Robot workstation based on magnetic suspension conveying

Abstract

The utility model provides a robot work station based on magnetic suspension conveying, which comprises an annular base, a plurality of magnetic suspension sliding tables, a plurality of modularized clamps and a plurality of robots, a coil assembly is annularly arranged on the annular base, each magnetic suspension sliding table is provided with a permanent magnet assembly, when current flows through the coil assembly, the coil assembly generates a corresponding magnetic field, and the modularized clamps are arranged on the magnetic suspension sliding tables. The magnetic suspension sliding table is arranged on the annular base, the magnetic field of the permanent magnet assembly and the magnetic field of the coil assembly generate a magnetic force effect, and the magnetic suspension sliding table completes suspension and movement through the magnetic force effect. The robots arranged on the inner side and the outer side of the annular base are used for machining, workpieces are clamped at a time, repeated opening, taking and placing are not needed, the workpiece position precision is improved, accumulated errors are reduced, workpiece deformation is reduced, the workpiece quality is improved, the equipment utilization rate is increased, line body balance is facilitated, equipment investment is reduced, line body layout area occupation is reduced, and the plant utilization rate is increased.

Description

Technical Field

[0001] This utility model relates to the field of automated welding equipment, and in particular to a robotic workstation based on magnetic levitation conveying. Background Technology

[0002] Automotive body-in-white component assembly welding lines often use a linear layout, with robots picking up and transferring workpieces between stations. After the workpiece is placed in the station fixture, it is clamped by cylinders, and then the robot performs welding and other operations. Once the operation is complete, the clamping cylinders open, and the robot picks up and transfers the workpiece to the next station. However, this process presents the following problems:

[0003] 1. In a linear arrangement, each robot only performs its current workstation operation, resulting in insufficient utilization of some robots, which is not conducive to the balance of the line. The gripping robot only performs gripping work, resulting in low utilization and waste of equipment.

[0004] 2. The next workpiece needs to wait for the current workpiece to be gripped before it can be placed on the workstation fixture. The gripping and waiting time wastes 10% of the process cycle time.

[0005] 3. Repeatedly gripping and clamping the workpiece can easily cause it to deform.

[0006] 4. Positioning accuracy errors exist during the grasping process between workstations, causing error accumulation;

[0007] 5. The workstations occupy a large area, resulting in low factory utilization. Utility Model Content

[0008] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a robot workstation based on magnetic levitation conveying to solve the above-mentioned technical problems.

[0009] To achieve the above and other related objectives, this utility model provides a robot workstation based on magnetic levitation transport, comprising:

[0010] An annular base, wherein a coil assembly is provided circumferentially on the annular base;

[0011] Multiple magnetic levitation slides are arranged horizontally around the annular base. Each magnetic levitation slide is equipped with a permanent magnet component. When current flows through the coil component, the coil component generates a corresponding magnetic field. The magnetic field of the permanent magnet component and the magnetic field of the coil component generate a magnetic force. The magnetic levitation slide is levitated and moved by the magnetic force.

[0012] Multiple modular clamps, each corresponding one-to-one with the magnetic levitation slide, are mounted on the magnetic levitation slide.

[0013] Multiple robots are respectively positioned on the outer and inner sides of the annular base.

[0014] The advantages of adopting the above technical solution are that, through magnetic levitation conveying, the modular fixture can move along the annular base after clamping the workpiece, and the workpiece can be processed by robots set on the inner and outer sides of the annular base. The workpiece is clamped once, without the need for multiple opening and unloading, which improves the workpiece position accuracy, reduces cumulative error, reduces workpiece deformation, improves workpiece quality, increases equipment utilization, facilitates line balance, reduces equipment investment, reduces line layout area occupation, and increases factory utilization.

[0015] Optionally, the coil assembly includes two annularly arranged propulsion coils, one propulsion coil being disposed outside the annular base and the other propulsion coil being disposed inside the annular base;

[0016] The permanent magnet assembly includes two permanent magnet actuators, which are mounted below the magnetic levitation slide via a bracket. One of the propulsion coils is located between the outer permanent magnet actuator and the magnetic levitation slide, and the other propulsion coil is located between the inner permanent magnet actuator and the magnetic levitation slide.

[0017] Optionally, the two propulsion coils are located at the same horizontal level.

[0018] Optionally, the annular base is provided with multiple workstations in the circumferential direction. Each workstation is provided with a quick-connect cylinder and a quick-connect connector. Each magnetic levitation slide is also provided with an air source connector. The air source connector is connected to the modular fixture. When each magnetic levitation slide moves to the corresponding workstation, the quick-connect cylinder pushes the quick-connect connector to connect with the air source connector.

[0019] Optionally, the modular clamp includes multiple clamping cylinders, all of which are connected to the air source connector.

