CN107175408B - Flexible gripper for body-in-white top cover assembly welding and body-in-white top cover conveying system - Google Patents
Flexible gripper for body-in-white top cover assembly welding and body-in-white top cover conveying system Download PDFInfo
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- CN107175408B CN107175408B CN201710538754.6A CN201710538754A CN107175408B CN 107175408 B CN107175408 B CN 107175408B CN 201710538754 A CN201710538754 A CN 201710538754A CN 107175408 B CN107175408 B CN 107175408B
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- top cover
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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
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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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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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
- 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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Abstract
The invention relates to a flexible gripper for welding a white car body top cover and a white car body top cover conveying system adopting the flexible gripper for welding the white car body top cover. The grabbing unit is used for carrying the top cover to the top position of the white car body under the locking state of the movable connecting frame, the movable locking unit is unlocked, the top cover slides into the side wall guide groove to meet the Y-direction welding requirement, the locating pin of the front cross beam locating mechanism is inserted into the front cross beam locating hole to complete the X-direction locating of the top cover, the top cover locating mechanism acts, the Z-direction locating of the top cover relative to the cross beam is completed, and therefore the welding precision requirement of the top cover is met.
Description
Technical Field
The invention belongs to the technical field of white car body welding, and particularly relates to a flexible gripper for white car body top cover assembly welding and a white car body top cover conveying system adopting the flexible gripper for white car body top cover assembly welding.
Background
In the field of white car body welding, the existing white car body top cover welding stations are longitudinally observed, and the top cover welding mostly adopts a robot with a hard connection gripper positioning mode and a Perceptron visual positioning guide system mode. The positioning mode of the robot with the hard connection grippers cannot eliminate the repeatability error of the size of the front station welding white car body, and cannot ensure the quality of the top cover welding seam gap requirement of the next process top cover laser welding; the adoption of the Perceptron visual positioning guide system mode is high in cost and high in debugging difficulty.
Disclosure of Invention
The embodiment of the invention relates to a flexible gripper for welding a body-in-white top cover and a body-in-white top cover conveying system adopting the flexible gripper for welding the body-in-white top cover, which at least can solve part of defects in the prior art.
The embodiment of the invention relates to a flexible gripper for welding a top cover of a white car body, which comprises a rigid connection frame, a movable connection unit, a positioning unit, a movable locking unit for controlling the movable state of the movable connection frame and a grabbing unit for grabbing the top cover, wherein a carrying connection structure for being connected with a carrying robot is arranged on the rigid connection frame, the rigid connection frame is positioned above the movable connection frame, and the grabbing unit is arranged on the movable connection frame; the movable connecting unit comprises a plurality of groups of universal movable assemblies, each group of universal movable assemblies comprises a mounting support and a pair of universal balls which are vertically opposite and are rotatably mounted in the mounting support, each mounting support is fixed on the movable connecting frame, and each pair of universal balls is respectively abutted with the bottom end and the top end of the rigid connecting frame; the positioning unit comprises a front cross beam positioning mechanism and a top cover positioning mechanism for clamping and fixing the top cover on the white vehicle body, wherein the front cross beam positioning mechanism comprises a positioning pin and a positioning pin driving assembly for driving the positioning pin to be inserted into a front cross beam positioning hole or pulled out of the front cross beam positioning hole, and the positioning pin driving assembly and the top cover positioning mechanism are both installed on the movable connecting frame.
As one of the embodiments, the rigid connection frame includes two X-direction side sills configured to be parallel to a body-in-white side body side trunk length direction and two Y-direction side sills perpendicular to the X-direction side sills; each mounting support comprises an upper mounting plate, a lower mounting plate and at least one side plate, each side plate is vertically arranged and connected with the corresponding upper mounting plate and lower mounting plate, and each pair of universal balls are respectively mounted on the corresponding upper mounting plate and lower mounting plate; and the plate surfaces of part of the side plates are parallel to the X direction, the plate surfaces of the other side plates are parallel to the Y direction, and each side plate is penetrated with an adjusting bolt for abutting against the corresponding side beam of the rigid connection frame.
As one of the embodiments, the locating pin driving assembly comprises a clamping cylinder and a locating pin driving cylinder, the axial directions of the piston rods of the clamping cylinder and the locating pin driving cylinder are vertical, the clamping cylinder is installed on the movable connecting frame through a clamping cylinder support, the locating pin driving cylinder is installed on the swing arm of the clamping cylinder through a rotating support, the output end of the locating pin driving cylinder is fixed with a connecting plate, and the locating pin is installed on the connecting plate and is vertical in the axial direction.
