CN107175408A - White car body top cover welding equipment flexible grips and white car body top cover induction system - Google Patents
White car body top cover welding equipment flexible grips and white car body top cover induction system Download PDFInfo
- Publication number
- CN107175408A CN107175408A CN201710538754.6A CN201710538754A CN107175408A CN 107175408 A CN107175408 A CN 107175408A CN 201710538754 A CN201710538754 A CN 201710538754A CN 107175408 A CN107175408 A CN 107175408A
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- China
- Prior art keywords
- top cover
- framework
- cylinder
- car body
- sucker
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of white car body top cover welding equipment flexible grips and using the white car body top cover induction system of the white car body top cover welding equipment flexible grips, the handgrip includes be rigidly connected framework, flexible connection framework, flexible connection unit, positioning unit, movable locking unit and placement unit, the framework that is rigidly connected is connected with being flexibly connected framework by being flexibly connected unit, and positioning unit includes front beam detent mechanism and for the top cover detent mechanism on white body that top cover is fixedly clamped.In the case where being flexibly connected framework lockup state, top cover is transported to white body tip position by placement unit, movable locking unit unblock, top cover is slipped into gusset guide groove, meet the welding equipment requirement of Y-direction, the alignment pin of front beam detent mechanism is inserted into front crossbeam positioning hole, completes the X of top cover to positioning, top cover detent mechanism is acted on, the Z-direction that top cover is completed relative to crossbeam is positioned, so as to meet the welding equipment required precision of top cover.
Description
Technical field
The invention belongs to white body welding technology field, and in particular to a kind of white car body top cover welding equipment flexible grips and adopt
With the white car body top cover induction system of the white car body top cover welding equipment flexible grips.
Background technology
In white body welding field, existing white car body top cover welding equipment station is made a general survey of, use robot band more top cover welding equipment
Hard link handgrip positioning method and Perceptron vision positionings guiding system mode.Using robot determining with Hard link handgrip
Position mode, it is impossible to which station welds the repeatability error of white body size before eliminating, it is impossible to ensure next procedure top cover laser welding
To the quality of top cover weld gap requirement；System mode, costly, debugging difficulty are guided using Perceptron vision positionings
Greatly.
The content of the invention
Used the present embodiments relate to a kind of white car body top cover welding equipment flexible grips and using the white car body top cover welding equipment
The white car body top cover induction system of flexible grips, can at least solve the segmental defect of prior art.
The present embodiments relate to a kind of white car body top cover welding equipment flexible grips, including the framework that is rigidly connected, activity are even
Connect framework, be flexibly connected unit, positioning unit, for control it is described flexible connection framework active state movable locking unit and
Carrying connection for being connected with transfer robot is installed on the placement unit for capturing top cover, the framework that is rigidly connected
Structure, the framework that is rigidly connected is located above the flexible connection framework, and the placement unit is arranged at the flexible connection
On framework；The flexible connection unit includes multigroup Universal active component, and Universal active component described in every group includes one and installs branch
Seat and a pair of Universal casters that are opposed up and down and being pivotally mounted in the erection support, each erection support are fixed
In on the flexible connection framework, Universal caster described in each pair is abutted with the bottom and top of the framework that is rigidly connected respectively；
The positioning unit includes front beam detent mechanism and for top cover to be fixedly clamped the top cover detent mechanism on white body, institute
Front beam detent mechanism is stated including alignment pin and for driving the alignment pin to be inserted into front crossbeam positioning hole or before described
The alignment pin drive component extracted in crossbeam positioning hole, the alignment pin drive component and the top cover detent mechanism are mounted on
On the flexible connection framework.
As one of embodiment, the framework that is rigidly connected is parallel with white body gusset slot length direction including being configured as
Two X to side bar and with the X to the vertical two Y-direction side bars of side bar；Each erection support includes upper mounting plate, lower installation
Plate and at least side plate, each side plate are vertically arranged and connect the corresponding upper mounting plate and the lower installation board, often
The Universal caster is separately mounted on the corresponding upper mounting plate and the lower installation board；In each side plate, part
The plate face of side plate parallel to X to, the plate face of remaining side plate parallel to Y-direction, be equipped with each side plate for it is described just
The corresponding side bar of property connection framework against regulating bolt.
As one of embodiment, the alignment pin drive component includes clamping cylinder and alignment pin drive cylinder, the folder
The piston rod of tight cylinder and the alignment pin drive cylinder is to being vertical direction, and the clamping cylinder passes through clamping cylinder branch
Seat is installed on the flexible connection framework, and the alignment pin drive cylinder is installed on the clamping cylinder by rotary support
In swing arm, the output end of the alignment pin drive cylinder is fixed with connecting plate, the alignment pin be installed on the connecting plate and
It is axially vertical.
As one of embodiment, the flexible connection framework is parallel with white body gusset slot length direction including being configured as
Two X to walking beam and with the X to the vertical two Y-direction walking beams of walking beam；The top cover detent mechanism includes being arranged in two
Multigroup top cover positioning group is disposed with multigroup top cover positioning component on the Y-direction walking beam, each Y-direction walking beam
Part；Each top cover positioning component includes X and overturns positioning and clamping mechanism to upset edge mechanism and Z-direction, and the X is to tumble card
Side mechanism includes the first swing arm cylinder and X to locating piece, and the first swing arm cylinder is installed on corresponding by the first cylinder block
On the Y-direction walking beam, the cylinder piston rod of the first swing arm cylinder is axially vertical direction, and the X is installed to locating piece
In in the swing arm of the first swing arm cylinder, the X have to locating piece be used for top cover and respective side crossbeam against against
Locating surface；The Z-direction upset positioning and clamping mechanism includes the second swing arm cylinder, Z-direction locating piece and Z-direction gripping block, described second
Swing arm cylinder is installed on the corresponding Y-direction walking beam by the second cylinder block, the cylinder piston of the second swing arm cylinder
Bar is axially vertical direction, and the Z-direction gripping block is installed in the swing arm of the second swing arm cylinder, the Z-direction locating piece peace
Loaded on second cylinder block, the Z-direction locating piece is located at interval at directly over the corresponding Z-direction gripping block, and the Z-direction is determined
The position lower surface of block and the upper surface of the Z-direction gripping block are the curvature identical curved surface of curvature and top cover corresponding position.
