1. The operator retrieves the stamping data file from the stamping parts library and sets the type and model of the suction cup.
2. According to the geometrical dimensions of the stamping parts, the software gives the number of suction cups, the reference size and the position of the suction cup at the arrangement point of the workpiece. The operator adjusts based on the reference size and arrangement point of the suction cup given by the software.
3. The other structural components of the software generation end picker are automatically assembled into the end picker parts, and the force of the suction cup is calculated. The force analysis of the suction cup does not pass, repeat the above steps, and manually adjust the reference size and arrangement point of the suction cup.
4. The upper/lowering robot is the mechanism that connects the end picker and the press. The generated end picker is assembled with the upper/lowering robot and the press, and a Boolean calculation is performed to check whether the end picker has spatial interference/gap with other components of the press line, thereby further adjusting the size of the end picker structural member. And space layout.
5. The operator saves the adjusted end-loader assembly plan given by the software to prepare for further press line simulation.
The end-pick assembly scheme also needs to be verified by the subsequent overall simulation of the press line, that is, whether the end picker will interfere with the movement of other parts of the press line during the work. If there is no interference during the subsequent press line simulation running and the end picker operation, the end picker assembly scheme is finally determined.
The effect diagram of the automatic assembly process of the end picker is shown in Figure 3. The dialog box in the figure is a control for the operator to input and adjust the end picker type and structural part size parameters.
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