Single switch motor clamp switching system

Abstract

The present application relates to a kind of single switching motor clamp switching systems, belong to the technical field of automobile production, including control module, mechanical arm, sliding table and clamp library, the sliding table both ends are connected with clamp library and station respectively, the mechanical arm is set at station, for moving clamp between station and sliding table;The control module is provided with waiting position in advance, the waiting position is located in the sliding table between the both ends of clamp library and station, when the control module instructs sliding table to run to waiting position, the sliding table stays at the position corresponding to waiting position, when the control module receives the instruction of switching clamp, it is instructed that sliding table enters waiting position from clamp library simultaneously, and whether mechanical arm is judged to zero, after the control module judges that mechanical arm is zero, it instructs sliding table to advance from waiting position to station;It takes into account safety and production efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobile production, and particularly relates to a single-switch motor clamp switching system. BACKGROUND

[0002] Automobile production needs to install a large number of parts with different shapes, and the installation of parts needs to be fixed and clamped. For clamping various parts, different clamps are needed to adapt to the shapes of different parts.

[0003] To meet the needs of consumers for variable vehicle models, automobile manufacturing enterprises all adopt flexible welding production methods for automobile production, that is, the purpose of multi-model mixed line flexible production is achieved by using the alternate transportation of multiple clamp libraries and clamps between single working positions. At present, the general clamp switching system has a complex structure and occupies a large space. When a new model of vehicle production needs new parts, a long time is often consumed. Therefore, Chinese patent CN109531189B discloses a flexible clamp switching system, which comprises a sliding table, a first linear guide rail is arranged on the sliding table; a trolley moving mechanism, the trolley moving mechanism can transport the clamp along the first linear guide rail; a plurality of clamp libraries, which are distributed on one side or both sides of the sliding table, can perform clamp switching with the trolley moving mechanism, and each clamp library corresponds to a tooling clamp of a vehicle model; by using the independent tooling clamp of multiple vehicle models, the mechanical structure is simplified, the installation and maintenance difficulty is reduced, and the tooling clamps of multiple vehicle models are stored online by arranging multiple clamp libraries on one side or both sides of the sliding table. The clamp switching is further realized by the sliding table and the trolley moving mechanism, the rapid switching of multiple vehicle model production is realized, the system can also reserve space for the introduction of new vehicle models in the planning stage, and when new vehicle models are introduced in the later period, the new clamp library position can be directly introduced, thereby shortening the reform period and cost.

[0004] However, for the process of switching clamps in the production process, the general scheme is that the mechanical hand or other working position with the motion part that has the probability of interference with the sliding table is returned to zero after executing the last production cycle action, and at the same time, the instruction of starting the sliding table is sent. At this time, the sliding table transports the new clamp to the vicinity of the robot, and the installation of the clamp is completed. Although this sliding table and robot linkage control method maximizes the safety by not allowing the sliding table to pass through the potential interference area before the robot is returned to zero, the efficiency is low. Therefore, a single-switch motor clamp switching system that takes into account safety and production efficiency is needed. SUMMARY

[0005] To solve the above problems in the prior art, the application provides a single-switch motor clamp switching system, which has the characteristics of taking into account safety and production efficiency.

[0006] The purpose of the application can be achieved by the following technical solutions:

[0007] A single-switch motor clamp switching system, comprising a control module, a mechanical arm, a sliding table and a clamp library, the two ends of the sliding table are connected with the clamp library and the work station respectively, the mechanical arm is arranged at the work station and is used for moving the clamp between the work station and the sliding table;

[0008] The control module is provided with a waiting position in advance, the waiting position is located between the clamp library and the work station in the sliding table, when the control module instructs the sliding table to run to the waiting position, the sliding table stays at the position corresponding to the waiting position, when the control module receives the instruction of switching the clamp, the control module synchronously instructs the sliding table to enter the waiting position from the clamp library, and judges whether the mechanical arm is zeroed, and after the control module judges that the mechanical arm is zeroed, the control module instructs the sliding table to advance from the waiting position to the work station.

[0009] As a preferred technical scheme of the present application, the control module is used for judging whether the clamp volume on the sliding table exceeds a threshold value, when the clamp volume exceeds the threshold value, the control module judges that the mechanical arm is zeroed and instructs the sliding table to advance from the waiting position to the work station after a time delay.