As one of the embodiments, the movable connection frame comprises two X-direction movable beams configured to be parallel to the length direction of the side body channel of the white car body and two Y-direction movable beams perpendicular to the X-direction movable beams; the top cover positioning mechanism comprises a plurality of groups of top cover positioning assemblies arranged on two Y-direction movable beams, and a plurality of groups of top cover positioning assemblies are arranged on each Y-direction movable beam; each top cover positioning assembly comprises an X-direction overturning edge clamping mechanism and a Z-direction overturning positioning clamping mechanism, the X-direction overturning edge clamping mechanism comprises a first swing arm cylinder and an X-direction positioning block, the first swing arm cylinder is mounted on the corresponding Y-direction movable beam through a first cylinder seat, a cylinder piston rod of the first swing arm cylinder is axially in a vertical direction, the X-direction positioning block is mounted on a swing arm of the first swing arm cylinder, and the X-direction positioning block is provided with an abutting positioning surface for abutting against the top cover and the corresponding side cross beam; the Z-direction overturning positioning clamping mechanism comprises a second swing arm cylinder, a Z-direction positioning block and a Z-direction clamping block, the second swing arm cylinder is installed on the corresponding Y-direction movable beam through a second cylinder seat, the axial direction of a cylinder piston rod of the second swing arm cylinder is in the vertical direction, the Z-direction clamping block is installed on a swing arm of the second swing arm cylinder, the Z-direction positioning block is installed on the second cylinder seat, the Z-direction positioning block is located right above the corresponding Z-direction clamping block at intervals, and the lower surface of the Z-direction positioning block and the upper surface of the Z-direction clamping block are curved surfaces with the same curvature as the curvature of the corresponding position of the top cover.
As one of the embodiments, the rigid connection frame includes two X-direction side sills configured to be parallel to a body-in-white side body side trunk length direction and two Y-direction side sills perpendicular to the X-direction side sills; each Y-direction side beam is vertically penetrated with at least one spring adjusting screw rod, each spring adjusting screw rod is fixedly connected with the corresponding Y-direction side beam through a spring adjusting nut, each spring adjusting screw rod is fixedly connected with a tension spring, the bottom end of each tension spring is fixedly connected with a spring fixing seat, and each spring fixing seat is mounted on the movable connecting frame and located under the corresponding spring adjusting screw rod.
As one of the embodiments, the movable locking unit includes at least one set of locking components, each locking component includes a locking pin with an axial direction being a vertical direction and a driving piece for driving the locking pin to vertically lift, each driving piece is mounted on the rigid connection frame, at least one locking hole is provided on the movable connection frame, and the number of the locking holes is the same as that of the locking pins and is configured in a one-to-one correspondence manner.
As one of the embodiments, the grabbing unit includes a plurality of groups of sucker assemblies circumferentially and annularly arranged along the movable connection frame, each sucker assembly includes a sucker support, a sucker connecting rod, a sucker and a first profiling positioning block, wherein the sucker support is mounted on the corresponding edge of the movable connection frame, the sucker connecting rod is arranged on the sucker support in a penetrating manner, the sucker connecting rod has an adjusting thread section and is fixedly connected with the sucker support through a sucker adjusting nut, and the sucker is mounted on the sucker connecting rod; each first profiling positioning block is installed on the corresponding sucker support through a connecting seat capable of adding and subtracting gaskets, the lower surface of each first profiling positioning block is a positioning curved surface with the same curvature as that of the corresponding grabbing position of the top cover, each positioning curved surface is located below the corresponding sucker support and above the corresponding sucker lower surface, and each first profiling positioning block is U-shaped and surrounds the corresponding sucker.
As one of the embodiments, the bottom end of the movable connection frame is provided with a plurality of second profiling positioning blocks for abutting against the top cover, each second profiling positioning block is annularly arranged along the circumferential direction of the movable connection frame, and the lower surface of each second profiling positioning block is a curved surface with the same curvature as that of the corresponding top cover abutting position.
As one of the embodiments, the flexible gripper for body-in-white top cover assembly welding further comprises a gripper aligning piece which is matched with the placing table aligning piece on the external top cover fine positioning placing table and can vertically slide relative to the placing table aligning piece, the gripper aligning piece is installed on the movable connecting frame through an aligning piece bracket, and the gripper aligning piece is a sliding plate or a sliding groove.
The embodiment of the invention relates to a body-in-white top cover conveying system which comprises a top cover fine positioning and placing table, a carrying robot and a top cover gripper, wherein the top cover gripper adopts the flexible gripper for body-in-white top cover welding, and the carrying robot is connected with a carrying connection structure.
