A rolling head support structure integrated with a positioning and grabbing device of a rolling edge mold press

Abstract

The application discloses a roll head support structure integrated with a positioning and grabbing device of a roll edge mold press, and relates to the technical field of automobile manufacturing.The roll head support structure comprises a grabbing connection support fixed on the roll edge mold press and a roll head support assembly connected with a robot.The roll head support assembly is internally integrated with a roll head and a grabbing positioning support.The grabbing positioning support is guided and limited by inserting a positioning pin into a first bushing of the grabbing connection support, and the bottom of the grabbing positioning support is in surface contact with a supporting block of the grabbing connection support to share the vertical gravity load.In addition, the assembly interface of the roll head support body and the grabbing positioning support adopts a double fixing mechanism of a pin and a bolt, thereby improving the overall connection rigidity of the structure.The application realizes continuous operation of mold grabbing and carrying and roll edge processing of the assembly, omits the end tool switching step and the storage rack configuration, improves the work station space utilization and the production rhythm, and prevents the stress deformation of the positioning pin through the double docking structure, thereby ensuring the grabbing precision.

Description

Technical Field

[0001] This application relates to the field of automotive manufacturing technology, and in particular to a roller head support structure for an integrated roller edge die positioning and gripping device. Background Technology

[0002] Currently, hemming is a common forming structure for automotive exterior parts, widely used in the manufacturing of components such as doors, toolbox covers, and wheel arch assemblies. With the development of automated manufacturing technology, robotic hemming technology, due to its high flexibility and stable quality, has become a routine key process in the automotive body manufacturing field.

[0003] Regarding the operational procedures in the robotic gripper-type hemming station described above, conventional handling and processing actions often rely on independent end effectors. Initially, the industrial robot uses a gripping tool to transfer the hemming die clamp onto the hemming die to position and clamp the assembly to be hemmed. After clamping and fixing, the robot moves to the dedicated tool storage rack on the side of the workstation, detaches the current gripper, and reattaches the dedicated rolling head bracket. After the changeover, the robot approaches the assembly to be processed and applies forming rolling pressure to the sheet metal edge according to the set trajectory. After the processing cycle is completed, the robot must return to the storage rack to unload and place the rolling head bracket.

[0004] Traditional split-type operating architectures and supporting supports present efficiency constraints and potential mechanical structural hazards in actual production lines. The frequent switching of execution tools by the robot generates numerous non-value-adding movements, slowing down the overall production cycle. Simultaneously, the additional support storage platform increases workstation space requirements and equipment investment. In terms of mechanical stress, existing gripping and docking mechanisms, when handling heavy molds, rely heavily on the vertically downward weight of the mold itself, which is directly borne by the positioning pins of the execution guide connector. The lack of an independent gravity-sharing path leads to the pin's cantilever section bearing the ultimate bending moment; long-term repeated stress can easily cause cross-sectional bending deformation, resulting in a sharp decrease in subsequent alignment accuracy. Furthermore, when facing the complex spatial alternating force system generated by heavy mold gripping and edge rolling operations, conventional support assembly interfaces often lack multi-dimensional anti-loosening constraint mechanisms. Insufficient rigidity design of the basic frame makes the support body prone to structural torsion or micro-slippage of the connection surfaces when subjected to lateral shear forces. This mechanical deformation ultimately translates into spatial coordinate deviations in the end-effector trajectory, making it difficult to ensure the consistency of the edge rolling process.

[0005] Therefore, the present invention provides a roller head support structure for an integrated roller edge die positioning and gripping device to address the shortcomings of the prior art. Summary of the Invention

[0006] The purpose of this invention is to provide a roller head bracket structure for an integrated roller edge die positioning and gripping device. This invention aims to solve the problems of slow production cycle, large storage rack area, and single load-bearing force of existing robotic roller edge stations during die gripping and roller edge processing due to frequent switching of end effector tools, as well as the lack of anti-loosening constraints that can lead to trajectory space deviation.