[0020] Optionally, the modular clamp also includes a self-locking mechanism, which is used to maintain the clamping state of the modular clamp when the quick-connect connector is disconnected from the air source connector.

[0021] Optionally, the robot is divided into an inner robot and an outer robot, with the inner robot disposed inside the annular base and all the outer robots disposed outside the annular base.

[0022] Optionally, the working ends of all the outer robots face the annular base, and the working ends of two adjacent inner robots face opposite directions.

[0023] Optionally, a slide position sensor is also provided on the annular base.

[0024] Optionally, the annular base is also provided with a gap sensor.

[0025] As described above, the robot workstation based on magnetic levitation conveying of this utility model has the following beneficial effects: through magnetic levitation conveying, the modular fixture can move along the annular base after clamping the workpiece, and the robot set on the inner and outer sides of the annular base can perform processing. The workpiece is clamped once, without the need for multiple opening and unloading, which improves the workpiece position accuracy and reduces cumulative error, reduces workpiece deformation and improves workpiece quality, improves equipment utilization, facilitates line balance, reduces equipment investment, reduces line layout area occupation, and improves factory utilization. Attached Figure Description

[0026] Figure 1 The diagram shown is a top view of the overall structure in one embodiment of the present invention.

[0027] Figure 2 The diagram shown is a cross-sectional structural schematic of one embodiment of the present invention.

[0028] Figure 3 The diagram shows the cooperative structure of the coil assembly and the permanent magnet assembly in one embodiment of the present invention.

[0029] Part Number Explanation

[0030] 1. Circular base

[0031] 101 Coil Assembly

[0032] 2 Magnetic levitation slide

[0033] 201 Permanent Magnet Component

[0034] 3 Modular Fixtures

[0035] 4 robots

[0036] 5 Quick-connect cylinders

[0037] 6. Gas source connector Detailed Implementation

[0038] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model.

[0039] Please see Figures 1 to 3It should be noted that the illustrations provided in this embodiment are merely schematic representations of the basic concept of this utility model. The illustrations only show components relevant to this utility model and are not drawn according to the actual number, shape, and size of the components in implementation. In implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex. The structures, proportions, sizes, etc., shown in the accompanying drawings are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this utility model. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of this utility model.

[0040] See Figures 1 to 3 As shown, this utility model provides a robot workstation based on magnetic levitation conveying, comprising:

[0041] A ring-shaped base 1 is provided with a coil assembly 101 circumferentially. The magnetic levitation conveyor line and workstation are arranged in a ring layout on the ring-shaped base 1. A control system is provided on the ring-shaped base 1. The control system is used to adjust the magnitude and direction of the current of the coil assembly 101 in segments along the length direction of the coil assembly 101.

[0042] Multiple magnetic levitation slides 2 are arranged horizontally around the annular base 1. Each magnetic levitation slide 2 is provided with a permanent magnet component 201. When current flows through the coil component 101, the coil component 101 generates a corresponding magnetic field. The magnetic field of the permanent magnet component 201 and the magnetic field of the coil component 101 generate a magnetic force. The magnetic levitation slide 2 completes levitation and movement through the magnetic force.

[0043] Multiple modular clamps 3 are provided, each corresponding to a magnetic levitation slide 2. The modular clamps 3 are mounted on the magnetic levitation slide 2 and have a self-locking function, which can maintain the clamping state and move on the magnetic levitation slide 2.

[0044] Multiple robots 4 are respectively disposed on the outer and inner sides of the annular base 1.

[0045] In one embodiment, the modular fixture 3 is set on the corresponding magnetic levitation slide 2 and moves synchronously with the magnetic levitation slide 2. The number of magnetic levitation slides 2 is set according to the number of workstations, and the modular fixture 3 on each magnetic levitation slide 2 is exactly the same.

[0046] For example, the coil assembly 101 includes two annularly arranged propulsion coils, one propulsion coil being disposed outside the annular base 1 and the other propulsion coil being disposed inside the annular base 1;

[0047] The permanent magnet assembly 201 includes two permanent magnet actuators, which are mounted below the magnetic levitation slide 2 via a bracket. One of the propulsion coils is located between the outer permanent magnet actuator and the magnetic levitation slide 2, and the other propulsion coil is located between the inner permanent magnet actuator and the magnetic levitation slide 2.

[0048] It should also be noted that this allows the magnetic levitation slide 2 to levitate smoothly under the influence of a magnetic field.

[0049] For example, the two propulsion coils are located at the same horizontal level.

[0050] For example, the annular base 1 is provided with multiple workstations in a circumferential direction. Each workstation is provided with a quick-connect cylinder 5 and a quick-connect connector. Each magnetic levitation slide 2 is also provided with an air source connector 6. The air source connector 6 is connected to the modular clamp 3. When each magnetic levitation slide 2 moves to the corresponding workstation, the quick-connect cylinder 5 pushes the quick-connect connector to connect with the air source connector 6.

