CN104057232B - A kind of Rear secondary frame for vehicle rear frame member gripping unit - Google Patents

Abstract

A clamping device for the rear beam of the rear sub-frame, which is composed of a sliding table mechanism, an indexing mechanism and a clamping mechanism. The sliding table mechanism is equipped with a sliding table positioning cylinder and a sliding table cylinder, and the sliding table is driven by the sliding table cylinder to perform linear motion. To the working position or away from the working position, the sliding table positioning cylinder fixes the sliding table at the working position; the indexing mechanism is located on the sliding table, and the indexing mechanism is equipped with an indexing cylinder, which is installed by driving the clamping mechanism through the indexing connecting plate The plate swings, so that the mounting plate of the clamping mechanism and the clamping mechanism fixed to it are shifted to the rear crossbeam of the rear subframe or reversely shifted away from the rear crossbeam of the rear subframe; the clamping mechanism is equipped with a clamping cylinder to clamp The cylinder drives the action of the clamping link assembly to clamp or loosen the workpiece. The invention has a compact structure, reduces the space layout, can effectively resist the influence of welding deformation, and ensures the stability of welding quality. After the tooling is positioned and clamped, all weld seams can be exposed to meet 100% accessibility of robot automatic welding.

Description

Clamping device for rear crossbeam of rear sub-frame

technical field

The invention relates to a mechanical clamping device, in particular to a clamping device used for welding the rear beam of the rear sub-frame of an automobile.

Background technique

The rear cross member of the rear sub-frame is an important part of the rear sub-frame of the car, and it is also an important position for the installation of the swing arm. In addition to controlling the welding size and welding quality, it is also necessary to control the installation size of the swing arm during processing. The existing rear sub-frame rear beam welding device clamps the inner and outer panels of the rear sub-frame rear beam through the cylinder and linear guide rails. The device does not have a positioning function and cannot control welding deformation, resulting in unstable welding dimensions; the large mechanism is not conducive to welding posture Optimization; because it is designed for manual welding, some welds cannot be completed at one time due to structural design defects of the tooling, and need to be completed by repair welding. This welding tooling and welding method cannot meet the requirements of high-efficiency production. At present, with the development of automobile production technology, important automobile parts are welded by robots, and the welding line is automated to eliminate repair welding. This requires that the welding tooling must meet the accessibility and detection functions of the robot welding torch, and the welding tooling must avoid welding. Deformation, to ensure the stability of welding dimensions and production cycle requirements.

Contents of the invention

The purpose of the present invention is to provide a clamping device for rear subframe and rear crossbeam with reliable positioning and clamping, compact layout space and meeting the requirements of robot welding.

Problem described in the present invention is realized by following technical scheme:

A clamping device for the rear crossbeam of the rear subframe. The clamping devices are installed symmetrically in pairs to clamp both sides of the rear crossbeam of the rear subframe. The clamping device consists of a slide mechanism, an indexing mechanism and a clamp The sliding table mechanism is equipped with a sliding table mounting plate, the sliding table positioning cylinder and the sliding table cylinder are fixed on the sliding table mounting plate, and the sliding table is driven by the horizontally arranged sliding table cylinder to make a linear motion to the working position or leave the working position. position, the vertical positioning cylinder of the sliding table fixes the sliding table in the working position; the indexing mechanism is located on the sliding table, and the indexing mechanism is provided with an indexing cylinder, which drives the clamping mechanism through the indexing connecting plate to install The plate swings, so that the mounting plate of the clamping mechanism and the clamping mechanism fixed to it are indexed to the rear crossbeam of the rear subframe or reversed to leave the rear crossbeam of the rear subframe; the clamping mechanism is provided with a clamping cylinder, The clamping cylinder drives the action of the clamping link assembly, and the clamping link assembly drives the left pressing arm and the right pressing arm to clamp or loosen the workpiece.

