Off-line construction device for tooling

Abstract

The utility model relates to an end picking-up device off-line building device which comprises a robot which comprises an execution tail end, a locking mechanism and a position storage device, the execution tail end is used for being connected with an end picking-up device and moving the end picking-up device to a machining position, and the position storage device is used for storing coordinates of the machining position; the tooling is used for picking up a workpiece; the workbench is used for fixing a mold, and the mold is used for installing a workpiece; and the tooling connecting bracket is used for carrying the tooling, and the tooling connecting bracket is detachably connected with the robot through the locking mechanism. The tooling off-line building device provided by the utility model can enhance the universality and expandability of the device, and can improve the efficiency of tooling off-line building and testing.

Description

TECHNICAL FIELD

[0001] The utility model relates to end picker technical field, especially a kind of end picker offline building device. BACKGROUND

[0002] End picker is the end execution device for grabbing, carrying and operating workpiece in industrial automation production, and is important tool for grabbing and carrying workpiece in industrial automation production, and has wide application in stamping, logistics, electronics and many other industries.In automobile production line, end picker is widely used in stamping, welding, painting, assembly and other processes, for example, in stamping process, end picker can be used to carry sheet to stamping die;In welding process, it can be used to grab and position parts.

[0003] In different production scenarios, the shape, size, weight, material and other characteristics of workpiece are very different.In automobile manufacturing, the size of body covering piece is large and the shape is complex, while electronic components are very small and precise.In order to meet the requirements of different processes and cooperate with different workpieces in production process, end picker needs to be built and debugged to ensure that end picker in production line can accurately and stably grab and carry workpiece.In thin plate stamping automation production line, end picker is essential for automation carrying, and each stamping product needs to be equipped with special end picker.According to the number of stamping line automation carrying equipment, one kind of stamping piece generally needs to be equipped with 5-6 sets of end picker, and a stamping line of 30 kinds of products needs to be equipped with 150-180 sets of end picker.The building work of end picker is heavy, and the end picker of one kind of stamping piece needs at least one shift to build and debug.If end picker is built on stamping line, it needs to stop the whole line, which occupies a lot of production time and seriously affects the efficiency of stamping line. SUMMARY

[0004] Therefore, it is necessary to provide an end picker offline building device to improve the building efficiency of end picker.

[0005] An end picker offline building device comprises:

[0006] A robot comprises an execution end, a locking mechanism and a position storage, wherein the execution end is used to connect end picker and move the end picker to processing position, and the position storage is used to store the coordinates of the processing position;The end picker is used to pick workpiece;

[0007] A workbench is used to fix die, and the die is used to install workpiece;

[0008] An end picker connecting bracket is used to carry the end picker, and the end picker connecting bracket is detachably connected with the robot through the locking mechanism.

[0009] In one of the embodiments, the end effector connecting bracket comprises a robot mounting bracket and an end effector mounting bracket, the robot mounting bracket and the end effector mounting bracket are detachably connected, the robot mounting bracket is used for connecting the execution end, and the end effector mounting bracket is used for connecting the end effector.

[0010] In one of the embodiments, the mold is provided with a positioning key, and the workbench is provided with a positioning key groove, and the positioning key groove is used for positioning the mold.

[0011] In one of the embodiments, the end effector comprises a suction cup, and the robot comprises a vacuum generator, and the vacuum generator is connected with the suction cup through a pipeline.

[0012] In one of the embodiments, the positioning key groove comprises a transverse positioning key groove and a longitudinal positioning key groove, and the length direction of the transverse positioning key groove and the length direction of the longitudinal positioning key groove are perpendicular to each other.

[0013] In one of the embodiments, the robot is an industrial seven-axis robot.

[0014] In one of the embodiments, the robot mounting bracket is connected with the seventh axis of the industrial seven-axis robot through a pneumatic locking pin.

[0015] In one of the embodiments, the end effector is connected with the end effector mounting bracket through a first connecting piece, and the first connecting piece comprises a buckle.

[0016] In one of the embodiments, the robot mounting bracket is connected with the end effector mounting bracket through a second connecting piece, the second connecting piece comprises a lock and a metal pipe, the lock is arranged on the robot mounting bracket, the metal pipe is arranged on the end effector mounting bracket, and the lock and the metal pipe are connected through bolts.

