Linear motion and rotary motion composite robot flexible punching gun

Abstract

The invention discloses a linear motion and rotary motion compound type robot flexible punching gun, which relates to the technical field of punching equipment and comprises a shell unit (01-00), a core unit (02-00), a zero reset unit (03-00), a floating unit (04-00) and a TCP (Transmission Control Protocol) unit (05-00). The method is scientific, reasonable and safe and convenient to use. The invention discloses a linear motion and rotary motion composite robot flexible punching gun. Punching of workpieces in different avoiding spaces is achieved through a linear motion form and a rotary motion form, meanwhile, the time for quickly replacing a punching gun is saved to improve the takt time and stability, and the problem of hydraulic oil leakage of a hydraulic driving system is solved without quickly replacing the punching gun. Due to the design of the floating unit, the whole punching gun is self-adaptive to fluctuation, generated by welding, of a punched face within the tolerance tolerance range of position tolerance, and smooth damage to a punched part due to the fact that the face needing to be punched is rigidly and rigidly pulled and punched by the punching gun within the tolerance tolerance range of the tolerance tolerance of profile tolerance is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of punching equipment, in particular to a linear motion and rotational motion composite robot flexible punching gun. Background Art

[0002] In the field of automotive equipment, most automotive parts are welded or cast. In order to ensure the accuracy of assembly holes, most of them use punching equipment as the last process, such as chassis modules, seats, exhaust, fuel pipes, bumpers (plastic parts). Especially the front and rear subframes on the chassis parts, the position accuracy of the holes is high and most of them are arc welded. Arc welding causes large deformation and is difficult to control. If it is not ensured by punching equipment after welding, the quality stability of the parts is difficult to guarantee.

[0003] There are some existing structural forms (linear motion, rotational motion) of punching inlays, one of which can only achieve the same working condition of the avoidance space area around the punched area; either solve customer needs by quick-changing punching inlays, or solve customer needs by increasing the number of equipment; if quick-changing punching guns are used, the quick-changing time will be increased, thereby reducing the production cycle and equipment stability; if the number of equipment is increased, the customer's investment cost and floor space will increase. Summary of the invention

[0004] The object of the present invention is to provide a linear motion and rotational motion composite robot flexible punching gun to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a linear motion and rotational motion composite robot flexible punching gun, comprising a shell unit, a core unit, a zero position reset unit, a floating unit, and a TCP unit, wherein the shell unit is located on the outside of the entire device, the core unit is arranged inside the shell unit, and the floating unit and the zero position reset unit are arranged on the top of the shell unit.

[0006] Further, the housing unit includes a main driving cylinder, a first housing, a first T-shaped slide rail, a first mold mounting seat, a first concave mold, a second concave mold, a first concave mold connecting block, a second mold mounting seat, a second T-shaped slide rail, a second housing, a third T-shaped slide rail, a third mold mounting seat, a third concave mold, a fourth concave mold, a second concave mold connecting block, a fourth concave mold connecting seat, a fourth T-shaped slide rail, a third housing, a first housing reinforcement rib, a fifth T-shaped slide rail, a first convex mold mounting seat, a first second mold spring, a first pressure Material plate, first convex mold, second pressure plate, third and fourth mold springs, second convex mold, second punch mounting seat, sixth T-shaped slide rail, fifth die connecting seat, first rotating axis, fifth concave mold, sixth die connecting seat, second rotating axis, sixth concave mold, seventh T-shaped slide rail, third punch mounting seat, fifth and sixth mold springs, third pressure plate, third convex mold, fourth shell, second shell reinforcement rib, fourth pressure plate, seventh and eighth mold springs, fourth convex mold, fourth punch mounting seat, eighth T-shaped slide rail.

[0007] Furthermore, the first shell, the second shell, the third shell and the fourth shell are respectively fixed around the outer wall of the main driving cylinder, the first T-shaped slide rail is installed on the first shell, the first die mounting seat is installed on the first shell, and the first concave mold is installed on the first die mounting seat.

[0008] Furthermore, the second concave mold is installed on the second die mounting seat, the second T-shaped slide rail is installed on the first shell, the third T-shaped slide rail is installed on the second shell, the third die mounting seat is installed on the second shell, the third die is installed on the third die mounting seat, the fourth concave mold is installed on the fourth die mounting seat, the fourth T-shaped slide rail is installed on the second shell, and the fourth die mounting seat is installed on the second shell.

[0009] Further, the fifth T-shaped slide rail is installed on the third shell, the fifth die mounting seat is installed on the third shell, the fifth concave mold is installed on the fifth die mounting seat, the sixth T-shaped slide rail is installed on the third shell, the first punch mounting seat is installed on the third shell, the first punch mold is installed on the first punch mounting seat, the first two mold springs are installed on the first punch mounting seat, the first pressure plate is installed on the first two mold springs, the second punch mounting seat is installed on the third shell, the second convex mold is installed on the second punch mounting seat, the third four mold springs are installed on the second punch mounting seat, and the second pressure plate is installed on the third four mold springs.

[0010] Further, the seventh T-shaped slide rail is installed on the fourth shell, the sixth die mounting seat is installed on the fourth shell, the sixth die mounting seat is installed on the sixth die mounting seat, the eighth T-shaped slide rail is installed on the fourth shell, the third punch mounting seat is installed on the fourth shell, the third punch mold is installed on the third punch mounting seat, the fifth and sixth mold springs are installed on the third punch mounting seat, the third pressure plate is installed on the fifth and sixth mold springs, the fourth punch mounting seat is installed on the fourth shell, the fourth punch mold is installed on the fourth punch mounting seat, the seventh and eighth mold springs are installed on the fourth punch mounting seat, and the fourth pressure plate is installed on the seventh and eighth mold springs.

[0011] Furthermore, the first convex mold is symmetrically arranged with the third convex mold; the second convex mold is symmetrically arranged with the fourth convex mold; the first concave mold is symmetrically arranged with the third concave mold; the second concave mold is symmetrically arranged with the fourth concave mold; the fifth concave mold is symmetrically arranged with the sixth concave mold.