As one of embodiment, the framework that is rigidly connected is parallel with white body gusset slot length direction including being configured as
Two X to side bar and with the X to the vertical two Y-direction side bars of side bar；At least one is equipped with vertically on each Y-direction side bar
Spring adjusting screw rod, each spring adjusting screw rod is fixedly connected by spring adjusting nut with the corresponding Y-direction side bar,
Each spring adjusting screw rod is fixed with an extension spring, and the bottom of each extension spring is fixed with a spring and fixed
Seat, under each spring fixed seat is mounted on the flexible connection framework and is located at the corresponding spring adjusting screw rod just
Side.
As one of embodiment, the movable locking unit includes at least one set of lock assembly, each lock assembly
Actuator including lock pin axially for vertical direction and for driving the lock pin vertical lifting, each actuator is equal
It is rigidly connected described in being installed on framework, at least one locking hole is provided with the flexible connection framework, the locking hole
Quantity is identical with the quantity of the lock pin and corresponds configuration.
As one of embodiment, the placement unit includes the multigroup sucker group set along the circumferential ring of flexible connection framework
Part, each Suction cup assembly includes sucker bearing, sucker connecting rod, sucker and the first imitative type locating piece, wherein, the sucker branch
Seat is installed in the corresponding edge of the flexible connection framework, and the sucker connecting rod is arranged on the sucker bearing, described to inhale
Disk connecting rod has regulation thread segment and is fixedly connected by sucker adjusting nut with the sucker bearing, and the sucker is installed on institute
State on sucker connecting rod；Each described first imitative type locating piece is installed on the corresponding sucker by that can add and subtract the connecting seat of pad
On bearing, the lower surface of each described first imitative type locating piece is to be positioned with the curvature identical at the corresponding crawl position of top cover
Curved surface, each positioning curved surface is located at below the corresponding sucker bearing and positioned at the upper of the corresponding sucker lower surface
Side, each described first imitative type locating piece is set in the shape of a hoof and around the corresponding sucker.
As one of embodiment, it is described be flexibly connected framework bottom be provided with it is multiple be used for top cover against second imitate
Type locating piece, circumferential ring of each described second imitative type locating piece along the flexible connection framework is set, and each described second imitative type is determined
The lower surface of position block is the curvature identical curved surface with corresponding top cover rest position.
As one of embodiment, above-mentioned white car body top cover welding equipment is also included being used for determining with the top cover essence of peripheral hardware with flexible grips
Mounting table on the mounting table of position coordinates to determining part and can be described relative to the mounting table to determining handgrip that part slides vertically to determining part
Handgrip is to determining part by being installed on to determining part support on the flexible connection framework, and the handgrip is to determining part for slide plate or chute.
The present embodiments relate to a kind of white car body top cover induction system, including top cover fine positioning mounting table, conveying robot
People and top cover handgrip, the top cover handgrip use white car body top cover welding equipment flexible grips as described above, the conveying robot
People is connected with the carrying attachment structure.
The embodiment of the present invention at least has the advantages that：Transfer robot is in the state of framework locking is flexibly connected
Top cover is transported to by white body tip position by placement unit from top cover fine positioning mounting table, movable locking unit is unlocked,
Top cover is slipped into gusset guide groove, meets the welding equipment requirement of Y-direction, and the alignment pin of front beam detent mechanism is inserted into front beam positioning
In hole, the X of top cover is completed to positioning, top cover detent mechanism effect, the Z-direction for completing top cover relative to crossbeam is positioned, so as to meet
The welding equipment required precision of top cover.It is flexibly connected framework to be connected by being flexibly connected unit with the framework that is rigidly connected, is flexibly connected frame
Frame can relative to be rigidly connected framework produce X to the activity in Y-direction so that this handgrip can before not considering process it is white
Higher top cover positioning precision can all be ensured on the premise of automobile body welding repeatability error.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of white car body top cover welding equipment flexible grips provided in an embodiment of the present invention；
Fig. 2 is the structural representation of the framework provided in an embodiment of the present invention that is rigidly connected；
Fig. 3 is the structural representation provided in an embodiment of the present invention for being flexibly connected framework；
Fig. 4 is the structural representation of Universal active component provided in an embodiment of the present invention；
Fig. 5-Fig. 6 is the structural representation of spring elongation component provided in an embodiment of the present invention；
Fig. 7 is the structural representation of lock assembly provided in an embodiment of the present invention；
Fig. 8 is the structural representation of Suction cup assembly provided in an embodiment of the present invention；
Fig. 9-Figure 10 is the structural representation of top cover positioning component provided in an embodiment of the present invention；
Figure 11-Figure 12 is the structural representation of front beam detent mechanism provided in an embodiment of the present invention；
Figure 13 is the schematic diagram that flexible grips capture top cover from top cover fine positioning mounting table；
Figure 14 is the enlarged diagram of part A in Figure 13.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment one
Such as Fig. 1, the embodiment of the present invention provides a kind of white car body top cover welding equipment flexible grips, including the framework that is rigidly connected
