Sorting and discharging device for automobile body robot production line

Abstract

The invention discloses a sorting and discharging device for an automobile body robot production line, and relates to the technical field of automobile production, the sorting and discharging device comprises a roller conveying line, a sorting robot, and an adsorption module and a cleaning module integrated on an end effector of the sorting robot; the adsorption module is composed of a suction cup, a vacuum generator and a digital display pressure gauge and achieves negative pressure adsorption of a stamping part through air pipe connection. The cleaning module comprises a cleaning plate with bristles, a rotating shaft and a gear transmission assembly; the cleaning plate is arranged on the outer side of the adsorption module, in the process that the adsorption module gradually gets close to the stamping part, the cleaning plate firstly makes contact with the stamping part, the gear transmission assembly is controlled to operate through thrust generated when an end executor of the sorting robot gradually gets close to the stamping part, and then the cleaning plate is driven to rotate through the rotating shaft; the cleaning plate is used for sweeping dust on the part, about to be in contact with the sucker, of the stamping part.

Description

Technical Field

[0001] The invention relates to the technical field of automobile production, and in particular to a sorting and unloading device for an automobile body robot production line. Background Art

[0002] The automobile body robot production line is an important part of modern automobile manufacturing. It uses advanced robot technology and automation equipment to complete key processes such as automobile body assembly, welding, and painting.

[0003] After the automobile-specific steel plates are stamped into body stamping parts by the stamping line, the robot takes the stamping parts out of the stamping machine and puts them on the conveyor line. After being sorted by the robot, they are sent to the next process by the conveyor line. Most of the existing sorting and unloading devices use robots equipped with suction cups to grab and carry the stamping parts. However, during the stamping process, operations such as cutting and punching of metal materials will generate a large amount of metal debris and dust. These tiny particles float in the air and fall on the surface of the stamping parts. When the robot absorbs the surface of the stamping parts through the suction cup, the dust particles will fill in the tiny gap between the suction cup and the surface of the stamping parts, making it impossible for the suction cup to form a tight fit with the surface of the stamping parts. This loose fit will cause the vacuum inside the suction cup to decrease, thereby reducing the adsorption force. When the adsorption force is not enough to support the weight of the stamping parts or resist external interference, the stamping parts may fall off the suction cup, causing production accidents. For this reason, we propose a sorting and unloading device for an automobile body robot production line. Summary of the invention

[0004] The object of the present invention is to provide a sorting and unloading device for an automobile body robot production line to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a sorting and unloading device for an automobile body robot production line, comprising a roller conveyor line and a sorting robot, an adsorption module and a cleaning module; the adsorption module is fixedly installed on the end effector of the sorting robot, the adsorption module comprises a suction cup, a vacuum generator, a digital pressure gauge and a junction box, wherein the vacuum generator is connected to the suction cup through an air pipe, and is configured to control the suction cup to adsorb the surface of the stamping part through negative pressure; the cleaning module is fixedly installed on the end effector of the sorting robot, the cleaning module comprises a cleaning plate, a limit frame, a rotating shaft and a gear transmission assembly, wherein the gear transmission assembly is configured to transmit the mechanical power of the end effector of the sorting robot to the rotating shaft when it moves downward, and drive the rotating shaft to drive the cleaning plate to rotate to remove dust on the surface of the stamping part.

[0006] Preferably, the end effector of the sorting robot is fixedly provided with a mounting frame; the limiting frame is fixed to the bottom of the mounting frame, and a sliding hole is opened inside the limiting frame; a sliding frame is slidably provided on the limiting frame, and a mounting cylinder is fixedly installed inside the sliding frame; the rotating shaft rotatably passes through the mounting cylinder, and its bottom end extends out of the mounting cylinder and is fixedly connected to the cleaning plate through a connecting assembly; a compression spring is fixedly provided between the mounting cylinder and the mounting frame.

[0007] Preferably, the gear transmission assembly includes a first bevel gear, a second bevel gear and a fixed gear; the first bevel gear is fixed to the top of the rotating shaft and is located in the mounting cylinder; a fixed shaft is provided on the side wall of the mounting cylinder, and both ends of the fixed shaft pass through the sliding holes of the limit frame; the second bevel gear is fixed on the fixed shaft and meshes with the first bevel gear; a fixed gear is fixed at each of the two ends of the fixed shaft, a positioning strip is provided on the inner side of the sliding hole, and the surface of the positioning strip is processed with external teeth that mesh with the fixed gear.

[0008] Preferably, the diameter of the fixed shaft is equal to the width of the sliding hole, so as to limit the radial displacement of the fixed shaft in the sliding hole.