[0010] As a preferred technical scheme of the present application, the control module is provided with a volume reference value V0 in advance, when the clamp volume exceeds the threshold value, the control module judges that the mechanical arm is zeroed and instructs the sliding table to advance from the waiting position to the work station after a time delay T, wherein T=V / V0×d, d is a constant input in advance.

[0011] As a preferred technical scheme of the present application, the control module is used for judging whether the clamp volume on the sliding table exceeds a threshold value, when the clamp volume exceeds the threshold value, the control module corrects the position of the waiting position to a position away from the work station.

[0012] As a preferred technical scheme of the present application, the control module is provided with a standard distance L0 in advance, the control module adjusts the position of the waiting position to a position away from the work station by a length of L, wherein L=V / V0×L0×c, c is a constant input in advance.

[0013] As a preferred technical scheme of the present application, the sliding direction of the sliding table is a forward direction, the forward size of the waiting position is greater than the forward size of the sliding table, when the control module instructs the sliding table to run to the waiting position, the sliding table slides from the clamp library to the waiting position at a speed a and slides at a speed b at the position corresponding to the waiting position, wherein a>b.

[0014] As a preferred technical scheme of the present application, the control module is provided with a standard forward size C0 of the waiting position in advance, the control module adjusts the forward size of the waiting position to C, wherein C=V / V0×e, e is a constant input in advance.

[0015] As a preferred technical solution of the present application, an input panel is further included, which is electrically connected with the control module, and is used for inputting the values of c and d.

[0016] The present application has the following advantages:

[0017] By setting the waiting position and making the sliding table stay at the waiting position before the mechanical arm is zeroed, the mutual interference between the sliding table and the mechanical arm is avoided, and the sliding table is made to complete the partial sliding rail stroke by using the time period during which the mechanical arm is zeroed, thereby improving the production efficiency and taking into account the safety.

[0018] By making the control module judge whether the clamping volume on the sliding table exceeds the threshold value, and instructing the sliding table to advance from the waiting position to the working position after a delay when the judgment result is yes, the risk of interference between the mechanical arm that is not completely zeroed and the clamp when the clamping volume is large is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to facilitate the understanding of those skilled in the art, the present application will be further described below with reference to the accompanying drawings.

[0020] Figure 1 The present application is a top view structural diagram.

[0021] Main element symbol explanation:

[0022] In the figure: 1, mechanical arm; 11, working position; 2, sliding table; 21, sliding rail; 22, waiting position; 3, clamp library. DETAILED DESCRIPTION

[0023] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the specific embodiments, structures, features and effects according to the present application will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0024] Please refer to Figure 1 A single-switch motor clamp switching system, including a control module, a mechanical arm 1, a sliding table 2 and a clamp library 3, the two ends of the sliding table 2 are respectively connected with the clamp library 3 and the working position 11, the mechanical arm 1 is arranged at the working position 11, and is used for moving the clamp between the working position 11 and the sliding table 2;

[0025] Specifically, the control module is electrically connected with the sliding table 2, the sliding table 2 at least includes a sliding rail 21, the clamp library 3 includes a clamp exit and entrance, the clamp exit and entrance is provided with a clamp transfer device, one end of the sliding rail 21 is located at the clamp exit and entrance, and the clamp transfer device is used for transferring the clamp between the clamp library 3 and the sliding table 2 which stays at one end of the sliding rail 21 close to the clamp exit and entrance;

[0026] The control module is electrically connected with the mechanical arm 1, and is used for instructing the action of the mechanical arm 1; the mechanical arm 1 transfers the clamp between the work station 11 and the sliding table 2 which is located at one end of the sliding rail 21 close to the work station 11 under the instruction of the control module;

[0027] The waiting position 22 is located at a position between the clamp library and the work station on the sliding rail 21;

[0028] In use, when the control module receives the instruction of replacing the clamp, then the control module instructs the clamp transfer device to take the new clamp from the clamp library 3 and place it on the sliding table 2 according to the switching program; the sliding table 2 slides to the work station 11 and moves to the waiting position 22; in the process of moving the sliding table 2, the control module collects the coordinates of the sliding table 2 on the sliding rail 21 in real time, at the same time, the control module sends the zero return instruction to the mechanical arm 1, and judges whether the mechanical arm 1 is zero returned once per second; when the judgment result is no, the control module instructs the sliding table 2 to stop at the waiting position 22;