200th, it is flexibly connected framework 300, is flexibly connected unit, positioning unit, for controlling the flexible connection active state of framework 300
Movable locking unit and placement unit for capturing top cover 1, be provided with the framework 200 that is rigidly connected for and carrying
The carrying attachment structure of robot connection, the framework 200 that is rigidly connected is located at the top of flexible connection framework 300, described
Placement unit is arranged on the flexible connection framework 300；The positioning unit includes front beam detent mechanism 900 and for inciting somebody to action
Top cover 1 is fixedly clamped the top cover detent mechanism on white body, and the front beam detent mechanism 900 includes alignment pin 904 and used
In the alignment pin driving for driving the alignment pin 904 to be inserted into front crossbeam positioning hole or being extracted in the front crossbeam positioning hole
Component, the alignment pin drive component and the top cover detent mechanism are mounted on the flexible connection framework 300.It is above-mentioned to remove
Transport attachment structure and typically use quick change disk 100, the quick change disk 100 is outsourcing piece, can be selected according to different loads suitable fast
Disk 100 is changed, the tool side of quick change disk 100 is connected with the framework 200 that is rigidly connected, and is preferably installed on the gravity axis of this flexible grips
On line.Quick change disk 100 is connected with transfer robot shaft flange, fixed from top cover essence in the state of the locking of framework 300 is flexibly connected
Top cover 1 is transported to by white body tip position, above-mentioned movable locking unit unblock, top cover 1 by placement unit on the mounting table of position
Slip into gusset guide groove, meet the welding equipment requirement of Y-direction (along the length direction of crossbeam), above-mentioned front beam detent mechanism 900
Alignment pin 904 is inserted into front crossbeam positioning hole, completes the X of top cover 1 to positioning, above-mentioned top cover detent mechanism effect, completes top
Lid 1 is positioned relative to the Z-direction of crossbeam (white body), so as to meet the welding equipment required precision of top cover 1.In the present invention, using preceding horizontal stroke
The mode of beam positioning, compared to rear cross beam positioning, because rear cross beam positioning hole precision is less than front crossbeam positioning hole precision, thus can
Effectively improve positioning precision.
Such as Fig. 2, the above-mentioned framework 200 that is rigidly connected is preferably to use rectangular frame structure, including is configured as and white body
Two parallel X of gusset slot length direction are to side bar 201 and with the X to the vertical two Y-direction side bars 202 of side bar 201；Preferably adopt
It is made of square tubes soldering or anistree aluminium section bar connection.Supporting plate can be set on the framework 200 that is rigidly connected, it is pneumatic logical for installing
Xun Fa islands 206 and vacuum generator 207, wherein, each cylinder that pneumatic communication valve island 206 is mainly assembled with this handgrip is connected,
For controlling each cylinder to act；Vacuum generator 207 is then used to be connected with the sucker 706 in placement unit, realizes sucker 706
Vacuumizing and adsorbing function.
Such as Fig. 3, above-mentioned flexible connection framework 300 is preferably to use rectangular frame structure, including is configured as and white body
Two parallel X of gusset slot length direction are to walking beam 301 and with the X to the vertical two Y-direction walking beams 302 of walking beam 301；Its
It can be similarly made of square tubes soldering or anistree aluminium section bar connection.It can install multiple close on the flexible connection framework 300
A proximity switch 307 is installed on switch bracket 308, each proximity switch support 308, for detecting the work when capturing top cover 1
The distance between dynamic connection framework 300 and top cover 1, it is to avoid cause the damage of top cover 1；Further can also be in the flexible connection framework
Mushroom head is installed on 300 and is oriented to pin support 306, is oriented in the mushroom head in pin support 306 and mushroom head guide finger 305 is installed, should
The U-type groove that mushroom head guide finger 305 is used for being correspondingly arranged on handgrip storage rack coordinates, and can play the work for preventing handgrip from dropping
With, it is to avoid handgrip drops when failure is placed on handgrip storage rack from handgrip storage rack.Can be between two Y-direction walking beams 302
One or more intermediate beams are set, and in order to the setting of above-mentioned proximity switch 307 and mushroom head guide finger 305, this is ability
Field technique personnel are easy to what is determined according to actual conditions, are omitted herein；In the present embodiment, proximity switch 307 has 3, along Y-direction according to
It is secondary to set, X is preferably mounted to on walking beam 301 and above-mentioned intermediate beam.Preferably, the bottom for being flexibly connected framework 300
End be provided with it is multiple be used for top cover 1 against the second imitative type locating piece (not shown), each described second imitative type locating piece is along institute
State and be flexibly connected the circumferential ring of framework 300 and set, the lower surface of each described second imitative type locating piece be with corresponding top cover 1 against
Curvature identical curved surface at position；When the second profiling locating piece above-mentioned by setting, crawl and transport top cover 1, with top cover 1
It perfect can fit, it is ensured that to the positioning precision of top cover 1, improve welding equipment quality.Each second profiling locating piece is with being flexibly connected framework
Pad can be added and subtracted between 300, the welding equipment requirement under top cover 1 and different operating modes to adapt to different size.It is excellent in the present embodiment
Four corner positions elected as in the flexible connection framework 300 set the second above-mentioned profiling locating piece respectively.Further, exist
Measuring basis hole is also respectively provided near four corner positions of the bottom of flexible connection framework 300, by setting measurement base
Quasi- hole, can set up the coordinate system of three-coordinates measuring machine, so as to demarcate assembling object and the symbol of digital-to-analogue by three-coordinates measuring machine
Conjunction property.