[0012] Further, the core unit includes a cylinder piston, a piston rod connector, a core, a seventh die mounting seat, a seventh concave mold, an eighth concave mold, a third rotating shaft, a first and a second hinge piece, a fourth rotating shaft, a fifth punch mounting seat, a fifth convex mold, a fifth pressing plate, a first nitrogen spring, a first nitrogen spring cover, a core reset block, a fifth rotating shaft, a third and a fourth hinge piece, a sixth rotating shaft, a sixth punch mounting seat, a sixth convex mold, a sixth pressing plate, a second nitrogen spring, a second nitrogen spring cover, an eighth die mounting seat, a ninth concave mold, a tenth concave mold, a seventh punch mounting seat, a seventh pressing plate, a seventh convex mold, an eighth pressing plate, a ninth mold spring, a tenth mold spring, a ninth pressing plate, an eighth convex mold, a tenth pressing plate, an eighth punch mounting seat, an eleventh pressing plate, a ninth convex mold, a twelfth pressing plate, an eleventh mold spring, a twelfth mold spring, a thirteenth pressing plate, a tenth convex mold, and a fourteenth pressing plate. The piston rod connector is mounted on the cylinder piston, the piston rod connector is mounted on the cylinder piston, the seventh die mounting seat is mounted on the core, the seventh concave mold and the eighth concave mold are mounted on the seventh die mounting seat, the third rotating shaft is mounted on the core, the fourth rotating shaft is mounted on the fifth punch mounting seat, the first and second hinge pieces are mounted on the third rotating shaft and the fourth rotating shaft, the fifth convex mold is mounted on the fifth punch mounting seat, the fifth pressing plate is mounted on the fifth punch mounting seat, the first nitrogen spring is mounted on the first nitrogen spring cover plate, the first nitrogen spring cover plate is mounted on the fifth punch mounting seat, the core reset block is mounted on the first and second hinge pieces and the third and fourth hinge pieces, the fifth rotating shaft is mounted on the core, the third and fourth hinge pieces are mounted on the fifth rotating shaft and the sixth rotating shaft, the sixth rotating shaft is mounted on the sixth punch mounting seat, and the sixth punch mounting seat is pressed on On the third and fourth hinge pieces, the sixth convex mold is mounted on the sixth convex mold mounting seat, the sixth pressing plate is mounted on the sixth convex mold mounting seat, the second nitrogen spring is mounted on the second nitrogen spring cover plate, the second nitrogen spring cover plate is mounted on the sixth convex mold mounting seat, the eighth concave mold mounting seat is mounted on the core, the ninth concave mold and the tenth concave mold are mounted on the eighth concave mold mounting seat, the seventh convex mold mounting seat is mounted on the core, the seventh pressing plate, the seventh convex mold, the eighth pressing plate, the ninth mold spring, the tenth mold spring, the ninth pressing plate, the eighth convex mold, and the tenth pressing plate are mounted on the seventh convex mold mounting seat, the eighth convex mold mounting seat is mounted on the core, the eleventh pressing plate, the ninth convex mold, the twelfth pressing plate, the eleventh mold spring, the twelfth mold spring, the thirteenth pressing plate, the tenth convex mold, and the fourteenth pressing plate are mounted on the eighth convex mold mounting seat. .

[0013] Furthermore, the fifth convex mold is symmetrically arranged with the sixth convex mold; the seventh convex mold is symmetrically arranged with the ninth convex mold; the eighth convex mold is symmetrically arranged with the tenth convex mold; the seventh concave mold is symmetrically arranged with the ninth concave mold; and the eighth concave mold is symmetrically arranged with the tenth concave mold.

[0014] Furthermore, the floating unit includes a linear slide rail, a linear slider, a linear slide rail fixing plate, and a six-axis positioning flange; the zero position reset unit includes a reset cylinder connector, a reset drive cylinder, a reset cylinder fixing seat, and a fixing seat connecting block; the TCP unit includes a TCP fixing block, a TCP extension rod, and TCP.

[0015] Furthermore, the linear slider is installed on the linear slide rail, the linear slide rail is installed on the linear slide rail fixing plate, the six-axis positioning flange, TCP fixing block, TCP extension rod, and TCP are installed on the linear slide rail fixing plate, the fixed seat connecting block is installed on the linear slide rail fixing plate, the reset cylinder connecting head is installed on the reset drive cylinder, the reset drive cylinder is installed on the reset cylinder fixing seat, and the reset cylinder fixing seat is installed on the fixed seat connecting block.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are: The present invention arranges a shell unit, a core unit, a zero position reset unit, a floating unit, and a TCP unit. The structure design in the shell unit is composed of a male and female mold unit bearing two kinds of motion forms, a four-sided T-shaped slide rail, and a slide rail sub-unit composed of a four-sided shell; the shell unit is located outside the flexible punching gun body, and needs to be matched with the slide block pair composed of the core unit to form a complete slide block structure; the four-sided grooves of the core in the core unit serve as the slide block pair, and form the core unit with hinges, etc.; it needs to be matched with the slide rail pair composed of the shell unit to form a complete slide block structure; the design of the floating unit realizes that the entire punching gun is self-adaptive to the position tolerance of the blanking surface caused by welding The linear guide rail is used to connect the flexible punching gun to the housing, so as to prevent the fluctuation of the position tolerance of the punched surface caused by welding. There are two reset drive cylinders on the left and right sides of the floating direction to realize the function of returning the flexible punching inlay to the zero position after punching.