[0007] This invention provides the following solution:

[0008] A roller head bracket structure for an integrated positioning and gripping device for a roller edge die includes a gripping connecting bracket, which is fixedly mounted on the top side of the roller edge die. A roller head bracket assembly is mounted above the gripping connecting bracket, and the roller head bracket assembly is connected to the motion execution end of an industrial robot.

[0009] The roller head support assembly is respectively fixedly provided with a roller head for performing outer edge rolling processing and a gripping positioning bracket for performing mold gripping process. The gripping positioning bracket is aligned and locked with the gripping connecting bracket fixed on the edge rolling mold, so that the industrial robot can drive the edge rolling mold to move through the roller head support assembly.

[0010] Preferably, the gripping connection bracket includes a support and a connecting block fixed on the support. A bushing fixing block is fixedly disposed above the connecting block. A first bushing is embedded inside the bushing fixing block. A support block is also fixedly installed on the support.

[0011] Preferably, the plate surface of the support has mounting holes, and bolts and pins passing through the mounting holes fix the support to the rolling die. The first bushing has a through guide hole, and the end face of the first bushing is fixedly connected to the bushing fixing block by fastening bolts.

[0012] Preferably, the roller head support assembly further includes a support plate and a roller head support body. The support plate is fixedly disposed on the top of the roller head support body, and the roller head and the gripping positioning bracket are respectively fixedly installed on both sides of the roller head support body.

[0013] Preferably, the gripping and positioning bracket includes a connecting seat, on the bottom of which a positioning pin and a positioning block are fixedly disposed respectively, and a positioning circular hole is opened inside the connecting seat, and a second bushing is embedded inside the positioning circular hole.

[0014] Preferably, the positioning pin is slidably inserted into the first bushing on the gripping connecting bracket, the bottom end of the positioning block has a force-bearing surface, and the bearing surface of the positioning block is in contact with the top end of the support block on the gripping connecting bracket.

[0015] Preferably, the outer wall surface of the root of the positioning pin is machined with a threaded structure and screwed into the corresponding threaded hole at the bottom of the connecting seat, and the area of ​​the upper part of the positioning pin extending out of the connecting seat is a cylindrical working section.

[0016] Preferably, the connecting seat and the roller head bracket body are fitted and locked together by mechanical fasteners. The roller head bracket body has a through hole and a first pin hole, and the connecting surface of the connecting seat has a threaded hole and a second pin hole corresponding to the hole arrangement.

[0017] Preferably, the cylindrical pin passes through the first pin hole and is inserted into the second pin hole, and the bolt fastener passes through the through hole and is screwed into the threaded hole by the thread to be tightened.

[0018] Preferably, a metal reinforcing rib structure is fixedly installed on the outer side of the connecting block in the gripping connecting bracket and the outer side of the connecting seat in the gripping positioning bracket, and the bottom side of the metal reinforcing rib structure is welded and fixed to the top of the support.

[0019] The above solution achieves the following beneficial technical effects:

[0020] This invention integrates both a roller head for performing the rolling process and a gripping and positioning bracket for gripping the die on the roller head support body. This allows an industrial robot end effector to continuously perform the gripping and handling of the edge-rolling die and the edge-rolling operation of the assembly to be processed using a single mechanism. It eliminates the need for a separate roller head support storage rack inside the edge-rolling workstation, removes the step of switching and installing different end effector tools on the industrial robot, reduces the overall system operation time, and minimizes the floor space occupied by the workstation layout.

[0021] This invention establishes an independent gravity-bearing path in the mechanical docking structure of the gripping positioning bracket and the gripping connecting bracket. The rigid contact between the bottom force-bearing surface of the positioning block and the top force-bearing surface of the support block distributes the vertical load generated by the rolling die. Separating the load-bearing point from the insertion joint structure avoids excessive gravitational bending moments on the positioning pin's cantilevered working section, preventing cross-sectional bending and mechanical deformation caused by concentrated force on the positioning pin, and maintaining the positioning accuracy of the device during repeated insertion and removal docking processes.