Optimize the structure of above-mentioned flexible grips, such as Fig. 1 and Fig. 4, being flexibly connected unit includes multigroup Universal active component
400, Universal active component 400 described in every group includes an erection support 401 and opposed up and down and be pivotally mounted to the peace
A pair of Universal casters 402 in bearing 401 are filled, each erection support 401 is both secured on the flexible connection framework 300,
Bottom and top of the Universal caster 402 described in each pair respectively with the framework 200 that is rigidly connected are abutted.It is flexibly connected framework 300
Framework 200 is connected by above-mentioned flexible connection unit with being rigidly connected, and being flexibly connected framework 300 can be relative to the frame that is rigidly connected
Frame 200 produce X to the activity in Y-direction so that this handgrip can before not considering process white body welding repeatability by mistake
Higher top cover positioning precision can all be ensured on the premise of difference.It is further preferred that such as Fig. 4, each erection support 401 is wrapped
Upper mounting plate, lower installation board and at least side plate are included, each side plate is vertically arranged and connects the corresponding upper mounting plate
With the lower installation board, Universal caster 402 described in each pair is separately mounted to the corresponding upper mounting plate and the lower installation board
On；In each side plate, the plate face of part side plate is parallel to X to the plate face of remaining side plate is parallel to Y-direction, on each side plate
Be equipped with for the corresponding side bar with the framework 200 that is rigidly connected against regulating bolt 403.Pass through each regulating bolt
403 coordinate the controllable X for being flexibly connected framework 300 to the activity with Y-direction, so as to be further ensured that the positioning precision of top cover 1.
In the present embodiment, it is preferably that one group of corner Universal active component 400 is set respectively in 4 corners of the framework 200 that is rigidly connected, enters
Multigroup middle part Universal active component 400 can be set in one step, and each middle part Universal active component 400 corresponds in two Y-direction side bars 202
Portion sets (i.e. above and below it upper and lower end face of Universal caster 402 and corresponding Y-direction side bar 202 against)；Corner Universal active component
400 erection support 401 includes the Y-direction side plate that X of the plate face along X to extension extends to side plate and plate face along Y-direction, the universal work in middle part
The erection support 401 of dynamic component 400 includes X of the plate face along X to extension to side plate, and each X is axially Y-direction to being equipped with side plate
Regulating bolt 403, be equipped with each Y-direction side plate axially for X to regulating bolt 403.Can be in the framework 200 that is rigidly connected
Corresponding position (being preferably on two Y-direction side bars 202) plus-minus pad 203, Universal caster 402 is supported with corresponding pad on each
Lean on, by adding and subtracting pad to improve the positioning precision of top cover 1.
The structure for the above-mentioned flexible grips that continue, such as Figure 11-Figure 12, the alignment pin drive component include clamping cylinder 905
With alignment pin drive cylinder 907, the piston rod of the clamping cylinder 905 and the alignment pin drive cylinder 907 is to being perpendicular
Nogata is to the clamping cylinder 905 is installed on the flexible connection framework 300 by clamping cylinder bearing 901, the positioning
Pin drive cylinder 907 is installed on by rotary support 906 in the swing arm of the clamping cylinder 905, the alignment pin drive cylinder
907 output end is fixed with connecting plate 908, and the alignment pin 904 is installed on the connecting plate 908 and is axially vertical.On
It is preferably to use guide rod cylinder to state alignment pin drive cylinder 907；Above-mentioned clamping cylinder 905 can be bought by market, be that this area is normal
Rule technology, its concrete structure is omitted herein；Limited block 903, the pendulum of the swing arm to control clamping cylinder 905 further can be set
Dynamic stroke, the limited block 903 can be installed on by limited block bearing 902 on flexible connection framework 300；Alignment pin 904 can pass through
Transfer block 909 is connected with connecting plate 908, and alignment pin 904 can be can adjust by adding and subtracting pad realization in X to the position in Y-direction,
So as to ensure positioning precision.After clamping cylinder 905 is closed in place, alignment pin 904 is pushed away by above-mentioned alignment pin drive cylinder 907
Enter to front crossbeam positioning hole, complete the X of top cover 1 to positioning.
Further optimize the structure of above-mentioned flexible grips, such as Fig. 9 and Figure 10, the top cover detent mechanism includes being arranged in two
It is disposed with multigroup top cover positioning component 800 on the Y-direction walking beam 302, each Y-direction walking beam 302 multigroup described
Top cover positioning component 800；Each top cover positioning component 800 includes X to upset edge mechanism and Z-direction upset positioning clamping machine
Structure, the X includes the first swing arm cylinder 809 and X to locating piece 804 to upset edge mechanism, and the first swing arm cylinder 809 leads to
Cross the first cylinder block 801 to be installed on the corresponding Y-direction walking beam 302, the cylinder piston rod of the first swing arm cylinder 809
Axial is vertical direction, and the X is installed on to locating piece 804 in the swing arm 803 of the first swing arm cylinder 809, and the X is to calmly
Position block 804 have be used for top cover 1 and respective side crossbeam against against locating surface；The Z-direction overturns positioning and clamping mechanism bag
The second swing arm cylinder 808, Z-direction locating piece 805 and Z-direction gripping block 806 are included, the second swing arm cylinder 808 passes through the second cylinder
Seat 802 is installed on the corresponding Y-direction walking beam 302, and the cylinder piston rod of the second swing arm cylinder 808 is axially vertical
Direction, the Z-direction gripping block 806 is installed in the swing arm 807 of the second swing arm cylinder 808, and the Z-direction locating piece 805 is pacified
Loaded on second cylinder block 802, the Z-direction locating piece 805 is located at interval at directly over the corresponding Z-direction gripping block 806,
The upper surface of the lower surface of the Z-direction locating piece 805 and the Z-direction gripping block 806 is curvature and the corresponding position of top cover 1
Curvature identical curved surface.Above-mentioned X is adjustable in the upward positions of X to locating piece 804, is specially in itself and the first swing arm cylinder 809
Swing arm 803 between plus-minus pad realize；Position of the above-mentioned Z-direction locating piece 805 in Z-direction is adjustable, is specially in itself and the
Pad is added and subtracted between two cylinder blocks 802 to realize；Position of the above-mentioned Z-direction gripping block 806 in Z-direction is adjustable, be specially its with
Pad is added and subtracted between the swing arm 807 of second swing arm cylinder 808 to realize.X is driven to locating piece 804 by the first swing arm cylinder 809
Pushed against with the side of top cover 1 and respective side crossbeam, realize that the X of top cover 1 (matches somebody with somebody to positioning with above-mentioned front beam detent mechanism 900
Close, the positioning precision of top cover 1 can be further ensured that), the determination of top cover 1 and crossbeam in relative position upward X is realized in other words；
Z-direction gripping block 806 is driven to act by the second swing arm cylinder 808 so that top cover 1 is clamped in Z-direction locating piece with respective side crossbeam
Between 805 and Z-direction gripping block 806, the Z-direction positioning of top cover 1 is completed.