[0017] The invention is scientific and reasonable, safe and convenient to use. It is a linear motion and rotary motion composite robot flexible punching gun. A self-made T-shaped guide rail and a self-made slider are used to improve the torsion resistance of the sliding pair and reduce the volume occupied by the sliding pair. The structural form combining linear motion and rotary motion is used to realize punching in various working conditions around the punched part, so as to meet the requirements of sub-frames or other parts of more shapes to achieve the punching gun without replacing the punching gun under various working conditions that need to be avoided around the punched part. At the same time, the time of quick-changing the punching gun is saved to improve the beat and stability, and the problem of hydraulic oil leakage of the hydraulic drive system is reduced without the need for quick-changing the punching gun. The design of the floating unit realizes the whole punching gun to adapt to the fluctuation of the punched surface caused by welding within the allowable range of the position tolerance, so as to avoid the occurrence of the rigid hard pulling punching phenomenon of the punching gun for the surface that needs to be punched within the allowable range of the contour fluctuation tolerance, which causes the straight damage to the punched parts. The TCP unit is installed on the fixed side of the six-axis flange connection of the floating unit, and its function is to establish a workpiece coordinate system, realize the calibration of the punching trajectory and the rapid deviation compensation function of the punching error, which is similar to the tool setting and deviation compensation function of the machining center. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the housing unit of the present invention; Figure 3 is a top cross-sectional view of the housing unit of the present invention; Figure 4 It is a partial enlarged view of the housing unit of the present invention-A; Figure 5 It is a partial enlarged view of the housing unit of the present invention-B; Figure 6 It is a partial enlarged view of the housing unit of the present invention-C; Figure 7 It is a partial enlarged view of the housing unit of the present invention-D; Figure 8 is a front cross-sectional view of a housing unit of the present invention; Fig. 9 It is a partial enlarged view of the housing unit of the present invention-E; Fig.10 It is a partial enlarged view of the housing unit of the present invention-F; Fig.11 It is a partial enlarged view of the housing unit of the present invention-G; Fig.12 It is a partial enlarged view of the housing unit of the present invention-H; Fig.13 It is a partial enlarged view of the housing unit of the present invention-I; Fig.14 It is a partial enlarged view of the housing unit of the present invention-J; Fig.15 It is a structural schematic diagram of the core unit of the present invention; Fig.16 is a top cross-sectional view of a core unit of the present invention; Fig.17 It is a partial enlarged view of the core unit of the present invention-K; Fig.18 It is a partial enlarged view of the core unit of the present invention-L; Fig.19 is a front cross-sectional view of a core unit of the present invention; Fig. 20 It is a partial enlarged view of the core unit of the present invention-M; Fig.21 It is a partial enlarged view of the core unit of the present invention-N; Fig. 22 It is a structural schematic diagram of the zero position reset unit, the floating unit and the TCP unit of the present invention; Fig.23 The present invention Figure 8 The main cross-sectional view of Fig.24 The present invention Figure 8 A top view of a cross section; In the figure: 1, main drive cylinder; 2, first housing; 3, first T-shaped slide rail; 4, first mold mounting seat; 5, first concave mold; 6, second concave mold; 7, first concave mold connecting block; 8, second mold mounting seat; 9, second T-shaped slide rail; 10, second housing; 11, third T-shaped slide rail; 12, third mold mounting seat; 13, third concave mold; 14, fourth concave mold; 15, second concave mold connecting block; 16, fourth concave mold connecting seat; 17, fourth T-shaped slide rail; 18, third housing; 19, first housing reinforcement rib; 20, fifth T-shaped slide rail; 21, first convex mold mounting seat; 22, first and second mold springs; 23, first pressing plate; 24, first convex mold; 25, second pressing plate; 26, third 4. Die spring; 27. 2nd convex die; 28. 2nd convex die mounting seat; 29. ​​6th T-shaped slide rail; 30. 5th concave die connection seat; 31. 1st rotating shaft; 32. 5th concave die; 33. 6th concave die connection seat; 34. 2nd rotating shaft; 35. 6th concave die; 36. 7th T-shaped slide rail; 37. 3rd convex die mounting seat; 38. 5th and 6th die spring; 39. 3rd pressing plate; 40. 3rd convex die; 41. 4th shell; 42. 2nd shell reinforcement rib; 43. 4th pressing plate; 44. 7th and 8th die spring; 45. 4th convex die; 46. 4th convex die mounting seat; 47. 8th T-shaped slide rail; 48. Cylinder piston; 49. Piston rod connector; 50. Core; 51. 7th concave die Mounting seat; 52, seventh concave mold; 53, eighth concave mold; 54, third rotating shaft; 55, first and second hinge pieces; 56, fourth rotating shaft; 57, fifth punch mounting seat; 58, fifth convex mold; 59, fifth pressing plate; 60, first nitrogen spring; 61, first nitrogen spring cover plate; 62, core reset block; 63, fifth rotating shaft; 64, third and fourth hinge pieces; 65, sixth rotating shaft; 66, sixth punch mounting seat; 67, sixth convex mold; 68, sixth pressing plate; 69, second nitrogen spring; 70, second nitrogen spring cover plate; 71, eighth concave mold mounting seat; 72, ninth concave mold; 73, tenth concave mold; 74, seventh punch mounting seat; 75, seventh pressing plate; 76, seventh convex mold ;77, the eighth pressing plate;78, the ninth die spring;79, the tenth die spring;80, the ninth pressing plate;81, the eighth convex die;82, the tenth pressing plate;83, the eighth convex die mounting seat;84, the eleventh pressing plate;85, the ninth convex die;86, the twelfth pressing plate;87, the eleventh die spring;88, the twelfth die spring;89, the thirteenth pressing plate;90, the tenth convex die;91, the fourteenth pressing plate;92, the linear guide rail;93, the linear slider;94, the linear guide rail fixing plate;95, the six-axis positioning flange;96, the TCP fixing block;97, the TCP extension rod;98, the TCP;99, the reset cylinder connector;100, the reset drive cylinder;101, the reset cylinder fixing seat;102, fixed seat connection block; 103, internal thread cylindrical pin; 104, and slider locking block. ; DETAILED DESCRIPTION

[0019] 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.