In the clamping device for the rear crossbeam of the rear sub-frame, the clamping cylinder is fixed to the clamping cylinder mounting seat, the clamping cylinder mounting seat is fixed on the clamping mechanism mounting plate by bolts, and the clamping cylinder mounting seat is fixed in parallel The upper support plate and the lower support plate are set, the clamping link assembly is located between the upper support plate and the lower support plate, the front ends of the upper support plate and the lower support plate are fixedly connected to the clamping support seat, and the clamping support seat is provided on both sides. There is a fixed clamping block; the clamping rod assembly includes an intermediate connecting rod, a symmetrical left connecting rod, a right connecting rod, a symmetrical left connecting rod arm, and a right connecting rod arm, and the clamping cylinder rod passes through the cylinder rod joint Connect the guide joint, the guide joint is connected to the middle link through the connecting pin, the two ends of the middle link are respectively hinged with one end of the left link and the right link, and the other ends of the left link and the right link are connected with the left link arm and the right link respectively. The inner end of the lever arm is hinged, the middle parts of the left link arm and the right link arm are hinged with the support upper plate and the support lower plate to form the rotation center of the left link arm and the right link arm, and the left link arm and the right link arm The outer ends of each are fixedly connected to the left pressing arm and the right pressing arm respectively.

In the clamping device for the rear crossbeam of the rear subframe, the guide rail is fixed on the installation plate of the slide table, the slide block is fixedly connected to the slide block, and the slide block and the guide rail slide and cooperate. The cylinder rod of the slide table passes through the cylinder rod joint of the slide table and the slide table The table is connected to the corner seat and fixedly connected to the slide table; the lower part of the slide table is fixed to the positioning block, and the positioning block is provided with a positioning hole, and the end of the positioning cylinder rod of the slide table is fixed to the positioning pin. station positioning.

For the clamping device for the rear crossbeam of the rear sub-frame, the indexing mechanism is also provided with an indexing mechanism mounting seat, which is fixed to the slide table, and the mounting bracket is fixed on the indexing mechanism mounting seat, and the indexing cylinder is connected to the installation The bracket is hinged, the indexing cylinder rod is hinged with the middle part of the side of the indexing connecting plate, the lower part of the indexing connecting plate is hinged with the mounting bracket to form the rotation center of the indexing connecting plate, and the clamping mechanism mounting plate is fixed on the upper part of the indexing connecting plate; The front part of the mounting bracket is provided with a support frame, and a limit support block is fixed on the support frame. Proximity sensor, the depressing position of the indexing connection plate triggers the proximity sensor.

In the clamping device for the rear crossbeam of the rear subframe, one end of the cylinder rod joint is threadedly connected to the clamping cylinder rod, the other end of the cylinder rod joint is a spherical surface, the cylinder rod joint is provided with a card slot, and the front part of the guide joint is provided with The card table and the rear are provided with guide rods, and the card table and the card slot are engaged with each other; a support column is provided between the support upper plate and the support lower plate, and a guide groove is provided in the middle of the support column, and a sliding sleeve is provided in the guide groove , the guide rod of the guide joint passes through the sliding sleeve and is slidably matched with the sliding sleeve.

In the clamping device for the rear crossbeam of the rear sub-frame, speed regulating valves are provided at the air inlet and outlet of the slide table cylinder.

The present invention is suitable for the technological requirements of the welding station, considering multiple factors such as welding posture, welding torch accessibility, welding dimensional stability, etc., and determining a reasonable rear subframe rear beam according to the structural characteristics of the rear subframe rear beam and robot welding requirements. The positioning and clamping scheme of the cross beam adopts the movement combination of multiple cylinders to realize the positioning and clamping along the length direction of the rear cross beam of the rear sub-frame. The sliding table mechanism of the present invention can effectively prevent the sliding table from sliding laterally due to welding thermal stress deformation during the welding process through the positioning locking of the positioning cylinder in the working state, ensuring the welding position accuracy of the sliding table, resisting the influence of welding deformation, and ensuring To ensure the stability of welding quality. The invention has a compact structure, reduces the space layout, and can expose all welding seams after the tooling is positioned and clamped, satisfying 100% accessibility of robot automatic welding.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic structural view of the slide mechanism;

