A punch press automatic line end picker mounting station and end picker mounting method

Abstract

The application discloses a punch automatic line end picker mounting station and an end picker mounting method, which comprise a gantry frame, an X-direction translation cross beam assembly, a suction cup space angle coordinate alignment device and an end picker connecting strut Z-direction moving device.The X-direction translation cross beam assembly is slidably connected to the horizontal frame of the gantry frame 1.The suction cup space angle coordinate alignment device is slidably connected to the X-direction translation cross beam assembly on the left and right.The suction cup space angle coordinate alignment device can realize XY two-way position adjustment of the Z-axis and YZ two-way position adjustment of the X-axis.The end picker connecting strut Z-direction moving device is arranged in the middle of the gantry beam of the gantry frame, and can move up and down relative to the gantry beam.The application simulates the existing technology with punched parts, and in the case of no actual punched parts, the suction cup corresponding to the space suction point of the punched part is accurately assembled with the connecting strut to form a compliant end picker.

Description

Technical Field

[0001] This invention relates to the technical field of end-effector assembly devices for automatic stamping lines, and particularly to an end-effector installation station and method for automatic stamping lines. Background Technology

[0002] An end effector is a specialized end effector installed at the end of an industrial robot or robotic arm for automatically gripping and transporting workpieces. It is also often called an "end-of-arm tool" (EOAT). It contacts the workpiece through vacuum suction cups, mechanical clamps, magnetic adsorption, etc., and performs "pick-up-transfer-placement" actions. It is widely used in automated production lines such as stamping, palletizing, and assembly, and is especially indispensable in automotive body sheet metal stamping.

[0003] After the end effector design is completed, a physical prototype needs to be built to convert the design drawings into a physical end effector. Current end effector construction relies on stamping production line conditions (press, automation, overhead crane) and mold tooling. Building the end effector requires occupying the entire stamping line. The parts to be picked up by the end effector are placed on the ground using an overhead crane. Based on the spatial shape of the part's surface, several suction cups on the end effector are attached to different positions on the part's surface. Then, the end effector's connecting rod is fitted onto the rear end of each suction cup, fixing the suction cup to the connecting rod. Finally, the male end of the end effector's manual quick-connect coupling is installed at the end of the connecting rod, and combined with the female end of the end effector's manual quick-connect coupling on the T-shaped robotic arm, the end effector installation on the robotic arm is completed. This installation requires stamped parts, occupies the entire stamping production line, and requires an overhead crane to lift the stamped parts. Furthermore, the physical end effector differs significantly from the computer-designed end effector drawings, failing to provide effective data for production line simulation. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides an end effector installation station and method for an automated stamping line. Without using stamping production line equipment such as presses, molds, or overhead cranes, the method transmits the three-dimensional coordinates of the suction points on the surface of the stamped part to the installation station by several suction cups on the designed end effector. This simulates the conditions of existing stamping parts, allowing for rapid and accurate assembly of the suction cups at the corresponding suction points of the stamped part with the connecting rod to form a compliant end effector, even without physical stamped parts.

[0005] This invention proposes an end-effector installation station for an automatic stamping line, comprising a gantry frame, an X-axis translational beam assembly, a suction cup spatial angle coordinate alignment device, and an end-effector connecting rod Z-axis moving device.

[0006] The X-axis translation beam assembly is slidably connected to the horizontal frame of the gantry frame. The X-axis translation beam assembly provides the suction cup spatial angle coordinate alignment device with the initial displacement in the X direction (the front and rear direction of the horizontal frame).

[0007] The suction cup spatial angle coordinate alignment device is slidably connected to the X-axis translation beam assembly. The device moves along the Y-axis (left-right direction of the horizontal frame) of the X-axis translation beam assembly, providing initial displacement in the Y-axis direction. The device itself can achieve bidirectional XY position adjustment along the Z-axis and YZ position adjustment along the X-axis, allowing the suction cup seat at the upper end of the device to simulate the end face angle of the actual stamped part at that three-dimensional coordinate point. The suction cup's coordinate attitude angle adsorbed on the suction cup seat is the actual attitude angle of the suction cup adsorbed on the actual stamped part at that point. This device receives computer-generated virtual images of the stamped part and... The three-dimensional spatial coordinates of the suction cup adsorption point on the end effector are precisely moved to the corresponding three-dimensional coordinate point and its angle and posture are adjusted to the actual contact point and angle and posture with the actual object through the XYZ three-dimensional displacement of the mechanical device. This avoids the measurement accuracy error caused by the need for manual measurement of points in the existing technology. The one-step mechanical adjustment also reduces the online adjustment time, realizes the consistency between the production line automation simulation data and the actual data, and ensures that the automation simulation results are effective and accurate. Virtually generating physical stamping parts does not require occupying the entire stamping production line, avoiding delays in stamping production. It also eliminates the need for large hoisting equipment such as overhead cranes, greatly saves the assembly cost of the end effector, reduces the requirements for the setup environment, and can reduce the labor load.

[0008] The end effector connecting rod Z-axis moving device is located in the middle of the gantry beam of the gantry frame. This device can move vertically relative to the gantry beam, providing an upper support for the end effector assembly. Based on the three-dimensional spatial coordinates and attitude information of a suction cup at a specific adsorption position on a virtual stamping part provided by the computer, after the suction cup spatial angle coordinate alignment device moves to the corresponding coordinate point, the end effector connecting rod Z-axis moving device moves downwards, simulating the connection of the T-shaped rod of the simulating robot arm to the end effector. The support rod is moved to the corresponding position for clamping and connection. The end effector connecting support rod is fixed to both sides of the Z-axis moving end of the end effector connecting support rod via the manual quick connector. Then, the suction cup with the attitude angle adjusted at the three-dimensional coordinate point is installed and fixed on the aligned connecting support rod, completing the installation of the attitude angle suction cup at one three-dimensional empty point on the end effector. In this way, several suction cups with different coordinate positions and different attitude angles on the connecting support rod of one end effector can be installed and fixed sequentially on the connecting support rod of the end effector to complete the precise installation of the end effector.

