Design method of stamping tooling, stamping tooling, equipment and storage medium

Abstract

The invention relates to the technical field of tooling, particularly provides a design method of a stamping tooling, the stamping tooling, equipment and a storage medium, and aims at solving the problems that an existing design method of the stamping tooling is long in period and low in efficiency. To this end, the stamping tooling of the present invention comprises: a main rod assembly comprising at least two main rods and a connecting plate for fixing the main rods; one end of the supporting rod is connected with the main rod through a main connector, and the other end is connected with the sucker through an adapter. The design method comprises the following steps of determining a main reference coordinate system of the stamping tooling and a first reference point of a suction cup based on data of a stamping part; establishing a main rod assembly model based on the main reference coordinate system; planning a strut path of the strut based on the first reference point and the main rod assembly model; and based on the supporting rod path, a supporting rod model is established, a suction cup model is established based on the first datum point, and assembling of the stamping tooling is completed. According to the design method, the design period is shortened, and the standardization degree of the design is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of end pickers, and specifically provides a design method for a stamping end picker, a stamping end picker, a device and a storage medium. Background Art

[0002] With the rapid development of high-speed automated stamping lines in the domestic automotive parts stamping industry, the requirements for mold automation are getting higher and higher. In high-speed automated stamping lines, stamping end pickers are used more and more widely as an important tool for transferring parts across stations during stamping production. During the production process, the end picker is installed on the robot arm and relies on the negative pressure of the suction cup to complete the grabbing action on the parts.

[0003] At present, the design and development of end pickers is basically still at a stage with a very low degree of automation. After the 3D modeling of each component in the end picker is completed, the designer must manually assemble it in the modeling software. Since there are many types of parts to be transported by the end picker, there are also many types of end pickers to be designed. Under the existing design and development model as described above, the development cycle is long and the efficiency is low. Once the stamping process of the component changes, it will lead to repeated modifications and redesigns by the designer, which greatly increases the workload of the designer.

[0004] Usually, a single vehicle model project contains an average of 12 stamping parts, and each stamping part requires the design of 9 sets of end pickers, for a total of 108 sets of end pickers. Taking the design time of a single end picker as 4 hours, the total design time of a single vehicle model end picker is about 432 hours, which is equivalent to more than two months, with a long development cycle and high R&D costs. Moreover, it is impossible to design synchronously with the stamping die, resulting in the inability to accurately simulate the trajectory rhythm of the stamping robot in the early development stage, which has become an important missing link in the construction of high-precision stamping factories and the improvement of production rhythm. Summary of the invention

[0005] The present invention aims to solve the above technical problem, that is, to solve the problem of long cycle and low efficiency of the existing stamping end pick-up design method.

[0006] The present invention provides a design method for a stamping end pick-up, the stamping end pick-up comprising: a main rod assembly, which comprises at least two main rods and a connecting plate for fixing the main rods; a support rod, one end of which is connected to the main rod through a main joint, and the other end is connected to a suction cup through an adapter; the design method comprises the following steps: based on the data of the stamping component, determining the main reference coordinate system of the stamping end pick-up and the first reference point of the suction cup; based on the main reference coordinate system, establishing a main rod assembly model; based on the first reference point and the main rod assembly model, planning the support rod path of the support rod; based on the support rod path, establishing a support rod model, and based on the first reference point, establishing a suction cup model to complete the assembly of the stamping end pick-up.

[0007] Furthermore, before the step of establishing the main rod assembly model, it also includes: establishing a parametric model library for parametric modeling of the main rod assembly, the suction cup, the main joint and the adapter.

[0008] Furthermore, before the step of establishing the main rod assembly model, the method further includes: determining the size parameter configuration of the main rod assembly based on the data of the stamping component.

[0009] Furthermore, the step of establishing a main rod assembly model based on the main reference coordinate system includes: establishing a first reference coordinate system of the main rod assembly based on the main reference coordinate system; calling in data of the parameterized main rod assembly from the parameterized model library; constraining the positioning coordinate system of the parameterized main rod assembly model to make it coincide with the first reference coordinate system; adjusting the size parameter value of the parameterized main rod assembly according to the size parameter configuration of the main rod assembly, and creating a main rod assembly model.

[0010] Furthermore, the step of establishing the first reference coordinate system of the main rod assembly based on the main reference coordinate system includes: generating an envelope of the stamped part based on the main reference coordinate system; identifying the highest point of the envelope of the stamped part along the positive direction of the Z axis of the main reference coordinate system, and moving this point along the positive direction of the Z axis by a set value to establish the first reference coordinate system of the main rod assembly.

[0011] Furthermore, the step of planning the support rod path of the support rod based on the first reference point and the main rod assembly model includes: determining the coordinates of each component in the main rod assembly in the first reference coordinate system, and establishing a second reference coordinate system for the suction cup; determining the support rod connectable area on the main rod; and determining the support rod connection method based on the first reference coordinate system, the second reference coordinate system and the support rod connectable area.

[0012] Further, the step of determining the pole connection method based on the first reference coordinate system, the second reference coordinate system and the pole connectable area includes: taking the first reference coordinate system as a reference, obtaining the origin coordinates of the second reference coordinate system of the suction cup; determining whether the origin coordinates satisfy the straight-through path condition, and if so, determining that the pole corresponding to the suction cup is a straight-through pole, and generating a straight-through pole path; if the origin coordinates do not satisfy the straight-through path condition, determining whether they satisfy the oblique path condition, and if so, determining that the pole is an oblique pole, and generating an oblique pole path; if the origin coordinates do not satisfy the oblique path condition, determining that the pole is a two-level pole, and generating a two-level pole path.