Fig. 3 is the K direction view of Fig. 2;

Fig. 4 is a sectional view of Fig. 3B-B;

Fig. 5 is the structural representation of indexing mechanism;

Fig. 6 is the front view of indexing mechanism;

Fig. 7 is a schematic structural view of the clamping mechanism;

Fig. 8 is a schematic diagram of the clamping mechanism with the support upper plate and the support lower plate removed;

Fig. 9 is a top view of the clamping mechanism with the support upper plate removed and the support lower plate clamped;

Fig. 10 is a top view of the clamping mechanism in which the support upper plate is removed and the support lower plate is released;

Fig. 11 is A-A sectional view of Fig. 9;

Fig. 12 is a schematic diagram of the use state of the present invention.

The list of labels in the figure is: 1. Sliding table mechanism, 1-1, Sliding table mounting plate, 1-2, Guide rail limit block, 1-3, Guide rail, 1-4, Protective plate, 1-5, Sliding table , 1-6, limit block, 1-7, slide cylinder, 1-8, speed control valve, 1-9, slide positioning cylinder, 1-10, positioning block, 1-11, positioning pin, 1- 12. Sliding table connection angle seat, 1-13, sliding table cylinder rod joint, 2, indexing mechanism, 2-1, indexing cylinder, 2-2, indexing connecting plate, 2-3, indexing mechanism mounting seat , 2-4, mounting bracket, 2-5, support frame, 2-6, proximity sensor, 2-7, limit support block, 2-8, clamping mechanism mounting plate, 3, clamping mechanism, 3-1 , Clamping cylinder, 3-2, Clamping cylinder mounting seat, 3-3, Support upper plate, 3-4, Support lower plate, 3-5, Clamping support seat, 3-6, Fixed clamping block, 3 -7, left compression arm, 3-8, right compression arm, 3-9, cylinder rod joint, 3-10, guide joint, 3-11, connecting pin, 3-12, intermediate connecting rod, 3-13, left Connecting rod 3-14, right connecting rod 3-15, left connecting rod pressing arm, 3-16, right connecting rod pressing arm, 3-17, sliding sleeve, 3-18, supporting column, 4, base, 5, rear Subframe.

detailed description

Referring to FIG. 1 , the clamping device of the present invention is composed of a slide mechanism 1 , an indexing mechanism 2 and a clamping mechanism 3 . The sliding table mechanism 1 is the basic mechanism of the device, and the sliding table mechanism drives the indexing mechanism and the clamping mechanism to do linear motion, close to the rear sub-frame rear beam workpiece on the base or away from the workpiece. The indexing mechanism 2 is used to drive the clamping mechanism to swing into or out of the inner and outer plates of the rear crossbeam of the rear sub-frame. The clamping mechanism is used for clamping or loosening the inner and outer plates of the rear crossbeam workpiece of the rear subframe.