[0022] This invention features a structurally reinforced rigidity configuration for the gripping support assembly under load-bearing conditions. This is achieved by increasing the wall thickness of the connecting seat and using high-strength materials. Furthermore, a double-fixed system of pin positioning and bolt tightening is employed at the assembly interface between the roller head support body and the connecting seat to constrain displacement. This design limits the mechanical deformation rate of the internal frame when subjected to vertical tension during heavy mold gripping and alternating lateral reaction forces during the rolling process, preventing spatial trajectory deviations caused by torsion of the support under stress or slippage of the connecting surfaces. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the roller head support structure of an integrated edge-rolling die positioning and gripping device according to the present invention;

[0024] Figure 2 This is a schematic diagram of the gripping connection bracket structure of the present invention;

[0025] Figure 3 This is a schematic diagram of the roller head support assembly structure of the present invention;

[0026] Figure 4 This is a partial cross-sectional view of the gripping and positioning bracket of the present invention;

[0027] Figure 5 This is a three-dimensional structural diagram of the gripping and positioning bracket of the present invention;

[0028] Figure 6 This is an overall schematic diagram of the connection between the gripping and positioning bracket and the roller head bracket body of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the roller head support body of the present invention;

[0030] Figure 8 This is a schematic diagram of the connector of the present invention.

[0031] The components include: 1. Gripping connecting bracket; 2. Roller head bracket assembly; 3. Rolling edge molding die; 11. Bushing fixing block; 12. First bushing; 13. Connecting block; 14. Support; 15. Support block; 21. Roller head; 22. Roller head bracket body; 221. Through hole; 222. First pin hole; 23. Support plate; 24. Gripping positioning bracket; 241. Positioning pin; 242. Second bushing; 243. Positioning block; 244. Connecting seat; 2441. Threaded hole; 2442. Second pin hole. Detailed Implementation

[0032] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] See attached document Figure 1 This invention provides a roller head support structure for an integrated hemming die positioning and gripping device, which may include a gripping connecting bracket 1 and a roller head support assembly 2 used in conjunction with the gripping connecting bracket 1. This roller head support structure for the integrated hemming die positioning and gripping device is mainly arranged inside a robotic hemming workstation in the automotive manufacturing process.

[0034] The gripping connecting bracket 1 is fixedly mounted on the external rolling die 3. The rolling die 3 is configured inside the workstation for positioning and clamping the assembly parts to be processed. The rolling head bracket assembly 2 is fixedly mounted on the flange actuator end of the industrial robot inside the workstation. The industrial robot, as the motion drive source, drives the rolling head bracket assembly 2 to move and adjust its posture within the space of the workstation.

[0035] The roller head support assembly 2 integrates processing components for performing the outer edge rolling process and positioning and connecting components for gripping the mold. During system operation, the roller head support assembly 2, driven by the industrial robot, moves to the coordinate position of the rolling die 3. The roller head support assembly 2, relying on its own positioning and connecting components, physically docks and locks with the gripping connecting bracket 1 fixed on the surface of the rolling die 3. After the roller head support assembly 2 and the gripping connecting bracket 1 are connected and locked, they form a load-bearing and transporting assembly. The industrial robot then uses the roller head support assembly 2 to grip, lift, and transfer the rolling die 3 to place it above the assembly to be rolled, thus completing the positioning and pressing process.

[0036] After the hemming die 3 completes the clamping action on the hemming assembly, the industrial robot maintains the mechanical connection between the hemming head support assembly 2 and the gripping connecting bracket 1. Subsequently, the hemming head support assembly 2 uses its integrated processing components to move along the set edge trajectory of the hemming assembly and apply forming rolling pressure. After the hemming head support assembly 2 completes the overall hemming process, the industrial robot controls the hemming head support assembly 2 to separate from the gripping connecting bracket 1. Because the gripping connecting bracket 1 and the hemming head support assembly 2 combine the mold handling and gripping structure with the hemming execution structure, the system can continuously execute the gripping and hemming processes, thus eliminating the need for a separate hemming head support storage station in the workstation's layout.

[0037] See attached document Figure 2 The structure of the gripping connecting bracket 1 may include: bushing fixing block 11, first bushing 12, connecting block 13, support 14 and support block 15.

