A sorting and discharging device for automobile body robot production line

Abstract

The application discloses a sorting and discharging device for a robot production line of an automobile body, and relates to the technical field of automobile production, which comprises a roller conveying line, a sorting robot, a suction module and a cleaning module integrated in the end effector of the sorting robot; the suction module is composed of a suction cup, a vacuum generator and a digital pressure gauge, and negative pressure suction of a stamping part is realized 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 outside the suction module, and in the process that the suction module gradually approaches the stamping part, the cleaning plate first contacts the stamping part; the pushing force generated by the end effector of the sorting robot gradually approaching the stamping part is used to control the operation of the gear transmission assembly, and then the rotating shaft drives the cleaning plate to rotate, and the dust on the part of the surface of the stamping part that is about to contact the suction cup is cleaned by the cleaning plate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile production, in particular to a sorting and discharging device for an automobile body robot production line. BACKGROUND

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

[0003] After the automobile special steel plate is punched into a body stamping part by the punching line, the robot takes out the stamping part from the punching machine and puts it on the conveying line. After sorting by the robot, it is sent to the next process by the conveying line. The existing sorting and discharging device mostly uses a robot equipped with a suction cup to grab and carry the stamping part. However, during the punching process, 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 part. When the robot adsorbs the surface of the stamping part through the suction cup, the dust particles will fill the tiny gap between the suction cup and the surface of the stamping part, so that the suction cup cannot form a tight fit with the surface of the stamping part. This loose fit will cause the vacuum degree 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 part or resist external interference, the stamping part may fall off the suction cup, causing production accidents. Therefore, we propose a sorting and discharging device for an automobile body robot production line. SUMMARY

[0004] The purpose of the present application is to provide a sorting and discharging device for an automobile body robot production line to solve the problems raised in the background.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a sorting and discharging device for an automobile body robot production line, comprising a drum conveying 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, and the adsorption module comprises a suction cup, a vacuum generator, a digital pressure gauge and a junction box, wherein the vacuum generator is communicated with 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, and the cleaning module comprises a cleaning plate, a limiting frame, a rotating shaft and a gear transmission assembly, wherein the gear transmission assembly is configured to transmit mechanical power when the end effector of the sorting robot moves downward to the rotating shaft, drive the rotating shaft to rotate the cleaning plate to remove dust from the surface of the stamping part.

[0006] Preferably, the end effector of the sorting robot is fixed with a mounting frame; a limiting frame is fixed at the bottom of the mounting frame, and a sliding hole is formed in the limiting frame; a sliding frame is slidably arranged on the limiting frame, and a mounting cylinder is fixedly installed in the sliding frame; the rotating shaft is rotatably penetrated through the mounting cylinder, and the bottom end of the rotating shaft extends out of the mounting cylinder and is fixedly connected with the cleaning plate through a connecting assembly; a compression spring is fixed between the mounting cylinder and the mounting frame.

[0007] Preferably, the gear transmission assembly comprises a first bevel gear, a second bevel gear and a fixed gear; the first bevel gear is fixed at the top end of the rotating shaft and located in the mounting cylinder; the side wall of the mounting cylinder is provided with a fixed shaft, and the two ends of the fixed shaft are penetrated through the sliding hole of the limiting frame; the second bevel gear is fixed on the fixed shaft and engaged with the first bevel gear; the two ends of the fixed shaft are each fixedly provided with a fixed gear, and the inner side of the sliding hole is provided with a positioning strip, and the surface of the positioning strip is processed with external teeth engaged 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 segment of the sliding hole, and the number of the external teeth is equal to the number of the fixed gear; the first bevel gear is the same as the second bevel gear.

[0010] Preferably, the connecting assembly comprises an outer ring fixedly connected with the cleaning plate and an inner ring fixedly connected with the rotating shaft; the outer ring is sleeved outside the inner ring, and the inner side of the outer ring is provided with a limiting groove arranged in a ring shape; the outer side of the inner ring is provided with a plurality of installation grooves, and each installation groove is hingedly connected with a limiting head through a torsion spring; the limiting head is embedded in the limiting groove, so as to transmit the rotary power of the rotating shaft to the cleaning plate.

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

[0012] Preferably, one side of the limiting groove is a slope, and the other side coincides with the radial plane of the inner ring, so as to adapt to the motion track of the limiting head.