[0013] Furthermore, it also includes: if the origin coordinates satisfy the oblique path condition, then further determining whether the origin coordinates satisfy the oblique path one condition; if so, determining that the support rod is an oblique path one support rod, and generating an oblique path one support rod path; if the origin coordinates do not satisfy the oblique path one condition, then determining whether it satisfies the oblique path two condition; if so, determining that the support rod is an oblique path two support rod, and generating an oblique path two support rod path.

[0014] Furthermore, the straight-through support rod is perpendicular to the main rod; the angle between the oblique-through support rod and the main rod is 45°; the angles between the oblique-through type 1 support rod and the oblique-through type 2 support rod and the main rod are 45° and -45°, or -45° and 45°.

[0015] Furthermore, the steps of establishing a support rod model based on the support rod path, establishing a model of the suction cup based on the first reference point, and completing the assembly of the stamping end pick include: determining the main joint reference coordinate system of the main joint corresponding to the support rod and the adapter reference coordinate system of the adapter based on the support rod path; calling in the parametric suction cup model from the parametric model library, constraining the reference coordinate system of the parametric suction cup model so that its origin coincides with the first reference point of the suction cup, and completing the assembly of the suction cup; assembling the main joint model on the main rod and the adapter model on the suction cup based on the main joint reference coordinate system and the adapter reference coordinate system; generating a support rod digital model between the corresponding main joint model and the adapter model based on the support rod path.

[0016] Solution 1. A design method for a stamping end pick-up, characterized in that:

[0017] The stamping end pick-up comprises:

[0018] A main rod assembly, comprising at least two main rods and a connecting plate for fixing the main rods;

[0019] A support rod, one end of which is connected to the main rod through a main joint, and the other end of which is connected to the suction cup through an adapter;

[0020] The design method comprises the following steps:

[0021] Based on the data of the stamping component, determining the main reference coordinate system of the stamping end pick and the first reference point of the suction cup;

[0022] Based on the main reference coordinate system, a main rod assembly model is established;

[0023] Planning a support rod path of the support rod based on the first reference point and the main rod assembly model;

[0024] A support rod model is established based on the support rod path, and a suction cup model is established based on the first reference point to complete the assembly of the stamping end tool.

[0025] Solution 2. The design method according to Solution 1 is characterized in that, before the step of establishing the main rod assembly model, it also includes: establishing a parametric model library for parametric modeling of the main rod assembly, the suction cup, the main joint and the adapter.

[0026] Solution 3. The design method according to Solution 2 is characterized in that, before the step of establishing the main rod assembly model, it also includes: determining the dimensional parameter configuration of the main rod assembly based on the data of the stamping part.

[0027] Solution 4. The design method according to Solution 3 is characterized in that the step of establishing the main rod assembly model based on the main reference coordinate system comprises:

[0028] Based on the main reference coordinate system, establishing a first reference coordinate system of the main rod assembly;

[0029] Importing the data of the parameterized main rod assembly from the parameterized model library;

[0030] constraining the positioning coordinate system of the parameterized main rod assembly model so that it coincides with the first reference coordinate system;

[0031] According to the size parameter configuration of the main rod component, the size parameter value of the parameterized main rod component is adjusted, and a main rod component model is created.

[0032] Solution 5. The design method according to Solution 4 is characterized in that the step of establishing the first reference coordinate system of the main rod assembly based on the main reference coordinate system comprises:

[0033] Based on the main reference coordinate system, generating an envelope of the stamping component;

[0034] The highest point of the envelope of the stamping component along the positive direction of the Z axis of the main reference coordinate system is identified, and this point is moved by a set value along the positive direction of the Z axis to establish the first reference coordinate system of the main rod assembly.

[0035] Solution 6. The design method according to Solution 5 is characterized in that the step of planning the support rod path of the support rod based on the first reference point and the main rod assembly model comprises:

[0036] In the first reference coordinate system, determine the coordinates of each component in the main rod assembly, and establish a second reference coordinate system for the suction cup;

[0037] Determining a support rod connectable area on the main rod;

[0038] A support rod connection mode is determined based on the first reference coordinate system, the second reference coordinate system, and the support rod connectable area.

[0039] Solution 7. The design method according to Solution 6 is characterized in that the step of determining the support rod connection mode based on the first reference coordinate system, the second reference coordinate system and the support rod connectable area comprises:

[0040] Taking the first reference coordinate system as a reference, obtaining the origin coordinates of the second reference coordinate system of the suction cup;

[0041] Determine whether the origin coordinates satisfy a straight-through path condition, and if so, determine that the support rod corresponding to the suction cup is a straight-through support rod, and generate a straight-through support rod path;

[0042] If the origin coordinate does not satisfy the straight-through path condition, determine whether it satisfies the oblique-through path condition; if so, determine that the support rod is an oblique-through support rod, and generate an oblique-through support rod path;

[0043] If the origin coordinates do not satisfy the oblique path condition, the support rod is determined to be a two-stage support rod, and a two-stage support rod path is generated.

[0044] Solution 8. The design method according to Solution 7, further comprising:

[0045] If the origin coordinates satisfy the oblique-through path condition, then further determining whether the origin coordinates satisfy the oblique-through path condition, if so, determining that the support rod is an oblique-through-one support rod, and generating an oblique-through-one support rod path;

[0046] If the origin coordinate does not satisfy the oblique-through-type-1 path condition, it is determined whether it satisfies the oblique-through-type-2 path condition. If so, it is determined that the support rod is an oblique-through-type-2 support rod, and an oblique-through-type-2 support rod path is generated.

