Robot Multi-Model Flexible Rolling Island Project

Robot multi-model flexible rolling island project

1. Project name

Robot multi-model flexible rolling island project

2. Project time

April 2019

3. Project introduction

Models: Front Cover 3 Models + Rear Cover 3 Models

Capacity: 33JPH

Robot: ABB brand

Quantity: 4 sets

Model switching form: flexible hemming tool, back type switching library, flexible loading table, automatic glue application system

4. Core technology

1. Flexible hemming tool

2. Type switching library, flexible loading table, automatic glue application system

3. Robot hemming system, back type switching library system, robot gluing system, etc.

Background technique:

The side door opening area of a car is an important part of the car body. Generally, the outer sheet metal wraps the inner sheet metal structure, wherein the outer sheet metal is made of aluminum material, and the inner sheet metal is made of steel material. In the prior art, the spot welding connection or spr self-piercing riveting connection is most commonly used for the assembly of the side wall door opening area, but the spot welding connection method cannot be applied to the structure of the aluminum outer plate wrapping the inner plate, spr self-piercing riveting The connection is limited by the width and thickness of the overlap in the door opening area and will not work well.

In this regard, it can be considered to use the hemming process for hemming. As one of the hemming processes, hemming is to use the hemming device connected to the mechanical arm to roll the hemming of the outer sheet metal and wrap the inner sheet metal to achieve assembly. The hemming device is a device used to fold and roll the outer sheet metal.

For example, the pneumatic servo flight hemming tool includes an external mounting seat with a cavity and a working base with several rollers installed, the external mounting seat is connected with the mechanical arm, and a first cylinder is fixed inside the external mounting seat, and the guide rod of the first cylinder is connected to The working substrates are connected by strain sensors, and the working substrates are slidingly arranged in the external mounting seat. The first proportional valve is connected to the first cylinder, and the first proportional valve is connected to the valve island. The first cylinder, the strain sensor, the first proportional The valve and valve island form a closed-loop pneumatic servo system.

When the above-mentioned hemming tool is in use, the strain sensor senses the pressure applied by the working substrate to the sheet metal workpiece, and the strain sensor transmits the signal to the valve island, and then transmits the signal to the first proportional valve through the valve island output module. The valve performs force comparison, and adjusts the air pressure of the first cylinder to achieve a force balance state. After force balance, the hemming accuracy will increase.

However, in the above-mentioned hemming tool, when the mechanical arm adjusts the attitude of the hemming tool and in the hemming working state, the hemming tool is adjusted through the first cylinder to achieve force balance. There are also several rollers on the substrate, the rollers will increase the weight of the working substrate, the first cylinder always maintains a large load-bearing capacity, which will affect its own adjustment accuracy, resulting in uneven hemming track and poor hemming accuracy; and the working substrate There are several groups of rollers on the top, and the orientation of each group of rollers is inconsistent. When the working substrate is hemming, it will be inclined due to the different direction of the force. If the working substrate continues to perform hemming work in the inclined state, the guide rod of the first cylinder will be worn under pressure. , bending or even breaking, affecting the stability of the first cylinder.