[0013] Preferably, the suction cups are symmetrically distributed outside the bottom of the mounting frame and are communicated with the vacuum generator through the air pipe; the vacuum generator, the digital pressure gauge and the junction box are integrated in the mounting frame, and the junction box is electrically connected with 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 two suction cups on both sides of the bottom of the mounting frame.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] 1. The present application integrates an adsorption module and a cleaning module in the end effector of a sorting robot, so that the device can automatically remove dust on the surface of the punched part to be adsorbed by the adsorption plate before the adsorption plate contacts the surface of the punched part, preventing excessive contact between the adsorption plate and the dust on the surface of the punched part from affecting the adsorption effect of the adsorption plate.

[0017] 2. The gear transmission assembly, the second bevel gear, the fixed gear and the limiting structure, and the positioning strip are adopted to ensure accurate power transmission of the cleaning module and strong anti-deviation ability, and the modular design reduces the risk of mechanical wear and tear, prolongs the service life of the equipment and reduces the maintenance frequency.

[0018] 3. The vacuum generator and the digital pressure gauge are integrated to monitor and adjust the adsorption negative pressure in real time, avoid the punched part from falling off due to insufficient pressure or being damaged due to excessive pressure, and further ensure the balance of the punched part grabbing and the safety of the sorting process in combination with the symmetrical distribution design of the adsorption plate. BRIEF DESCRIPTION OF DRAWINGS

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

[0020] Figure 2 It is a schematic diagram of the structure of the sorting robot part of the present application;

[0021] Figure 3 It is a schematic diagram of the structure of the mounting bracket part of the present application;

[0022] Figure 4 It is a schematic diagram of the structure of the mounting bracket part of the present application from another perspective;

[0023] Figure 5 It is a schematic diagram of the distribution of the adsorption plate and the cleaning plate of the present application;

[0024] Figure 6 It is a schematic diagram of the structure of the limiting bracket part of the present application;

[0025] Figure 7 It is a schematic diagram of the local section of the mounting cylinder part of the present application;

[0026] Figure 8 It is a schematic diagram of the structure of the connecting assembly of the present application;

[0027] Figure 9 It is Figure 8 the enlarged view of A in FIG.

[0028] In the figure: 1-roller conveying line; 2-sorting robot; 3-suction module; 4-suction cup; 5-vacuum generator; 6-digital pressure gauge; 7-junction box; 8-cleaning module; 9-cleaning plate; 10-limiting 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, outer teeth; 25, outer ring; 26, inner ring; 27, limiting groove; 28, mounting groove; 29, limiting head; 30, limiting block. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] Embodiment:

[0031] Please refer to Figures 1-9 , a sorting and discharging device for a robot production line of an automobile body is shown in the figure, which comprises a roller conveying line 1 and a sorting robot 2, a suction module 3 and a cleaning module 8;

[0032] The suction module 3 is fixedly installed at the end effector of the sorting robot 2, and the suction module 3 comprises a suction cup 4, a vacuum generator 5, a digital pressure gauge 6 and a junction box 7. The vacuum generator 5 is communicated with 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 integrated vacuum generator 5 and digital pressure gauge 6 can monitor and adjust the adsorption negative pressure in real time, so as to avoid the stamping part from falling off due to insufficient pressure or being damaged due to excessive pressure. In combination with the symmetrical distribution design of the suction cup 4, the balance of the stamping part during grabbing and the safety of the sorting process are further ensured.

[0033] The cleaning module 8 is fixedly installed at the end effector of the sorting robot 2, and the cleaning module 8 comprises a cleaning plate 9, a limiting frame 10, a rotating shaft 11 and a gear transmission assembly 12. The gear transmission assembly 12 is configured to transmit mechanical power to the rotating shaft 11 when the end effector of the sorting robot 2 moves downward, so as to drive the rotating shaft 11 to rotate the cleaning plate 9 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 sliding hole 14 and the positioning strip 23, ensures accurate power transmission and strong anti-deviation capability of the cleaning module 8. At the same time, the modular design reduces the risk of mechanical wear and tear, prolongs the service life of the equipment and reduces the maintenance frequency.

[0034] Some embodiments of the present application will be described in detail with reference to the drawings, which are shown by way of illustration:

[0035] Please refer to Figures 1-9 In this embodiment: by integrating the adsorption module 3 and the cleaning module 8 in the end effector of the sorting robot 2, the device can automatically remove the 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, preventing excessive contact between the suction cup 4 and the dust on the surface of the stamping part from affecting the adsorption effect of the suction cup 4.

