaptive suction cup 9 is further optimized to enhance the suction and positioning functions, and improve the flexibility and adaptability of the production line. In the workpiece suction operation, the swash plate rotor 97 is driven to rotate by the rotation of the motor 92, driving the ring 98 to rotate synchronously, thereby pushing the valve plunger 95 to reciprocate in the piston cylinder, thereby forming a stable negative pressure, and then adsorbing the workpiece through the one-way air intake valve 96 and the disc suction cup 93.

[0059] Through the integrated adaptive suction cup 9, the reciprocating motion of the air valve plunger 95 is used to achieve negative pressure suction inside the disc-shaped suction cup 93, forming a stable adsorption effect. The structure is compact, small in size, and has excellent adsorption effect. It is suitable for the transportation of workpieces of different specifications and reduces the complexity and limitations of traditional fixtures.

[0060] In the above embodiment, an air inlet hole is provided at the bottom of the one-way air inlet valve 96, and the air inlet hole is connected to the inner cavity of the disc-shaped suction cup 93. An air duct is provided in the one-way air inlet valve 96. A first air outlet hole 961 is provided at the top of the one-way air inlet valve 96. Both the air inlet hole and the first air outlet hole 961 are connected to the air duct, and a one-way valve core is provided in the air duct.

[0061] It can be understood that the air valve plunger 95 reciprocates in the piston cylinder, thereby forming a stable negative pressure, so that the gas enters from the disc-shaped suction cup 93, enters the air passage through the air inlet hole of the one-way air inlet valve 96, and is discharged from the first air outlet hole 961 after passing through the one-way valve core. The one-way valve core is used for the one-way movement of the air flow inside the one-way air inlet valve 96 to be guided out from the first air outlet hole 961, and is used to control the generation and release of negative pressure.

[0062] Based on the above embodiment, a through hole connected to the first air outlet 961 is provided at the bottom of the air valve plunger 95, a second air outlet 951 is provided on the surface of the air valve plunger 95, an air duct connected to the through hole and the second air outlet 951 is provided inside the air valve plunger 95, and a one-way valve core is provided in the air duct.

[0063] It should be noted that a through hole facing the first air outlet 961 is provided at the bottom end of the air valve plunger 95 and a one-way valve core is provided inside, so that the air flow can flow through the bottom through hole in one direction and be discharged from the second air outlet 951 .

[0064] In the above situation, a spring 99 is provided on the outer periphery of the air valve plunger 95, and an outer cap matched with the top of the spring 99 is provided on the top of the air valve plunger 95. The spring 99 is used to provide a pre-tightening force to ensure that the top of the air valve plunger 95 is always in contact with the bottom surface of the retaining ring 98. An installation groove for installing the spring 99 is provided on the piston cylinder seat 94.

[0065] It is understandable that one end of the spring 99 abuts against the piston cylinder, and the other end abuts against the outer cap of the valve plunger 95, so that the valve plunger 95 can achieve reciprocating motion under the action of the spring 99. The spring 99 design on the periphery of the valve plunger 95 realizes the automatic lifting of the valve plunger 95, and keeps it in continuous contact with the ring 98, thereby stably forming negative pressure adsorption. By setting a one-way valve core to cooperate with the movement of the valve plunger 95, the negative pressure can be stably generated and controlled, making the adsorption operation of the workpiece efficient and reliable.

[0066] In the above embodiment, the bottom surface of the swash plate rotor 97 is arranged obliquely, and the center of the swash plate rotor 97 coincides with the axis of the motor 92 and the piston cylinder base 94 .

[0067] It should be noted that the swash plate rotor 97 pushes the multiple valve plungers 95 in the piston cylinder seat 94 to make the multiple valve plungers 95 reciprocate in the piston cylinder. Through the inclined setting, some of the valve plungers 95 can move up and some of the valve plungers 95 can move down to form a stable negative pressure. The center of the swash plate rotor 97 coincides with the axis of the motor 92 and the piston cylinder seat 94, so that the multiple valve plungers 95 in the piston cylinder seat 94 are evenly stressed.