[0017] In one of the embodiments, the end effector comprises a main rod and a support rod, one end of the support rod is connected with the main rod, and the other end of the support rod is connected with the suction cup.

[0018] The end effector offline building device, the end effector connecting bracket is detachably connected with the robot through the locking mechanism, the end effector can be conveniently installed and detached, the time cost of adjustment is reduced, the coordinates of the processing position are stored through the position storage, the end effector can be accurately moved to the pre-stored coordinate position in each building process, the accuracy of picking and placing the workpiece by the end effector is ensured, the processing quality and consistency of the production line are improved, the end effector is mounted on the end effector connecting bracket, the robot is connected with different end effectors, the versatility and expandability of the device are enhanced, and the efficiency of the end effector offline building and testing is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0020] Figure 1 is a structural schematic view of an off-line building device of an end picker provided by an embodiment of the present application;

[0021] Figure 2 is a structural schematic view of an A-type end picker support of an end picker provided by an embodiment of the present application;

[0022] Figure 3 is a structural schematic view of a B-type end picker support of an end picker provided by an embodiment of the present application;

[0023] Figure 4 is a structural schematic view of a C-type end picker support of an end picker provided by an embodiment of the present application;

[0024] Figure 5 is a structural schematic view of an A-type end picker connecting support of an end picker provided by an embodiment of the present application;

[0025] Figure 6 is a structural schematic view of a robot carrying support A type in an A-type end picker connecting support of an end picker provided by an embodiment of the present application;

[0026] Figure 7 is a structural schematic view of an end picker carrying support A type in an A-type end picker connecting support of an end picker provided by an embodiment of the present application;

[0027] Figure 8 is a structural schematic view of a B-type end picker connecting support of an end picker provided by an embodiment of the present application;

[0028] Figure 9 is a structural schematic view of a robot carrying support B type in a B-type end picker connecting support of an end picker provided by an embodiment of the present application;

[0029] Figure 10 is a structural schematic view of an end picker carrying support B type in a B-type end picker connecting support of an end picker provided by an embodiment of the present application;

[0030] Figure 11 is a structural schematic view of a C-type end picker connecting support of an end picker provided by an embodiment of the present application;

[0031] Figure 12 is an embodiment of the utility model provides a robot mounting bracket C type structure schematic diagram in the end picker C type end picker connecting support of the utility model;

[0032] Figure 13 is an embodiment of the utility model provides an end picker mounting bracket C type structure schematic diagram in the end picker C type end picker connecting support of the utility model;For let the above and other purposes, features, advantages and embodiments of the utility model can be more obvious easy to understand, the following description of the symbol is as follows:

[0033] 1, A type end picker support;2, B type end picker support;3, C type end picker support;4, industrial seven-axis robot;5, worktable;6, the lower mould of the mould for building end picker;11, A type end picker support base;12, A type end picker connecting support;21, B type end picker support base;22, B type end picker connecting support;31, C type end picker support base;32, C type end picker connecting support;121, robot mounting bracket A type;122, end picker mounting bracket A type;221, robot mounting bracket B type;222, end picker mounting bracket B type;321, robot mounting bracket C type;322, end picker mounting bracket C type. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purpose, features and advantages of the utility model can be more obvious easy to understand, the specific embodiments of the utility model are described in detail below. In the following description, a lot of specific details are set forth in order to fully understand the utility model. However, the utility model can be implemented in many other ways different from the description herein, and those skilled in the art can make similar improvements without departing from the connotation of the utility model, therefore the utility model is not limited by the following disclosed specific embodiments.

[0035] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model.

[0036] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" or "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0037] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0039] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only embodiment.

[0040] To solve the problem that the end picker takes a long time to build online, affecting the production efficiency of the stamping line, the utility model provides a kind of high flexibility offline end picker building simulation device, end picker is pre-built by offline mode, then it is online to produce debugging verification, to greatly reduce the time of occupying production line. Figure 1 , Fig. 1 shows the structure schematic diagram of the end picker offline building device provided by an embodiment of the utility model, the end picker offline building device provided by an embodiment of the utility model includes:

[0041] The robot comprises an execution end, a locking mechanism and a position storage, wherein the execution end is used to connect an end picker and move the end picker to a processing position, and the position storage is used to store the coordinates of the processing position; the end picker is used to pick a workpiece;

[0042] A workbench is used to fix a mold, and the mold is used to mount a workpiece.