[0020] like Figure 1 A linear motion and rotational motion composite robot flexible punching gun shown in the figure comprises a shell unit, a core unit, a zero position reset unit, a floating unit, and a TCP unit, wherein the shell unit is located outside the entire device, the core unit is arranged inside the shell unit, and the floating unit and the zero position reset unit are arranged on the top of the shell unit; the shell unit comprises a main driving cylinder 1, a first shell 2, a first T-shaped slide rail 3, a first mold mounting seat 4, a first concave mold 5, a second concave mold 6, a first concave mold connecting block 7, a second mold mounting seat 8, a second T-shaped slide rail 9, a second shell 10, a third T-shaped slide rail 11, a third mold mounting seat 12, a third concave mold 13, a fourth concave mold 14, a second concave mold connecting block 15, a fourth concave mold connecting seat 16, a fourth T-shaped slide rail 17, a third shell 1 8. The first shell reinforcement rib 19, the fifth T-shaped slide rail 20, the first punch mounting seat 21, the first and second mold springs 22, the first pressure plate 23, the first convex mold 24, the second pressure plate 25, the third and fourth mold springs 26, the second convex mold 27, the second punch mounting seat 28, the sixth T-shaped slide rail 29, the fifth die connecting seat 30, the first rotating shaft 31, the fifth concave mold 32, the sixth die connecting seat 33, the second rotating shaft 34, the sixth concave mold 35, the seventh T-shaped slide rail 36, the third punch mounting seat 37, the fifth and sixth mold springs 38, the third pressure plate 39, the third convex mold 40, the fourth shell 41, the second shell reinforcement rib 42, the fourth pressure plate 43, the seventh and eighth mold springs 44, the fourth convex mold 45, the fourth punch mounting seat 46, and the eighth T-shaped slide rail 47.

[0021] The first shell 2, the second shell 10, the third shell 18 and the fourth shell 41 are respectively fixed around the outer wall of the main driving cylinder 1, the first T-shaped slide rail 3 is installed on the first shell 2, the first mold mounting seat 4 is installed on the first shell 2, the first concave mold 5 is installed on the mold mounting seat 4, the second concave mold 6 is installed on the first concave mold connecting block 7, the first concave mold connecting block 7 is installed on the second mold mounting seat 8, and the second T-shaped slide rail 9 is installed on the first shell 2. The third T-shaped slide rail 11 is installed on the second shell 10, the third mold mounting seat 12 is installed on the second shell 10, the third concave mold 13 is installed on the third mold mounting seat 12, the fourth concave mold 14 is installed on the second concave mold connecting block 15, the second concave mold connecting block 15 is installed on the fourth concave mold connecting seat 16, and the fourth T-shaped slide rail 17 is installed on the second shell 10. The first shell reinforcement rib 19 is mounted on the third shell 18, the fifth T-shaped slide rail 20 is mounted on the third shell 18, the first punch mounting seat 21 is mounted on the third shell 18, the first convex mold 24 is mounted on the first punch mounting seat 21, the first second mold spring 22 is mounted on the first punch mounting seat 21, the first pressure plate 23 is mounted on the first second mold spring 22, the second pressure plate 25 is mounted on the third fourth mold spring 26, the third fourth mold spring 26 is mounted on the second punch mounting seat 28, the sixth T-shaped slide rail 29 is mounted on the third shell 18, the fifth die connecting seat 30 is mounted on the third shell 18, the first rotating shaft 31 is mounted on the third die connecting seat 30, and the fifth concave mold 32 is mounted on the fifth die connecting seat 30. The second shell reinforcement rib 42 is installed on the fourth shell 41, the seventh T-shaped slide rail 36 is installed on the fourth shell 41, the second rotating shaft 34 is installed on the sixth mold connecting seat 33, the sixth concave mold 35 is installed on the sixth concave mold connecting seat 33, the third punch mounting seat 37 is installed on the fourth shell 41, the third convex mold 40 is installed on the third punch mounting seat 37, the fifth and sixth mold springs 38 are installed on the third punch mounting seat 37, the third pressure plate 39 is installed on the fifth and sixth mold springs 38, the eighth T-shaped slide rail 47 is installed on the fourth shell 41, the fourth punch mounting seat 46 is installed on the fourth shell 41, the fourth convex mold 45 is installed on the fourth punch mounting seat 46, the seventh and eighth mold springs 44 are installed on the fourth punch mounting seat 46, and the fourth pressure plate 43 is installed on the seventh and eighth mold springs 44. The first convex mold 24 is symmetrically arranged with the third convex mold 40; the second convex mold 27 is symmetrically arranged with the fourth convex mold 45; the first concave mold 5 is symmetrically arranged with the third concave mold 13; the second concave mold 6 is symmetrically arranged with the fourth concave mold 14; the fifth concave mold 32 is symmetrically arranged with the sixth concave mold 35.