[0009] Preferably, the external teeth are continuously distributed along the middle section of the sliding hole, and the number of teeth of the external teeth is equal to the number of teeth of the fixed gear; the first bevel gear is the same as the second bevel gear.

[0010] Preferably, the connecting assembly includes an outer ring fixed to the cleaning plate and an inner ring fixed to the rotating shaft; the outer ring is sleeved on the outside of the inner ring, and the inner side of the outer ring is provided with annularly distributed limit grooves; a plurality of mounting grooves are provided on the outside of the inner ring, and a limit head is hinged in each mounting groove through a torsion spring; the limit head is embedded in the limit groove to transmit the rotational power of the rotating shaft to the cleaning plate.

[0011] Preferably, a limit block is fixedly provided in each installation groove, and the limit block is configured to constrain the rotation angle of the limit head.

[0012] Preferably, one side of the limiting groove is an inclined surface, and the other side coincides with the radial plane of the inner ring to adapt to the movement trajectory of the limiting head.

[0013] Preferably, the suction cups are symmetrically distributed on the outside of the bottom of the mounting frame and are connected to the vacuum generator through an air pipe; the vacuum generator, digital pressure gauge and junction box are integrated inside the mounting frame, and the junction box is electrically connected to the vacuum generator and the digital pressure gauge.

[0014] Preferably, the cleaning module is located at the center of the bottom of the mounting frame, and the length of the cleaning plate is greater than the maximum distance between the suction cups on both sides of the bottom of the mounting frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention integrates the adsorption module and the cleaning module into the end effector of the sorting robot. The device can use the cleaning plate to automatically remove the dust on the surface of the stamping part to be adsorbed by the suction cup before the suction cup contacts the surface of the stamping part, thereby preventing the suction cup from excessively contacting the dust on the surface of the stamping part to affect the adsorption effect of the suction cup.

[0017] 2. The gear transmission assembly, the second bevel gear and the fixed gear as well as the limit structure and the positioning strip are used to ensure that the power transmission of the cleaning module is accurate and has strong anti-drift ability. At the same time, the modular design reduces the risk of mechanical wear, extends the service life of the equipment and reduces the maintenance frequency.

[0018] 3. The integrated vacuum generator and digital pressure gauge monitor and adjust the adsorption negative pressure in real time to avoid the stamping parts falling off due to insufficient pressure or damage caused by excessive pressure. Combined with the symmetrical distribution design of the suction cup, it further ensures the balance of stamping parts grabbing and the safety of the sorting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the sorting robot of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the mounting frame of the present invention;

[0022] Figure 4 This is a structural schematic diagram of the mounting frame of the present invention from another viewing angle;

[0023] Figure 5 This is a schematic diagram of the distribution of the suction cup and the cleaning plate of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the position limiting frame of the present invention;

[0025] Figure 7 It is a partial cross-sectional schematic diagram of the installation tube portion of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of the connection assembly of the present invention;

[0027] Fig. 9 for Figure 8 Enlarged view of point A in the middle.

[0028] In the figure: 1- roller conveyor line; 2- sorting robot; 3- adsorption module; 4- suction cup; 5- vacuum generator; 6- digital pressure gauge; 7- junction box; 8- cleaning module; 9- cleaning plate; 10- limit frame; 11- rotating shaft; 12- gear transmission assembly; 13- mounting frame; 14- sliding hole; 15- sliding frame; 16- mounting cylinder; 17, connecting assembly; 18, compression spring; 19, first bevel gear; 20, second bevel gear; 21, fixed gear; 22, fixed shaft; 23, positioning strip; 24, external teeth; 25, outer ring; 26, inner ring; 27, limit groove; 28, mounting groove; 29, limit head; 30, limit block. DETAILED DESCRIPTION

[0029] 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.

[0030] Example:

[0031] Please refer to Figure 1-Figure 9 , a sorting and unloading device for a car body robot production line is shown in the figure, comprising a roller conveyor line 1 and a sorting robot 2, an adsorption module 3 and a cleaning module 8;

[0032] The adsorption module 3 is fixedly installed on the end effector of the sorting robot 2. The adsorption module 3 includes a suction cup 4, a vacuum generator 5, a digital pressure gauge 6 and a junction box 7. The vacuum generator 5 is connected to the suction cup 4 through an air pipe and is configured to control the suction cup 4 to adsorb the surface of the stamping part through negative pressure. The vacuum generator 5 and the digital pressure gauge 6 are integrated to monitor and adjust the adsorption negative pressure in real time to avoid the stamping part falling off due to insufficient pressure or damage caused by excessive pressure. Combined with the symmetrical distribution design of the suction cup 4, the balance of stamping part grabbing and the safety of the sorting process are further guaranteed;