[0068] In the above embodiment, the retaining ring 98 is in a circular ring shape, and the top surface of the retaining ring 98 is provided with a ball that fits with the bottom surface of the swash plate rotor 97, the bottom surface of the retaining ring 98 is provided with a ball, and the top surface of the valve plunger 95 is provided with a spherical groove that matches the ball.

[0069] It can be understood that the top surface of the annular ring 98 is provided with a ball that fits with the bottom surface of the swash plate rotor 97, which is used to reduce the sliding friction between the swash plate rotor 97 and the annular ring 98 during rotation. The ball structure design of the swash plate rotor 97 and the annular ring 98 reduces the sliding friction during rotation, ensuring the smooth movement and adsorption efficiency of the valve plunger 95. By designing the ball and spherical groove at the contact part of the annular ring 98 and the valve plunger 95, the flexibility of the movement of the valve plunger 95 is further improved, ensuring the efficient operation of the adsorption system.

[0070] In the above embodiment, the power line is arranged in the transfer plate 7 and connected to the electric slip ring.

[0071] It should be noted that the power supply circuit of the motor 92 is arranged inside the transfer plate 7 and the end is connected to the electric slip ring on the surface of the power terminal 8. It is electrically connected to the control end of the transfer robot arm 3 and the loading robot arm 4 through the power terminal 8 and the plug socket 6, ensuring the circuit control reliability and stability of the entire production line. The bottom surface of the plug socket 6 and the surface of the power terminal 8 are respectively provided with a number of matching motor points and electric slip rings, which are used to control the operation of the adaptive suction cup 9 through the control circuit of the transfer robot arm 3 and the loading robot arm 4. By detachably installing the adaptive suction cup 9 on the transfer plate 7 and combining the electric slip ring structure to achieve unified control, the production line's adaptability to different workpiece specifications and flexible production capacity are greatly improved.

[0072] When in use: First, the workpiece is transferred to the transfer plate 7, and the end of the transfer robot arm 3 or the end of the loading robot arm 4 performs the end 5 to grab the workpiece and move it. After the workpiece is placed on the surface of the fixed seat 101 of the tooling positioning assembly 10, the control device drives the unloading pressing plate 102 to initially fix the workpiece by pressing down, and at the same time ensure that the workpiece is out of contact with the transfer plate 7 and the adaptive suction cup 9. After the workpiece is initially fixed, the first push rod 105 and the second push rod 106 are controlled to push the workpiece from different directions respectively, so that the workpiece can be accurately positioned and clamped on the surface of the fixed seat 101. This process ensures that the workpiece remains stable in position during subsequent processing or transportation. After positioning is completed, the multi-axis welding machine 2 performs processing operations on the workpiece according to the preset program, including welding, grinding or other processing steps. After processing is completed, the control device operates the driving source 103 to make the unloading pressing plate 102 rise to the initial position, and the end of the transfer robot arm 3 performs the end 5 to grab the workpiece for transportation. After transportation is completed, the workpiece is placed in the next workstation or unloading area.

[0073] Through the above design and operation, the production line can achieve efficient transfer, precise positioning and flexible adjustment of workpieces to meet the production needs of workpieces of various specifications.