[0051] For example, the modular clamp 3 includes multiple clamping cylinders, all of which are mounted on the magnetic levitation slide 2 and are connected to the air source connector 6.

[0052] For example, the modular clamp also includes a self-locking mechanism, which is used to maintain the clamping state of the modular clamp when the quick-connect connector is disconnected from the air source connector.

[0053] It should also be noted that the purpose of setting up the self-locking mechanism is to further prevent the magnetic levitation slide 2 from becoming loose during the clamping process.

[0054] In one embodiment, the clamping cylinder is a bidirectional self-locking cylinder with a self-locking mechanism. When air pressure enters the cylinder, the valve opens, and the cylinder piston pushes the locking mechanism to achieve locking. When the air pressure decreases or disappears, the valve closes, and the locking mechanism automatically unlocks, thus preventing air leakage from the clamping cylinder and causing loosening of the clamping mechanism during the movement of the magnetic levitation slide 2 due to the disconnection of the air source connector 6 and the corresponding quick connector.

[0055] In one embodiment, a one-way valve is provided at the connection of the air source connector 6. The one-way valve forms the self-locking mechanism described above. When the magnetic levitation slide 2 needs to move on the annular base 1, the air source connector 6 is disconnected from the corresponding quick connector. The air source connector 6 switches to the self-locking state using the one-way valve to prevent air leakage from the air source connector 6, which would affect the clamping state of the modular fixture 3.

[0056] It should also be noted that during use, after the parts at the current workstation are loaded, the quick-connect cylinder 5 extends the quick-connect connector to connect to the air source connector 6 on the magnetic levitation slide 2 at that workstation position. After the corresponding clamping cylinder clamps the parts at that workstation, the quick-connect cylinder 5 retracts the quick-connect connector, and the self-locking mechanism on the clamping cylinder or air source connector 6 completes self-locking. The slide and fixture move to the subsequent workstation. The clamped cylinder always maintains the clamping and self-locking state. The above operation is repeated until all parts are clamped on the corresponding magnetic levitation slide 2.

[0057] To further explain, after each component is loaded at each workstation, the cylinder clamps and locks itself until the next workstation, at which point the cylinder is released. The entire operation process does not require multiple opening and closing, ensuring the consistency of the position of each component, reducing the accumulation of errors and deformation in the handling of workpieces. At the same time, the cylinder remains self-locked during transfer between workstations, eliminating the need to open and re-clamp.

[0058] It should also be noted that one of the workstations is the unloading workstation. After arriving at this workstation, the quick-connect cylinder 5 pushes the quick-connect connector to insert into the corresponding air source connector 6, so that the quick-connect connector and the corresponding air source connector 6 are connected to form a pressure relief channel, and the gas in the clamping cylinder is discharged through the pressure relief channel. All clamping cylinders are unlocked and opened, and the robot grabs the workpiece and puts it into the material frame. The magnetic levitation slide and fixture enter the next cycle.

[0059] For example, the robot 4 is divided into an inner robot and an outer robot. The inner robot is disposed inside the annular base 1, and all the outer robots are disposed outside the annular base 1.

[0060] It should also be noted that the robot 4 is reasonably distributed on the inner and outer sides of the ring base 1.

[0061] For example, the working ends of all the outer robots face the annular base 1, and the working ends of two adjacent inner robots face opposite directions.

[0062] It should also be noted that the outer robot is used first in the process design. After the outer robot's cycle time is used up, the inner robot is used. If the inner robot's cycle time is not used up, the remaining time can be used for the work station on the opposite side, which is conducive to the full utilization of the robot and the balance of the production line.

[0063] For example, a slide position sensor is also provided on the annular base 1.

[0064] It should also be noted that the purpose of setting up the slide position sensor is to obtain the position information of the magnetic levitation slide 2 on the annular base 1.

[0065] For example, the annular base 1 is also provided with a gap sensor.

[0066] It should also be noted that the purpose of setting up the gap sensor is to obtain the gap distance between the propulsion coil and the corresponding permanent magnet mover.

[0067] In use, the magnetic levitation conveyor line and workstation are arranged in a ring layout on the ring base 1. The control system controls the current of the propulsion coil to generate a magnetic field with the opposite polarity to the permanent magnet of the magnetic levitation slide 2 based on the information of the slide position sensor. The slide and the fixture are attracted by the magnetic field of the coil. When the attraction is greater than the weight of the magnetic levitation slide 2 and the modular fixture, the slide is in a magnetic levitation state, and the levitation height is controlled at 10mm based on the data of the gap sensor.