Further optimize the structure of above-mentioned flexible grips, the flexible grips also include spring elongation unit 500, concrete structure
It is as follows：At least one spring adjusting screw rod 503 is equipped with such as Fig. 5 and Fig. 6, each Y-direction side bar 202 vertically, it is each described
Spring adjusting screw rod 503 is fixedly connected by spring adjusting nut 504 with the corresponding Y-direction side bar 202, each bullet
Spring adjusting screw rod 503 is fixed with an extension spring 502, and the bottom of each extension spring 502 is fixed with a spring fixed seat
505, each spring fixed seat 505 is mounted on the flexible connection framework 300 and positioned at the corresponding spring regulation
Immediately below screw rod 503.Coordinated by spring adjusting nut 504 with spring adjusting screw rod 503, adjust the drawing of each extension spring 502
Stretch so that tensile force reaches balance with the assembly weight of framework 300 that is flexibly connected of lower floor, it is ensured that the structure of this flexible grips is steady
Qualitative and functional reliability.Preferably, the quantity of the spring adjusting screw rod 503 on two Y-direction side bars 202 is identical and just pair sets one by one
Put so that the spring elongation dynamic balance of both sides.It can be connected between the lower end of extension spring 502 and spring fixed seat 505 by bearing pin 506
Connect, can also be connected between the upper end of extension spring 502 and spring adjusting screw rod 503 by bearing pin 506.Further it can be set outside bearing
Cover 501, the bearing outer cover 501 is installed on corresponding Y-direction side bar 202, and above-mentioned spring adjusting screw rod 503 is located in outside the bearing
The top of cover 501, is partially housed in part in the bearing outer cover 501 and is exposed to the top of bearing outer cover 501, and adjusted by spring
Section nut 504 is fixed with the bearing outer cover 501；By setting the bearing outer cover 501, the tune of spring adjusting screw rod 503 can be met
Save space requirement, meanwhile, extension spring 502 and the grade of spring adjusting screw rod 503 can be contained in the bearing outer cover 501, it is attractive in appearance and
Can protection equipment.
The structure for the above-mentioned flexible grips that continue, such as Fig. 1 and Fig. 7, the movable locking unit includes at least one set of locking group
Part 600, each lock assembly 600 includes axial direction for the lock pin 605 of vertical direction and for driving the lock pin 605
The actuator 601 of vertical lifting, each actuator 601 be mounted on it is described be rigidly connected on framework 200, in the activity even
Framework 300 is connect provided with least one locking hole 304, the quantity of the locking hole 304 is identical with the quantity of the lock pin 605
And correspond configuration.Above-mentioned actuator 601 is preferably to use cylinder, drives lock pin 605 to be inserted into correspondence by the cylinder
Locking hole 304 in, realize and be flexibly connected being fixedly connected for framework 300 and the framework 200 that is rigidly connected, i.e., above-mentioned movable locking
Unit is used to control flexible connection framework 300 active or inactive；Lock further can be correspondingly arranged being rigidly connected on framework 200
Shotpin perforating 204 (can be opened in and be worn installed in the lock pin that is rigidly connected on framework 200 on plate 205), lock pin 605 according to
Secondary realized through corresponding lock pin perforating 204 and corresponding locking hole 304 is flexibly connected framework 300 and the framework that is rigidly connected
200 are fixedly connected, and the lock pin perforating 204 can play a part of guiding, and can further improve the steady of lockup state
It is qualitative.Above-mentioned actuator 601 can be fixed on the frame that is rigidly connected by the first cylinder mounting plate 604 and the second cylinder mounting plate 602
On frame 200, wherein, the first cylinder mounting plate 604 is connected with the framework 200 that is rigidly connected, the second cylinder mounting plate 602 with this first
Cylinder mounting plate 604 is connected, and actuator 601 is installed on second cylinder mounting plate 602, and second cylinder mounting plate 602 is L
Shape, including the second plate body that first plate body and plate face of the plate face along X to extension extend along Y-direction, can by the first plate body with
Pad 603 and the attachment structure in the second plate body and actuator 601 are added and subtracted between the attachment structure of first cylinder mounting plate 604
Between plus-minus pad 603 to eliminate rigging error.