[0022] The core unit includes a cylinder piston 48, a piston rod connector 49, a core 50, a seventh die mounting seat 51, a seventh concave mold 52, an eighth concave mold 53, a third rotating shaft 54, a first second hinge piece 55, a fourth rotating shaft 56, a fifth punch mounting seat 57, a fifth convex mold 58, a fifth pressing plate 59, a first nitrogen spring 60, a first nitrogen spring cover plate 61, a core reset block 62, a fifth rotating shaft 63, a third fourth hinge piece 64, a sixth rotating shaft 65, a sixth punch mounting seat 66, a sixth convex mold 67, a sixth pressing plate 68, a second nitrogen spring 69, a second nitrogen spring cover plate 70, an eighth die mounting seat 71, a ninth concave mold 72, and a tenth concave mold 73. 3. The seventh punch mounting seat 74, the seventh pressing plate 75, the seventh convex mold 76, the eighth pressing plate 77, the ninth mold spring 78, the tenth mold spring 79, the ninth pressing plate 80, the eighth convex mold 81, the tenth pressing plate 82, the eighth punch mounting seat 83, the eleventh pressing plate 84, the ninth convex mold 85, the twelfth pressing plate 86, the eleventh mold spring 87, the twelfth mold spring 88, the thirteenth pressing plate 89, the tenth convex mold 90, and the fourteenth pressing plate 91. The piston rod connector 49 is mounted on the cylinder piston 48, the seventh die mounting seat 51 is mounted on the core 50, and the seventh concave mold 52 and the eighth concave mold 53 are mounted on the seventh die mounting seat. The third rotating shaft 54 ​​is mounted on the core 50, the fourth rotating shaft 56 is mounted on the fifth punch mounting seat 57, the first and second hinge pieces 55 are mounted on the third rotating shaft 54 ​​and the fourth rotating shaft 56, the fifth convex mold 58 is mounted on the fifth punch mounting seat 57, the fifth pressing plate 59 is mounted on the fifth punch mounting seat 57, the first nitrogen spring 60 is mounted on the first nitrogen spring cover plate 61, the first nitrogen spring cover plate 61 is mounted on the fifth punch mounting seat 57, the core reset block 62 is mounted on the first and second hinge pieces 55 and the third and fourth hinge pieces 64, the fifth rotating shaft 63 is mounted on the core 50, the third and fourth hinge pieces 64 are mounted on the first and second hinge pieces 55, and the third and fourth hinge pieces 64 are mounted on the third and fourth hinge pieces 64. The fifth rotating shaft 63 and the sixth rotating shaft 65, the sixth rotating shaft 65 is installed on the sixth punch mounting seat 66, the sixth punch mounting seat 66 is pressed on the third and fourth hinge pieces 64, the sixth convex mold 67 is installed on the sixth punch mounting seat 66, the sixth pressing plate 68 is installed on the sixth punch mounting seat 66, the second nitrogen spring 69 is installed on the second nitrogen spring cover plate 70, the second nitrogen spring cover plate 70 is installed on the sixth punch mounting seat 66, the eighth die mounting seat 71 is installed on the core 50, the ninth concave mold 72 and the tenth concave mold 73 are installed on the eighth die mounting seat 71, and the seventh punch mounting seat 74 is installed on the core 50,The seventh pressing plate 75, the seventh male mold 76, the eighth pressing plate 77, the ninth mold spring 78, the tenth mold spring 79, the ninth pressing plate 80, the eighth male mold 81, and the tenth pressing plate 82 are installed on the seventh male mold mounting seat 74, and the eighth male mold mounting seat 83 is installed on the core 50. The eleventh pressing plate 84, the ninth male mold 85, the twelfth pressing plate 86, the eleventh mold spring 87, the twelfth mold spring 88, the thirteenth pressing plate 89, the tenth male mold 90, and the fourteenth pressing plate 91 are installed on the eighth male mold mounting seat 83. The fifth male mold 58 is symmetrically arranged with the sixth male mold 67; the seventh male mold 76 is symmetrically arranged with the ninth male mold 85; the eighth male mold 81 is symmetrically arranged with the tenth male mold 90; the seventh female mold 52 is symmetrically arranged with the ninth female mold 72; and the eighth female mold 53 is symmetrically arranged with the tenth female mold 73.

[0023] The floating unit includes a linear slide rail 92, a linear slider 93, a linear slide rail fixing plate 94, and a six-axis positioning flange 95; the zero position reset unit includes a reset cylinder connector 99, a reset drive cylinder 100, a reset cylinder fixing seat 101, and a fixing seat connecting block 102; the TCP unit includes a TCP fixing block 96, a TCP extension rod 97, and a TCP 98. The linear slider 93 is installed on the linear slide rail 92, the linear slide rail 92 is installed on the linear slide rail fixing plate 94, the six-axis positioning flange 95, the TCP fixing block 96, the TCP extension rod 97, and the TCP 98 are installed on the linear slide rail fixing plate 94, the fixed seat connecting block 102 is installed on the linear slide rail fixing plate 94, the reset cylinder connecting head 99 is installed on the reset drive cylinder 100, the reset drive cylinder 100 is installed on the reset cylinder fixing seat 101, the reset cylinder fixing seat 101 is installed on the fixing seat connecting block 102, and the internal threaded cylindrical pin 103 and the slider locking block 104 are installed on the second shell 10.

[0024] The specific implementation method is as follows: when in use, by arranging a housing unit, a core unit, a zero position reset unit, a floating unit, and a TCP unit; The structural design in the shell unit consists of two types of motion-carrying male and female die units, four-sided T-shaped slide rails and a slide rail sub-unit composed of four-sided shells; the shell unit is located outside the flexible punching gun body and needs to be matched with the slide block sub-unit composed of the core unit to form a complete slide sub-structure; The four-sided grooves of the core in the core unit serve as a sliding pair, and together with the hinge, etc., form a core unit; they need to be matched with the slide rail pair formed by the shell unit to form a complete sliding pair structure; The design of the floating unit enables the entire punching gun to adapt to the fluctuation of the punched surface caused by welding within the allowable range of position tolerance, avoiding the damage to the punched parts caused by the rigid hard pulling punching of the punching gun within the allowable range of contour fluctuation (the weld of the welded part may be torn), or the rebound of the punched parts after punching, thereby causing fluctuations in the hole position accuracy. The slide connecting plate and the shell are connected by a linear slide rail to achieve the floating purpose of the entire flexible punching gun, thereby achieving the self-adaptation of the entire flexible punching gun to the fluctuation of the punched surface caused by welding within the allowable range of position tolerance. There are two reset drive cylinders on the left and right sides of the floating direction to realize the function of restoring the entire flexible punching inlay to the zero position after punching.

[0025] The TCP unit is installed on the fixed side of the floating unit's six-axis flange connection. Its function is to establish the workpiece coordinate system, realize the calibration of the punching trajectory and the rapid deviation compensation of the punching error, which is similar to the tool setting and deviation compensation function of the machining center.