[0009] The suction cup spatial angle coordinate alignment device includes a suction cup coordinate point mounting plate, a primary reversing support base, a primary reversing motor, a secondary reversing support base, a secondary reversing motor, a tertiary reversing support base, a tertiary reversing motor assembly, a Y-axis slider base, and a Y-axis translation motor assembly. The primary reversing support base is an inverted L-shaped bent surface. The upper end of the housing of the primary reversing motor is fixed to the lower end of the horizontal plane of the primary reversing support base, and the output shaft of the primary reversing motor passes through the horizontal plane of the primary reversing support base and is fixedly connected to the lower end of the suction cup coordinate point mounting plate. The primary reversing motor can drive the suction cup coordinate point mounting plate to rotate axially. The primary reversing motor and the primary reversing support base work together to realize the forward and reverse rotation of the vacuum suction cup around the Z-axis to adjust the connection at the rear end of the vacuum suction cup. The deflection angle of the connection mechanism facilitates a fixed connection with the end effector's connecting rod. The upper surface of the suction cup coordinate point mounting plate simulates the surface of a real stamped part being attracted by the suction cup. The center of the suction cup coordinate point mounting plate is the designed spatial position coordinate point of the suction cup. The vacuum suction cup is coaxially attached to it. The suction cup spatial angle coordinate alignment device is finely adjusted in the XYZ three-axis positions to ensure the suction cup accurately reaches the designed spatial coordinate point. Since the surface of the real stamped part is not planar but three-dimensional, the vacuum suction cup's orientation at this position is not along the positive X-axis, positive Y-axis, or positive Z-axis. The three-axis adjustment of the suction cup spatial angle coordinate alignment device ultimately ensures that the vacuum suction cup reaches the preset spatial coordinate point while simultaneously adjusting its orientation angle to align with the real part. The vacuum suction cups adsorbed by the stamped parts are consistent; the secondary reversing support base is an L-shaped bent surface structure, the secondary reversing motor is horizontally placed, and its front end is fixed to the outer side of the vertical surface of the secondary reversing support base. The output shaft of the secondary reversing motor passes through the vertical surface of the secondary reversing support base and is fixed to the outer side of the vertical surface of the primary reversing support base. The lower end of the housing of the primary reversing motor is suspended above the horizontal plane of the secondary reversing support base. The secondary reversing motor can drive the primary reversing support base to rotate left and right along the X-axis to adjust the position of the adsorbed vacuum suction cup in the Y or Z direction; the Y-axis slider base is an inverted angle steel plate, and the Y-axis translation motor assembly is horizontally fixed to the inner side of the vertical plate of the Y-axis slider base. The outer side of the vertical plate of the Y-axis slider base is slidably connected to the X-axis translation beam assembly. The output end of the Y-axis translation motor unit is aligned and meshed with the X-axis translation beam assembly for transmission; the three-stage reversing support is a bearing seat, which is fixed on the upper horizontal surface of the Y-axis slider seat. The lower horizontal surface of the two-stage reversing support is matched and sleeved on the inner ring of the bearing seat. The three-stage reversing motor unit is fixed on the lower end of the three-stage reversing support, and the three-stage reversing motor unit is connected to the lower end of the two-stage reversing support. The three-stage reversing motor unit can control the two-stage reversing support to rotate in both directions on the Z-axis. The first, second, and third stage motors work together to adjust the displacement of the vacuum suction cup in the XYZ three directions so that the vacuum suction cup can accurately reach the preset spatial coordinate point. At the same time, the vacuum suction cup can be precisely adjusted from the initial vertical position to the preset attitude angle.The Y-axis translation motor engages with the X-axis translation beam, driving the Y-axis slider to slide left and right on the X-axis translation beam. This allows the mounting plate of the suction cup above it to adjust its initial Y-axis position over a wide range.

[0010] A circular hole with an opening on one side is provided on the horizontal surface of the Y-axis slider seat. A three-stage reversing support seat is fitted into this circular hole. The three-stage reversing motor assembly includes a three-stage motor and a first bevel gear commutator. The three-stage motor and the first bevel gear commutator mesh. The housing of the three-stage motor is horizontally fixedly connected to the lower housing of the first bevel gear commutator. The upper housing of the first bevel gear commutator is fixedly connected to the lower end face of the three-stage reversing support seat. The upper end of the first bevel gear commutator meshes with the lower gear disc of the second-stage reversing support seat for transmission. The Y-axis translation motor assembly includes... The forward and reverse motor and transmission gear are arranged horizontally in the X direction. The end of its housing is fixed to the middle of the inner side of the vertical plate of the Y-direction slider seat. The output shaft of the forward and reverse motor is sleeved and fixed on the transmission gear. The transmission gear meshes with the rack of the X-direction translation beam assembly. Since the forward and reverse motor must be fixed in the middle of the vertical plate of the Y-direction slider seat, the power source of the secondary direction-changing support seat cannot be arranged vertically below it. Instead, the forward and reverse rotation power is indirectly provided to the secondary direction-changing support seat by the meshing of the third-stage motor and the first bevel gear commutator.

[0011] The Y-axis slider seat has an opening in the middle of the outer side of the vertical plate. The output shaft of the forward and reverse motor passes through the opening and is fixedly connected to the transmission gear. The outer side of the vertical plate of the Y-axis slider seat around the opening has four sliding connecting blocks with horizontal opening slots. The horizontal opening slots of the two sliding connecting blocks at the top of the opening are on the same horizontal line, and the horizontal opening slots of the two sliding connecting blocks at the bottom of the opening are on the same horizontal line, so as to slide and cooperate with the Y-axis slide rails aligned on the X-axis translation beam assembly.