Referring to Fig. 2, Fig. 3, Fig. 4, the sliding table mechanism includes a sliding table mounting plate 1-1 and a sliding table 1-5, and the sliding table mounting plate fixes the sliding table cylinder 1-7. The sliding table cylinder 1-7 arranged horizontally is the power part of the sliding table movement, the sliding table cylinder rod is fixedly connected to the sliding table cylinder rod joint 1-13, and the sliding table cylinder rod joint 1-13 is fixedly connected to the sliding table connecting angle seat 1-12 , the sliding table is connected to the corner seat 1-12 and fixedly connected to the sliding table 1-5. The guide rail 1-3 is fixed on the slide table mounting plate 1-1, and the slide block (not shown in the figure) is fixedly connected to the lower part of the slide table, and the slide block is slidably matched with the guide rail. Both ends of the guide rail are provided with guide rail limit blocks 1-2 to limit the position of the guide rail. Both sides of the slide table are provided with protective plates 1-4 covering the guide rails. A limit block 1-6 for limiting the working position of the slide table is arranged on the slide table mounting plate. In order to ensure that the sliding table is reliably fixed at the working position and avoid deformation of the workpiece under the action of welding force, the sliding table mechanism is equipped with a sliding table positioning cylinder 1-9, and the sliding table positioning cylinder 1-9 is vertically fixed on the sliding table mounting plate 1-9. 1, the positioning block 1-10 is fixed on the lower part of the sliding table, and a positioning hole is arranged on the positioning block, and the positioning pin 1-11 is fixed on the rod end of the positioning cylinder of the sliding table. The rod drives the positioning pin to move, and the positioning pin and the positioning block are matched and inserted to realize the positioning of the slide table. The air inlet and outlet of slide table cylinder 1-7 are provided with speed regulating valve 1-8, and speed regulating valve is used for regulating the motion speed of slide table cylinder.

5 and 6, the indexing mechanism includes an indexing cylinder 2-1, an indexing mechanism mounting seat 2-3, an indexing connecting plate 2-2, and a mounting bracket 2-4. The mounting seat of the indexing mechanism is fixed to the slide table, the mounting bracket is fixed on the mounting seat of the indexing mechanism, the indexing cylinder 2-1 is hinged to the mounting frame 2-4, the rod of the indexing cylinder is connected to the middle part of the side of the indexing connecting plate 2-2 Hinged, the lower part of the indexing connecting plate 2-2 is hinged with the mounting bracket 2-4 to form the center of rotation of the indexing connecting plate, and the clamping mechanism mounting plate 2-8 for installing the clamping mechanism is fixed on the indexing connecting plate. The front portion of the mounting bracket is provided with a support frame 2-5, on which the limit support block 2-7 is fixed, and the limit support block is provided with a limit groove. When the indexing connecting plate is indexed to the working position, the front end of the indexing connecting plate enters the limiting groove, and the plate thickness of the indexing connecting plate is matched with the width of the limiting groove to ensure the consistency of the indexing. The support frame is also provided with a proximity sensor 2-6, which triggers the proximity sensor when the indexing connecting plate is in the depressed position, and the proximity sensor sends a signal to the robot.

7 to 10, the clamping mechanism includes a clamping cylinder 3-1, a clamping cylinder mount 3-2 and a clamping link assembly. The clamping cylinder is fixedly connected to the mounting seat of the clamping cylinder, and the mounting seat of the clamping cylinder is fixed on the mounting plate 2-8 of the clamping mechanism by bolts, and the mounting seat of the clamping cylinder is fixedly connected to the supporting upper plate 3-3 and the supporting lower plate arranged in parallel 3-4, the clamping link assembly is located between the support upper plate and the support lower plate. Clamping support seats 3-5 are affixed to the front ends of the supporting upper plate and the supporting lower plate, and fixed clamping blocks 3-6 are arranged on both sides of the clamping supporting seats. The clamping link assembly includes an intermediate link 3-12, a symmetrical left link 3-13, a right link 3-14, a symmetrical left link arm 3-15, and a right link arm 3-16. The clamping cylinder rod is connected to the guide joint 3-10 through the cylinder rod joint 3-9, and the guide joint is connected to the middle connecting rod through the connecting pin 3-11. The other ends of the rod and the right link are respectively hinged with the inner ends of the left link arm and the right link arm, and the middle parts of the left link arm and the right link arm are hinged with the support upper plate and the support lower plate to form the left link arm, The center of rotation of the right link arm, the outer ends of the left link arm and the right link arm are fixedly connected to the left press arm 3-7 and the right press arm 3-8 respectively, and when the clamping mechanism is clamped, the left press arm and the right press arm The inner and outer panels of the rear sub-frame rear beam are respectively coupled with the fixed clamping blocks 3-6 to clamp.