[0029] When the control module judges that the sliding table 2 moves to the waiting position 22, the control module instructs the sliding table 2 to stop, and judges whether the mechanical arm 1 is zero returned once per second; when the judgment result is yes, the control module instructs the sliding table 2 to continue to slide to the work station 11 from the waiting position 22; when the sliding table 2 moves to the work station 11, the control module instructs the mechanical arm 1 to install the new clamp to the work station 11 and transfer the old clamp to the sliding table 2; after replacing the clamp, the sliding table 2 moves to the clamp exit along the sliding rail 21 with the replaced old clamp;

[0030] The control module pre-records the coordinates of the waiting position 22 on the sliding rail 21; after replacing the clamp each time, the sliding table 2 moves to the clamp exit along the sliding rail 21 with the replaced old clamp, and the clamp transfer device transfers the old clamp on the sliding table 2 to the clamp library 3;

[0031] By setting the waiting position 22 and making the sliding table 2 stop at the waiting position 22 before the mechanical arm 1 is zero returned, the interference between the sliding table 2 and the mechanical arm 1 is avoided; at the same time, the time period during which the mechanical arm 1 is zero returned is used to make the sliding table 2 complete the distance from the clamp library 3 to the waiting position 22 and complete part of the sliding rail 21; compared with the scheme that the sliding table 2 is instructed to move after the mechanical arm 1 is completely zero returned, the production efficiency is improved, and the safety is considered.

[0032] In the above process, when the volume of the clamp transported by the sliding table 2 is larger, the sliding table 2 or the clamp is more likely to interfere with the mechanical arm 1; therefore, when the volume of the clamp is large, it is necessary to reduce the risk of collision as much as possible; due to random factors such as servo motor signal error of the mechanical arm 1, there is a probability that the mechanical arm 1 is not completely zero returned after the theoretical running end time point of the zero return instruction; at this time, the control module needs to delay the time when the sliding table 2 with a large volume of clamp starts from the waiting position 22, so as to reduce the risk of interference between the mechanical arm 1 which is not completely zero returned and the clamp;

[0033] To this end, the control module is configured to determine whether the clamping volume on the sliding table 2 exceeds a threshold value, and when it is determined that the clamping volume exceeds the threshold value, the control module is configured to, after determining that the robot arm 1 is zeroed, instruct the sliding table 2 to advance from the waiting position 22 to the working position 11 after a delay, and when the clamping volume is large, the length of the delay is increased.

[0034] Specifically, the control module is pre-inputted with a volume reference value V0, and when the clamping volume exceeds the threshold value, the control module is configured to determine that the robot arm 1 is zeroed and instruct the sliding table 2 to advance from the waiting position 22 to the working position 11 after a delay T, where T=V / V0×d, d is a pre-inputted constant.

[0035] When the control module detects that the clamping volume V is greater than V0, it means that the clamping volume exceeds the threshold value, and the length of the delay needs to be increased.

[0036] When V is large, the control module instructs the sliding table 2 to advance from the waiting position 22 to the working position 11 after a delay T, where T=V / V0×d is large, which completes the control module instructing the sliding table 2 to advance from the waiting position 22 to the working position 11 after a delay when the clamping volume is large, and the length of the delay is increased accordingly.

[0037] When V is small, when the control module instructs the sliding table 2 to advance from the waiting position 22 to the working position 11 after a delay T, V is large, T=V / V0×d is large, which completes the control module instructing the sliding table 2 to advance from the waiting position 22 to the working position 11 after a delay when the clamping volume is large, and the length of the delay is increased accordingly.

[0038] By making the control module determine whether the clamping volume on the sliding table 2 exceeds a threshold value, and instructing the sliding table 2 to advance from the waiting position 22 to the working position 11 after a delay when the determination result is yes, the risk of interference between the robot arm 1 that is not completely zeroed and the clamp when the clamping volume is large is reduced.