[0074] In summary, the flexible automated production line provided by the present invention realizes the grabbing, positioning, processing, transporting and unloading operations of the workpiece through the coordinated action of the transfer robot arm 3, the loading robot arm 4, the transfer plate 7, the tooling positioning assembly 10, the adaptive suction cup 9 and the control device. The transfer robot arm 3 and the loading robot arm 4 are used as the grabbing and transporting devices of the production line. The electric slip ring connection is realized through the execution end 5 at the end and the plug socket 6, and the precise grabbing, placing and transporting operations are performed in combination with the control system. After the workpiece is placed on the fixed seat 101, the first push rod 105 and the second push rod 106 push the workpiece from different directions to achieve preliminary positioning. Subsequently, the connecting rod 104 is driven to deflect by the driving source 103, so that the unloading pressure plate 102 applies pressure downward to accurately press down and position the workpiece. The adaptive suction cup 9 generates negative pressure through the reciprocating motion of the air valve plunger 95, and the negative pressure is formed by the cooperation of the one-way air inlet valve 96 and the air valve plunger 95. The motor 92 drives the swash plate rotor 97 to rotate, pushing the multiple valve plungers 95 to achieve circular motion, thereby forming a stable adsorption force inside the disc-shaped suction cup 93. The adaptive suction cup 9 is connected to the jack on the bottom of the transfer plate 7 through the electrode plug, combined with the circuit control of the robot arm, to adapt to different workpiece specifications and position requirements, and realize flexible adjustment. Through the detachable structure and multi-point arrangement of the adaptive suction cup 9, it can adapt to the production needs of multi-specification workpieces, improve the flexibility of the production line, and reduce the adjustment time. Combined with the synergistic effect of the first push rod 105, the second push rod 106, the positioning convex point 107, and the unloading pressure plate 102, precise downward pressure positioning is achieved, and the stable negative pressure generated by the valve plunger 95 and the one-way air inlet valve 96 is used to achieve efficient adsorption and stable transportation. The adaptive suction cup 9 cooperates with the control system of the transfer robot arm 3 and the loading robot arm 4, combined with the unified scheduling of the control device, to ensure the efficient operation of the production line, reduce manual intervention, and improve stability and production efficiency.

[0075] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0076] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0077] The above is a detailed introduction to a flexible automated production line provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A flexible automated production line, characterized in that: include: A base (1), wherein a multi-axis welding machine (2), a transfer robot arm (3) and a loading robot arm (4) are arranged on the top surface of the base (1), all of which are connected to the control device signal, and the ends of the transfer robot arm (3) and the loading robot arm (4) are both provided with an execution terminal (5), and the surface of the execution terminal (5) is provided with a plug socket (6); A transfer plate (7) is arranged on the top surface of the base (1); a plurality of electrode jacks located at different positions are arranged on the bottom surface of the transfer plate (7); a power connection terminal (8) adapted to the plug socket (6) is arranged on the top surface of the transfer plate (7); the power connection terminal (8) is connected to the electrode jack via a power line; and an electric slip ring is arranged on the surface of the power connection terminal (8); A plurality of adaptive suction cups (9) are provided, and the plurality of adaptive suction cups (9) are detachably provided on the transfer plate (7), and a pluggable electrode plug provided on the electrode socket is provided at the top end of the adaptive suction cup (9); The adaptive suction cup (9) comprises a driving cylinder (91), a motor (92) and a disc-shaped suction cup (93); an exhaust hole (911) is provided on the surface of the driving cylinder (91); a piston cylinder seat (94) is provided in the driving cylinder (91); a plurality of piston cylinders evenly distributed in a circumferential direction are provided on the surface of the piston cylinder seat (94); a gas valve plunger (95) is slidably mounted in the piston cylinder; a one-way air intake valve (96) is provided at the bottom end of the piston cylinder; the motor (92) is provided in the driving cylinder (91) and is located at the top end of the driving cylinder (91); an output end of the motor (92) is connected to a swash plate rotor (97); a butt ring (98) is movably connected to the bottom surface of the swash plate rotor (97); the bottom surface of the butt ring (98) elastically butts against the top end of each gas valve plunger (95); and the disc-shaped suction cup (93) is sleeved on the bottom end of the driving cylinder (91).