The structure for the above-mentioned flexible grips that continue, such as schemes, and the placement unit includes circumferential along the flexible connection framework 300
Multigroup Suction cup assembly 700 that ring is set, each Suction cup assembly 700 includes sucker bearing 702, sucker connecting rod 703, sucker 706
And the first imitative type locating piece 705, wherein, the sucker bearing 702 is installed on the corresponding edge of the flexible connection framework 300
On, the sucker connecting rod 703 be arranged on the sucker bearing 702 (for ease of the setting of sucker connecting rod 703, can be in sucker branch
Sucker stand 701 is set on seat 702, and the sucker connecting rod 703 is arranged on the sucker stand 701), the sucker connecting rod 703 has
There is regulation thread segment and be fixedly connected by sucker adjusting nut with the sucker bearing 702, the sucker 706 is installed on described
On sucker connecting rod 703；Each described first imitative type locating piece 705 by can add and subtract the connecting seat 704 of pad be installed on it is corresponding
On the sucker bearing 702, the lower surface of each described first imitative type locating piece 705 be with the corresponding crawl position of top cover 1
Curvature identical positioning curved surface, each positioning curved surface is located at the corresponding lower section of the sucker bearing 702 and positioned at correspondence
The lower surface of the sucker 706 top, each described first imitative type locating piece 705 in the shape of a hoof and described inhales around corresponding
Disk 706 is set.Above-mentioned the first profiling locating piece and the second profiling locating piece is both preferably and uses nylon material, it is ensured that top cover
1 appearance is injury-free；Top cover 1 is captured by way of sucker 706 is sucked by vacuum, it is to avoid damage is caused to top cover 1.By setting
Put the first profiling locating piece, on the one hand, when crawl and transport top cover 1, perfect can be fitted with top cover 1, it is ensured that the positioning to top cover 1
Precision, improves welding equipment quality；On the other hand, buffering can be played a part of in crawl, it is to avoid damage is caused to top cover 1, and
Its around sucker 706 is set, and the crawl structural stability to top cover 1 can be ensured by coordinating with sucker 706.Adjusted by above-mentioned sucker
Section nut coordinates with sucker connecting rod 703, the Z-direction height of sucker 706 is can adjust, to ensure the crawl to top cover 1 and positioning precision.
Further, as one of preferred scheme of the present embodiment, such as Fig. 1, Fig. 3, Figure 13 and Figure 14, above-mentioned white body top
Lid welding equipment flexible grips also include being used to coordinate to determining part 21 with the mounting table on top cover fine positioning mounting table 2 and can be relative to
The mounting table is to determining handgrip that part 21 slides vertically to determining part 303, and the handgrip is to determining part 303 by being installed on to determining part support
On the flexible connection framework 300, the handgrip is to determining part 303 for slide plate or chute.By the handgrip to determining part 303 and placement
Platform coordinates determining part 21, provides reference to the vertical feeding of transfer robot debugging track requirements, reduction debugging difficulty and raising are extensive
The convenience of multiple robot trajectory, it is ensured that transfer robot removes top cover 1 under plumbness from top cover fine positioning mounting table 2
It is transported to white body position.In the present embodiment, above-mentioned handgrip is to determining part 303 for slide plate, and it is preferably mounted to be flexibly connected frame
A wherein X for frame 300 on walking beam 301, its away from the X to one end of walking beam 301 have perpendicular to X to two slidings
Face, vertically direction extends two slide surfaces, and its end face can also be slide surface in addition, and the end face is preferably that tilted upward is set
Put, and its upper end from the X to its lower end is more than with a distance from walking beam 301 from the X to a distance from walking beam 301, to cause handgrip
In the presence of the process of a buffering during crawl top cover 1, it is to avoid cause damage to top cover 1.
Embodiment two
Such as Figure 13 and Figure 14, put the present embodiments relate to a kind of white car body top cover induction system, including top cover fine positioning
Platform 2, transfer robot and top cover handgrip are put, the white car body top cover welding equipment that the top cover handgrip is provided using above-described embodiment one is used
Flexible grips, here is omitted for its concrete structure, and the transfer robot is connected with the carrying attachment structure.Preferably,
The top cover fine positioning mounting table 2 is provided with the handgrip to determining mounting table that part 303 is slidably matched to determining part 21, the placement
Platform is to determining part 21 according to handgrip to determining the structure relative set of part 303, and such as handgrip is to determining part 303 for slide plate, then the mounting table pair
Part 21 is determined for sliding groove structure, and such as handgrip is to determining part 303 for sliding groove structure, then the mounting table corresponds to slide plate to determining part 21.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of white car body top cover welding equipment flexible grips, it is characterised in that：Including the framework that is rigidly connected, be flexibly connected framework,
It is flexibly connected unit, positioning unit, the movable locking unit for controlling the flexible connection framework active state and for grabbing
The carrying attachment structure being provided with the placement unit of top cover, the framework that is rigidly connected for being connected with transfer robot is taken,
The framework that is rigidly connected is located above the flexible connection framework, and the placement unit is arranged at the flexible connection framework
On；
It is described flexible connection unit include multigroup Universal active component, Universal active component described in every group include an erection support and
A pair of Universal casters that are opposed up and down and being pivotally mounted in the erection support, each erection support is both secured to institute
State on flexible connection framework, Universal caster described in each pair is abutted with the bottom and top of the framework that is rigidly connected respectively；
The positioning unit includes front beam detent mechanism and for the top cover localization machine on white body that top cover is fixedly clamped
Structure, the front beam detent mechanism includes alignment pin and for driving the alignment pin to be inserted into front crossbeam positioning hole or by institute
The alignment pin drive component extracted in front crossbeam positioning hole is stated, the alignment pin drive component and the top cover detent mechanism are pacified
Loaded on the flexible connection framework.
2. white car body top cover welding equipment flexible grips as claimed in claim 1, it is characterised in that：The framework bag that is rigidly connected
Include and be configured as two Xs parallel with white body gusset slot length direction to side bar and with the X to the vertical two Y-direction sides of side bar
Beam；
Each erection support includes upper mounting plate, lower installation board and at least side plate, each side plate be vertically arranged and
The corresponding upper mounting plate and the lower installation board are connected, Universal caster described in each pair is separately mounted to the corresponding upper peace
Fill on plate and the lower installation board；In each side plate, the plate face of part side plate is parallel to X to the plate face of remaining side plate is parallel
In Y-direction, be equipped with each side plate for the corresponding side bar with the framework that is rigidly connected against regulating bolt.
