At present, the A, B pillars and other parts of domestic automobiles are usually stamped from high-temperature metal plates. The production line is mainly composed of forklift plate material placement → robot grabbing and feeding → high temperature heating electric furnace → 900 ℃ high temperature plate out of furnace → manipulator grasping Picking and loading → stamping machine punching → manipulator grabbing and unloading → transmission line composition. Usually the above-mentioned production lines are imported from abroad, the equipment is expensive, and the maintenance is extremely difficult.
In response to this situation, an auto parts group in Changchun, the largest domestic manufacturer of automotive stamping parts, is determined to use all domestically-made equipment to automate the stamping production line. At present, domestic stoves, punches and molds can fully meet the production requirements. What is lacking is the integration ability to connect these equipments into an automated production line. In the whole process, the design of the manipulator is undoubtedly the most critical one. ring.
The difficulties of the blanking manipulator on the high-temperature sheet metal punch are as follows:
1. The temperature of the plate reaches 800℃-900℃. Because the temperature is too high, it is impossible to use the common vacuum suction cup as the main structure of the end picker, but can only use the metal finger to pick it up.
2. The sheet is thin. Plates with a thickness of only 0.9-1.5mm will become softer at high temperatures and their tensile strength will be reduced, which makes the end picker unable to be grasped by rigid clamping.
3. The speed requirement is too high. The plate coming out of the furnace should be kept at a high temperature as much as possible until the stamping is completed, and the temperature of the plate coming out of the furnace will drop by tens of degrees per second, so the robot is required to complete the grasping task at a speed of more than 1 m/s.
4. Irregular sheet shape. The shape of the sheet material is usually a symmetrical rectangular shape with an axis, but the side line is an irregular curve. In this case, we cannot use molded products such as three-jaw cylinders.
5. The size is limited. The gap between the upper and lower dies of the punching machine is very small, so the height of the end of the end picker is limited to a certain size. When the plate comes out of the furnace, the rollers are driven. The diameter of the rollers is 50mm and the spacing is 75mm, which limits the gripping method again. The distance between the stove and the punching machine should be as small as possible to save transportation time, which limits the size of the mechanical arm to be as small as possible when the stroke must be met.
It is precisely because of the above-mentioned difficulties that many domestic manipulator manufacturers declined the cooperation requirements of the auto parts company.
After accepting this production contract, Shenyang Rio Tinto Automation Control Technology Co., Ltd., in line with the concept of sharing worries for customers, and the spirit of filling the domestic gap as the highest point, boldly innovated, repeated experiments, and finally provided customers with satisfactory products. It also fills the domestic blank of the blanking manipulator on the high-temperature sheet press.
This manipulator produced by Rio Tinto adopts many production processes and design methods, which are briefly described as follows:
In order to solve the problem of high speed and limited size of the robot arm, Rio Tinto adopted the ELZT system double-speed positioning unit of German BAHR Company. This positioning unit is mainly composed of aluminum profile frame, linear slide rail and double synchronous belt drive. As shown in the figure: The working principle is: when the servo motor is working, the belt one drives the end A to move, and the end A drives the end B to move in the same direction through the belt two while moving. When the end A moves relative to the fixed seat When m, the B end moved 2m relative to the fixed base. In this way, the problem of limited size and excessive speed of the robotic arm is solved in one fell swoop.
In fact, similar institutions are also used in imported equipment.
2. The linear displacement adopts the power mode that combines the servo motor and the planetary reducer mechanism, which is fast in speed, stable in acceleration, and accurate in positioning.
3. The design of the end picker with the cylinder as the power, the shaft, the self-lubricating bearing, and the multi-link active and driven mechanism as the main body, and the aluminum profile as the frame has successfully solved the high temperature, thin plate and irregular shape of the plate. And a series of problems with limited size.
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