[0012] The X-direction translation crossbeam assembly includes a crossbeam, two slide rails, a Y-direction rack, an X-direction translation motor, a transmission shaft, two second bevel gear commutators, a vertical bearing block, and a motor mount. On the front end face of the crossbeam, two slide rails are arranged parallel to each other vertically. The upper and lower sliding connection blocks on the outer side of the vertical piece of the Y-direction slider seat are slidably fitted to the two slide rails correspondingly. A Y-direction rack is also fixedly connected to the front end face of the crossbeam between the two slide rails, and the transmission gear meshes with the Y-direction rack. A motor mount is fixed to the middle of the rear end face of the crossbeam. The X-direction translation motor is fixedly mounted on the motor mount in the Y-direction. The transmission shaft is rotatably sleeved on the motor mount in the Y-direction and is传动连接 to the output shaft of the X-direction translation motor. A vertical bearing block is fixed to the rear end face of the crossbeam on one side of the motor mount. The transmission shaft is rotatably connected to the vertical bearing block. The two ends of the transmission shaft are respectively传动连接 to a second bevel gear commutator. The two second bevel gear commutators are respectively fixed to the rear end face of the crossbeam, and the output gears of the two second bevel gear commutators respectively mesh with the racks on the horizontal frames of the corresponding gantry frames. By driving the transmission shaft to rotate with the X-direction translation motor, the second bevel gear commutators at both ends of the transmission shaft convert the horizontal shaft rotation into vertical shaft rotation. The output gears of the two second bevel gear commutators mesh with the racks on the horizontal frames of the gantry frames, driving the crossbeam to move back and forth relative to the horizontal frames of the gantry frames, and greatly adjusting the displacement amount of the suction cup coordinate point mounting plate in the X-direction in the linkage.

[0013] On the front end face of the crossbeam outside the outer sides of the two ends of the two slide rails, limit stop blocks are provided to prevent the Y-direction slider seat from slipping out of the left and right ends of the slide rails and restricting the left and right displacement amount of the Y-direction slider seat.

[0014] The gantry frame includes a rectangular horizontal frame, an n-shaped gantry beam, two X-direction slide rails, and a pair of X-direction racks. The two vertical walls of the n-shaped gantry beam are respectively fixed to the outer sides of the upper ends of the middle parts of the two long sides of the rectangular horizontal frame. A pair of X-direction racks are oppositely fixed to the inner sides of the upper ends of the two long sides of the rectangular horizontal frame. Each X-direction slide rail is respectively fixed to the upper end of the long side of the rectangular horizontal frame between a vertical wall of the n-shaped gantry beam on the same side and an X-direction rack. The lower end faces on both sides of the crossbeam are respectively slidably connected to the two X-direction slide rails. The output gears of the two second bevel gear commutators of the X-direction translation crossbeam assembly respectively mesh with the corresponding X-direction racks.

[0015] On the upper end faces of the rectangular horizontal frame outside the front and rear ends of the two X-direction slide rails, X-direction translation crossbeam assembly stop blocks are respectively provided to limit the front and back displacement amount of the X-direction translation crossbeam assembly and prevent the crossbeam from slipping out of the X-direction slide rails. Lifting rings are respectively provided at the four corner positions of the upper end face of the rectangular horizontal frame for facilitating the lifting and transfer by a lifting tool. A number of adjusting support feet are evenly distributed circumferentially on the lower end face of the rectangular horizontal frame to level the horizontal plane of the rectangular horizontal frame according to the flatness of the ground.

[0016] The Z-axis movement device of the end effector connecting support rod includes an inverted trapezoidal support arm, a gantry beam slider fixing seat, two Z-axis slide rails, a Z-axis displacement motor, and a Z-axis lead screw. The gantry beam slider fixing seat is detachably fixed to the middle of the front end face of the n-shaped gantry beam. The front end face of the gantry beam slider fixing seat has symmetrical vertical grooves on both sides. The two Z-axis slide rails are matched and set on the rear end face of the vertical arm of the inverted trapezoidal support arm and slide in cooperation with the vertical grooves of the gantry beam slider fixing seat. The Z-axis displacement motor is inverted and fixed to the upper part of the rear side wall of the inverted trapezoidal support arm. The Z-axis lead screw is connected to the vertical surface of the rear side wall of the inverted trapezoidal support arm through a bearing. The upper end of the Z-axis lead screw is rotatably connected to the output shaft of the Z-axis displacement motor through a coupling. A lead screw nut protrudes from the middle of the front end face of the gantry beam slider fixing seat. The gantry beam slider fixing seat is threadedly connected to the Z-axis lead screw through the lead screw nut. The Z-axis displacement motor drives the Z-axis lead screw to rotate, allowing the inverted trapezoidal support arm to move up and down along the vertical grooves of the gantry beam slider fixing seat. The sliding displacement arm has manual quick-connect couplings for the end effector on both the front and rear sides of the X-axis horizontal beam of the inverted trapezoidal support arm. These couplings connect to the end effector connecting rod. Once a vacuum suction cup moves to a preset spatial coordinate point and adjusts its attitude angle via the suction cup spatial angle coordinate alignment device, the Z-axis moving device of the end effector connecting rod is controlled to descend, lowering the connecting rod to the vacuum suction cup. This fixes the vacuum suction cup, releasing its vacuum adsorption state. Then, the Z-axis moving device of the end effector connecting rod moves upward to its highest point. The computer sends the preset spatial coordinate point of the next vacuum suction cup to the Z-axis moving device and the X-axis translation beam assembly, simulating the adsorption state angle and position of the second vacuum suction cup on the surface of a real stamped part, and assembling it with the connecting rod. This process continues until all vacuum suction cups and connecting rods of the end effector are assembled.

[0017] An end effector installation method, applied to an end effector installation station on an automatic stamping line, comprises the following steps:

[0018] S1. After the 3D drawing design of the end effector is completed, the position information of each suction cup of the end effector is extracted and input into the end effector simulation environment. The end effector simulation environment system converts the end effector position into the movement or rotation of each axis. Start the end effector simulation environment simulator. The Z-axis displacement motor drives the inverted trapezoidal support arm to move upward in the vertical direction, providing a sufficient safety distance for the suction cup spatial angle coordinate alignment device.

