(4) End Picker Parts Library
The suction cup and the structural member constitute a vacuum chuck type end picker component. The conveying unit of the adjacent two presses of the stamping production line mainly consists of the following mechanisms:
â–¡ A reclaiming robot with a vacuum chuck-type end picker with a center and a row of workpieces, which is responsible for taking the workpiece out of the previous press and placing it on the shuttle.
â–¡ A shuttle car moving on the fixed track between the presses is responsible for transferring the workpiece from the discharge position of the reclaiming robot to the reclaiming position of the loading robot.
â–¡ A loading robot with the same end picker as the reclaiming robot, picking up the workpiece from the shuttle and feeding it to the next press station.
It can be seen that the end picker is an important actuator for the picking and placing of stamping lines.
Virtual assembly of press lines
On the basis of establishing the model library of the press line, by calling each parameter file and performing virtual assembly, the three-dimensional space coordinates and structure layout of each component model are adjusted, and the design of each part model is determined by Boolean calculation (whether or not There is spatial interference or gap).
The structure of the press and the space layout of the press line are relatively fixed. The mold is embedded on the press. The stamping is directly called from the stamping library. According to the CATIA, the dotted line constraint, the point surface constraint, the surface constraint and the same Conditions such as axis constraints are performed one by one until the assembly is completed. Therefore, this part of the assembly work is simple, and use the CATIA macro command to record the assembly process, to achieve an assembly reuse, that is, when starting a new assembly task, through the macro command playback directly complete the assembly of the part, necessary Appropriately modify some of the assembly details during playback.
The assembly work of the end picker is very complicated. Since the stamping parts are frequently changed according to the requirements of the production plan, different stamping parts need to be gripped by different end pickers. Therefore, secondary development of CATIA is required to intelligently assist The technicians who produce the first line quickly complete the assembly of their corresponding end picker parts for different stampings.
This paper adopts CATIA's VBA secondary development technology to realize the automatic assembly of the end picker. The flow chart is shown in Figure 2.
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