[0038] The gripping connecting bracket 1 is fixedly mounted on the external rolling molding die 3. The gripping connecting bracket 1 is rigidly fixed to the rolling molding die 3 by its bottom support 14 fitting against the designated surface. Multiple through-hole mounting holes are provided on the solid plate surface of the support 14. Specifically, the gripping connecting bracket 1 is fixed to the rolling molding die 3 by five M12 bolts and two 10mm diameter pins through the mounting holes of the support 14. The assembly method combining the bolt fastening structure and the pin positioning structure restricts the degree of freedom of movement of the gripping connecting bracket 1 on the surface of the rolling molding die 3.

[0039] The bushing fixing block 11 is fixedly mounted above the support 14 via the connecting block 13. The bushing fixing block 11 has a cylindrical mounting hole for assembly. The wall thickness of the bushing fixing block 11 is set to 40 mm. The inner diameter of the mounting hole in the bushing fixing block 11 is set to 45 mm. The first bushing 12 is fitted into the mounting hole in the bushing fixing block 11. The outer diameter of the first bushing 12 is set to 45 mm, which is equal to the inner diameter of the mounting hole in the bushing fixing block 11, and the two are in a mating state. The aforementioned wall thickness provides the bushing fixing block 11 with the mechanical strength to withstand external gripping loads.

[0040] The first bushing 12 has a through guide hole along its central axis. The inner diameter of the first bushing 12 is set to 35mm. The annular solid area on the end face of the first bushing 12 has four M6 threaded holes. The first bushing 12 and the bushing fixing block 11 are mechanically connected and fixed by four mounting bolts that match the M6 ​​threaded holes. The first bushing 12 is locked inside the bushing fixing block 11 by the aforementioned bolt fastening structure, ensuring that the first bushing 12 maintains a fixed relative position during subsequent insertion and extraction gripping actions.

[0041] Support block 15 is fixedly mounted on the solid surface of support 14. The top surface of support block 15 forms a flat load-bearing surface. This load-bearing surface is used to fit against the corresponding end face of the external moving component during the gripping and positioning process. Connecting block 13, as a structural force transmission component, is fixedly arranged between bushing fixing block 11 and support 14, and between support block 15 and support 14. Connecting block 13 spatially connects bushing fixing block 11 and support block 15 to form an integral load-bearing support foundation frame.

[0042] See attached document Figure 3 The roller head support assembly 2 may include: a roller head 21, a roller head support body 22, a support plate 23, and a gripping and positioning bracket 24.

[0043] The support plate 23 is fixedly mounted on the top surface of the roller head bracket body 22. The support plate 23 is used for mechanical connection to the end flange of an external industrial robot. The motion trajectory and load-bearing force output by the industrial robot's drive end are transmitted downwards to the entire roller head bracket assembly 2 through the support plate 23. The support plate 23 is made of Q345 steel. The roller head bracket body 22, as the main load-bearing skeleton structure, is located below the support plate 23. The thickness of the roller head bracket body 22 is set to 65mm. The roller head bracket body 22 is also made of Q345 steel. The upper end face of the roller head bracket body 22 and the lower end face of the support plate 23 are attached together as a connection interface, and the two are fixed at the connection interface using a circumferential full welding process. The selection of Q345 steel, the setting of a thickness of 65mm, and the circumferential full welding connection method enable the roller head bracket body 22 to have the mechanical strength to withstand the upward reaction force generated by the rolling process and the gravitational load generated when gripping and handling the mold.

[0044] The roller head 21 is fixedly arranged at a predetermined position on the side of the roller head support body 22 by a mechanical mounting structure. The roller head support body 22 provides a supporting base surface for the roller head 21. As the direct working part of this device to perform the rolling process, the roller head 21 is used to contact the edge of the assembly part to be processed under the spatial trajectory drive of the industrial robot, and apply forming pressure along the predetermined contour of the assembly part to complete the outer edge rolling process.