3. white car body top cover welding equipment flexible grips as claimed in claim 1, it is characterised in that：The alignment pin drive component
Including clamping cylinder and alignment pin drive cylinder, the piston rod of the clamping cylinder and the alignment pin drive cylinder is to being
Vertical direction, the clamping cylinder is installed on the flexible connection framework by clamping cylinder bearing, the alignment pin driving
Cylinder is installed on by rotary support in the swing arm of the clamping cylinder, and the output end of the alignment pin drive cylinder is fixed with company
Fishplate bar, the alignment pin is installed on the connecting plate and is axially vertical.
4. white car body top cover welding equipment flexible grips as claimed in claim 1, it is characterised in that：The flexible connection framework bag
Include and be configured as two Xs parallel with white body gusset slot length direction to walking beam and with the X to vertical two Y-directions of walking beam
Walking beam；The top cover detent mechanism includes being arranged in multigroup top cover positioning component described in two on Y-direction walking beam, each described
Multigroup top cover positioning component is disposed with Y-direction walking beam；
Each top cover positioning component includes X and overturns positioning and clamping mechanism to upset edge mechanism and Z-direction, and the X is to upset
Edge mechanism includes the first swing arm cylinder and X to locating piece, and the first swing arm cylinder is installed on correspondence by the first cylinder block
The Y-direction walking beam on, the cylinder piston rod of the first swing arm cylinder is axially vertical direction, and the X pacifies to locating piece
In swing arm loaded on the first swing arm cylinder, the X have to locating piece be used for top cover and respective side crossbeam against support
By locating surface；Z-direction upset positioning and clamping mechanism includes the second swing arm cylinder, Z-direction locating piece and Z-direction gripping block, and described the
Two swing arm cylinders are installed on the corresponding Y-direction walking beam by the second cylinder block, and the cylinder of the second swing arm cylinder is lived
Stopper rod is axially vertical direction, and the Z-direction gripping block is installed in the swing arm of the second swing arm cylinder, the Z-direction locating piece
It is installed on second cylinder block, the Z-direction locating piece is located at interval at directly over the corresponding Z-direction gripping block, the Z-direction
The upper surface of the lower surface of locating piece and the Z-direction gripping block is that curvature and the curvature identical of top cover corresponding position are bent
Face.
5. white car body top cover welding equipment flexible grips as claimed in claim 1, it is characterised in that：The framework bag that is rigidly connected
Include and be configured as two Xs parallel with white body gusset slot length direction to side bar and with the X to the vertical two Y-direction sides of side bar
Beam；
At least one spring adjusting screw rod is equipped with each Y-direction side bar vertically, each spring adjusting screw rod passes through
Spring adjusting nut is fixedly connected with the corresponding Y-direction side bar, and each spring adjusting screw rod is fixed with an extension spring,
The bottom of each extension spring is fixed with a spring fixed seat, and each spring fixed seat is mounted on the flexible connection
On framework and immediately below the corresponding spring adjusting screw rod.
6. white car body top cover welding equipment flexible grips as claimed in claim 1, it is characterised in that：The movable locking unit bag
At least one set of lock assembly is included, each lock assembly includes axial direction for the lock pin of vertical direction and for driving the lock
The actuator of shotpin vertical lifting, each actuator be mounted on it is described be rigidly connected on framework, in the flexible connection frame
Frame is provided with least one locking hole, and the quantity of the locking hole is identical with the quantity of the lock pin and corresponds configuration.
7. white car body top cover welding equipment flexible grips as claimed in claim 1, it is characterised in that：The placement unit includes edge
It is described to be flexibly connected multigroup Suction cup assembly that the circumferential ring of framework is set, each Suction cup assembly include sucker bearing, sucker connecting rod,
Sucker and the first imitative type locating piece, wherein, the sucker bearing is installed in the corresponding edge of the flexible connection framework, described
Sucker connecting rod is arranged on the sucker bearing, and the sucker connecting rod has regulation thread segment and passes through sucker adjusting nut and institute
State sucker bearing to be fixedly connected, the sucker is installed on the sucker connecting rod；
Each described first imitative type locating piece is installed on the corresponding sucker bearing by that can add and subtract the connecting seat of pad, often
The lower surface of first imitative type locating piece is to position curved surface with the curvature identical at the corresponding crawl position of top cover described in one, each
The positioning curved surface is located at below the corresponding sucker bearing and positioned at the top of the corresponding sucker lower surface, each described
First imitative type locating piece is set in the shape of a hoof and around the corresponding sucker.
8. white car body top cover welding equipment flexible grips as claimed in claim 1, it is characterised in that：The flexible connection framework
Bottom be provided with it is multiple be used for top cover against the second imitative type locating piece, each described second imitative type locating piece along the activity even
The circumferential ring for connecing framework is set, and the lower surface of each described second imitative type locating piece is the curvature with corresponding top cover rest position
Identical curved surface.
9. the white car body top cover welding equipment flexible grips as any one of claim 1 to 8, it is characterised in that：Also include
Mounting table on the top cover fine positioning mounting table with peripheral hardware coordinates to determining part and can be vertical to determining part relative to the mounting table
The handgrip of sliding is described to grab to determining part by being installed on to determining part support on the flexible connection framework to determining part, the handgrip
Hand is to determining part for slide plate or chute.