[0019] S2. After the inverted trapezoidal support arm moves into place, the X-axis translation motor drives the crossbeam to move along the two X-axis slide rails of the H-shaped horizontal frame to the designated position of the suction cup X-axis point.

[0020] S3. After the crossbeam is in place, the forward and reverse motors of the Y-axis translation motor unit drive the Y-axis slider seat to move along the two slide rails of the crossbeam to the designated position of the suction cup in the Y-axis direction. At this point, the suction cup installation position is determined.

[0021] S4. If the suction cup has an angle adjustment requirement, the first-stage reversing support, first-stage reversing motor, second-stage reversing support, second-stage reversing motor, third-stage reversing support and third-stage reversing motor group of the suction cup spatial angle coordinate alignment device work together to rotate in three directions (XYZ) according to the design angle of the suction cup; after the rotation is completed, the center position of the suction cup coordinate point on the mounting plate is the spatial position of this suction cup.

[0022] S5. After the above S5 steps are completed, the Z-axis displacement motor drives the inverted trapezoidal support arm to move downward in the vertical direction, and the X-axis horizontal beam of the inverted trapezoidal support arm moves downward to the initial position; the relative positions of the end effector mounting interface and the suction cup are finally determined.

[0023] S6. The left and right side walls of the front part of the X-direction horizontal beam and the left and right side walls of the rear part of the X-direction horizontal beam are equipped with manual quick connectors for end effectors. Install the end effector connecting rod on the manual quick connector for end effectors, align the vacuum suction cup with the suction cup coordinate point on the mounting plate, and use aluminum alloy tubes and clamps to fix the vacuum suction cup to the end effector connecting rod. After fixing, the first end effector suction cup point is completed.

[0024] S7. Repeat steps S1-S6 until all suction cup points are installed.

[0025] Beneficial effects

[0026] This invention can quickly and accurately assemble a compliant end effector by transmitting the three-dimensional coordinates of the adsorption points of several suction cups on the spatial surface of the stamped part to the installation station without using stamping production line equipment such as presses, molds, and overhead cranes. This is achieved by simulating the conditions of existing technology where there are stamped parts, and in the absence of actual stamped parts, by precisely assembling the suction cups at the corresponding adsorption points of the stamped part with the connecting support rod. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 .

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 .

[0029] Figure 3 This is a schematic diagram of the three-dimensional structure of the suction cup spatial angle coordinate alignment device of the present invention. Figure 1 .

[0030] Figure 4 This is a schematic diagram of the three-dimensional structure of the suction cup spatial angle coordinate alignment device of the present invention. Figure 2 .

[0031] Figure 5This is a rear-view three-dimensional structural diagram of the Z-axis moving device of the end effector connecting support rod of the present invention.

[0032] Figure 6 This is a schematic diagram of the working principle of the present invention.

[0033] Figure 7 This is a partially enlarged structural diagram of the present invention. Figure 1 .

[0034] Figure 8 This is a partially enlarged structural diagram of the present invention. Figure 2 .

[0035] In the picture:

[0036] 1. Gantry frame; 11. H-shaped horizontal frame; 12. N-shaped gantry beam; 13. X-direction slide rail; 14. X-direction rack; 15. X-direction translation beam assembly stop block; 16. Lifting ring; 17. Adjustable support feet;

[0037] 2. X-axis translation beam assembly; 21. Beam; 22. Slide rail; 23. Y-axis rack; 24. X-axis translation motor; 25. Drive shaft; 26. Second bevel gear commutator; 27. Vertical bearing housing; 28. Motor housing; 29. ​​Limit stop block;

[0038] 3. Suction cup spatial angle coordinate alignment device; 31. Suction cup coordinate point mounting plate; 32. First-stage reversing support base; 33. First-stage reversing motor; 34. Second-stage reversing support base; 35. Second-stage reversing motor; 36. Third-stage reversing support base; 37. Third-stage reversing motor assembly; 371. Third-stage motor; 372. First bevel gear commutator; 38. Y-axis slider base; 381. Circular hole with one side opening; 382. Opening; 383. Sliding connecting block; 39. Y-axis translation motor assembly; 391. Forward and reverse motor; 392. Transmission gear;

[0039] 4. End effector connecting support rod Z-axis moving device; 41. Inverted trapezoidal support arm; 42. Gantry beam slider fixing seat; 43. Z-axis slide rail; 44. Z-axis displacement motor; 45. Z-axis lead screw;

[0040] 5. Manual quick connector for end effector. Detailed Implementation

[0041] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Specifically, the terms "first position" and "second position" refer to two different positions.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0044] Example 1

[0045] See Figures 1-8 As shown, an end-effector installation station for an automatic stamping line includes a gantry frame 1, an X-axis translational beam assembly 2, a suction cup spatial angle coordinate alignment device 3, and an end-effector connecting rod Z-axis moving device 4.

[0046] The X-direction translational beam assembly 2 is slidably connected to the horizontal frame of the gantry frame 1;

[0047] The suction cup spatial angle coordinate alignment device 3 is slidably connected to the X-direction translation beam assembly 2 in left and right engagement; the suction cup spatial angle coordinate alignment device 3 itself can realize the XY bidirectional position adjustment of the Z-direction axis and the YZ bidirectional position adjustment of the X-direction axis.

[0048] The end effector connecting rod Z-axis moving device 4 is located in the middle of the gantry beam of the gantry frame 1, and the end effector connecting rod Z-axis moving device 4 can move up and down relative to the gantry beam.