[0043] An end picker connecting support is used to carry the end picker, and the end picker connecting support is detachably connected with the robot through the locking mechanism.

[0044] The execution end refers to a component directly connected with the end picker and performing operations, the locking mechanism is used to realize detachable connection and fixation with other components, and the position storage mechanism can record and store the coordinates and other information of the robot, for example, when the robot carries the end picker to move to a target processing position, the posture of the robot and the coordinates of the execution end can be collected through a position sensor and other elements, and stored through a storage, and when the end picker needs to be built, the data can be read to accurately and quickly move the end picker to the pre-stored processing position. The workpiece refers to a part that needs to be processed or assembled on a production line, such as a stamping part of an automobile. The workbench refers to a platform used to carry and fix the mold and provide a stable foundation. The end picker connecting support is used to connect the robot and the end picker, and its structure can be adjusted according to the specific type of the end picker.

[0045] The end picker offline building device, the end picker connecting support is detachably connected with the robot through the locking mechanism, the end picker can be conveniently installed and detached, the time cost of adjustment is reduced, the coordinates of the processing position are stored through the position storage, the end picker can be accurately moved to the pre-stored coordinate position in each building process, the accuracy of picking and placing the workpiece by the end picker is ensured, the processing quality and consistency of the production line are improved, the end picker connecting support is used to carry the end picker, the robot is convenient to connect with different end pickers, the versatility and expandability of the device are enhanced, and the efficiency of the end picker offline building and testing is improved.

[0046] In an exemplary embodiment, the end effector connecting bracket comprises a robot mounting bracket and an end effector mounting bracket, the robot mounting bracket and the end effector mounting bracket are detachably connected, the robot mounting bracket is used for connecting the execution end, and the end effector mounting bracket is used for connecting the end effector. By connecting the end effector through the end effector mounting bracket and connecting the robot and the end effector mounting bracket through the robot mounting bracket, different brackets can be matched according to the types of the end effector and the robot, the connection structures between different end effector mounting brackets and robot mounting brackets can be the same, and when the end effector needs to be replaced, only the end effector mounting bracket needs to be replaced, and the execution end of the robot does not need to be reconnected, thereby improving work efficiency.

[0047] In an exemplary embodiment, the mold is provided with a positioning key, and the workbench is provided with a positioning key groove for positioning the mold.

[0048] In an exemplary embodiment, the end effector comprises a suction cup, and the robot comprises a vacuum generator connected to the suction cup through a pipeline. The suction cup is usually installed at the end of the end effector and picks up the workpiece through vacuum adsorption. The suction cup has the advantages of simple operation and fast response, can quickly pick up and place the workpiece, and improves production efficiency.

[0049] In an exemplary embodiment, the positioning key groove comprises a transverse positioning key groove and a longitudinal positioning key groove, and the length direction of the transverse positioning key groove and the length direction of the longitudinal positioning key groove are perpendicular to each other. Through the cooperation of the two-direction positioning keys and the positioning key grooves, the mold can be accurately positioned in two dimensions on the workbench.

[0050] In an exemplary embodiment, the robot is an industrial seven-axis robot. The industrial seven-axis robot refers to an industrial robot with seven degrees of freedom. The seventh axis of the robot cooperates with the other six axes to enable the robot to realize more complex and accurate motion trajectories.

[0051] In an exemplary embodiment, the robot mounting bracket is connected to the seventh axis of the industrial seven-axis robot through a pneumatic locking pin. The robot mounting bracket and the seventh axis of the industrial seven-axis robot are respectively provided with mounting holes and connection structures matched with the pneumatic locking pin. The pneumatic locking pin is connected to an external air source through an air pipe. When connection is needed, compressed air is supplied to the pneumatic locking pin to make the locking pin extend and insert into the mounting hole, thereby realizing the connection and fixation of the robot mounting bracket and the seventh axis. When disassembly is needed, the air source is cut off, and the locking pin is retracted under the action of a reset device such as a spring, so that the robot mounting bracket and the seventh axis can be easily separated.