2. The flexible automated production line according to claim 1, characterized in that: The tooling positioning assembly (10) further comprises a tooling positioning assembly (10), the tooling positioning assembly (10) comprising a fixed seat (101), a discharge pressure plate (102) and a driving source (103), the fixed seat (101) being fixed to the top surface of the base (1), the discharge pressure plate (102) being located above the fixed seat (101) and being arranged parallel to the fixed seat (101), one end of the driving source (103) being fixed to the fixed seat (101), the output end of the driving source (103) being movably connected to the surface of a connecting rod (104), one end of the connecting rod (104) being movably connected to the fixed seat (101), and the other end of the connecting rod (104) being movably connected to the surface of the discharge pressure plate (102), so that the driving source (103) drives the connecting rod (104) to deflect when performing a telescopic movement, and the driving source (103) is connected to the control device by signal.

3. The flexible automated production line according to claim 2, characterized in that: The connecting rod (104) is a two-parallel connecting rod structure, and the connecting rod (104) is symmetrically arranged on both sides of the discharge pressure plate (102), and the output end of the driving source (103) is movably connected to the middle section of the surface of the connecting rod (104).

4. The flexible automated production line according to claim 2, characterized in that: The unloading pressing plate (102) is in a frame-shaped structure, and a withdrawal groove (1021) corresponding to the position of the adaptive suction cup (9) is provided on the surface of the unloading pressing plate (102).

5. The flexible automated production line according to claim 2, characterized in that: The tool positioning assembly (10) further comprises a first push rod member (105), a second push rod member (106) and a positioning protrusion (107) arranged on the surface of the fixing seat (101), the first push rod member (105) and the second push rod member (106) both comprising an actuator cylinder fixed to the bottom surface of the fixing seat (101), the actuator cylinder being connected to the control device by signal, the output end of the actuator cylinder being connected to a bar, and the bars of the first push rod member (105) and the second push rod member (106) are perpendicular to each other in a plane, the first push rod member (105) is located at one end of the top surface of the fixing seat (101), and the positioning protrusion (107) is located at the other end of the top surface of the fixing seat (101).

6. The flexible automated production line according to claim 1, characterized in that: An air inlet hole is provided at the bottom of the one-way air inlet valve (96), the air inlet hole is communicated with the inner cavity of the disc-shaped suction cup (93), an air passage is provided inside the one-way air inlet valve (96), a first air outlet hole (961) is provided at the top of the one-way air inlet valve (96), the air inlet hole and the first air outlet hole (961) are both communicated with the air passage, and a one-way valve core is provided inside the air passage.

7. The flexible automated production line according to claim 6, characterized in that: A through hole communicating with the first air outlet (961) is provided at the bottom end of the air valve plunger (95); a second air outlet (951) is provided on the surface of the air valve plunger (95); an air passage communicating with the through hole and the second air outlet (951) is provided inside the air valve plunger (95); the one-way valve core is provided inside the air passage.

8. The flexible automated production line according to claim 7, characterized in that: The outer sleeve of the air valve plunger (95) is provided with a spring (99), and the top of the air valve plunger (95) is provided with an outer cap matched with the top of the spring (99). The spring (99) is used to provide a pre-tightening force to make the top of the air valve plunger (95) always fit with the bottom surface of the retaining ring (98), and the piston cylinder seat (94) is provided with a mounting groove for mounting the spring (99).

9. The flexible automated production line according to any one of claims 6 to 8, characterized in that: The bottom surface of the swash plate rotor (97) is arranged obliquely, and the center of the circle of the swash plate rotor (97) coincides with the axis center lines of the motor (92) and the piston cylinder seat (94).

10. The flexible automated production line according to any one of claims 6 to 8, characterized in that: The retaining ring (98) is in the shape of a ring, and a ball bearing that fits in contact with the bottom surface of the swash plate rotor (97) is provided on the top surface of the retaining ring (98), a ball is provided on the bottom surface of the retaining ring (98), and a spherical groove that matches the ball is provided on the top surface of the valve plunger (95).

11. The flexible automated production line according to claim 1, characterized in that: The power line is arranged in the transfer plate (7) and is connected to the electric slip ring.

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