[0049] The suction cup spatial angle coordinate alignment device 3 includes a suction cup coordinate point mounting plate 31, a primary reversing support 32, a primary reversing motor 33, a secondary reversing support 34, a secondary reversing motor 35, a tertiary reversing support 36, a tertiary reversing motor assembly 37, a Y-axis slider seat 38, and a Y-axis translation motor assembly 39; the primary reversing support 32 is an inverted L-shaped bent surface, and the upper end of the housing of the primary reversing motor 33 is fixed to the lower end of the horizontal plane of the primary reversing support 32, and the primary reversing... The output shaft of motor 33 passes through the horizontal plane of the primary reversing support 32 and is fixedly connected to the lower end face of the suction cup coordinate point mounting plate 31. The primary reversing motor 33 can drive the suction cup coordinate point mounting plate 31 to rotate axially. The secondary reversing support 34 is an L-shaped bent surface. The secondary reversing motor 35 is horizontally placed, and its front end is fixed to the outer side of the vertical plane of the secondary reversing support 34. The output shaft of the secondary reversing motor 35 passes through the vertical plane of the secondary reversing support 34 and is fixed to the primary reversing support 32. On the outer side of the vertical plane, the lower end of the housing of the first-stage reversing motor 33 is suspended above the horizontal plane of the second-stage reversing support 34. The second-stage reversing motor 35 can drive the first-stage reversing support 32 to rotate left and right along the X-axis. The Y-axis slider seat 38 is an inverted angle steel plate. The Y-axis translation motor assembly 39 is horizontally fixed to the inner side of the vertical plate of the Y-axis slider seat 38. The outer side of the vertical plate of the Y-axis slider seat 38 is slidably connected to the X-axis translation beam assembly 2, and the output end of the Y-axis translation motor assembly 39 is connected to... The X-axis translational crossbeam assembly 2 is aligned and meshed for transmission; the three-stage reversing support 36 is a bearing housing, which is fixed to the upper horizontal surface of the Y-axis slider housing 38; the lower horizontal surface of the two-stage reversing support 34 is fitted onto the inner ring of the bearing housing; the three-stage reversing motor assembly 37 is fixed to the lower end of the three-stage reversing support 36, and the three-stage reversing motor assembly 37 is connected to the lower end of the two-stage reversing support 34 for transmission; the three-stage reversing motor assembly 37 can control the two-stage reversing support 34 to rotate in both directions along the Z-axis.

[0050] A circular hole 381 with one side opening is provided on the horizontal surface of the Y-axis slider seat 38. The three-stage reversing support seat 36 is fitted into the circular hole with one side opening. The three-stage reversing motor assembly 37 includes a three-stage motor 371 and a first bevel gear commutator 372. The three-stage motor 371 and the first bevel gear commutator 372 mesh. The housing of the three-stage motor 371 is horizontally fixedly connected to the lower housing of the first bevel gear commutator 372. The upper housing of the first bevel gear commutator 372 is fixedly connected to the three-stage reversing support seat 37. The lower end face of the support 36, the upper end of the first bevel gear commutator 372 is meshed with the lower end gear disk of the secondary directional support 34 for transmission; the Y-axis translation motor assembly 39 includes a forward and reverse motor 391 and a transmission gear 392. The forward and reverse motor 391 is horizontally arranged in the X-axis, and its housing end is fixed to the middle of the inner side of the vertical plate of the Y-axis slider seat 38. The output shaft of the forward and reverse motor 391 is sleeved and fixed on the transmission gear 392. The transmission gear 392 meshes with the rack of the X-axis translation beam assembly 2 for transmission.

[0051] The Y-axis slider seat 38 has an opening 382 in the middle of the outer side of the vertical plate. The output shaft of the forward and reverse motor 391 passes through the opening 382 and is fixedly connected to the transmission gear 392. The outer side of the vertical plate of the Y-axis slider seat 38 has four sliding connecting blocks 383 with horizontal opening slots. The horizontal opening slots of the two sliding connecting blocks 383 at the top of the opening 382 are on the same horizontal line, and the horizontal opening slots of the two sliding connecting blocks 383 at the bottom of the opening 382 are on the same horizontal line.

[0052] The X-axis translational crossbeam assembly 2 includes a crossbeam 21, two slide rails 22, a Y-axis rack 23, an X-axis translational motor 24, a drive shaft 25, two second bevel gear commutators 26, a vertical bearing seat 27, and a motor seat 28. Two slide rails 22 are arranged parallel to each other on the front end face of the crossbeam 21. Two upper and two lower sliding connecting blocks 383 on the outer side of the vertical plate of the Y-axis slider seat 38 are correspondingly fitted onto the two slide rails 22. A Y-axis rack 23 is also fixedly connected to the front end face of the crossbeam 21 between the two slide rails 22, and a drive gear 392 meshes with the Y-axis rack 23. A motor seat 28 is fixed to... At the middle of the rear end face of the crossbeam 21, the X-axis translation motor 24 is fixed to the motor base 28 in the Y-axis direction. The drive shaft 25 is rotatably sleeved on the motor base 28 in the Y-axis direction and is connected to the output shaft of the X-axis translation motor 24. A vertical bearing seat 27 is fixed on the rear end face of the crossbeam 21 on one side of the motor base 28. The drive shaft 25 is rotatably connected to the vertical bearing seat 27. Both ends of the drive shaft 25 are respectively connected to a second bevel gear commutator 26. The two second bevel gear commutators 26 are respectively fixed on the rear end face of the crossbeam 21, and the output gears of the two second bevel gear commutators 26 respectively mesh with the racks on the horizontal frame of the aligned gantry frame 1.

[0053] On the front end face of the cross beam 21 on the outer sides of the ends of the two slide rails 22, a limit stop block 29 is provided.

[0054] The gantry frame 1 includes a rectangular horizontal frame 11, an n-shaped gantry beam 12, two X-direction slide rails 13, and a pair of X-direction rack bars 14. The two vertical walls of the n-shaped gantry beam 12 are respectively fixed to the outer sides of the upper end faces of the middle parts of the two long sides of the rectangular horizontal frame 11. A pair of X-direction rack bars 14 are oppositely fixed to the inner sides of the upper end faces of the two long sides of the rectangular horizontal frame 11. Each X-direction slide rail 13 is respectively fixed to the upper end face of the long side of the rectangular horizontal frame 11 between a vertical wall of the n-shaped gantry beam 12 on the same side and an X-direction rack bar 14. The lower end faces on both sides of the cross beam 21 are respectively slidably connected to the two X-direction slide rails 13. The output gears of the two second bevel gear commutators 26 of the X-direction translation cross beam assembly 2 are respectively engaged with the corresponding X-direction rack bars 14.