[0047] Solution 9. The design method according to Solution 8 is characterized in that:

[0048] The straight-through support rod is perpendicular to the main rod;

[0049] The angle between the oblique support rod and the main rod is 45°;

[0050] The angles between the oblique-through-one-type support rod and the oblique-through-two-type support rod and the main rod are 45° and -45°, or -45° and 45°.

[0051] Solution 10. The design method according to Solution 9 is characterized in that the steps of establishing a support rod model based on the support rod path, establishing a model of the suction cup based on the first reference point, and completing the assembly of the stamping end tool include:

[0052] Based on the support rod path, determine a main joint reference coordinate system of a main joint corresponding to the support rod and an adapter reference coordinate system of an adapter;

[0053] The parametric suction cup model is transferred from the parametric model library, and the reference coordinate system of the parametric suction cup model is constrained so that its origin coincides with the first reference point of the suction cup, thereby completing the assembly of the suction cup;

[0054] Based on the main joint reference coordinate system and the adapter reference coordinate system, assembling the main joint model on the main rod and assembling the adapter model on the suction cup;

[0055] Based on the strut path, a strut digital model is generated between the corresponding main joint model and the adapter model.

[0056] Solution 11. A stamping end pick-up, characterized in that it is designed using the stamping end pick-up design method described in any one of Solutions 1 to 10.

[0057] Solution 12. A computer device comprising a processor, a memory, and a computer program stored in the memory, wherein when the computer program is executed by the processor, the stamping end pick-up design method described in any one of Solutions 1 to 10 is implemented.

[0058] Solution 13. A computer storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the stamping end pick-up design method described in any one of Solutions 1 to 10 is implemented.

[0059] When the above-mentioned technical scheme is adopted, the stamping end pick-up design method of the present invention can automatically determine the support rod connection type according to the position coordinates of the main rod assembly and each suction cup, automatically plan the support rod connection path and the assembly position of related components, automatically call in the assembly of related components and constrain the positioning, and automatically generate support rod data to realize parametric, flexible and intelligent design.

[0060] The stamping end picker design method of the present invention can design the assembly logic of each level of the end picker parts in a computer simulation environment, and realize the automatic assembly and automatic design of the end picker structure. Compared with the traditional on-site construction method of the end picker, the present invention transfers the actual on-site work to the virtual simulation environment, which can effectively improve the efficiency of on-site end picker construction and reduce on-site debugging time; at the same time, compared with the existing end picker virtual simulation design method, it can effectively improve the efficiency and accuracy of end picker design.

[0061] Compared with the existing design methods, the design method of the stamping end picker of the present invention can shorten the design cycle by about 3 / 4, reduce repeated work, greatly shorten the end picker design cycle, effectively reduce the working time and labor intensity of designers, and improve work efficiency. At the same time, it also reduces the end picker design errors, improves the standardization of end picker design, and reduces the end picker design and manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0063] In the attached figure:

[0064] Figure 1 It is a structural schematic diagram of the cooperation between the stamping end picker and the stamping component in the embodiment of the present application;

[0065] Figure 2 It is a structural schematic diagram of the stamping end pick-up in the embodiment of the present application;

[0066] Figure 3 A schematic diagram of a design method for a stamping end pick-up according to an embodiment of the present application;

[0067] Figure 4 A schematic diagram of the main reference coordinate system of the stamping end tool and the first reference point of the suction cup determined in step S100 in the embodiment of the present application;

[0068] Figure 5 and Figure 6 A schematic diagram of parametric modeling of a main rod assembly according to an embodiment of the present application;

[0069] Figure 7 and Figure 8 A schematic diagram of parametric modeling of a suction cup in an embodiment of the present application;

[0070] Figures 9 to 11 A schematic diagram of parameterized modeling of an adapter according to an embodiment of the present application;

[0071] Fig.12 and Fig.13 A schematic diagram of parametric modeling of a straight-through main joint according to an embodiment of the present application;

[0072] Fig.14 and Fig.15 A schematic diagram of parametric modeling of an oblique through-type main joint according to an embodiment of the present application;

[0073] Fig.16 This is a schematic diagram of the application interface of the "production line and parts configuration" module in the embodiment of the present application;

[0074] Fig.17 Schematic diagram of the flow of step S200 of the design method of the embodiment of the present application;

[0075] Fig.18 Schematic diagram of the flow of step S210 of the design method of the embodiment of the present application;

[0076] Fig.19 A schematic diagram of determining a first reference coordinate system in a design method according to an embodiment of the present application;

[0077] Fig. 20 A schematic diagram of a main rod assembly model created in the design method of an embodiment of the present application;

[0078] Fig.21 Schematic diagram of the flow of step S300 of the design method of the embodiment of the present application;

[0079] Fig. 22 A schematic diagram of the area where the support rods can be connected in an embodiment of the present application;

[0080] Fig.23 Schematic diagram of the flow of step S330 of the design method of the embodiment of the present application;

[0081] Fig.24 A schematic diagram of the support rod path type in an embodiment of the present application;

[0082] Fig.25 A schematic diagram of the generation of a straight-through support rod path in an embodiment of the present application;

[0083] Fig.26 A schematic diagram of the generation of an oblique support rod path in an embodiment of the present application;

[0084] Fig. 27 A schematic diagram of the generation of a two-stage support rod path in an embodiment of the present application;

[0085] Fig.28 Schematic diagram of the flow of step S400 of the design method of the embodiment of the present application;

[0086] FIG. 29A to FIG. 29E This is a schematic diagram of the stamping end tool in the embodiment of the present application after the support rod path is planned and assembled.