[0033] The cleaning module 8 is fixedly installed on the end effector of the sorting robot 2. The cleaning module 8 includes a cleaning plate 9, a limiting frame 10, a rotating shaft 11 and a gear transmission assembly 12, wherein the gear transmission assembly 12 is configured to transmit the mechanical power when the end effector of the sorting robot 2 moves downward to the rotating shaft 11, and the rotating shaft 11 drives the cleaning plate 9 to rotate to remove dust on the surface of the stamping part. The gear transmission assembly 12 such as the first bevel gear 19, the second bevel gear 20 and the fixed gear 21 and the limiting structure slide hole 14 and the positioning bar 23 are used to ensure that the power transmission of the cleaning module 8 is accurate and has strong anti-drift ability. At the same time, the modular design reduces the risk of mechanical wear, extends the service life of the equipment and reduces the maintenance frequency.

[0034] Some implementation methods of the present application are described in detail below with reference to the accompanying drawings:

[0035] Please refer to Figure 1-Figure 9 In this embodiment: by integrating the adsorption module 3 and the cleaning module 8 into the end effector of the sorting robot 2, the device can use the cleaning plate 9 to automatically remove dust on the surface of the stamping part to be adsorbed by the suction cup 4 before the suction cup 4 contacts the surface of the stamping part, thereby preventing the suction cup 4 from excessively contacting the dust on the surface of the stamping part and affecting the adsorption effect of the suction cup 4.

[0036] Among them, the end effector of the sorting robot 2 is fixedly provided with a mounting frame 13; the limiting frame 10 is fixed to the bottom of the mounting frame 13, and a sliding hole 14 is opened inside the limiting frame 10; a sliding frame 15 is slidably provided on the limiting frame 10, and a mounting cylinder 16 is fixedly installed inside the sliding frame 15; the rotating shaft 11 rotatably passes through the mounting cylinder 16, and its bottom end extends out of the mounting cylinder 16 and is fixedly connected to the cleaning plate 9 through a connecting assembly 17; a compression spring 18 is fixedly provided between the mounting cylinder 16 and the mounting frame 13;

[0037] Meanwhile, the gear transmission assembly 12 includes a first bevel gear 19, a second bevel gear 20 and a fixed gear 21; the first bevel gear 19 is fixed to the top of the rotating shaft 11 and is located in the mounting tube 16; a fixed shaft 22 is provided on the side wall of the mounting tube 16, and both ends of the fixed shaft 22 pass through the sliding hole 14 of the limiting frame 10; the second bevel gear 20 is fixed on the fixed shaft 22 and meshes with the first bevel gear 19; a fixed gear 21 is fixedly provided at each end of the fixed shaft 22, and a positioning strip 23 is provided inside the sliding hole 14, and the surface of the positioning strip 23 is processed with external teeth 24 meshing with the fixed gear 21;

[0038] Furthermore, the diameter of the fixed shaft 22 is equal to the width of the sliding hole 14 to limit the radial displacement of the fixed shaft 22 in the sliding hole 14;

[0039] In addition, the external teeth 24 are continuously distributed along the middle section of the sliding hole 14, and the number of teeth of the external teeth 24 is equal to the number of teeth of the fixed gear 21; the first bevel gear 19 is the same as the second bevel gear 20;

[0040] The principle of cleaning the surface of the stamping part by the cleaning module 8: when the end effector of the sorting robot 2 moves downward, the cleaning plate 9 first contacts the surface of the stamping part. As the end effector of the sorting robot 2 continues to move downward, the mounting cylinder 16 moves upward in the limit frame 10 along with the sliding frame 15. At this time, the fixed gear 21 rolls on the outer teeth 24 on the outside of the positioning sleeve, thereby driving the fixed shaft 22 to rotate. The fixed shaft 22 drives the rotating shaft 11 to rotate through the engagement of the second bevel gear 20 with the first bevel gear 19. When the rotating shaft 11 rotates, the cleaning plate 9 shakes off or brushes off the dust on the surface of the stamping part with centrifugal force.