[0055] On the upper end faces of the rectangular horizontal frame 11 on the outer sides of the front and rear ends of the two X-direction slide rails 13, X-direction translation cross beam assembly stop blocks 15 are respectively provided; lifting rings 16 are respectively provided at the four corner positions of the upper end face of the rectangular horizontal frame 11; a number of adjusting support feet 17 are evenly distributed circumferentially on the lower end face of the rectangular horizontal frame 11.

[0056] The end pick-up connecting rod Z-direction moving device 4 includes an inverted trapezoidal support arm 41, a gantry beam slider fixing seat 42, two Z-direction slide rails 43, a Z-direction displacement motor 44, and a Z-direction screw rod 45. The gantry beam slider fixing seat 42 is detachably fixed to the middle part of the front end face of the n-shaped gantry beam 12. Vertical chutes are symmetrically arranged on the left and right of the front end face of the gantry beam slider fixing seat 42. The two Z-direction slide rails 43 are arranged on the rear end face of the vertical arm of the inverted trapezoidal support arm 41 in a matching manner and are slidably engaged with the vertical chutes of the gantry beam slider fixing seat 42. The Z-direction displacement motor 44 is inverted and fixed to the upper part of the rear side wall of the inverted trapezoidal support arm 41. The Z-direction screw rod 45 is connected to the vertical plane of the rear side wall of the inverted trapezoidal support arm 41 through a bearing. The upper end of the Z-direction screw rod 45 is rotationally connected to the output shaft of the Z-direction displacement motor 44 through a coupling. A screw nut protrudes from the middle part of the front end face of the gantry beam slider fixing seat 42. The gantry beam slider fixing seat 42 is threadedly connected to the Z-direction screw rod 45 through the screw nut. The Z-direction displacement motor 44 rotates the Z-direction screw rod 45 through the coupling, so that the inverted trapezoidal support arm 41 can slide up and down along the vertical chute of the gantry beam slider fixing seat 42. Manual quick connectors 5 for the end pick-up are provided on the left and right side walls of the front part of the X-direction horizontal cross beam and the left and right side walls of the rear part of the X-direction horizontal cross beam of the inverted trapezoidal support arm 41.

[0057] Embodiment 2

[0058] See Figures 1-8 As shown, a method for installing an end pick-up is applied to an installation station of an end pick-up on a stamping automatic line, and the steps are as follows:

[0059] S1. After the three-dimensional drawing design of the end effector is completed, the three-dimensional coordinate information of the position of each suction cup of the end effector is extracted and input into the end effector simulation environment. The end effector simulation environment system converts the position of the end effector into the movement or rotation of each axis. The end effector simulation environment simulator is started, and the Z-axis displacement motor 44 drives the inverted trapezoidal support arm 41 to move upward in the vertical direction, providing a sufficient safety distance for the suction cup spatial angle coordinate alignment device 3.

[0060] S2. After the inverted trapezoidal support arm 41 moves into place, the X-direction translation motor 24 drives the crossbeam 21 to move along the two X-direction slide rails 13 of the H-shaped horizontal frame 11 to the designated position of the suction cup X-direction point.

[0061] S3. After the crossbeam 21 is in place, the forward and reverse motor 391 of the Y-direction translation motor group 39 drives the Y-direction slider seat 38 to move along the two slide rails 22 of the crossbeam 21 to the designated position of the suction cup Y-direction point. At this point, the suction cup installation position is determined.

[0062] S4. If the suction cup requires angle adjustment, the first-stage reversing support 32, the first-stage reversing motor 33, the second-stage reversing support 34, the second-stage reversing motor 35, the third-stage reversing support 36, and the third-stage reversing motor group 37 of the suction cup spatial angle coordinate alignment device 3 work together to rotate in three directions (XYZ) according to the design angle of the suction cup; after the rotation is completed, the center position of the suction cup coordinate point mounting plate 31 is the spatial position of this suction cup;

[0063] S5. After the above S5 steps are completed, the Z-direction displacement motor 44 drives the inverted trapezoidal support arm 41 to move downward in the vertical direction, and the X-direction horizontal beam of the inverted trapezoidal support arm 41 moves downward to the initial position; the relative positions of the end effector mounting interface and the suction cup are finally determined.

[0064] S6. The left and right side walls of the front part of the X-direction horizontal beam and the left and right side walls of the rear part of the X-direction horizontal beam are equipped with manual quick connectors 5 for end effectors. The end effector connecting rod is installed on the manual quick connector 5 for end effectors. The vacuum suction cup is aligned with the suction cup coordinate point mounting plate 31 and placed. The vacuum suction cup is fixed to the end effector connecting rod with aluminum alloy tubes and clamps. After the fixing is completed, the first end effector suction cup point is set up.

[0065] S7. Repeat steps S1-S6 until all suction cup points are installed.

[0066] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A stamping automatic line end-effector installation station, characterized in that: Includes gantry frame (1), X-axis translation beam assembly (2), suction cup spatial angle coordinate alignment device (3), end effector connecting support rod Z-axis moving device (4); The X-direction translational beam assembly (2) is slidably connected to the horizontal frame of the gantry frame (1) in the front and rear directions; The suction cup spatial angle coordinate alignment device (3) is connected to the X-direction translation beam assembly (2) by left and right meshing sliding. The suction cup spatial angle coordinate alignment device (3) itself can realize the XY bidirectional position adjustment of the Z-direction axis and the YZ bidirectional position adjustment of the X-direction axis. The end-capsule connecting rod Z-axis moving device (4) is set in the middle of the gantry beam of the gantry frame (1), and the end-capsule connecting rod Z-axis moving device (4) can move up and down relative to the gantry beam.