[0068] The movement of the magnetic levitation slide 2 on the annular base 1 is achieved by changing the direction and magnitude of the current in the propulsion coil. When the magnetic levitation slide 2 needs to move forward, the control system dynamically adjusts the current intensity and polarity of the coil assembly 101 on the magnetic levitation slide 2 based on the position information of the magnetic levitation slide 2 and the required speed and acceleration. This causes the coil assembly 101 at the head of the magnetic levitation slide 2 to generate an attractive force with the permanent magnet assembly 201 slightly ahead, and a repulsive force with the permanent magnet assembly 201 slightly behind. This change in attractive force and repulsive force acts simultaneously on the suspended object. According to Newton's second law (F=ma), the acceleration (or state of motion) of an object is determined by the sum of all forces acting on it, which is the traction force on the magnetic levitation slide 2. The propulsion coil magnetic field moves forward, and the permanent magnet mover of the slide is subjected to a forward attractive force, which drives the magnetic levitation slide 2 and the modular clamp 3 to move forward. This traction force enables the magnetic levitation slide 2 and the modular clamp 3 to run along the annular base 1.

[0069] Conversely, when the control system receives a stop signal, it controls the propulsion coil to generate a reverse magnetic field, thereby decelerating or stopping the magnetic levitation slide 2.

[0070] The starting and stopping accuracy of the magnetic levitation slide is ±0.1mm.

[0071] In summary, the robot workstation based on magnetic levitation conveying of this utility model enables the modular clamping fixture 3 to move along the annular base 1 after clamping the workpiece. The robot 4, located on the inner and outer sides of the annular base 1, performs processing. The workpiece is clamped once, eliminating the need for multiple opening and unloading, thus improving workpiece position accuracy, reducing cumulative errors, reducing workpiece deformation, improving workpiece quality, increasing equipment utilization, facilitating line balance, reducing equipment investment, reducing line layout area occupation, and increasing factory utilization.

[0072] Furthermore, the propulsion coil has a modular structure, which can realize synchronous or asynchronous high-speed operation control of the permanent magnet actuator of the magnetic levitation slide 2, with a maximum operating speed of 3.5m / s.

[0073] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A robotic workstation based on magnetic levitation conveying, characterized in that, include: An annular base, wherein a coil assembly is provided circumferentially on the annular base; Multiple magnetic levitation slides are arranged horizontally around the annular base. Each magnetic levitation slide is equipped with a permanent magnet component. When current flows through the coil component, the coil component generates a corresponding magnetic field. The magnetic field of the permanent magnet component and the magnetic field of the coil component generate a magnetic force. The magnetic levitation slide is levitated and moved by the magnetic force. Multiple modular clamps, each corresponding one-to-one with the magnetic levitation slide, are mounted on the magnetic levitation slide. Multiple robots are respectively positioned on the outer and inner sides of the annular base.

2. The robot workstation based on magnetic levitation conveying according to claim 1, characterized in that: The coil assembly includes two annularly arranged propulsion coils, one propulsion coil being disposed outside the annular base and the other propulsion coil being disposed inside the annular base; The permanent magnet assembly includes two permanent magnet actuators, which are mounted below the magnetic levitation slide via a bracket. One of the propulsion coils is located between the outer permanent magnet actuator and the magnetic levitation slide, and the other propulsion coil is located between the inner permanent magnet actuator and the magnetic levitation slide.

3. A robot workstation based on magnetic levitation conveying according to claim 2, characterized in that: The two propulsion coils are located at the same horizontal level.

4. A robot workstation based on magnetic levitation conveying according to claim 3, characterized in that: The annular base has multiple workstations arranged circumferentially. Each workstation is equipped with a quick-connect cylinder and a quick-connect connector. Each magnetic levitation slide is also equipped with an air source connector. The air source connector is connected to the modular fixture. When each magnetic levitation slide moves to the corresponding workstation, the quick-connect cylinder pushes the quick-connect connector to connect with the air source connector.

5. A robot workstation based on magnetic levitation conveying according to claim 4, characterized in that: The modular fixture includes multiple clamping cylinders, all of which are connected to the air source connector.

6. A robot workstation based on magnetic levitation conveying according to claim 5, characterized in that: The modular clamp also includes a self-locking mechanism, which is used to maintain the clamping state of the modular clamp when the quick-connect connector is disconnected from the air source connector.

7. A robot workstation based on magnetic levitation conveying according to claim 6, characterized in that: The robot is divided into an inner robot and an outer robot. The inner robot is located inside the annular base, and all the outer robots are located outside the annular base.

8. A robot workstation based on magnetic levitation conveying according to claim 7, characterized in that: The working ends of all the outer robots face the annular base, while the working ends of two adjacent inner robots face opposite directions.

9. A robot workstation based on magnetic levitation conveying according to claim 8, characterized in that: A slide position sensor is also provided on the annular base.

10. A robot workstation based on magnetic levitation conveying according to claim 9, characterized in that: A gap sensor is also provided on the annular base.

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