[0036] Wherein, the end effector of the sorting robot 2 is fixedly provided with a mounting bracket 13; a limiting bracket 10 is fixed to the bottom of the mounting bracket 13, and a sliding hole 14 is formed in the limiting bracket 10; a sliding bracket 15 is slidably arranged on the limiting bracket 10, and a mounting cylinder 16 is fixedly installed in the sliding bracket 15; a rotating shaft 11 penetrates the mounting cylinder 16 and is fixedly connected with the cleaning plate 9 through a connecting assembly 17 at the bottom end thereof; a compression spring 18 is fixedly arranged between the mounting cylinder 16 and the mounting bracket 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 end of the rotating shaft 11 and located in the mounting cylinder 16; the side wall of the mounting cylinder 16 is provided with a fixed shaft 22, and the two ends of the fixed shaft 22 penetrate the sliding hole 14 of the limiting bracket 10; the second bevel gear 20 is fixed to the fixed shaft 22 and meshes with the first bevel gear 19; one fixed gear 21 is fixedly arranged at each end of the fixed shaft 22, and a positioning strip 23 is arranged on the inner side of 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] Further, 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;

[0039] In addition, the external teeth 24 are continuously distributed along the middle segment 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 the cleaning module 8 cleaning the surface of the stamping part: when the end effector of the sorting robot 2 moves downward, the cleaning plate 9 first contacts the surface of the stamping part, and as the end effector of the sorting robot 2 continues to move downward, the mounting cylinder 16 moves upward in the limiting bracket 10 with the sliding bracket 15, at this time the fixed gear 21 rolls on the external teeth 24 outside 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, and 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, with referenceFigure 8 and Figure 9 The connecting assembly 17 comprises an outer ring 25 fixedly connected with the cleaning plate 9 and an inner ring 26 fixedly connected with the rotating shaft 11. The outer ring 25 is sleeved outside the inner ring 26. The inner side of the outer ring 25 is provided with a plurality of limit grooves 27 arranged in a ring shape. The outer side of the inner ring 26 is provided with a plurality of installation grooves 28. Each installation groove 28 is provided with a limit head 29 connected through a torsion spring. The limit head 29 is embedded in the limit groove 27 to transmit the rotating power of the rotating shaft 11 to the cleaning plate 9.

[0042] Each installation groove 28 is fixedly provided with a limit block 30 configured to restrict the rotating angle of the limit head 29.

[0043] In addition, one side of the limit groove 27 is a slope, and the other side coincides with the radial plane of the inner ring 26 to adapt to the movement track of the limit head 29.

[0044] When the end effector of the sorting robot 2 moves downward, the installation cylinder 16 moves upward in the limiting 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 abutting against the radial plane in the limit groove 27 of the outer ring 25, thereby driving the cleaning plate 9 to rotate and clean. When the end effector of the sorting robot 2 is separated from the stamping part, the end effector of the sorting robot 2 moves upward, the installation cylinder 16 moves downward in the limiting frame 10 with the sliding frame 15, thereby driving the rotating shaft 11 to rotate reversely. At this time, the limit head 29 slides along the slope of the limit groove 27 and is accommodated in the installation groove 28. The inner ring 26 can no longer drive the outer ring 25 to rotate, thereby avoiding the cleaning plate 9 from rotating and colliding with the external equipment at the position after the stamping part is transferred when the end effector of the sorting robot 2 moves upward to separate from the stamping part.

[0045] Referring to Figures 3-5 The suction cups 4 are symmetrically distributed outside the bottom of the mounting frame 13 and are communicated with the vacuum generator 5 through air pipes. The vacuum generator 5, the digital pressure gauge 6 and the junction box 7 are integrated in the inside of the mounting frame 13, and the junction box 7 is electrically connected with the vacuum generator 5 and the digital pressure gauge 6.

[0046] The principle of the suction module 3 for suctioning the stamping part is as follows: when the sorting robot 2 moves above the stamping part, the suction cup 4 contacts the surface of the stamping part, the vacuum generator 5 is started, and the stamping part is suctioned through negative pressure. The digital pressure gauge 6 monitors the vacuum degree in the suction cup 4 in real time. If the vacuum degree is lower than the set threshold value, an alarm is triggered or the operation is paused.

[0047] It is worth noting that, as shown in Figure 5 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 two suction cups 4 on both sides of the bottom of the mounting frame 13, so as to ensure that the cleaning range covers the surface of the stamping part to be suctioned by the suction cup 4.

[0048] The method for using the device is as follows:

[0049] Firstly, the robot moves above the stamping part, the end effector moves down, the cleaning module 8 firstly contacts the surface of the stamping part, with the continuous downward movement of the end effector, the mounting cylinder 16 moves up in the limiting frame 10 with the sliding frame 15, at this time the fixed gear 21 rolls on the external teeth 24 outside 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 limiting head 29 in the inner ring 26 abutting against the radial plane in the limiting 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 by centrifugal force;

[0050] It is worth noting that the cleaning plate 9 is vertically arranged at the middle position between the two suction cups 4 at the bottom of the mounting frame 13, after the fixed gear 21 rolls on all the external teeth 24, the fixed gear 21 just rotates a circle, which can avoid that the cleaning plate 9 blocks the normal adsorption of the suction cup 4;

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

[0052] The above steps are repeated to sort and discharge the stamping parts by the robot.