[0087] Reference numerals:

[0088] 100. Stamping end picker; 110. Main rod assembly; 111. Main rod; 112. Connecting plate; 120. Support rod; 121. Straight-through support rod; 122. Oblique-through support rod; 1221. Oblique-through two-type support rod; 123. Two-stage support rod; 130. Suction cup; 131. Fixed head; 140. Main joint; 141. Straight-through main joint; 142. Oblique-through main joint; 150. Adapter; 200. Stamping parts. DETAILED DESCRIPTION

[0089] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0090] First, it should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "longitudinal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0091] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] The present application embodiment provides a design method for a stamping end tool 100. Figure 1As shown, the stamping end tool 100 includes: a main rod assembly 110, a support rod 120, a suction cup 130, a main joint 140, and an adapter 150. The main rod assembly 110 includes: at least two main rods 111 and a connecting plate 112 for fixing at least two main rods 111. Generally, the main rod assembly 110 includes two main rods 111 arranged in parallel, and two connecting plates 112. The two connecting plates 112 are arranged at positions close to both ends of the two main rods 111, and are used to connect and fix the two main rods 111 to form a main rod frame structure of the stamping end tool 100. One end of the support rod 120 is connected to the main rod 111 through the main joint 140, and the other end of the support rod 120 is connected to the suction cup 130 through the adapter 150.

[0093] like Figure 2 As shown, the stamping end picker 100 absorbs and transfers the stamping component 200 through the suction cup 130. In this embodiment, two stamping end pickers 100 are provided for the stamping component 200. During the design process, the number and arrangement of the required stamping end pickers 100 can be determined according to the specific situation of the stamping component 200. This embodiment of the application does not specifically limit this.

[0094] like Figure 1 and Figure 2 As shown, the support rod 120 is divided into a straight-through support rod 121, an oblique-through support rod 122 and a two-stage support rod 123 according to the connection method with the main rod 111. The oblique-through support rod 122 is further divided into an oblique-through type 1 support rod and an oblique-through type 2 support rod 1221. The straight-through support rod 121 is perpendicular to the main rod 111, and the angle between the oblique-through type 1 support rod and the main rod 111 is 45°. According to the shape and size of the stamping component 200, the angles between the oblique-through type 1 support rod and the oblique-through type 2 support rod 1221 and the main rod 111 are 45° and -45°, or -45° and 45°, respectively. The two-stage support rod 123 is connected to the end of the straight-through support rod 121 or / and the oblique-through support rod 122 away from the main rod 111 to expand the range of arrangement of the suction cup 130 of the stamping end pick 100.

[0095] like Figure 3 As shown, an embodiment of the present application provides a design method for the stamping end tool 100 as described above, and the design method includes the following steps.

[0096] Step S100 : Based on the data of the stamping component 200 , determine the main reference coordinate system A0 of the stamping end tool 100 and the first reference point corresponding to the suction cup 130 .

[0097] The data of the stamping component 200 includes various geometric parameters of the stamping component 200, for example, the shape, size, curvature, etc. of the stamping component 200. Figure 4As shown, due to the different data of different stamping parts 200, before starting to design the stamping end pick 100, the main reference coordinate system A0 of the stamping end pick 100 to be designed should be determined according to the data of the stamping part 200 to be grasped by the designed stamping end pick 100, so as to subsequently position and model each component in the stamping end pick 100 based on the main reference coordinate system A0. In addition, according to the data of the stamping part 200, it is also necessary to determine the number of suction cups 130 arranged on the stamping part 200 and the position of each suction cup 130 relative to the stamping part 200. After determining the position of each suction cup 130, the position (or coordinates) of the first reference point of each suction cup 130 in the main reference coordinate system A0 can be determined.

[0098] Step S200: Building a main rod assembly model based on the main reference coordinate system A0.

[0099] Before performing step 200, the following steps are also included:

[0100] Step S110 : establishing a parametric model library for performing parametric modeling on the main rod assembly 110 , the suction cup 130 , the main joint 140 and the adapter 150 .

[0101] Before starting the design, a parametric end pick model library is established, and the various components included in the stamping end pick 100 are parametrically modeled in advance. For example, a parametric main rod assembly 110, support rod 120, suction cup 130, main joint 140 and adapter 150 are established; so that the models of various components can be called as needed during the automatic design process of the end pick.

[0102] like Figure 5 and Figure 6 As shown, in this embodiment, the main rod assembly 110 is parametrically modeled. The parametric main rod assembly consists of a positioning coordinate system A1, a main rod 111, and a connecting plate 112. Figure 2As shown, in this embodiment, two stamping end pickers 100 are arranged side by side on the stamping part 200, and the positioning coordinate system A1 is set at the symmetrical center of the two main rod assemblies 110 of the two stamping end pickers 100 arranged side by side on the left and right; the direction parallel to the main rod 111 is the X-axis, the vertical direction is the Z-axis, and the direction in which the stamping end picker 100 transports the stamping part 200 is the Y-axis. In a main rod assembly 110, the distances from its two connecting plates 112 to the origin of the positioning coordinate system A1 along the X-axis direction are X1.2 and X1.3; the thickness of the connecting plate 112 is T1; the distance from the axes of the two main rods 111 to the origin of the positioning coordinate system A1 along the Y-axis direction is Y1; the distance from the inner ends of the two main rods 111 (i.e., the ends close to the positioning coordinate system A1) to the origin of the positioning coordinate system A1 along the X-axis direction is X1.1; the distance from the outer ends of the two main rods 111 (i.e., the ends away from the positioning coordinate system A1) to the origin of the positioning coordinate system A1 along the X-axis direction is X1.4. The key dimensions such as the height of the positioning coordinate system A1, the length of the main rods 111, and the spacing of the connecting plates 112 can be changed by modifying the design parameters.