[0039] When the clamping volume is large, arranging the waiting position 22 at a position far away from the robot arm 1 and the working position 11 can reduce the probability of collision between the clamp and the robot arm 1. However, when the waiting position 22 is too far away from the working position 11, the sliding table 2 cannot approach the working position 11 using the time when the robot arm 1 is zeroed, and the waiting position 22 cannot play a role in improving work efficiency. To this end, the control module is configured to determine whether the clamping volume on the sliding table 2 exceeds a threshold value, and the control module is configured to adjust the position of the waiting position 22 away from the working position 11 when the clamping volume exceeds the threshold value.

[0040] Specifically, the control module is pre-inputted with a standard distance L0, and the control module adjusts the position of the waiting position 22 away from the working position 11 by a length L, where L=V / V0×L0×c, c is a pre-inputted constant.

[0041] When V is large, it means that the waiting position 22 needs to be arranged at a position far away from the mechanical arm 1 and the work station 11, at this time, L = V / V0 x L0 x c is large, when the control module adjusts the position of the waiting position 22 to a position away from the work station 11 by a length of L, the fixture with a large volume is completed to arrange the waiting position 22 away from the mechanical arm 1;

[0042] By making the control module for judging whether the clamping volume on the sliding table 2 exceeds the threshold value, and correcting the position of the waiting position 22 to a position away from the work station 11 when the clamping volume exceeds the threshold value, the waiting position 22 is arranged at a position far away from the mechanical arm 1 and the work station 11 when the clamping volume is large, which reduces the probability of collision between the fixture and the mechanical arm 1, and at the same time avoids the situation that the waiting position 22 is too far away from the work station 11, causing the sliding table 2 to be unable to approach the work station 11 by using the time when the mechanical arm 1 is zeroed, and unable to play the role of the waiting position 22 in improving work efficiency.

[0043] In the use process of the above-mentioned scheme, when the sliding table 2 moves from the fixture library 3 to the waiting position 22 at a relatively fast speed, the sliding table 2 changes from a high-speed state to a stopped state at the moment of entering the waiting position 22, and experiences a relatively sharp speed change, at this time, the fixture on the sliding table 2 bears a large force, therefore, taking the sliding direction of the sliding table 2 as the positive direction, the positive direction size of the waiting position 22 is greater than the positive direction size of the sliding table 2, when the control module instructs the sliding table 2 to run to the waiting position 22, the sliding table 2 slides from the fixture library 3 to the waiting position 22 at a speed a, and slides at a speed b at the position corresponding to the waiting position 22, wherein a > b;

[0044] After the control module detects that the edge of the sliding table 2 close to the work station 11 coincides with the edge of the waiting position 22 close to the fixture library 3, the control module instructs the sliding table 2 to reduce the sliding speed and slide at a speed b, to complete the reduction of the sliding speed at the entrance of the waiting position 22;

[0045] When the control module judges that the mechanical arm 1 is not zeroed and detects that the edge of the sliding table 2 close to the work station 11 coincides with the edge of the waiting position 22 close to the work station 11, the control module instructs the sliding table 2 to stop, at this time, the sliding table 2 experiences the first deceleration when entering the waiting position 22, and the second deceleration when the edge of the waiting position 22 close to the work station 11, compared with direct deceleration, the two decelerations and the slow process between the two decelerations reduce the impact of external force for deceleration on the fixture;

[0046] The longer the waiting position 22 is, the greater the proportion of the total length of the slide rail 21 occupied by the waiting position 22 is, the longer the time of the sliding table 2 in the waiting position 22 is, and the slower the switching efficiency is, and for the larger the clamp volume is, the greater the damage probability in acceleration and deceleration is, and the length of the waiting position 22 needs to be ensured to ensure the extension of the deceleration process, and for this, the control module pre-enters the standard forward size C0 of the waiting position 22, and the control module adjusts the forward size of the waiting position 22 to C, wherein C=V / V0 x e, e is a pre-input constant;

[0047] When the clamp volume is large, the length of the waiting position 22 needs to be ensured, and at this time, the value of C=V / V0 x e is large, and when the control module adjusts the forward size of the waiting position 22 to C, the extension of the length of the waiting position 22 when the clamp volume is large is completed.

[0048] When the clamp volume is small, the length of the waiting position 22 does not need to be ensured, and the replacement efficiency needs to be improved, and at this time, the value of C=V / V0 x e is small, and when the control module adjusts the forward size of the waiting position 22 to C, the shortening of the length of the waiting position 22 when the clamp volume is large is completed.

