Interference inspection of auto parts of stamping manipulator

In the process of applying the stamping robot manipulator, in order to avoid transport interference during production, it is necessary to check the mold for interference. Interference inspection is divided into static inspection and dynamic inspection. In the initial stage of mold design, static inspection is often used to confirm whether the size and boundary of the mold is reasonable. After mold design is completed, dynamic interference inspection must be performed to comprehensively detect the interference in the part transportation process.

1. Static conveyance interference check of press robot

The static conveyance interference check method of the stamping robot is as follows:

(1) Select the pick-up point position on the surface of the part;

(2) Make the transfer track curve of the end picker in the CAD software;

(3) In the three-dimensional entity data of the mold, implant the conveying trajectory curve according to the position of different suction points, and conduct a static inspection of the mold (see Figure 6) to confirm whether there is interference and modify it.

2. Dynamic conveyance interference check of stamping robot

The method of dynamic transport interference check of the punching robot is as follows:

(1) Carry out simple three-dimensional solidification of the machine tool and the transport arm of the automatic stamping line, and connect them according to the actual relative position in the software to obtain a simplified motion model of the automatic stamping line;

(2) Import the three-dimensional entity data of the mold into the motion model of the automatic stamping line. The lower mold of the mold is fixed on the lower table of the machine tool, and the upper mold is fixed on the upper slide of the machine tool. Then, import the designed three-dimensional digital model of the end picker and fix it on the transfer arm. Use the time of the automatic stamping line to make a movement cycle as the simulation time, and simulate the part transfer process of the mold in the computer simulation software simulation.

(3) Check the parts transport process on the computer to avoid interference.

When designing auto molds for automatic press lines, the requirements of automatic press line equipment for parts transportation must be fully considered. Mold design manufacturers can electronicize the automatic stamping line equipment and its motion trajectory to improve the inspection accuracy and design efficiency of drawings during the mold design stage. The following items should be paid attention to in the design stage of the automated stamping production line:

1. At the initial stage of design, the boundary of the mold should be considered comprehensively, and the size and feeding height of the mold should be set reasonably.

2. In the design process, the suction point position of the end picker should be set reasonably to prevent the occurrence of inability to pick up parts and interference during the conveying process.

3. After the design of the stamping manipulator is completed, it is necessary to dynamically simulate the part conveying process of the mold, modify the checked conveying interference and confirm to eliminate the interference.