[0103] During the design process, the number and arrangement of the required stamping end tooling 100 can be determined according to the specific conditions of the stamping component 200 ; and the position of the positioning coordinate system A1 of the parameterized main rod assembly can be determined accordingly.

[0104] like Figure 7 and Figure 8 As shown, in this embodiment, the suction cup 130 is parameterized and modeled. The parameterized suction cup consists of a positioning coordinate system A2 and a suction cup 130. Among them, the positioning coordinate system A2 is located at the center of the bottom surface of the suction cup 130. The normal direction of the suction cup 130 is the Z axis, and the direction parallel to the axis of the fixed head 131 is the Y axis; the diameter of the suction cup 130 is D2, the normal height parameter is a fixed value H2, and the axial length parameter is a fixed value L2. The diameter D2 of the suction cup 130 can be modified to change the size of the suction cup 130, so that it is possible to switch between suction cups 130 of different diameter specifications.

[0105] like Figures 9 to 11 As shown, in this embodiment, the adapter 150 connecting the support rod 120 and the suction cup 130 is parametrically modeled. The parametric adapter consists of a positioning coordinate system A3 and an adapter 150. The adapter 150 is annular in shape, with an open card plate at the bottom, and a circular hole is opened on the card plate. The positioning coordinate system A3 is located at the center of the card slot, the card slot axial direction is the X axis, and the direction parallel to the card plate is the Z axis; the adapter width parameter is a fixed value W3, the height parameter is a fixed value H3, and the bottom card slot thickness is T3.

[0106] like Figures 12 to 15As shown, in this embodiment, the main joint 140 connecting the support rod 120 and the main rod 111 is parametrically modeled. The parametric main joint consists of a positioning coordinate system A4 and the main joint 140. The positioning coordinate system A4 is located at the center of the connection end of the main rod 111. The connection direction of the main rod 111 is the X axis, and the vertical direction of the main rod 111 is the Y axis. The main joint 140 can be divided into a straight-through main joint 141 (such as Fig.12 and Fig.13 ) and the inclined main joint 142 (as shown Fig.14 and Fig.15 The width parameter of the main joint 140 is a fixed value W4. For the oblique through main joint 142, the distance between the intersection of the axis of the support rod 120 connected thereto and the axis of the main rod 111 and the positioning coordinate system A4 along the Y-axis direction is L4.

[0107] Before performing step 200 and after step S110, the following steps are also included:

[0108] Step S120 : determining the dimension parameter configuration of the main rod assembly 110 based on the data of the stamping component 200 .

[0109] After the main reference coordinate system A0 of the punching end tool 100 and the first reference point of the suction cup 130 are determined in step S100, the dimension parameters of the main rod assembly 110, such as the main rod length, the connection plate spacing and other dimension parameters as described above, are determined in step 120. Preparation is made for creating a model of the main rod assembly 110.

[0110] like Fig.16 As shown, in the design software, a "production line and parts configuration" module can be set. By setting the "production line" option in this module, for example, production line A / B / C. Each production line option corresponds to a set of predefined dimensional parameters of the main rod assembly 110, for example, the length of the main rod 111, the thickness T1, Y1, X1.1 of the connecting plate 112, etc. When a production line is selected in the application interface of the "production line and parts configuration" module, the corresponding pre-set values ​​will be assigned to each dimension of the main rod assembly 110.

[0111] Furthermore, if Fig.17 As shown, step S200 also includes the following steps:

[0112] Step S210 : establishing a first reference coordinate system A01 of the main rod assembly 110 based on the main reference coordinate system A0 .

[0113] Furthermore, if Fig.18 and Fig.19 As shown, step S210 also includes the following steps:

[0114] Step S211 : Generate an envelope of the stamping component 200 based on the main reference coordinate system A0 .

[0115] Step S212: Identify the highest point of the envelope of the stamping component 200 along the positive Z axis of the main reference coordinate system A0, and move this point along the positive Z axis by a set value Z1 to establish the positioning reference coordinate system of the main rod assembly 110, that is, the first reference coordinate system A01.

[0116] Step S220: importing the data of the parametric main rod assembly from the parametric model library.

[0117] Step S230: constrain the positioning coordinate system A1 of the parameterized main rod assembly to make it coincide with the first reference coordinate system A01 of the main rod assembly 110. Thus, the main rod assembly 110 is loaded and constrained in positioning.

[0118] Step S240: adjusting the size parameter value of the parameterized main rod assembly according to the size parameter configuration of the main rod assembly 110, and creating a main rod assembly model according to the adjusted size parameter value.

[0119] Specifically, after the data of the parameterized main rod assembly is loaded, the various parameter values ​​in the main rod assembly 110 described above are adjusted according to the parameter configuration, for example, the height value Z1 of the main rod 111, the distance Y1 between the two main rods 111, the thickness T1 of the connecting plate 112, and the parameter values ​​X1.1, X1.2, X1.3 and X1.4. All parameters are locked to the default values ​​according to the configuration table; these parameters can also be modified. Fig. 20 As shown, finally, according to the above data and based on the main reference coordinate system A0, a model of the main rod assembly 110 is created on the stamping component 200.

[0120] Step 300: planning a support rod path of the support rod 120 based on the first reference point and the main rod assembly model.