It can be seen from Fig. 9 and Fig. 11 that one end of the cylinder rod joint 3-9 is threadedly connected with the clamping cylinder rod, and the other end of the cylinder rod joint is a spherical surface, and the spherical structure can compensate for the eccentricity of force during the exercise process. The cylinder rod joint is provided with a draw-in groove, and the guide joint 3-10 is provided with a card platform at the front and a guide rod at the rear. In order to ensure the smoothness of the movement, a support column 3-18 is provided between the support upper plate 3-3 and the support lower plate 3-4, and a guide groove is provided in the middle of the support column, and a sliding sleeve 3-17 is provided in the guide groove. The guide rod of the guide joint passes through the sliding sleeve and is slidably matched with the sliding sleeve.

Referring to Fig. 12, the devices of the present invention are used in pairs and installed symmetrically. The slide table mounting plate is fixed to the base 4, and the rear beam of the rear subframe 5 placed on the base 4 is clamped from both sides by the device.

Working process of the present invention is as follows:

Manually place the workpiece of the rear sub-frame and rear beam to be welded on the base; the action of the sliding cylinder of the sliding table mechanism drives the sliding table to move towards the workpiece. After moving to the position of the limit block, the positioning cylinder drives the positioning pin to insert into the positioning block. The sliding table is locked; the indexing cylinder rod is stretched out, the indexing connecting plate rotates clockwise, and the clamping mechanism is placed on the inner and outer plates of the rear crossbeam of the rear sub-frame until the indexing connecting plate fits with the limit support block; Clamp the cylinder rod and stretch out, push the guide joint to slide forward along the sliding sleeve until it fits the support column, the guide joint drives the middle connecting rod to move forward at the same time, and the middle connecting rod drives the left and right connecting rods during the forward movement Rotate in the opposite direction, the left connecting rod and the right connecting rod drive the left connecting rod pressing arm and the right connecting rod to rotate in the opposite direction to realize the clamping of the workpiece.

The robot starts welding after detecting the signal that the clamping cylinder and the proximity sensor are in place.

After the welding is completed, the clamping cylinder rod shrinks, and the guide joint is pulled to move backward along the sliding sleeve. The guide joint drives the middle connecting rod to move backward. The connecting rod and the right connecting rod drive the left connecting rod pressing arm and the right connecting rod pressing arm to rotate in reverse to loosen the workpiece; the indexing cylinder rod shrinks to make the indexing connecting plate rotate counterclockwise, and the clamping mechanism is put out of the rear auxiliary vehicle The inner and outer plates of the rear crossbeam; the positioning cylinder rod shrinks, the positioning pin breaks away from the positioning block, the cylinder rod of the slide table extends, drives the slide table away from the workpiece, and manually removes the workpiece.

Claims (3)