10. a kind of white car body top cover induction system, including top cover fine positioning mounting table, transfer robot and top cover handgrip, it is special
Levy and be：The top cover handgrip uses white car body top cover welding equipment flexible grips as claimed in any one of claims 1-9 wherein,
The transfer robot is connected with the carrying attachment structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710538754.6A CN107175408B (en) | 2017-07-04 | 2017-07-04 | Flexible gripper for body-in-white top cover assembly welding and body-in-white top cover conveying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710538754.6A CN107175408B (en) | 2017-07-04 | 2017-07-04 | Flexible gripper for body-in-white top cover assembly welding and body-in-white top cover conveying system |
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| Publication Number | Publication Date |
|---|---|
| CN107175408A true CN107175408A (en) | 2017-09-19 |
| CN107175408B CN107175408B (en) | 2023-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710538754.6A Active CN107175408B (en) | 2017-07-04 | 2017-07-04 | Flexible gripper for body-in-white top cover assembly welding and body-in-white top cover conveying system |
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| CN108161304A (en) * | 2017-12-27 | 2018-06-15 | 广州德恒汽车装备科技有限公司 | A kind of linkage of Unit four multiaxis flexible positioning system |
| CN108453453A (en) * | 2018-03-05 | 2018-08-28 | 东风柳州汽车有限公司 | Fine positioning head cover alignment table |
| CN108656088A (en) * | 2018-06-16 | 2018-10-16 | 上海晓奥享荣汽车工业装备有限公司 | A kind of flexible robot's handgrip and its system |
| CN109014752A (en) * | 2018-10-31 | 2018-12-18 | 安徽江淮汽车集团股份有限公司 | A kind of car body top cover positioning mechanism |
| CN109048095A (en) * | 2018-10-15 | 2018-12-21 | 上海翼锐汽车科技有限公司 | A kind of new pattern laser weldering fetal membrane fixture and its application method |
| CN110723530A (en) * | 2019-09-27 | 2020-01-24 | 天津新玛特科技发展有限公司 | Car body in white assembly robot snatchs equipment |
| CN112108792A (en) * | 2019-12-31 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Automobile rear positioning and clamping system |
| CN112109091A (en) * | 2019-08-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Workpiece feeding gripper device, automatic vehicle body part feeding system and method |
| CN112792836A (en) * | 2021-03-01 | 2021-05-14 | 长春工业大学 | Novel car roof rear cross beam flexible gripping apparatus with adsorption-pin hole positioning function |
| CN113400211A (en) * | 2020-03-17 | 2021-09-17 | 大连爱渥特机器人科技有限公司 | Flexible white automobile body workpiece placing table |
| CN114161446A (en) * | 2021-12-17 | 2022-03-11 | 北京星航机电装备有限公司 | Titanium alloy weak-rigidity variable-curvature wing rudder skin gripping device and gripping method |
| CN114406531A (en) * | 2021-12-31 | 2022-04-29 | 四川江淮汽车有限公司 | Automatic carrying device for light truck top cover welding assembly |
| CN114905245A (en) * | 2022-04-29 | 2022-08-16 | 安徽巨一科技股份有限公司 | Automatic vehicle door installation visual guide positioning gripper and use method thereof |
| CN115401282A (en) * | 2022-08-23 | 2022-11-29 | 中国第一汽车股份有限公司 | Flexible production tool system for laser brazing of white car body top cover and working method of flexible production tool system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108161304A (en) * | 2017-12-27 | 2018-06-15 | 广州德恒汽车装备科技有限公司 | A kind of linkage of Unit four multiaxis flexible positioning system |
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| CN108656088A (en) * | 2018-06-16 | 2018-10-16 | 上海晓奥享荣汽车工业装备有限公司 | A kind of flexible robot's handgrip and its system |
| CN109048095A (en) * | 2018-10-15 | 2018-12-21 | 上海翼锐汽车科技有限公司 | A kind of new pattern laser weldering fetal membrane fixture and its application method |
| CN109014752A (en) * | 2018-10-31 | 2018-12-18 | 安徽江淮汽车集团股份有限公司 | A kind of car body top cover positioning mechanism |
| CN112109091A (en) * | 2019-08-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Workpiece feeding gripper device, automatic vehicle body part feeding system and method |
| CN110723530A (en) * | 2019-09-27 | 2020-01-24 | 天津新玛特科技发展有限公司 | Car body in white assembly robot snatchs equipment |
| CN110723530B (en) * | 2019-09-27 | 2024-04-26 | 天津新玛特科技发展有限公司 | Robot grabbing equipment for automobile body-in-white assembly |
| CN112108792A (en) * | 2019-12-31 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Automobile rear positioning and clamping system |
| CN113400211A (en) * | 2020-03-17 | 2021-09-17 | 大连爱渥特机器人科技有限公司 | Flexible white automobile body workpiece placing table |
| CN112792836A (en) * | 2021-03-01 | 2021-05-14 | 长春工业大学 | Novel car roof rear cross beam flexible gripping apparatus with adsorption-pin hole positioning function |
| CN114161446A (en) * | 2021-12-17 | 2022-03-11 | 北京星航机电装备有限公司 | Titanium alloy weak-rigidity variable-curvature wing rudder skin gripping device and gripping method |
| CN114406531A (en) * | 2021-12-31 | 2022-04-29 | 四川江淮汽车有限公司 | Automatic carrying device for light truck top cover welding assembly |
| CN114406531B (en) * | 2021-12-31 | 2024-04-02 | 四川江淮汽车有限公司 | Automatic handling device of light truck top cover welding assembly |
| CN114905245A (en) * | 2022-04-29 | 2022-08-16 | 安徽巨一科技股份有限公司 | Automatic vehicle door installation visual guide positioning gripper and use method thereof |
| CN115401282A (en) * | 2022-08-23 | 2022-11-29 | 中国第一汽车股份有限公司 | Flexible production tool system for laser brazing of white car body top cover and working method of flexible production tool system |
| CN115401282B (en) * | 2022-08-23 | 2024-09-13 | 中国第一汽车股份有限公司 | Flexible production tooling system for laser brazing of body-in-white top cover and working method thereof |
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