[0121] Furthermore, if Fig.21 As shown, step 300 also includes the following steps:

[0122] Step S310 : in the first reference coordinate system A01 of the main rod assembly 110 , the coordinates of each component in the main rod assembly 110 are determined, and a second reference coordinate system A02 of the suction cup 130 is established.

[0123] The first reference coordinate system A01 of the main rod assembly 110 is used as the reference for calculating the coordinates of all components. The vertical direction is the Z axis, the direction parallel to the main rod 111 is the X axis, and the feeding direction of the punching end pick 100 is the Y axis. The size parameters of each component in space are described by coordinate values ​​or coordinate intervals; for example, Fig. 20As shown, the coordinates of the outer end of the main rod 111 are (X1.4, Y1, 0), and the coordinates of the first reference point of the suction cup 130 are (X2, Y2, Z2). A second reference coordinate system A02 for the suction cup 130 is established based on the first reference point of the suction cup 130 as an auxiliary positioning for planning the path of the support rod 120. Among them, the Z axis of the second reference coordinate system A02 is the surface normal of the stamping component 200 at the location of the first reference point of the suction cup 130, and the X axis is consistent with the X axis coordinate of the first reference coordinate system A01, thereby the Y axis of the reference coordinate system can be synchronously determined.

[0124] Step S320: Determine the area on the main rod 111 where the supporting rods can be connected.

[0125] like Fig. 22 As shown, due to the length limitation of the main rod 111, the positions of the connection points of all the support rods 120 and the main rod 111 must be located within the length range of the main rod 111. In addition, due to the space occupied in the thickness direction of the connecting plate 112, the positions of the connection points of the support rods 120 and the main rod 111 must avoid the position of the connecting plate 112, thereby determining that the connectable area of ​​the support rods 120 on the main rod 111 is: [X1.1+W4,X1.2-W4]∪[X1.2+T1+W4,X1.3-W4]∪[X1.3+T1+W4,X1.4-W4]

[0126] Step S330: Determine the connection mode of the support rod 120 based on the first reference coordinate system A01, the second reference coordinate system and the support rod connectable area.

[0127] Furthermore, if Fig.23 and Fig.24 As shown, step 330 also includes the following steps:

[0128] Step 331: Taking the first reference coordinate system A01 as a reference, obtain the origin coordinates (X2, Y2, Z2) of the second reference coordinate system A02 of the suction cup 130.

[0129] Step 332: Determine whether the origin coordinates (X2, Y2, Z2) of the second reference coordinate system of the suction cup 130 meet the straight-through path condition. If so, determine that the support rod 120 corresponding to the suction cup 130 belonging to the second basic coordinate system is a straight-through support rod 121, and generate a straight-through support rod path.

[0130] The determination conditions of the straight-through support rod 121 are: X2∈[X 1.1 +W4,X 1.2 -W4]∪[X 1.2 +T1+W4,X 1.3 -W4]∪[X 1.3+T1+W4,X 1.4 -W4]

[0131] like Fig.25 As shown, the steps to generate a straight-through strut path are as follows:

[0132] Step 1: Taking the suction cup reference point P1 (i.e., the first reference point of the suction cup 130) as the starting point, establish a suction cup reference coordinate system (i.e., the second reference coordinate system A02), the Z axis of the coordinate system is the surface normal direction of the suction cup reference point, denoted as Z', and the X axis is consistent with the first reference coordinate system A01, denoted as X', thereby synchronously determining the Y axis of the coordinate system, denoted as Y';

[0133] Step 2: Translate the suction cup reference point P1 along the suction cup reference Z' axis by a translation distance of H2 to obtain the suction cup reference point P2;

[0134] Step 3: Move the suction cup reference point P2 along the suction cup reference X axis by a translation distance of L2+T3 to obtain the adapter reference point P3;

[0135] Step 4: Generate a circle with P3 as the center, the X-axis of the end pick as the normal direction, and the radius H3 as the radius to obtain the circumscribed circle C3 of the adapter;

[0136] Step 5: Take the plane where C3 is located as the reference plane, find the intersection point with the center line of the main rod, and obtain the main joint reference point P4;

[0137] Step 6: Take P4 as the starting point and make a tangent to the circumscribed circle C3 of the adapter to obtain the adapter reference point P5;

[0138] Step 7: Connect points P1 to P5 in sequence to obtain the assembly path of the straight-through support rod 121 and the assembly reference of each component.

[0139] Step 333: If the origin coordinates (X2, Y2, Z2) of the second reference coordinate system of the suction cup 130 do not meet the straight-through path condition, determine whether it meets the oblique path condition. If so, determine that the support rod 120 is an oblique support rod 122, and generate an oblique support rod path.

[0140] Furthermore, if the above coordinates satisfy the oblique path condition, it is further determined whether the suction cup coordinates satisfy the oblique path condition. If so, the support rod is determined to be an oblique support rod, and an oblique support rod path is generated.

[0141] The judgment conditions for the oblique-through type support rod are:

[0142] If the origin coordinates do not satisfy the oblique-through-type 1 path condition, it is determined whether they satisfy the oblique-through-type 2 path condition. If so, the support rod 120 is determined to be an oblique-through-type 2 support rod 1221, and an oblique-through-type 2 support rod path is generated.