[0026] Working principle: S1: The workpiece is placed in the fixture and clamped. The zero position reset unit is at the zero position (i.e. the floating unit is at the middle position and the main drive cylinder piston is at the middle position). The robot commissioning engineer manually teaches the robot to the zero position in the opening of the A hole group of the workpiece. S2: The solenoid valve group of the control reset drive cylinder 100 on the hydraulic station is in the middle leakage position; the robot debugging engineer manually triggers the solenoid valve group on the hydraulic station to supply oil to the A port of the main drive cylinder 1 (the piston is at the zero position before the main drive cylinder is actuated, that is, the piston is at the middle position of the cylinder body), and the piston rod of the main drive cylinder 1 drives the die unit (or punch unit) to move (linear motion) until the end face of the die (or punch) on one side is attached to the inner end face of the workpiece support (at this time, the stroke of one side of the cylinder has not been completed), and then under the action of the action force, reaction force and floating unit, the punch unit (or die unit) starts to move to the end face of the punch (or die) on one side is attached to the outer end face of the workpiece support, and at this time, the cylinder continues to move until the punch is inserted into the die, and the punching of one side of the hole group A is completed; S3: The solenoid valve group controlling the main drive cylinder 1 on the hydraulic station is in the middle drain position; the robot commissioning engineer manually triggers the solenoid valve group on the hydraulic station to supply air to the A port of the reset drive cylinder 100 to reset the floating unit and the cylinder piston to the zero position; S4: The solenoid valve group controlling the reset drive cylinder 100 on the hydraulic station is in the middle leakage position; the robot debugging engineer manually triggers the solenoid valve group on the hydraulic station to supply oil to the B port of the main drive cylinder 1 (the piston is at the zero position before the main drive cylinder is actuated, that is, the piston is at the middle position of the cylinder body), and the cylinder piston rod drives the die unit (or punch unit) to move (linear motion) until the end face of the other side die (or punch) is attached to the inner end face of the other side of the workpiece support (at this time, the stroke of the other side of the cylinder has not been completed), and then under the action of the action force, reaction force and floating unit, the punch unit (or die unit) starts to move to the end face of the other side die (or die) to the outer end face of the other side of the workpiece support, and the cylinder continues to move to the other side die to insert into the other side die, and the punching of the other side of hole group A is completed; at this time, the punching of hole group A is completed; the solenoid valve group on the hydraulic station supplies air to the A port of the reset drive cylinder 100 to reset the floating unit and the cylinder piston to the zero position; S5: The robot debugging engineer manually teaches the jump to complete the punching of hole group B, hole group C, and hole group D. The action principles of hole group B, hole group C, and hole group D are the same as those of hole group A (S1-S4), and will not be described repeatedly. They are all realized by driving the punch and die units through linear motion. The difference is that holes of different specifications on the workpiece are realized by using punches on the punch unit and dies on the die unit of different specifications. S6: The zero position reset unit is at the zero position (i.e., the floating unit is at the middle position, and the piston of the main drive cylinder is at the middle position); the robot debugging engineer manually teaches to the zero position in the opening of the workpiece E hole group (the rotating punch unit is toward the outer side of the bracket); the robot debugging engineer manually triggers the solenoid valve group on the hydraulic station to supply oil to the A port of the main drive cylinder 1 (the piston is at the zero position before the main drive cylinder is actuated, i.e., the piston is in the middle position of the cylinder body), and the piston rod of the main drive cylinder 1 drives the punch unit to move (rotate) until the punch end face on one side is attached to the outer end face of one side of the workpiece bracket (at this time, the cylinder stroke has not been completed), and then, under the action of the action force, reaction force and the floating unit, the die unit starts to move until the die end face is attached to the inner end face of the workpiece bracket, and at this time, the cylinder continues to move until the punch is inserted into the die, and the punching of one side of the hole group E is completed; S7: The solenoid valve group controlling the main drive cylinder 1 on the hydraulic station is in the middle drain position; the robot commissioning engineer manually triggers the solenoid valve group on the hydraulic station to supply air to the A port of the reset drive cylinder 100 to reset the floating unit and the cylinder piston to the zero position; S8: The robot debugging engineer manually teaches the punching gun to jump 180 degrees to the outside of the bracket on the other side of the hole group E with the punch unit (rotational motion driving unit); S9: The solenoid valve group controlling the reset drive cylinder 100 on the hydraulic station is in the middle leakage position; the robot debugging engineer manually triggers the solenoid valve group on the hydraulic station to supply oil to the A port of the main drive cylinder 1 (the piston is at the zero position before the main drive cylinder is actuated, that is, the piston is at the middle position of the cylinder body), and the cylinder piston rod drives the punch unit to move (rotate) until the punch end face sticks to the outer end face of the other side of the workpiece support (at this time, the cylinder stroke has not been completed), and then under the action of the action force, reaction force and floating unit, the die unit begins to move until the die face sticks to the other inner end face of the workpiece support, and the cylinder continues to move until the punch is inserted into the die, and the punching of the other side of the hole group E is completed; at this time, the hole group E is punched; the solenoid valve group on the hydraulic station supplies air to the A port of the reset drive cylinder 100 to reset the floating unit and the cylinder piston to the zero position; S10: The robot debugging engineer manually teaches the jump to complete the punching of hole group F. The action principle of hole group F is the same as that of hole group E (S6-S9), so it will not be described again. Both are achieved by driving the punch and die units through rotation. The difference is that holes of different specifications on the workpiece are achieved by using punches on the punch unit and dies on the die unit of different specifications. The above steps are used for the manual mode debugging stage of the robot debugging engineer. The working principle of the punching gun in manual mode and automatic mode is the same (just the difference between manual mode and automatic mode).

[0027] The invention is scientific and reasonable, safe and convenient to use. It is a linear motion and rotary motion composite robot flexible punching gun. A self-made T-shaped guide rail and a self-made slider are used to improve the torsion resistance of the sliding pair and reduce the volume occupied by the sliding pair. The structural form combining linear motion and rotary motion is used to realize punching in various working conditions around the punched part, so as to meet the requirements of sub-frames or other parts of more shapes to achieve the punching gun without replacing the punching gun under various working conditions that need to be avoided around the punched part. At the same time, the time of quick-changing the punching gun is saved to improve the beat and stability, and the problem of hydraulic oil leakage of the hydraulic drive system is reduced without the need for quick-changing the punching gun. The design of the floating unit realizes the whole punching gun to adapt to the fluctuation of the punched surface caused by welding within the allowable range of the position tolerance, so as to avoid the occurrence of the rigid hard pulling punching phenomenon of the punching gun for the surface that needs to be punched within the allowable range of the contour fluctuation tolerance, which causes the straight damage to the punched parts. The TCP unit is installed on the fixed side of the six-axis flange connection of the floating unit, and its function is to establish a workpiece coordinate system, realize the calibration of the punching trajectory and the rapid deviation compensation function of the punching error, which is similar to the tool setting and deviation compensation function of the machining center.