1. A clamping device for the rear crossbeam of the rear subframe, characterized in that: the clamping devices are installed symmetrically in pairs to clamp both sides of the rear crossbeam of the rear subframe, and the clamping device is composed of a slide mechanism (1), an indexing mechanism (2) and a clamping mechanism (3), the sliding table mechanism is provided with a sliding table mounting plate (1-1), and the sliding table positioning cylinder (1-9) is fixed on the sliding table mounting plate ), sliding table cylinder (1-7), sliding table (1-5) is driven by the horizontal sliding table cylinder to make linear motion to the working position or away from the working position, and the vertical sliding table positioning cylinder fixes the sliding table on the work location; The guide rail (1-3) is fixed on the slide table mounting plate (1-1), the slide table (1-5) is fixedly connected with the slider, the slide block and the guide rail slide and cooperate, and the cylinder rod of the slide table passes through the cylinder of the slide table. The rod joint (1-13) and the sliding table connecting angle seat (1-12) are fixedly connected to the sliding table; the lower part of the sliding table is fixed to the positioning block (1-10), and the positioning block is provided with a positioning hole, and the sliding table positions the cylinder The positioning pin (1-11) is fixed at the end of the rod, and the positioning pin and the positioning block are matched and inserted to realize the positioning of the slide table; The indexing mechanism (2) is located on the slide table, and the indexing mechanism is provided with an indexing cylinder (2-1), and the indexing cylinder drives the clamping mechanism mounting plate (2-8) through the indexing connecting plate (2-2). ) to swing, so that the mounting plate of the clamping mechanism and the clamping mechanism fixed thereto are shifted to the rear crossbeam of the rear subframe or reversely shifted away from the rear crossbeam of the rear subframe; the clamping mechanism is provided with a clamping cylinder ( 3-1), the clamping cylinder drives the clamping link assembly to move, and the clamping link assembly drives the left pressing arm (3-7) and the right pressing arm (3-8) to clamp or loosen the workpiece; The clamping cylinder (3-1) is fixed with the clamping cylinder mounting base (3-2), and the clamping cylinder mounting base is fixed on the clamping mechanism mounting plate (2-8) by bolts, and the clamping cylinder is installed The seat is fixedly connected to the supporting upper plate (3-3) and the supporting lower plate (3-4) arranged in parallel, the clamping link assembly is located between the supporting upper plate and the supporting lower plate, and the front ends of the supporting upper plate and the supporting lower plate The clamping support seat (3-5) is fixedly connected, and fixed clamping blocks (3-6) are arranged on both sides of the clamping support seat; the clamping link assembly includes an intermediate link (3-12) and symmetrically arranged Left connecting rod (3-13), right connecting rod (3-14) and symmetrically arranged left connecting rod arm (3-15) and right connecting rod arm (3-16), clamp the cylinder rod through the cylinder rod joint ( 3-9) Connect the guide joint (3-10). The guide joint is connected to the middle connecting rod through the connecting pin (3-11). The other end of the connecting rod is respectively hinged with the inner ends of the left and right connecting rod arms, and the middle parts of the left and right connecting rod arms are hinged with the support upper plate and the support lower plate to form the left and right link arms The center of rotation of the arm, the outer ends of the left link arm and the right link arm are fixedly connected to the left pressing arm (3-7) and the right pressing arm (3-8); One end of the cylinder rod joint (3-9) is threadedly connected to the clamping cylinder rod, the other end of the cylinder rod joint is a spherical surface, the cylinder rod joint is provided with a card slot, and the front part of the guide joint (3-10) is provided with a card table , The rear part is provided with a guide rod, and the card table and the card slot are engaged with each other; a support column (3-18) is provided between the support upper plate (3-3) and the support lower plate (3-4), and the support column The middle part is provided with a guide groove, and a sliding sleeve (3-17) is arranged in the guide groove, and the guide rod of the guide joint passes through the sliding sleeve and is slidably matched with the sliding sleeve. 2. The clamping device for the rear crossbeam of the rear sub-frame according to claim 1, characterized in that, the indexing mechanism is also provided with an indexing mechanism mounting seat (2-3), and the indexing mechanism mounting seat and the slide table Fixed, the mounting bracket (2-4) is fixed on the mounting seat of the indexing mechanism, the indexing cylinder (2-1) is hinged with the mounting bracket, the rod of the indexing cylinder is hinged with the middle part of the side of the indexing connecting plate (2-2), and the turning The lower part of the position connecting plate is hinged with the mounting bracket to form the rotation center of the indexing connecting plate, and the mounting plate (2-8) of the clamping mechanism is fixed on the upper part of the indexing connecting plate; there is a support frame (2-5) at the front of the mounting bracket , the limit support block (2-7) is fixed on the support frame, the limit support block is provided with a limit groove, the plate thickness of the transposition connecting plate is matched with the groove width of the limit groove; the support frame is also provided with a proximity sensor ( 2-6), the depressing position of the indexing connecting plate triggers the proximity sensor. 3. The clamping device for the rear crossbeam of the rear subframe according to claim 2, characterized in that a speed regulating valve (1-8) is provided at the air inlet and outlet of the slide table cylinder (1-7) .