[0143] The judgment conditions for the oblique two-way support rod 1221 are:

[0144] like Fig.26 As shown in the figure, the steps to generate the oblique support path are as follows:

[0145] Step 1: Taking the suction cup reference point P1 (i.e., the first reference point of the suction cup 130) as the starting point, establish a suction cup reference coordinate system (i.e., the second reference coordinate system A02), the Z axis of the coordinate system is the surface normal direction of the suction cup reference point, denoted as Z', and the X axis is consistent with the first reference coordinate system A01, denoted as X', thereby synchronously determining the Y axis of the coordinate system, denoted as Y';

[0146] Step 2: Translate the suction cup reference point P1 along the suction cup reference Z' axis by a translation distance of H2 to obtain the suction cup reference point P2;

[0147] Step 3: The suction cup reference point P2 is translated along the suction cup reference X' axis by a translation distance of L2+T3, and then rotated 45° around the suction cup reference axis Z'. If it is an oblique pass II, the rotation angle is -45°, and the adapter reference point P3 is obtained;

[0148] Step 4: Generate a circle with P3 as the center, the line P2-P3 as the normal, and the radius H3 as the radius to obtain the circumscribed circle C3 of the adapter;

[0149] Step 5: Take the plane where C3 is located as the reference plane, find the intersection point with the center line of the main rod, and obtain the main joint reference point P4;

[0150] Step 6: Take P4 as the starting point and make a tangent to the circumscribed circle C3 of the adapter to obtain the adapter reference point P5;

[0151] Step 7: Connect points P1 to P5 in sequence to obtain the assembly path of the oblique support rod 122 and the assembly reference of each component.

[0152] Step 334: If the origin coordinates do not satisfy the oblique path condition, the support rod 120 is determined to be a two-stage support rod 123, and a two-stage support rod path is generated.

[0153] like Fig. 27 As shown in the figure, the steps to generate a two-level support path are as follows:

[0154] Step 1: Take the suction cup reference point P1 as the starting point to establish the suction cup reference coordinate system. The Z direction of the coordinate system is the surface normal direction of the suction cup reference point, recorded as Z', and the X direction is consistent with the main reference coordinate of the end picker, recorded as X'. The Y direction of the coordinate system is determined synchronously, recorded as Y';

[0155] Step 2: Translate the suction cup reference point P1 along the surface normal Z' axis, the Z translation distance is H2, and the suction cup reference point P2 is obtained;

[0156] Step 3: Translate the suction cup reference point P2 along the suction cup reference X' axis by a distance of L2+T3 to obtain the adapter reference point P3;

[0157] Step 4: Translate the adapter reference point P3 along the suction cup reference Z' axis by a distance of H3 to obtain the adapter reference point P4;

[0158] Step 5: Translate the adapter reference point P4 along the suction cup reference Y' axis with a translation distance of Y0 to obtain the adapter reference point P5;

[0159] Step 6: Translate the adapter reference point P5 along the suction cup reference Z' axis by a distance of H3 to obtain the adapter reference point P6;

[0160] Step 7: Translate the adapter reference point P6 along the suction cup reference X' axis with a translation distance of X0 to obtain the adapter reference point P7;

[0161] Step 8: Generate a circle with P7 as the center, the X-axis of the end pick as the normal direction, and the radius H3 as the radius to obtain the circumscribed circle C7 of the adapter;

[0162] Step 9: Take the plane where C7 is located as the reference plane, find the intersection point with the center line of the main rod, and obtain the main joint reference point P8;

[0163] Step 10: Take P8 as the starting point and make a tangent to the adapter circumscribed circle C7 to obtain the adapter reference point P9;

[0164] Step 11: Connect points P1 to P9 in sequence to obtain the assembly path of the two-stage support rod 123 and the assembly reference of each component.

[0165] Step 400 : Building a support rod model based on the support rod path, building a suction cup model based on the first reference point, and completing the assembly of the stamping end tool 100 .

[0166] like FIG. 29A to FIG. 29EAs shown, after the support rod path planning is completed, the parametric suction cup model is called in for assembly. The origin of the positioning coordinate system A2 of the constrained parameterized suction cup coincides with the origin coordinates (X2, Y2, Z2) of the second reference coordinate system of the suction cup 130, and the XYZ axis coincides with the path polyline, completing the calling-in assembly and constrained positioning of the parametric suction cup. According to the same logic, the parametric model of the main joint 140 connecting the support rod 120 and the main rod 111 and the parametric model of the adapter 150 connecting the support rod 120 and the suction cup 130 are assembled in sequence. Subsequently, a support rod model is generated between the main joint 140 and the adapter 150 to complete the creation of the support rod 120 model. According to the same method, all planned support rod paths are converted into solid models of the support rod 120 one by one, and the assembly sequence and positioning method of generating various forms of support rod types for the stamping end pick 100 are similar and will not be repeated here.

[0167] Furthermore, if Fig.28 As shown, step 400 also includes the following steps:

[0168] Step 410: Determine the main joint reference coordinate system of the main joint 140 corresponding to the support rod 120 and the adapter reference coordinate system of the adapter 150 based on the support rod path;

[0169] Step 420: import the parametric suction cup model from the parametric model library, constrain the reference coordinate system A2 of the parametric suction cup model so that its origin coincides with the first reference point of the suction cup, and complete the assembly of the suction cup;

[0170] Step 430: Based on the main joint reference coordinate system and the adapter reference coordinate system, assemble the main joint model on the main rod 111 and assemble the adapter model on the suction cup;

[0171] Step 440: Generate a support rod digital model between the corresponding main joint model and the adapter model based on the support rod path.

[0172] At this point, the modeling and assembly of the various components of the stamping end pick 100 are completed. Afterwards, the model of the assembled stamping end pick 100 can also be checked and adjusted. For example, in the modeling software, the position of the suction cup 130 and the adapter 150 can be moved or the coordinates can be modified according to the inspection results. The generated assembly of the stamping end pick 100 can also be modified independently. After the position is modified, the modeling software automatically replaces the original digital model with the updated coordinate value, recalculates and generates the support rod path, updates the assembly position and direction of each standard part, and completes the adjustment and correction. At this point, the automatic design of the stamping end pick 100 is completed.