[0041] It is worth noting that reference Figure 8 and Fig. 9 The connecting assembly 17 includes an outer ring 25 fixedly connected to the cleaning plate 9 and an inner ring 26 fixedly connected to the rotating shaft 11; the outer ring 25 is sleeved on the outer side of the inner ring 26, and an annular limiting groove 27 is provided on the inner side of the outer ring 25; a plurality of mounting grooves 28 are provided on the outer side of the inner ring 26, and a limiting head 29 is hinged in each mounting groove 28 through a torsion spring; the limiting head 29 is embedded in the limiting groove 27 to transmit the rotational power of the rotating shaft 11 to the cleaning plate 9;

[0042] Wherein, a limit block 30 is fixedly disposed in each installation slot 28, and the limit block 30 is configured to constrain the rotation angle of the limit head 29;

[0043] In addition, one side of the limiting groove 27 is an inclined surface, and the other side coincides with the radial plane of the inner ring 26 to adapt to the movement trajectory of the limiting head 29;

[0044] When the end effector of the sorting robot 2 moves down and the mounting cylinder 16 moves up in the limit frame 10 with the sliding frame 15, the rotation of the rotating shaft 11 drives the outer ring 25 to rotate through the limit head 29 in the inner ring 26 against the radial plane in the limit groove 27 of the outer ring 25, thereby driving the cleaning plate 9 to rotate and clean; and when the stamping part is detached from the end effector of the sorting robot 2, the end effector of the sorting robot 2 moves up, and the mounting cylinder 16 moves down in the limit frame 10 with the sliding frame 15, thereby driving the rotating shaft 11 to rotate in the opposite direction. At this time, the limit head 29 slides along the inclined surface of the limit groove 27 and is received in the mounting groove 28, and the inner ring 26 can no longer drive the outer ring 25 to rotate, thereby preventing the cleaning plate 9 from rotating when the end effector of the sorting robot 2 moves up and detaches from the stamping part, and collides with the external equipment at the position after the stamping part is transferred.

[0045] refer to Figure 3-Figure 5 The suction cups 4 are symmetrically distributed on the outside of the bottom of the mounting frame 13 and are connected to the vacuum generator 5 through an air pipe; the vacuum generator 5, the digital pressure gauge 6 and the junction box 7 are integrated inside the mounting frame 13, and the junction box 7 is electrically connected to the vacuum generator 5 and the digital pressure gauge 6;

[0046] The principle of the suction module 3 sucking stamping parts: when the sorting robot 2 moves above the stamping parts, the suction cup 4 contacts the surface of the stamping parts, and the vacuum generator 5 starts to suck the stamping parts by negative pressure. The digital pressure gauge 6 monitors the vacuum degree in the suction cup 4 in real time. If it is lower than the set threshold, it triggers an alarm or suspends the operation.

[0047] It is worth noting that Figure 5 As shown, the cleaning module 8 is located at the bottom center of the mounting frame 13, and the length of the cleaning plate 9 is greater than the maximum distance between the suction cups 4 on both sides of the bottom of the mounting frame 13, ensuring that the cleaning range covers the surface of the stamping part to be adsorbed by the suction cup 4;

[0048] The method of using this device is as follows:

[0049] First, the robot moves to the top of the stamping part, the end effector moves down, and the cleaning module 8 first contacts the surface of the stamping part. As the end effector continues to move down, the installation cylinder 16 moves up in the limit frame 10 along with the sliding frame 15. At this time, the fixed gear 21 rolls on the outer teeth 24 on the outside of the positioning sleeve, thereby driving the fixed shaft 22 to rotate. The fixed shaft 22 drives the rotating shaft 11 to rotate through the meshing of the second bevel gear 20 and the first bevel gear 19. The rotation of the rotating shaft 11 drives the outer ring 25 to rotate through the limit head 29 in the inner ring 26 against the radial plane in the limit groove 27 of the outer ring 25, thereby driving the cleaning plate 9 to rotate and clean. The cleaning plate 9 shakes off or brushes off the dust on the surface of the stamping part with centrifugal force.

[0050] It is worth noting that the initial position of the cleaning plate 9 is vertically arranged in the middle of the suction cups 4 on both sides of the bottom of the mounting frame 13. After the fixed gear 21 has rolled all the outer teeth 24, the fixed gear 21 rotates exactly one circle, which can prevent the cleaning plate 9 from blocking the normal adsorption of the suction cups 4.

[0051] Then, the suction cup 4 is attached to the surface of the stamping part, the vacuum generator 5 starts adsorption, and after the digital pressure gauge 6 confirms that the vacuum degree meets the standard, the robot moves the stamping part to the next station;

[0052] Repeat the above steps and use the robot to sort and cut the stamping parts.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sorting and unloading device for an automobile body robot production line, characterized in that: include: Roller conveyor line (1) and sorting robot (2); A suction module (3) is fixedly mounted on the end effector of the sorting robot (2), wherein the suction module (3) comprises a suction cup (4), a vacuum generator (5), a digital pressure gauge (6) and a junction box (7), wherein the vacuum generator (5) is connected to the suction cup (4) through an air pipe and is configured to control the suction cup (4) to adsorb the surface of the stamping part through negative pressure; A cleaning module (8) is fixedly mounted on the end effector of the sorting robot (2), the cleaning module (8) comprising a cleaning plate (9), a limiting frame (10), a rotating shaft (11) and a gear transmission assembly (12), wherein the gear transmission assembly (12) is configured to transmit the mechanical power generated when the end effector of the sorting robot (2) moves downward to the rotating shaft (11), and drive the rotating shaft (11) to drive the cleaning plate (9) to rotate so as to remove dust from the surface of the stamping part.