[0049] The working principle and use process of the present application are as follows:

[0050] In use, the control module pre-enters the coordinates of the waiting position 22 on the slide rail 21, and after each replacement of the clamp, the sliding table 2 carries the replaced old clamp to the clamp exit and entrance along the slide rail 21, and the clamp transfer device transfers the old clamp on the sliding table 2 to the clamp library 3.

[0051] When the control module receives the instruction of replacing the clamp, then the control module instructs the clamp transfer device to take the new clamp from the clamp library 3 and place it on the sliding table 2 according to the switching program, the sliding table 2 slides to the station 11 and moves to the waiting position 22, in the movement process of the sliding table 2, the control module collects the coordinates of the sliding table 2 on the slide rail 21 in real time, at the same time, the control module issues a zero return instruction to the mechanical arm 1 and judges whether the mechanical arm 1 is zero returned once per second, when the judgment result is no, the control module instructs the sliding table 2 to stay at the waiting position 22.

[0052] When the control module judges that the sliding table 2 moves to the waiting position 22, the control module instructs the sliding table 2 to stop, and judges whether the mechanical arm 1 is zero returned once per second, when the judgment result is yes, the control module instructs the sliding table 2 to continue to slide to the station 11 from the waiting position 22, when the sliding table 2 moves to the station 11, the control module instructs the mechanical arm 1 to install the new clamp to the station 11 and transfer the old clamp to the sliding table 2, after replacing the clamp, the sliding table 2 carries the replaced old clamp to the clamp exit and entrance along the slide rail 21.

[0053] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, as long as the changes or modifications do not deviate from the technical solution of the present application. Any modification, change, equivalent change and modification of the above embodiments made according to the technical essence of the present application still belong to the scope of the technical solution of the present application.

Claims

1. A single-switch motor clamp switching system, characterized by: The device comprises a control module, a mechanical arm, a sliding table and a clamp library, the sliding table is connected with the clamp library and a work station respectively, the mechanical arm is arranged at the work station and used to move the clamp between the work station and the sliding table; The control module is provided with a waiting position in advance, the waiting position is located between the clamp library and the work station, when the control module instructs the sliding table to run to the waiting position, the sliding table stops at the position corresponding to the waiting position, when the control module receives the instruction of switching the clamp, the control module synchronously instructs the sliding table to enter the waiting position from the clamp library and judges whether the mechanical arm is zeroed, after the control module judges that the mechanical arm is zeroed, the control module instructs the sliding table to advance from the waiting position to the work station; The control module is used to judge whether the clamp volume on the sliding table exceeds a threshold value, when the clamp volume exceeds the threshold value, the control module judges that the mechanical arm is zeroed and instructs the sliding table to advance from the waiting position to the work station after a time delay; The control module is provided with a volume reference value V0 in advance, when the clamp volume exceeds the threshold value, the control module judges that the mechanical arm is zeroed and instructs the sliding table to advance from the waiting position to the work station after a time delay T, wherein T=V / V0×d, d is a constant input in advance; The control module is used to judge whether the clamp volume on the sliding table exceeds a threshold value, when the clamp volume exceeds the threshold value, the control module corrects the position of the waiting position to a position away from the work station; The control module is provided with a standard distance L0 in advance, the control module adjusts the position of the waiting position to a position away from the work station by a distance L, wherein L=V / V0×L0×c, c is a constant input in advance.

2. A single-switch motor clamp switching system according to claim 1, characterized in that: The sliding direction of the sliding table is positive, the positive dimension of the waiting position is greater than the positive dimension of the sliding table, when the control module instructs the sliding table to run to the waiting position, the sliding table slides from the clamp library to the waiting position at a speed a and slides at a speed b at the position corresponding to the waiting position, wherein a>b.

3. A single-switch motor clamp switching system according to claim 1, wherein: The control module is provided with a standard positive dimension C0 of the waiting position in advance, the control module adjusts the positive dimension of the waiting position to C, wherein C=V / V0×e, e is a constant input in advance.

4. A single-switch motor clamp switching system according to claim 3, wherein: The device further comprises an input panel, the input panel is electrically connected with the control module, and the input panel is used to input the values of c and d.

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