[0052] In an exemplary embodiment, the end picker is connected to the end picker mounting bracket through a first connecting member, and the first connecting member comprises a buckle. The buckle connection method is simple and fast to install and disassemble without the need for tools, which can greatly improve the installation and replacement efficiency between the end picker and the end picker mounting bracket. In the production process, if different types of end pickers need to be replaced, the replacement operation can be quickly completed, reducing the equipment downtime.

[0053] In an exemplary embodiment, the robot mounting bracket is connected to the end picker mounting bracket through a second connecting member, and the second connecting member comprises a lock and a metal pipe, the lock is arranged on the robot mounting bracket, the metal pipe is arranged on the end picker mounting bracket, and the lock and the metal pipe are connected through bolts. The lock and the metal pipe are connected through bolts, which is firm and reliable, can withstand a large pulling force and torque, and ensures the stability of the connection between the robot mounting bracket and the end picker mounting bracket during the operation of the robot, facilitating the adjustment of the relative position and angle between the robot mounting bracket and the end picker mounting bracket.

[0054] In an exemplary embodiment, the end picker comprises a main rod and a support rod, one end of the support rod is connected to the main rod, and the other end is connected to the suction cup. The main rod is the main supporting component of the end picker, which plays a role in connecting and transmitting force, and provides a mounting basis for the support rod and the suction cup. One end of the support rod is connected to the main rod, and the other end is connected to the suction cup, which is used to fix the suction cup in a suitable position and adjust the working angle and position of the suction cup.

[0055] In an exemplary embodiment, a high-flexibility offline end picker building simulation device is provided, which comprises an A-type end picker bracket 1, a B-type end picker bracket 2, a C-type end picker bracket 3, an industrial seven-axis robot 4, a workbench 5, and a mold lower die 6 for building an end picker. The center of the workbench is used as the origin for the arrangement of all tooling equipment, and the mold lower die 6 for building an end picker is placed on the work surface of the workbench 5. The industrial seven-axis robot 4 is fixed on one side of the workbench 5 through a base, and the A-type end picker bracket 1, the B-type end picker bracket 2, and the C-type end picker bracket 3 are arranged in a straight line and fixed on one side of the industrial seven-axis robot 4.

[0056] As shown in Figure 1 The workbench 5 has a size of 2600mm×4500mm and a height of 700mm. Key grooves are processed on the center of the X and Y directions of the workbench 5 for mold positioning. The bottom surface of the mold lower die 6 for building an end picker can be used within the range of 2600mm×4500mm.

[0057] As shown in Figures 2 to 4 The A, B, and C are three different structure end picker brackets.

[0058] As Figures 5 to 7 , Figures 8 to 10 , Figures 11 to 13 Respectively are the structure exploded view of A, B, C3 end pick-up holder.

[0059] The end pick-up holder structure has 2 parts, taking the A type end pick-up holder as an example, including A type end pick-up holder base 11 and A type end pick-up connecting holder 12, A type end pick-up holder base 11 is fixed to the ground, A type end pick-up connecting holder 12 is positioned by pin and placed on A type end pick-up holder base 11, and can be taken and placed.

[0060] The A type end pick-up connecting holder 12 includes robot mounting bracket A type 121 and end pick-up mounting bracket A type 122, the robot mounting bracket A type 121 can be fixed to the seven axes of the industrial seven-axis robot 4 through the pneumatic locking pin, and the assembled end pick-up can be locked to the end pick-up mounting bracket A type 122 through the connector on the end pick-up and the buckle, the mounting bracket A type 121 and the end pick-up mounting bracket A type 122 are bolted and connected through aluminum pipes and locks, through the transition connection of the robot mounting bracket A type 121 and the end pick-up mounting bracket A type 122, the end pick-up is finally installed on the seven axes of the industrial seven-axis robot 4, and can change position with the adjustment of the robot posture.

[0061] Next, taking the building process of the A type end pick-up as an example, the working process of the high-flexibility offline end pick-up building simulation device is described in detail.

[0062] When working, first, the die lower die of one of the processes used by the stamping part to be built end pick-up is placed on the workbench 5, and the center positioning is performed through the key groove on the workbench 5. The stamping part of this process is placed on the die.