[0045] The gripping and positioning bracket 24 is fixedly installed on the solid surface area of ​​the other side of the roller head bracket body 22. The gripping and positioning bracket 24 and the roller head bracket body 22 form a rigid force transmission unit. The structure of the gripping and positioning bracket 24 faces outward and is used for mechanical alignment and insertion locking with the gripping connection bracket 1 fixed on the rolling die 3 during the gripping process. By integrating the fixed roller head 21 and the gripping and positioning bracket 24 simultaneously on a single roller head bracket body 22, the roller head bracket assembly 2 simultaneously possesses the basis for performing edge binding processing by relying on the roller head 21 and the basis for establishing a gripping connection by relying on the gripping and positioning bracket 24. During operation, the mechanism does not require the replacement of the support tool through an external material rack; the working end can be switched directly by adjusting the posture of the industrial robot.

[0046] See attached document Figure 4 and attached Figure 5 The gripping positioning bracket 24 may include a positioning pin 241, a second bushing 242, a positioning block 243, and a connecting seat 244.

[0047] The connecting seat 244 serves as a structural support component of the gripping and positioning bracket 24, used for mechanical assembly and force transmission with other related components within the roller head bracket assembly 2. The main body structure of the connecting seat 244 is formed by welding two independent connecting blocks together. The connecting seat 244 is made of Q345 steel. The wall thickness of the connecting seat 244 is set at 70mm. The aforementioned Q345 steel material and 70mm wall thickness of the connecting seat 244 provide it with the structural strength to withstand the mechanical loads generated when the external industrial robot transfers loads in space, limiting the structural deformation under stress.

[0048] The locating pin 241 is fixedly mounted on the solid surface of the bottom of the connecting seat 244. The locating pin 241 is used for insertion and guiding engagement with the gripping connecting bracket 1 during docking. The solid material of the locating pin 241 is 45# steel. The overall external profile of the locating pin 241 adopts a variable diameter cross-section. An M30 thread structure is machined on the outer wall of the fixed end at the root of the locating pin 241. The locating pin 241 is screwed into and secured in the corresponding threaded hole at the bottom of the connecting seat 244 through the M30 thread structure at its root. The upper protruding area of ​​the locating pin 241 forms a cylindrical working section with a diameter of 34.5mm. The variable diameter cross-section feature, combined with the properties of 45# steel, increases the lateral bending resistance area of ​​the locating pin 241 cross-section, enabling the locating pin 241 to maintain structural straightness when subjected to lateral shear loads.

[0049] The connecting seat 244 has a positioning hole inside its solid structure for assembling the limiting component. The second bushing 242 is fitted into the positioning hole of the connecting seat 244. The outer diameter of the second bushing 242 is set to 38 mm. The second bushing 242 has a guide center hole extending through both ends inside its solid structure. The inner diameter of the second bushing 242 is set to 30 mm. The second bushing 242 achieves radial position fixation by its outer cylindrical surface fitting against the inner cylindrical surface of the positioning hole.

[0050] The positioning block 243 is fixedly installed on the solid surface of the bottom of the connecting seat 244. The positioning block 243 and the positioning pin 241 are arranged at intervals on the bottom plane of the connecting seat 244. The bottom solid structure of the positioning block 243 has a flat load-bearing surface. The positioning block 243 is used to move vertically along with the connecting seat 244 during the assembly pressing process until the load-bearing surface of the bottom of the positioning block 243 contacts the corresponding structural surface on the external gripping connecting bracket 1. This contact state of the positioning block 243 provides a rigid mechanical limit point for the gripping positioning bracket 24 in the vertical direction, restricting the displacement freedom of the connecting seat 244 to continue to move downward.

[0051] See attached document Figure 6-8This invention provides a connection structure for the specific assembly interface between the gripping positioning bracket 24 and the roller head bracket body 22. The connecting seat 244 at the bottom of the gripping positioning bracket 24 and the lateral solid surface of the roller head bracket body 22 are attached and rigidly locked by mechanical fasteners.

[0052] The roller head support body 22 has six through holes 221 extending through its thickness direction on its mounting surface. The diameter of each through hole 221 is 13.5 mm. Two first pin holes 222 are also provided on the same mounting surface of the roller head support body 22 for mounting and positioning cylindrical parts. The diameter of each first pin hole 222 is 8 mm. The through holes 221 and the first pin holes 222 are arranged in a predetermined topological array on the side surface of the roller head support body 22.