2. The stamping automatic line end-feeder installation station according to claim 1, characterized in that: The suction cup spatial angle coordinate alignment device (3) includes a suction cup coordinate point mounting plate (31), a primary reversing support base (32), a primary reversing motor (33), a secondary reversing support base (34), a secondary reversing motor (35), a tertiary reversing support base (36), a tertiary reversing motor assembly (37), a Y-axis slider base (38), and a Y-axis translation motor assembly (39); the primary reversing support base (32) is an inverted L-shaped bent surface, and the upper end of the housing of the primary reversing motor (33) is fixed to the lower end of the horizontal plane of the primary reversing support base (32), and one The output shaft of the first-stage reversing motor (33) passes through the horizontal plane of the first-stage reversing support (32) and is fixedly connected to the lower end face of the suction cup coordinate point mounting plate (31). The first-stage reversing motor (33) can drive the suction cup coordinate point mounting plate (31) to rotate axially. The second-stage reversing support (34) is an L-shaped bent surface. The second-stage reversing motor (35) is horizontally placed, and its front end is fixed to the outer side of the vertical plane of the second-stage reversing support (34). The output shaft of the second-stage reversing motor (35) passes through the vertical plane of the second-stage reversing support (34) and is fixed to the first-stage reversing support (32). 32) On the outer side of the vertical plane, the lower end of the housing of the first-stage reversing motor (33) is suspended above the horizontal plane of the second-stage reversing support (34). The second-stage reversing motor (35) can drive the first-stage reversing support (32) to rotate left and right along the X-axis. The Y-axis slider seat (38) is an inverted angle steel plate. The Y-axis translation motor group (39) is horizontally fixed to the inner side of the vertical plate of the Y-axis slider seat (38). The outer side of the vertical plate of the Y-axis slider seat (38) is slidably connected to the X-axis translation beam assembly (2). The output end of the Y-axis translation motor group (39) is connected to the X-axis translation beam assembly (2). The lateral beam assembly (2) is aligned and meshed with the transmission; the three-stage reversing support seat (36) is a bearing seat, the three-stage reversing support seat (36) is fixed on the upper horizontal surface of the Y-axis slider seat (38), the lower horizontal surface of the two-stage reversing support seat (34) is matched and rotated and sleeved on the inner ring of the bearing seat, the three-stage reversing motor assembly (37) is fixed on the lower end of the three-stage reversing support seat (36), and the three-stage reversing motor assembly (37) is connected to the lower end of the two-stage reversing support seat (34) for transmission. The three-stage reversing motor assembly (37) can control the two-stage reversing support seat (34) to rotate in both directions on the Z-axis.

3. The stamping automatic line end-feeder installation station according to claim 2, characterized in that: A circular hole (381) with one side opening is provided on the horizontal surface of the Y-axis slider seat (38). The three-stage reversing support seat (36) is fitted into the circular hole (381) with one side opening. The three-stage reversing motor assembly (37) includes a three-stage motor (371) and a first bevel gear commutator (372). The three-stage motor (371) and the first bevel gear commutator (372) mesh. The housing of the three-stage motor (371) is horizontally fixedly connected to the lower housing of the first bevel gear commutator (372). The upper housing of the first bevel gear commutator (372) is fixedly connected to the three-stage reversing motor assembly. The lower end of the support base (36) is connected to the gear disk of the lower end of the first bevel gear commutator (372) by meshing and transmission. The Y-axis translation motor group (39) includes a forward and reverse motor (391) and a transmission gear (392). The forward and reverse motor (391) is horizontally arranged in the X direction. Its housing end is fixed to the middle of the vertical plate inner side of the Y-axis slider seat (38). The output shaft of the forward and reverse motor (391) is sleeved and fixed on the transmission gear (392). The transmission gear (392) meshes with the rack of the X-axis translation beam assembly (2).

4. The stamping automatic line end-feeder installation station according to claim 3, characterized in that: The Y-axis slider seat (38) has an opening (382) in the middle of the outer side of the vertical plate. The output shaft of the forward and reverse motor (391) passes through the opening (382) and is fixedly connected to the transmission gear (392). The outer side of the vertical plate of the Y-axis slider seat (38) in the circumference of the opening (382) is provided with four sliding connecting blocks (383) with horizontal opening slots. The horizontal opening slots of the two sliding connecting blocks (383) at the top of the opening (382) are located on the same horizontal line, and the horizontal opening slots of the two sliding connecting blocks (383) at the bottom of the opening (382) are located on the same horizontal line.

5. The stamping automatic line end-feeder installation station according to claim 4, characterized in that: The X-direction translation crossbeam assembly (2) includes a crossbeam (21), two slide rails (22), a Y-direction rack (23), an X-direction translation motor (24), a transmission shaft (25), two second bevel gear commutators (26), a vertical bearing block (27), and a motor base (28); two slide rails (22) are arranged in parallel up and down on the front end face of the crossbeam (21), and two sliding connection blocks (383) on the upper part and two sliding connection blocks (383) on the lower part of the outer side of the vertical piece of the Y-direction slider seat (38) are slidably fitted to the two slide rails (22) correspondingly. A Y-direction rack (23) is also fixedly connected to the front end face of the crossbeam (21) between the two slide rails (22), and the transmission gear (392) meshes with the Y-direction rack (23); a motor base (28) is fixed to the middle of the rear end face of the crossbeam (21), the X-direction translation motor (24) is fixed to the motor base (28) in the Y-direction, the transmission shaft (25) is rotationally sleeved on the motor base (28) in the Y-direction and is传动连接 with the output shaft of the X-direction translation motor (24). A vertical bearing block (27) is fixed to the rear end face of the crossbeam (21) on one side of the motor base (28), the transmission shaft (25) is rotationally connected to the vertical bearing block (27), and both ends of the transmission shaft (25) are respectively传动连接 with a second bevel gear commutator (26). The two second bevel gear commutators (26) are respectively fixed to the rear end face of the crossbeam (21), and the output gears of the two second bevel gear commutators (26) respectively mesh and drive with the racks on the horizontal frames of the corresponding gantry frame (1).

6. The stamping automatic line end-feeder installation station according to claim 5, characterized in that: Limit stop blocks (29) are provided on the front end face of the crossbeam (21) outside the ends of the two slide rails (22).

