A plate positioning and grabbing system and positioning and grabbing method applied to an automated production line

Abstract

The invention discloses a board positioning and grabbing system and method applied to an automatic production line. The board positioning and grabbing system comprises a material rack, a manipulator, a material fetching gripper, a positioning device, a numeral control system and a bending machine. The material fetching gripper comprises a material fetching frame, multiple vibration exciters, multiple electromagnets and multiple vacuum chucks. The inherent frequency of each vibration exciter is larger than that of a metal board. By the adoption of the structure and method, the vacuum chucks and the electromagnets are used alternately, the layering stability is met, and accuracy and high efficiency in the positioning and bending processes are also met. The vibration exciters and the metal board form a single-degree-of-freedom system. When the excitation frequency of the vibration exciters is the same as the inherent frequency of the board, layering of the metal board is achieved. The numerical control system judges whether the problems of excessive grabbing and leaked grabbing exist or not and can also sense the contact condition between the metal board and the finger in real time, so that the positioning precision of the positioning device is higher and mechanical interference and collision are avoided.

Description

technical field [0001] The invention relates to an auxiliary device and method in a metal plate processing production line, in particular to a plate positioning and grasping system and a positioning and grasping method applied to an automatic production line. Background technique [0002] Automobiles, electronics, hardware appliances, electrical appliances, construction machinery and other fields require a large number of sheet metal formed parts, which play a decisive role in the development of many fields of the national economy. As a specific expansion and extension of the macro-development trend of Industry 4.0 in the field of sheet metal processing, the market demand for automated sheet metal processing production lines has been increasing day by day in recent years. Compared with the traditional stand-alone processing mode, the use of automated production lines not only saves labor costs and improves work efficiency, but more importantly, it has better controllability ...

AI Technical Summary

Problems solved by technology

[0009] In the above patent application, on the one hand, there are errors in the secondary grasping process itself, and on the other hand, the bending accuracy still depends on the repeated positioning accuracy of the robot, so the positioning accuracy of this method is usually poor, and the work efficiency is very low

[0010] 2) The robot is equipped with a mechanical limit or an induction switch as a positioning reference. Compared with method 1), although there is one less secondary grasping process, the positioning accuracy still depends on the positioning accuracy of the robot, and the accuracy is poor.

[0011] 3) Positioning is carried out through the fingers of the rear gauge mechanism that comes with the CNC bending machine. This method is suitable for manual bending operations, but when using robots for automatic loading, mechanical collisions are very easy to occur, causing safety accidents

[0013] 1) When the plate has a parallelism deviation (such as the plate is not parallel to the cutting edge of the bending die), it cannot be effectively detected and corrected in time, let alone accurate positioning

[0014] 2) Sometimes when the part needs to be processed by changing the surface, the process of changing the surface will produce a large deviation, and none of the above methods can correct the deviation caused by the surface change in time and quickly

[0015] 2. Miscatch phenomenon caused by plate adhesion

[0018] However, the biggest problem of the above-mentioned technology is that there is a strong magnetic field around the magnet. When the on-site personnel bring mobile phones, computers, watches, digital cameras and other electronic products close to them, these electronic instruments will usually be damaged. Medical devices such as cardiac pacemakers have an impact, and even cause life-threatening

In addition, the above-mentioned method cannot quickly detect the "over-grabbing" and "missing-grabbing" phenomena in the grasping process.

[0019] 3. The existing technology is only a simple and mechanical assembly of the plate positioning device, grabbing device, and layering device. It lacks a systematic, scientific and efficient working method, and the use effect is not good.

Images