[0053] The connecting surface of the connector 244 has six threaded holes 2441 corresponding to the spatial position of the through hole 221. The threaded holes 2441 are machined with an M12 internal thread. On the same connecting surface of the connector 244, two second pin holes 2442 corresponding to the spatial position of the first pin hole 222 are also provided. The diameter of the second pin holes 2442 is 8mm. The arrangement of the threaded holes 2441 and the second pin holes 2442 on the surface of the connector 244 corresponds to and fits snugly with the hole layout on the roller head support body 22.

[0054] During the mechanical assembly of the gripping positioning bracket 24 and the roller head bracket body 22, the external cylindrical pins first pass through the two first pin holes 222 on the roller head bracket body 22 and are then inserted into the two second pin holes 2442 on the connecting seat 244. This fixes the relative spatial position of the roller head bracket body 22 and the connecting seat 244 at the mating interface, restricting their relative translational and rotational degrees of freedom. Subsequently, six external M12 bolts pass through the six through holes 221 on the roller head bracket body 22 and are axially tightened by being screwed into the corresponding six threaded holes 2441 on the connecting seat 244.

[0055] The aforementioned mechanical connection structure, which relies on 8mm pins for positioning and constraining shear slip displacement, and on M12 bolts for tightening and constraining normal separation displacement, completes a dual fixing mechanism. This provides structural anti-loosening constraints between the gripping positioning bracket 24 and the roller head bracket body 22. When subjected to alternating reaction force loads generated by equipment movement and gripping external heavy objects, this assembly interface maintains the rigid stability of the connection surface shape, ensuring the coordinate alignment accuracy when the system's end effector performs the gripping action.

[0056] The roller head support structure of the integrated hemming die positioning and gripping device provided by the present invention may include structural replacement features for the gripping connecting bracket 1 and the gripping positioning bracket 24. To address the difference in the self-weight parameters of the external hemming die 3, the roller head support structure of the integrated hemming die positioning and gripping device is equipped with corresponding reinforcement schemes to limit the mechanical deformation of the gripping connecting bracket 1 and the gripping positioning bracket 24 when bearing the heavy hemming die 3.

[0057] In the first alternative structural design, the solid material of the connecting block 13 inside the gripping connecting bracket 1 is replaced with a high-strength alloy material with a higher yield strength limit instead of conventional steel. Simultaneously, the two solid connecting blocks that form the connecting seat 244 inside the gripping positioning bracket 24 are also manufactured by welding using high-strength alloy material. This change in material properties improves the ultimate tensile strength of the connecting block 13 and the connecting seat 244 when subjected to vertical gravity loads and alternating loads caused by spatial motion.

[0058] In the second alternative structural scheme, the solid wall thickness of each load-bearing component inside the gripping connecting bracket 1 is increased and adjusted based on the weight parameters of the rolling die 3. The solid wall thickness of the bushing fixing block 11 is set to a value greater than 40mm, and the solid thickness of the connecting block 13 is increased accordingly. The overall solid wall thickness of the connecting seat 244 on one side of the gripping positioning bracket 24 is set to a value greater than 70mm. The increase in wall thickness parameters increases the cross-sectional area of ​​the connecting block 13 and the connecting seat 244 when subjected to shear force and bending moment, reduces the mechanical stress level of the internal materials, and thus maintains the overall rigidity of the gripping connecting bracket 1 and the gripping positioning bracket 24.

[0059] In the third alternative structural scheme, a metal reinforcing rib is fixedly added to the joint surface of the gripping connecting bracket 1. The bottom end face of the metal reinforcing rib is fixed to the top surface of the support 14 by welding, and the vertical side face of the metal reinforcing rib is attached and fixed to the outer surface of the connecting block 13 by welding. The aforementioned metal reinforcing rib is simultaneously fixedly welded to the outer surface of the connecting seat 244 of the gripping positioning bracket 24. The metal reinforcing rib structure forms an oblique support force transmission path in the vertical intersection area of ​​the connecting block 13 and the support 14. During the lifting and transfer processes of the device, it shares and transmits the concentrated load acting on the root area of ​​the connecting block 13, limiting the torsional displacement of the entire gripping connecting bracket 1 and the gripping positioning bracket 24.