2. The sorting and unloading device for an automobile body robot production line according to claim 1 is characterized in that: The end effector of the sorting robot (2) is fixedly provided with a mounting frame (13); the limiting frame (10) is fixed to the bottom of the mounting frame (13), and a sliding hole (14) is provided inside the limiting frame (10); a sliding frame (15) is slidably provided on the limiting frame (10), and a mounting cylinder (16) is fixedly installed inside the sliding frame (15); the rotating shaft (11) rotatably passes through the mounting cylinder (16), and its bottom end extends out of the mounting cylinder (16) and is fixedly connected to the cleaning plate (9) through a connecting component (17); a compression spring (18) is fixedly provided between the mounting cylinder (16) and the mounting frame (13).

3. The sorting and unloading device for an automobile body robot production line according to claim 2 is characterized in that: The gear transmission assembly (12) comprises a first bevel gear (19), a second bevel gear (20) and a fixed gear (21); the first bevel gear (19) is fixed to the top of the rotating shaft (11) and is located in the mounting tube (16); a fixed shaft (22) is provided on the side wall of the mounting tube (16), and both ends of the fixed shaft (22) pass through the sliding hole (14) of the limiting frame (10); the second bevel gear (20) is fixed on the fixed shaft (22) and meshes with the first bevel gear (19); a fixed gear (21) is fixedly provided at each of the two ends of the fixed shaft (22), a positioning strip (23) is provided inside the sliding hole (14), and the surface of the positioning strip (23) is processed with external teeth (24) meshing with the fixed gear (21).

4. The sorting and unloading device for an automobile body robot production line according to claim 3 is characterized in that: The diameter of the fixed shaft (22) is equal to the width of the sliding hole (14) so ​​as to limit the radial displacement of the fixed shaft (22) in the sliding hole (14).

5. The sorting and unloading device for an automobile body robot production line according to claim 3 is characterized in that: The external teeth (24) are continuously distributed along the middle section of the sliding hole (14), and the number of teeth of the external teeth (24) is equal to the number of teeth of the fixed gear (21); the first bevel gear (19) is the same as the second bevel gear (20).

6. The sorting and unloading device for an automobile body robot production line according to claim 5 is characterized in that: The connecting assembly (17) comprises an outer ring (25) fixedly connected to the cleaning plate (9) and an inner ring (26) fixedly connected to the rotating shaft (11); the outer ring (25) is sleeved on the outer side of the inner ring (26), and the inner side of the outer ring (25) is provided with annularly distributed limiting grooves (27); the outer side of the inner ring (26) is provided with a plurality of mounting grooves (28), and each mounting groove (28) is hinged with a limiting head (29) through a torsion spring; the limiting head (29) is embedded in the limiting groove (27) to transmit the rotational power of the rotating shaft (11) to the cleaning plate (9).

7. The sorting and unloading device for an automobile body robot production line according to claim 6 is characterized in that: A limit block (30) is fixedly disposed in each of the installation grooves (28), and the limit block (30) is configured to constrain the rotation angle of the limit head (29).

8. The sorting and unloading device for an automobile body robot production line according to claim 6 is characterized in that: One side of the limiting groove (27) is an inclined surface, and the other side coincides with the radial plane of the inner ring (26) to adapt to the movement trajectory of the limiting head (29).

9. The sorting and unloading device for an automobile body robot production line according to claim 2, characterized in that: The suction cups (4) are symmetrically distributed on the outer side of the bottom of the mounting frame (13), and are connected to the vacuum generator (5) through an air pipe; the vacuum generator (5), the digital pressure gauge (6) and the junction box (7) are integrated inside the mounting frame (13), and the junction box (7) is electrically connected to the vacuum generator (5) and the digital pressure gauge (6).

10. The sorting and unloading device for an automobile body robot production line according to claim 5, characterized in that: The cleaning module (8) is located at the center of the bottom of the mounting frame (13), and the length of the cleaning plate (9) is greater than the maximum distance between the suction cups (4) on both sides of the bottom of the mounting frame (13).

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