[0063] After the die and the stamping process part are placed in position, the industrial seven-axis robot 4 is started, the seven axes of the industrial seven-axis robot 4 are moved to the position directly above the A type end pick-up holder 1 by running the industrial seven-axis robot 4 program, and then the position of the A type end pick-up connecting holder 12 is moved, the pneumatic locking device of the industrial seven-axis robot 4 is started, the A type end pick-up connecting holder 12 is installed to the industrial seven-axis robot 4, and then the industrial seven-axis robot 4 is moved, at this time, the A type end pick-up connecting holder 12 moves with the industrial seven-axis robot 4, and finally the A type end pick-up connecting holder 12 is moved to the appropriate position directly above the die through the adjustment of the A type end pick-up connecting holder 12 in X, Y and Z directions.

[0064] After the A-type end picker connecting bracket 12 is moved into position, the industrial seven-axis robot 4 is no longer moved, and the X, Y, Z space coordinate point of this position is recorded and saved. At this time, first, the connecting piece of the end picker is locked to the end picker mounting bracket A type 122 through the lock, and then the main rod, support rod and suction disc position of the end picker are installed.

[0065] After the end picker is built, the vacuum generator of the industrial seven-axis robot 4 is started, the stamping process piece is grabbed through the end picker, and then the end picker and the process piece are moved by moving the industrial seven-axis robot 4, so that the vacuum degree and suction force of the suction disc can be dynamically checked. After the check is correct, the end picker is removed from the end picker mounting bracket A type 122 for storage, and then the next process die is built and the end picker of the next process is replaced. The scheme has high flexibility, can expand different structures of the end picker, high precision, and can realize millimeter level position adjustment through the industrial robot.

[0066] In an exemplary embodiment, the end picker connecting bracket can also be directly used to connect the execution end of the robot and the end picker, and the type of the end picker bracket is not limited to the three shown in the embodiment, and other types of end picker brackets can be added.

[0067] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered as within the scope of the present disclosure.

[0068] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An offline end-effector assembly device, characterized in that, include: The robot includes an end effector, a locking mechanism, and a position memory, wherein the end effector is used to connect to an end effector and move the end effector to a processing position, the position memory is used to store the coordinates of the processing position, and the end effector is used to pick up a workpiece; A workbench is used to fix a mold, which is used to mount a workpiece. An end effector connection bracket is used to mount the end effector, and the end effector connection bracket is detachably connected to the robot via the locking mechanism.

2. The offline end effector setup device according to claim 1, characterized in that, The end effector connection bracket includes a robot mounting bracket and an end effector mounting bracket, which are detachably connected. The robot mounting bracket is used to connect the end effector, and the end effector mounting bracket is used to connect the end effector.

3. The offline end-effector assembly device according to claim 1, characterized in that, The mold is provided with a positioning key, and the worktable is provided with a positioning keyway, which is used to position the mold.

4. The offline end-effector assembly device according to claim 1, characterized in that, The end effector includes a suction cup, and the robot includes a vacuum generator, which is connected to the suction cup via a pipe.

5. The offline end effector setup device according to claim 3, characterized in that, The positioning keyway includes a horizontal positioning keyway and a vertical positioning keyway, and the length direction of the horizontal positioning keyway and the length direction of the vertical positioning keyway are perpendicular to each other.

6. The offline end-effector setup device according to claim 1, characterized in that, The robot in question is an industrial seven-axis robot.

7. The offline end effector setup device according to claim 6, characterized in that, The robot mounting bracket is connected to the seventh axis of the industrial seven-axis robot via a pneumatic locking pin.

8. The offline end effector setup device according to claim 2, characterized in that, The end effector is connected to the end effector mounting bracket via a first connector, the first connector including a buckle.

9. The offline end-effector assembly device according to claim 2, characterized in that, The robot mounting bracket is connected to the end effector mounting bracket via a second connector. The second connector includes a buckle and a metal tube. The buckle is mounted on the robot mounting bracket, and the metal tube is mounted on the end effector mounting bracket. The buckle and the metal tube are connected by bolts.

10. The offline end-effector assembly device according to claim 4, characterized in that, The end effector includes a main rod and a support rod, with one end of the support rod connected to the main rod and the other end connected to the suction cup.

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