[0060] Working Principle: The industrial robot acts as the motion source, driving the movement of the roller head support assembly 2 mounted at the actuator end. The roller head support assembly 2 moves as a whole to the area above the external rolling die 3. The industrial robot adjusts the spatial orientation of the roller head support assembly 2 so that the gripping and positioning bracket 24 integrated on the side of the roller head support assembly 2 is aligned with the gripping connecting bracket 1 fixed on the rolling die 3. The industrial robot controls the roller head support assembly 2 to move downwards in the vertical direction to execute the docking procedure.

[0061] During the vertical downward movement, the lower ends of the two positioning pins 241 on the gripping positioning bracket 24 enter the internal central guide holes of the two first bushings 12 on the gripping connecting bracket 1. The cylindrical working section of the upper part of the positioning pin 241, with a diameter of 34.5 mm, slides downward along the hole wall of the first bushing 12, with an inner diameter of 35 mm. The outer cylindrical surface of the positioning pin 241 forms a radial limiting fit with the inner cylindrical surface of the first bushing 12. This first-stage insertion and positioning action restricts the translational degrees of freedom of the roller head bracket assembly 2 and the gripping connecting bracket 1 in two orthogonal directions in the horizontal plane.

[0062] As the industrial robot continues to drive the roller head support assembly 2 downwards, the positioning block 243 on the gripping positioning bracket 24 moves downwards synchronously with the connecting seat 244. The load-bearing surface at the bottom of the positioning block 243 gradually approaches the load-bearing surface at the top of the support block 15 on the gripping connecting bracket 1. When the load-bearing surface at the bottom of the positioning block 243 and the load-bearing surface at the top of the support block 15 are fully engaged, the roller head support assembly 2 stops its downward feeding motion. This second-stage engagement and positioning action establishes a rigid mechanical contact surface between the gripping positioning bracket 24 and the gripping connecting bracket 1 in the vertical axis.

[0063] After completing the aforementioned dual positioning and engagement, the industrial robot drives the roller head support assembly 2 to lift upwards and perform spatial transfer. At this time, the vertical gravity load of the external rolling die 3 is transmitted upwards through the support block 15 to the load-bearing surface of the positioning block 243, where the solid cross-section of the positioning block 243 bears the main vertical tensile load. The lateral shear load generated by the system's acceleration or deceleration in the horizontal plane is transmitted through the inner wall of the first bushing 12 to the cylindrical working section of the positioning pin 241. The surface contact engagement between the positioning block 243 and the support block 15 constitutes an independent transmission path for the vertical gravity load. Distributing the gravity load on the cross-section of the positioning block 243 reduces the mechanical bending moment generated by the gravity load on the cantilever structure of the positioning pin 241, maintaining the straightness of the positioning pin 241 under the set load.

[0064] The roller head support assembly 2 remains locked and connected to the gripping connecting bracket 1, and the roller edge die 3 is placed at the set coordinate position of the assembly to be rollered to perform a clamping action. During the time period when the roller edge die 3 maintains a static clamping state, the industrial robot uses the roller head 21 integrated on the side of the roller head support assembly 2 to directly contact the metal edge of the assembly to be rollered. The roller head 21 moves along the outline of the assembly to be rollered and applies mechanical rolling pressure to complete the roller edge processing. After the roller edge processing is completed, the industrial robot drives the roller head support assembly 2 together with the gripping connecting bracket 1 to move the roller edge die 3 back to the initial coordinate position. The industrial robot then controls the roller head support assembly 2 to move vertically upward, so that the positioning pin 241 is pulled out from the first bushing 12, completing the separation of the mechanism. In the entire system cycle, the industrial robot relies on the roller head support assembly 2 as the end effector to complete the gripping and handling of the die and the forming and rolling operation of the sheet metal in sequence.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A roller head support structure for an integrated roller edge die positioning and gripping device, comprising a gripping connecting bracket (1), characterized in that, The gripping connecting bracket (1) is fixedly installed on the top side of the rolling die (3), and a roller head bracket assembly (2) is mounted above the gripping connecting bracket (1). The roller head bracket assembly (2) is connected to the motion execution end of the industrial robot. The roller head support assembly (2) is fixedly provided with a roller head (21) for performing outer edge rolling processing and a gripping positioning bracket (24) for performing mold gripping process. The gripping positioning bracket (24) is aligned and locked with the gripping connecting bracket (1) fixed on the edge rolling mold (3), so that the industrial robot can drive the edge rolling mold (3) to move through the roller head support assembly (2).

