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.