[0053] It should be noted that, in the present document, the terms such as first and second, etc. are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, 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 inherent to such a process, method, article, or device.

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

Claims

1. A sorting and unloading device for a robot production line of automobile bodies, characterized in that, The application relates to a stamping part sorting device. The device comprises a roller conveying line (1) and a sorting robot (2); an adsorption module (3) is fixedly installed at the end effector of the sorting robot (2), the adsorption module (3) comprises a suction cup (4), a vacuum generator (5), a digital pressure gauge (6) and a junction box (7), the vacuum generator (5) is communicated with the suction cup (4) through an air pipe, and the vacuum generator (5) is configured to control the suction cup (4) to adsorb the surface of a stamping part through negative pressure; a cleaning module (8) is fixedly installed at the end effector of the sorting robot (2), the cleaning module (8) comprises a cleaning plate (9), a limiting frame (10), a rotating shaft (11) and a gear transmission assembly (12), the gear transmission assembly (12) is configured to transmit mechanical power to the rotating shaft (11) when the end effector of the sorting robot (2) moves downward, so that the rotating shaft (11) drives the cleaning plate (9) to rotate and remove dust on the surface of the stamping part. 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 formed in the limiting frame (10); a sliding frame (15) is slidably arranged on the limiting frame (10), and a mounting cylinder (16) is fixedly installed in the sliding frame (15); the rotating shaft (11) rotatably penetrates the mounting cylinder (16), the bottom end of the rotating shaft (11) extends out of the mounting cylinder (16) and is fixedly connected with the cleaning plate (9) through a connecting assembly (17); a compression spring (18) is fixedly arranged between the mounting cylinder (16) and the mounting frame (13). The gear transmission assembly (12) comprises a first conical gear (19), a second conical gear (20) and a fixed gear (21); the first conical gear (19) is fixed to the top end of the rotating shaft (11) and located in the mounting cylinder (16); a fixed shaft (22) is arranged on the side wall of the mounting cylinder (16), and the fixed shaft (22) penetrates the sliding hole (14) of the limiting frame (10) at both ends; the second conical gear (20) is fixed to the fixed shaft (22) and meshes with the first conical gear (19); one fixed gear (21) is fixedly arranged at each end of the fixed shaft (22); a positioning strip (23) is arranged on the inner side of the sliding hole (14), and external teeth (24) which mesh with the fixed gears (21) are formed on the surface of the positioning strip (23); The suction cups (4) are symmetrically arranged on the outer side of the bottom of the mounting frame (13) and communicated with the vacuum generator (5) through air pipes; the vacuum generator (5), the digital pressure gauge (6) and the junction box (7) are integrated in the mounting frame (13), and the junction box (7) is electrically connected with the vacuum generator (5) and the digital pressure gauge (6); 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). ​ ​ 2. The sorting and unloading device for a robot production line of automobile bodies according to claim 1, characterized in that: 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).

3. The sorting and blanking device for a robot production line of automobile bodies according to claim 1, characterized in that: The outer teeth (24) are continuously distributed along the middle section of the sliding hole (14), and the number of the outer teeth (24) is equal to the number of the fixed gear (21); the first bevel gear (19) is the same as the second bevel gear (20).

4. The sorting and blanking device for a robot production line of automobile bodies according to claim 3, characterized in that: The connecting assembly (17) comprises an outer ring (25) fixed with the cleaning plate (9) and an inner ring (26) fixed with the rotating shaft (11); the outer ring (25) is sleeved outside 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), each of which is hinged with a limiting head (29) through a torsional spring; the limiting head (29) is embedded in the limiting groove (27) to transmit the rotating power of the rotating shaft (11) to the cleaning plate (9).

5. The sorting and blanking device for a robot production line of automobile bodies according to claim 4, characterized in that: A limiting block (30) is fixedly arranged in each of the mounting grooves (28), and the limiting block (30) is configured to restrict the rotation angle of the limiting head (29).

6. The sorting and blanking device for a robot production line of automobile bodies according to claim 5, characterized in that: One side of the limiting groove (27) is a slope, and the other side coincides with the radial plane of the inner ring (26) to adapt to the movement track of the limiting head (29).

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