2. The roller head support structure of the integrated hemming die positioning and gripping device according to claim 1, characterized in that, The gripping connection bracket (1) includes a support (14) and a connecting block (13) fixed on the support (14). A bushing fixing block (11) is fixedly provided above the connecting block (13). A first bushing (12) is embedded inside the bushing fixing block (11). A support block (15) is also fixedly installed on the support (14).

3. The roller head support structure of the integrated rolling die positioning and gripping device according to claim 2, characterized in that, The support (14) has mounting holes on its plate surface. Bolts and pins passing through the mounting holes fix the support (14) to the rolling die (3). The first bushing (12) has a through guide hole inside. The end face of the first bushing (12) is fixedly connected to the bushing fixing block (11) by fastening bolts.

4. The roller head support structure of the integrated hemming die positioning and gripping device according to claim 1, characterized in that, The roller head bracket assembly (2) also includes a support plate (23) and a roller head bracket body (22). The support plate (23) is fixedly disposed on the top of the roller head bracket body (22), and the roller head (21) and the gripping positioning bracket (24) are respectively fixedly installed on both sides of the roller head bracket body (22).

5. The roller head support structure of the integrated hemming die positioning and gripping device according to claim 4, characterized in that, The gripping positioning bracket (24) includes a connecting seat (244), on the bottom of the connecting seat (244) a positioning pin (241) and a positioning block (243) are fixedly provided respectively, and a positioning round hole is opened inside the connecting seat (244), and a second bushing (242) is embedded inside the positioning round hole.

6. The roller head support structure of the integrated rolling die positioning and gripping device according to claim 5, characterized in that, The positioning pin (241) is slidably inserted into the first bushing (12) on the gripping connecting bracket (1). The bottom end of the positioning block (243) has a bearing surface, and the bearing surface of the positioning block (243) is in contact with the top end of the support block (15) on the gripping connecting bracket (1).

7. The roller head support structure of the integrated rolling die positioning and gripping device according to claim 5, characterized in that, The outer wall of the root of the positioning pin (241) is machined with a thread structure and screwed into the threaded hole at the bottom of the connecting seat (244). The area of ​​the upper part of the positioning pin (241) extending out of the connecting seat (244) is a cylindrical working section.

8. The roller head support structure of the integrated hemming die positioning and gripping device according to claim 5, characterized in that, The connecting seat (244) and the roller head bracket body (22) are fitted and locked together by mechanical fasteners. The roller head bracket body (22) has a through hole (221) and a first pin hole (222) through it. The connecting surface of the connecting seat (244) has a threaded hole (2441) and a second pin hole (2442) corresponding to the hole arrangement.

9. The roller head support structure of the integrated hemming die positioning and gripping device according to claim 8, characterized in that, The cylindrical pin passes through the first pin hole (222) and is inserted into the second pin hole (2442). The bolt fastener passes through the through hole (221) and is screwed into the threaded hole (2441) by the thread to tighten it.

10. The roller head support structure of the integrated rolling die positioning and gripping device according to claim 5, characterized in that, Metal reinforcing ribs are fixedly installed on the outer side of the connecting block (13) in the gripping connecting bracket (1) and the outer side of the connecting seat (244) in the gripping positioning bracket (24). The bottom side of the metal reinforcing ribs is welded and fixed to the top of the support (14).

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