7. The stamping automatic line end-feeder installation station according to claim 6, characterized in that: The gantry frame (1) includes a day-shaped horizontal frame (11), an n-shaped gantry beam (12), two X-direction slide rails (13), and a pair of X-direction racks (14). The two vertical walls of the n-shaped gantry beam (12) are respectively fixed to the outer sides of the upper ends of the two long sides of the day-shaped horizontal frame (11). A pair of X-direction racks (14) are oppositely fixed to the inner sides of the upper ends of the two long sides of the day-shaped horizontal frame (11). Each X-direction slide rail (13) is respectively fixed to the upper end of the long side of the day-shaped horizontal frame (11) between a vertical wall of the n-shaped gantry beam (12) on the same side and an X-direction rack (14). The lower end faces on both sides of the crossbeam (21) are respectively slidably connected to the two X-direction slide rails (13), and the output gears of the two second bevel gear commutators (26) of the X-direction translation crossbeam assembly (2) respectively mesh with the corresponding X-direction racks (14).

8. The stamping automatic line end-feeder installation station according to claim 7, characterized in that: X-direction translation crossbeam assembly stop blocks (15) are respectively provided on the upper end face of the day-shaped horizontal frame (11) outside the front and rear ends of the two X-direction slide rails (13); lifting rings (16) are respectively provided at the four corner positions of the upper end face of the day-shaped horizontal frame (11); a number of adjusting support feet (17) are evenly distributed circumferentially on the lower end face of the day-shaped horizontal frame (11). It should be noted that there are some inaccuracies in the original text where "传动连接" is used without a clear description of the specific connection method. It should be more precisely described as "driven connection" or other appropriate expressions in a more accurate technical context. Here, a rough translation is provided based on the overall meaning.

9. The stamping automatic line end-feeder installation station according to claim 8, characterized in that: The Z-axis moving device (4) of the end effector connecting support rod includes an inverted trapezoidal support arm (41), a gantry beam slider fixing seat (42), two Z-axis slide rails (43), a Z-axis displacement motor (44), and a Z-axis lead screw (45). The gantry beam slider fixing seat (42) is detachably fixed to the middle of the front end face of the n-shaped gantry beam (12). The front end face of the gantry beam slider fixing seat (42) is symmetrically provided with vertical slide grooves on the left and right sides. The two Z-axis slide rails (43) are matched and set on the rear end face of the vertical arm of the inverted trapezoidal support arm (41) and slide in cooperation with the vertical slide groove of the gantry beam slider fixing seat (42). The Z-axis displacement motor (44) is inverted and fixed to the upper part of the rear side wall of the inverted trapezoidal support arm (41). The Z-axis lead screw (45) passes through... The bearing is connected to the vertical surface of the rear side wall of the inverted trapezoidal support arm (41). The upper end of the Z-direction screw (45) is rotatably connected to the output shaft of the Z-direction displacement motor (44) through a coupling. The gantry beam slider fixing seat (42) has a screw nut protruding in the middle of the front end face. The gantry beam slider fixing seat (42) is threadedly connected to the Z-direction screw (45) through the screw nut. The Z-direction displacement motor (44) drives the Z-direction screw (45) to rotate, so that the inverted trapezoidal support arm (41) can slide up and down along the vertical slide groove of the gantry beam slider fixing seat (42). The left and right side walls of the front part of the X-direction horizontal beam and the left and right side walls of the rear part of the X-direction horizontal beam of the inverted trapezoidal support arm (41) are equipped with manual quick connectors (5) for end picks.

10. A method for installing an end effector, applied to an end effector installation station on an automatic stamping line as described in any one of claims 1-9, characterized in that, The steps are as follows: S1. After the three-dimensional drawing of the end effector is completed, the three-dimensional coordinate information of the position of each suction cup of the end effector is extracted and input into the end effector simulation environment system. The end effector simulation environment system converts the position of the end effector into the movement or rotation of each axis. Start the end effector simulation environment simulator. The Z-axis displacement motor (44) drives the inverted trapezoidal support arm (41) to move upward in the vertical direction, providing a sufficient safety distance for the suction cup spatial angle coordinate alignment device (3). S2. After the inverted trapezoidal support arm (41) moves into place, the X-direction translation motor (24) drives the crossbeam (21) to move along the two X-direction slide rails (13) of the H-shaped horizontal frame (11) to the designated position of the suction cup X-direction point. S3. After the crossbeam (21) is in place, the forward and reverse motor (391) of the Y-direction translation motor group (39) drives the Y-direction slider seat (38) to move along the two slide rails (22) of the crossbeam (21) to the designated position of the suction cup Y-direction point. At this point, the suction cup installation position is determined. S4. If the suction cup has an angle adjustment requirement, the first-stage reversing support (32), the first-stage reversing motor (33), the second-stage reversing support (34), the second-stage reversing motor (35), the third-stage reversing support (36), and the third-stage reversing motor group (37) of the suction cup spatial angle coordinate alignment device (3) work together to rotate in three directions XYZ according to the design angle of the suction cup; after the rotation is completed, the center position of the suction cup coordinate point mounting plate (31) is the spatial position of this suction cup; S5. After the above S5 steps are completed, the Z-direction displacement motor (44) drives the inverted trapezoidal support arm (41) to move downward in the vertical direction, and the X-direction horizontal beam of the inverted trapezoidal support arm (41) moves downward to the initial position; the relative positions of the end effector mounting interface and the suction cup are finally determined. S6. The left and right side walls of the front part of the X-direction horizontal beam and the left and right side walls of the rear part of the X-direction horizontal beam of the inverted trapezoidal support arm (41) are equipped with manual quick connectors (5) for end pickups. The end pickup connecting rod is installed on the manual quick connector (5) for end pickups. The vacuum suction cup is aligned with the suction cup coordinate point mounting plate (31) and placed. The vacuum suction cup is fixed to the end pickup connecting rod with aluminum alloy tubes and clamps. After the fixing is completed, the first end pickup suction cup point is built. S7. Repeat steps S1-S6 until all suction cup points are set up.

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