[0028] By increasing the load-bearing capacity of the sliding pair and optimizing the volume and weight of the sliding pair in the shell unit and combining the linear motion with the rotational motion, the shell unit and the core unit can be equipped with the punch unit (or die unit) on multiple sides and the die unit (or punch unit) on multiple sides to meet the punching of holes of various specifications. On the basis of meeting the needs of customers, the amount of investment in the customer's punching equipment can be reduced, thereby reducing the investment cost of the customer's punching equipment and the occupied area of ​​the site. There is no need for quick-change punching guns, thereby improving the production cycle and the stability of equipment use, and avoiding the leakage of hydraulic oil in the hydraulic drive system.

[0029] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A linear motion and rotational motion composite robot flexible punching gun, comprising a housing unit, a core unit, a zero position reset unit, a floating unit, and a TCP unit, characterized in that: The housing unit is located outside the entire device, the core unit is arranged inside the housing unit, and the floating unit and the zero position reset unit are arranged outside the housing unit.

2. The linear motion and rotational motion composite robot flexible punching gun according to claim 1, characterized in that: The housing unit comprises a main driving cylinder (1), a first housing (2), a first T-shaped slide rail (3), a first mold mounting seat (4), a first concave mold (5), a second concave mold (6), a first die connecting block (7), a second mold mounting seat (8), a second T-shaped slide rail (9), a second housing (10), a third T-shaped slide rail (11), a third mold mounting seat (12), a third concave mold (13), a fourth concave mold (14), a second die connecting block (15), a fourth die connecting seat (16), a fourth T-shaped slide rail (17), a third housing (18), a first housing reinforcing rib (19), a fifth T-shaped slide rail (20), a first convex mold mounting seat (21), a first second mold spring (22), a first pressing plate (23), a first convex mold (24), the second pressing plate (25), the third fourth mold spring (26), the second convex mold (27), the second punch mounting seat (28), the sixth T-shaped slide rail (29), the fifth die connecting seat (30), the first rotating shaft (31), the fifth concave mold (32), the sixth die connecting seat (33), the second rotating shaft (34), the sixth concave mold (35), the seventh T-shaped slide rail (36), the third punch mounting seat (37), the fifth sixth mold spring (38), the third pressing plate (39), the third convex mold (40), the fourth shell (41), the second shell reinforcement rib (42), the fourth pressing plate (43), the seventh eighth mold spring (44), the fourth convex mold (45), the fourth punch mounting seat (46), and the eighth T-shaped slide rail (47).

3. The linear motion and rotational motion composite robot flexible punching gun according to claim 2, characterized in that: The first shell (2), the second shell (10), the third shell (18) and the fourth shell (41) are respectively fixed on the outer wall of the main driving cylinder (1), the first T-shaped slide rail (3) is mounted on the first shell (2), the first mold mounting seat (4) is mounted on the first shell (2), the first concave mold (5) is mounted on the mold mounting seat (4), the second concave mold (6) is mounted on the first concave mold connecting block (7), the first concave mold connecting block (7) is mounted on the second mold mounting seat (8), and the second T-shaped slide rail (9) is mounted on the first shell (2).

4. The linear motion and rotational motion composite robot flexible punching gun according to claim 3, characterized in that: The third T-shaped slide rail (11) is mounted on the second housing (10), the third die mounting seat (12) is mounted on the second housing (10), the third concave die (13) is mounted on the third die mounting seat (12), the fourth concave die (14) is mounted on the second die connecting block (15), the second die connecting block (15) is mounted on the fourth die connecting seat (16), and the fourth T-shaped slide rail (17) is mounted on the second housing (10).

5. The linear motion and rotational motion composite robot flexible punching gun according to claim 4, characterized in that: The first shell reinforcement rib (19) is mounted on the third shell (18), the fifth T-shaped slide rail (20) is mounted on the third shell (18), the first punch mounting seat (21) is mounted on the third shell (18), the first convex mold (24) is mounted on the first punch mounting seat (21), the first second mold spring (22) is mounted on the first punch mounting seat (21), the first pressing plate (23) is mounted on the first second mold spring (22), the second pressing plate (25) is mounted on the third fourth mold spring (26), the third fourth mold spring (26) is mounted on the second punch mounting seat (28), the sixth T-shaped slide rail (29) is mounted on the third shell (18), the fifth die connecting seat (30) is mounted on the third shell (18), the first rotating shaft (31) is mounted on the third die connecting seat (30), and the fifth concave mold (32) is mounted on the fifth die connecting seat (30). The second housing reinforcement rib (42) is mounted on the fourth housing (41), the seventh T-shaped slide rail (36) is mounted on the fourth housing (41), the second rotating shaft (34) is mounted on the sixth mold connecting seat (33), the sixth concave mold (35) is mounted on the sixth concave mold connecting seat (33), the third convex mold mounting seat (37) is mounted on the fourth housing (41), the third convex mold (40) is mounted on the third convex mold mounting seat (37), and the fifth and sixth mold springs (38) are mounted on The third punch mounting seat (37) is mounted on the third pressing plate (39) on the fifth and sixth mold springs (38), the eighth T-shaped slide rail (47) is mounted on the fourth shell (41), the fourth punch mounting seat (46) is mounted on the fourth shell (41), the fourth convex mold (45) is mounted on the fourth punch mounting seat (46), the seventh and eighth mold springs (44) are mounted on the fourth punch mounting seat (46), and the fourth pressing plate (43) is mounted on the seventh and eighth mold springs (44).