[0173] The design method of the stamping end picker of the present invention can realize the simulation design and automatic design of the stamping end picker 100 in a computer simulation environment. Compared with the traditional on-site construction method of the end picker, the present invention transfers the actual work on site to the virtual simulation environment, which can effectively improve the efficiency of on-site end picker construction and reduce the on-site debugging time; at the same time, compared with the existing end picker virtual simulation design method, it can effectively improve the efficiency and accuracy of end picker design.

[0174] The embodiment of the present application further provides a stamping end pick-up 100 designed using the stamping end pick-up design method as described above.

[0175] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A design method for a stamping end pick-up, characterized in that: The stamping end pick-up comprises: A main rod assembly, comprising at least two main rods and a connecting plate for fixing the main rods; A support rod, one end of which is connected to the main rod through a main joint, and the other end of which is connected to the suction cup through an adapter; The design method comprises the following steps: Based on the data of the stamping component, determining the main reference coordinate system of the stamping end pick and the first reference point of the suction cup; Based on the main reference coordinate system, a main rod assembly model is established; Planning a support rod path of the support rod based on the first reference point and the main rod assembly model; A support rod model is established based on the support rod path, and a suction cup model is established based on the first reference point to complete the assembly of the stamping end tool.

2. The design method according to claim 1, characterized in that: Before the step of establishing the main rod assembly model, the method further includes: establishing a parametric model library for parametric modeling of the main rod assembly, the suction cup, the main joint and the adapter.

3. The design method according to claim 2, characterized in that: Before the step of establishing the main rod assembly model, the method further includes: determining the size parameter configuration of the main rod assembly based on the data of the stamping component.

4. The design method according to claim 3, characterized in that: The step of establishing the main rod assembly model based on the main reference coordinate system includes: Based on the main reference coordinate system, establishing a first reference coordinate system of the main rod assembly; Importing the data of the parameterized main rod assembly from the parameterized model library; constraining the positioning coordinate system of the parameterized main rod assembly model so that it coincides with the first reference coordinate system; According to the size parameter configuration of the main rod component, the size parameter value of the parameterized main rod component is adjusted, and a main rod component model is created.

5. The design method according to claim 4, characterized in that: The step of establishing the first reference coordinate system of the main rod assembly based on the main reference coordinate system comprises: Based on the main reference coordinate system, generating an envelope of the stamping component; The highest point of the envelope of the stamping component along the positive direction of the Z axis of the main reference coordinate system is identified, and this point is moved by a set value along the positive direction of the Z axis to establish the first reference coordinate system of the main rod assembly.

6. The design method according to claim 5, characterized in that: The step of planning the support rod path of the support rod based on the first reference point and the main rod assembly model comprises: In the first reference coordinate system, determine the coordinates of each component in the main rod assembly, and establish a second reference coordinate system for the suction cup; Determining a support rod connectable area on the main rod; A support rod connection mode is determined based on the first reference coordinate system, the second reference coordinate system, and the support rod connectable area.

7. The design method according to claim 6, characterized in that: The step of determining the support rod connection mode based on the first reference coordinate system, the second reference coordinate system and the support rod connectable area comprises: Taking the first reference coordinate system as a reference, obtaining the origin coordinates of the second reference coordinate system of the suction cup; Determine whether the origin coordinates satisfy a straight-through path condition, and if so, determine that the support rod corresponding to the suction cup is a straight-through support rod, and generate a straight-through support rod path; If the origin coordinate does not satisfy the straight-through path condition, determine whether it satisfies the oblique-through path condition; if so, determine that the support rod is an oblique-through support rod, and generate an oblique-through support rod path; If the origin coordinates do not satisfy the oblique path condition, the support rod is determined to be a two-stage support rod, and a two-stage support rod path is generated.

8. The design method according to claim 7, characterized in that: Also includes: If the origin coordinates satisfy the oblique-through path condition, then further determining whether the origin coordinates satisfy the oblique-through path condition, if so, determining that the support rod is an oblique-through-one support rod, and generating an oblique-through-one support rod path; If the origin coordinate does not satisfy the oblique-through-type-1 path condition, it is determined whether it satisfies the oblique-through-type-2 path condition. If so, it is determined that the support rod is an oblique-through-type-2 support rod, and an oblique-through-type-2 support rod path is generated.

9. The design method according to claim 8, characterized in that: The straight-through support rod is perpendicular to the main rod; The angle between the oblique support rod and the main rod is 45°; The angles between the oblique-through-one-type support rod and the oblique-through-two-type support rod and the main rod are 45° and -45°, or -45° and 45°.

10. The design method according to claim 9, characterized in that: The steps of establishing a support rod model based on the support rod path, establishing a model of the suction cup based on the first reference point, and completing the assembly of the stamping end tool include: Based on the support rod path, determine a main joint reference coordinate system of a main joint corresponding to the support rod and an adapter reference coordinate system of an adapter; The parametric suction cup model is transferred from the parametric model library, and the reference coordinate system of the parametric suction cup model is constrained so that its origin coincides with the first reference point of the suction cup, thereby completing the assembly of the suction cup; Based on the main joint reference coordinate system and the adapter reference coordinate system, assembling the main joint model on the main rod and assembling the adapter model on the suction cup; Based on the strut path, a strut digital model is generated between the corresponding main joint model and the adapter model.

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