6. The linear motion and rotational motion composite robot flexible punching gun according to claim 2, characterized in that: The first convex mold (24) and the third convex mold (40) are symmetrically arranged; the second convex mold (27) and the fourth convex mold (45) are symmetrically arranged; the first concave mold (5) and the third concave mold (13) are symmetrically arranged; the second concave mold (6) and the fourth concave mold (14) are symmetrically arranged; and the fifth concave mold (32) and the sixth concave mold (35) are symmetrically arranged.

7. The linear motion and rotational motion composite robot flexible punching gun according to claim 1, characterized in that: The core unit comprises a cylinder piston (48), a piston rod connector (49), a core (50), a seventh die mounting seat (51), a seventh concave mold (52), an eighth concave mold (53), a third rotating shaft (54), a first second hinge piece (55), a fourth rotating shaft (56), a fifth punch mounting seat (57), a fifth convex mold (58), a fifth pressing plate (59), a first nitrogen spring (60), a first nitrogen spring cover plate (61), a core reset block (62), a fifth rotating shaft (63), a third fourth hinge piece (64), a sixth rotating shaft (65), a sixth punch mounting seat (66), a sixth convex mold (67), a sixth pressing plate (68), a second nitrogen spring (69), and a second nitrogen spring cover plate (7 0), the eighth concave die mounting seat (71), the ninth concave die (72), the tenth concave die (73), the seventh convex die mounting seat (74), the seventh pressure plate (75), the seventh convex die (76), the eighth pressure plate (77), the ninth die spring (78), the tenth die spring (79), the ninth pressure plate (80), the eighth convex die (81), the tenth pressure plate (82), the eighth convex die mounting seat (83), the eleventh pressure plate (84), the ninth convex die (85), the twelfth pressure plate (86), the eleventh die spring (87), the twelfth die spring (88), the thirteenth pressure plate (89), the tenth convex die (90), the fourteenth pressure plate (91), the piston rod connecting head (49) is installed The seventh die mounting seat (51) is mounted on the cylinder piston (48), the seventh concave mold (52) and the eighth concave mold (53) are mounted on the seventh die mounting seat (51), the third rotating shaft (54) is mounted on the core (50), the fourth rotating shaft (56) is mounted on the fifth convex mold mounting seat (57), the first second hinge piece (55) is mounted on the third rotating shaft (54) and the fourth rotating shaft (56), the fifth convex mold (58) is mounted on the fifth convex mold mounting seat (57), the fifth pressing plate (59) is mounted on the fifth convex mold mounting seat (57), the first nitrogen spring (60) is mounted on the first nitrogen spring cover plate (61), and the first nitrogen spring cover plate (6 1) is mounted on the fifth punch mounting seat (57), the core reset block (62) is mounted on the first and second hinge pieces (55) and the third and fourth hinge pieces (64), the fifth rotating shaft (63) is mounted on the core (50), the third and fourth hinge pieces (64) are mounted on the fifth rotating shaft (63) and the sixth rotating shaft (65), the sixth rotating shaft (65) is mounted on the sixth punch mounting seat (66), the sixth punch mounting seat (66) is pressed on the third and fourth hinge pieces (64), the sixth convex mold (67) is mounted on the sixth punch mounting seat (66), the sixth pressing plate (68) is mounted on the sixth punch mounting seat (66), the second nitrogen spring (69) is mounted on the second nitrogen spring cover plate (70),The second nitrogen spring cover plate (70) is mounted on the sixth convex mold mounting seat (66), the eighth concave mold mounting seat (71) is mounted on the core (50), the ninth concave mold (72) and the tenth concave mold (73) are mounted on the eighth concave mold mounting seat (71), the seventh convex mold mounting seat (74) is mounted on the core (50), the seventh pressing plate (75), the seventh convex mold (76), the eighth pressing plate (77), the ninth mold spring (78), the tenth mold spring (79), the ninth The pressing plate (80), the eighth convex mold (81), and the tenth pressing plate (82) are mounted on the seventh convex mold mounting seat (74); the eighth convex mold mounting seat (83) is mounted on the core (50); the eleventh pressing plate (84), the ninth convex mold (85), the twelfth pressing plate (86), the eleventh mold spring (87), the twelfth mold spring (88), the thirteenth pressing plate (89), the tenth convex mold (90), and the fourteenth pressing plate (91) are mounted on the eighth convex mold mounting seat (83).

8. The linear motion and rotational motion composite robot flexible punching gun according to claim 1, characterized in that: The fifth convex mold (58) is symmetrically arranged with the sixth convex mold (67); the seventh convex mold (76) is symmetrically arranged with the ninth convex mold (85); the eighth convex mold (81) is symmetrically arranged with the tenth convex mold (90); the seventh concave mold (52) is symmetrically arranged with the ninth concave mold (72); and the eighth concave mold (53) is symmetrically arranged with the tenth concave mold (73).

9. The linear motion and rotational motion composite robot flexible punching gun according to claim 7, characterized in that: The floating unit comprises a linear slide rail (92), a linear slider (93), a linear slide rail fixing plate (94), and a six-axis positioning flange (95); the zero position reset unit comprises a reset cylinder connector (99), a reset drive cylinder (100), a reset cylinder fixing seat (101), a fixing seat connecting block (102), an internal thread cylindrical pin (103), and a slider locking block (104); and the TCP unit comprises a TCP fixing block (96), a TCP extension rod (97), and a TCP (98).

10. The linear motion and rotational motion composite robot flexible punching gun according to claim 9, characterized in that: The linear slider (93) is mounted on the linear slide rail (92), the linear slide rail (92) is mounted on the linear slide rail fixing plate (94), the six-axis positioning flange (95), the TCP fixing block (96), the TCP extension rod (97), and the TCP (98) are mounted on the linear slide rail fixing plate (94), the fixing seat connecting block (102) is mounted on the linear slide rail fixing plate (94), the reset cylinder connecting head (99) is mounted on the reset drive cylinder (100), the reset drive cylinder (100) is mounted on the reset cylinder fixing seat (101), the reset cylinder fixing seat (101) is mounted on the fixing seat connecting block (102), and the internal thread cylindrical pin (103) and the slider locking block (104) are mounted on the second housing (10).

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