The embodiment of the invention has at least the following beneficial effects: the transfer robot carries the top cover to the top position of the white car body from the top cover fine positioning placing table through the grabbing unit under the locking state of the movable connecting frame, the movable locking unit is unlocked, the top cover slides into the side wall guide groove to meet the Y-direction welding requirement, the positioning pin of the front cross beam positioning mechanism is inserted into the front cross beam positioning hole to complete the X-direction positioning of the top cover, the top cover positioning mechanism acts, and the Z-direction positioning of the top cover relative to the cross beam is completed, so that the welding precision requirement of the top cover is met. The movable connecting frame is connected with the rigid connecting frame through the movable connecting unit, and the movable connecting frame can move upwards in the X direction and the Y direction relative to the rigid connecting frame, so that the gripper can ensure higher top cover positioning accuracy on the premise of not considering welding repeatability errors of the white car body in the previous procedure.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a flexible gripper for welding a body-in-white top cover according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a rigid connection frame according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an articulating frame according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a gimbal assembly according to an embodiment of the present invention;
FIGS. 5-6 are schematic structural views of a spring tension assembly according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a locking assembly according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a chuck assembly according to an embodiment of the present invention;
fig. 9 to 10 are schematic structural views of a top cover positioning assembly according to an embodiment of the present invention;
fig. 11-12 are schematic structural views of a front beam positioning mechanism according to an embodiment of the present invention;
FIG. 13 is a schematic view of the flexible gripper gripping a cap from the cap precision positioning placement stage;
fig. 14 is an enlarged schematic view of the portion a in fig. 13.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, the embodiment of the invention provides a flexible gripper for welding a top cover of a white car body, which comprises a rigid connection frame 200, a movable connection frame 300, a movable connection unit, a positioning unit, a movable locking unit for controlling the movable state of the movable connection frame 300 and a grabbing unit for grabbing a top cover 1, wherein a carrying connection structure for connecting with a carrying robot is arranged on the rigid connection frame 200, the rigid connection frame 200 is positioned above the movable connection frame 300, and the grabbing unit is arranged on the movable connection frame 300; the positioning unit comprises a front cross beam positioning mechanism 900 and a top cover positioning mechanism for clamping and fixing the top cover 1 on the white car body, the front cross beam positioning mechanism 900 comprises a positioning pin 904 and a positioning pin driving assembly for driving the positioning pin 904 to be inserted into a front cross beam positioning hole or pulled out from the front cross beam positioning hole, and the positioning pin driving assembly and the top cover positioning mechanism are both installed on the movable connecting frame 300. The above-mentioned handling connection structure generally adopts the quick-change tray 100, the quick-change tray 100 is an outsourcing piece, a suitable quick-change tray 100 can be selected according to different loads, and the tool side of the quick-change tray 100 is connected with the rigid connection frame 200, and is preferably mounted on the concentric axis of the flexible gripper. The quick-change disc 100 is connected with the shaft flange of the transfer robot, the top cover 1 is transferred to the top position of the white car body from the top cover fine positioning placing table through the grabbing unit under the locking state of the movable connecting frame 300, the movable locking unit is unlocked, the top cover 1 slides into the side wall guide groove to meet the welding requirement of the Y direction (along the length direction of the cross beam), the positioning pin 904 of the front cross beam positioning mechanism 900 is inserted into the front cross beam positioning hole to complete the X-direction positioning of the top cover 1, and the top cover positioning mechanism acts to complete the Z-direction positioning of the top cover 1 relative to the cross beam (white car body), so that the welding precision requirement of the top cover 1 is met. In the invention, the front beam positioning mode is adopted, and compared with the rear beam positioning mode, the positioning accuracy of the rear beam positioning hole is lower than that of the front beam positioning hole, so that the positioning accuracy can be effectively improved.
As shown in fig. 2, the rigid connection frame 200 preferably has a rectangular frame structure, and includes two X-direction side sills 201 configured to be parallel to the length direction of the side body channel and two Y-direction side sills 202 perpendicular to the X-direction side sills 201; preferably, the square tube is welded or connected by octagonal aluminum profiles. A supporting plate can be arranged on the rigid connection frame 200 and used for installing a pneumatic communication valve island 206 and a vacuum generator 207, wherein the pneumatic communication valve island 206 is mainly connected with each cylinder assembled by the gripper and used for controlling the action of each cylinder; the vacuum generator 207 is connected to the suction cup 706 in the gripping unit, so as to realize the vacuumizing and sucking function of the suction cup 706.
As shown in fig. 3, the articulated frame 300 preferably has a rectangular frame structure, and includes two X-direction movable beams 301 arranged parallel to the length direction of the side body channel and two Y-direction movable beams 302 perpendicular to the X-direction movable beams 301; it can be made by square tube welding or octagonal aluminum section connection. A plurality of proximity switch brackets 308 can be mounted on the movable connection frame 300, and a proximity switch 307 is mounted on each proximity switch bracket 308 for detecting the distance between the movable connection frame 300 and the top cover 1 when the top cover 1 is grasped, so as to avoid damaging the top cover 1; further, a mushroom head guide pin bracket 306 can be mounted on the movable connecting frame 300, a mushroom head guide pin 305 is mounted on the mushroom head guide pin bracket 306, and the mushroom head guide pin 305 is used for being matched with a U-shaped groove correspondingly arranged on the gripper storage rack, so that the effect of preventing the gripper from falling off can be achieved, and the gripper can be prevented from falling off from the gripper storage rack when the gripper is placed on the gripper storage rack to fail. One or more intermediate beams may be provided between the two Y-direction movable beams 302 to facilitate the above-described arrangement of the proximity switch 307 and the mushroom head guide pin 305, which are easily determined by those skilled in the art according to actual circumstances and are omitted herein; in this embodiment, 3 proximity switches 307 are provided in order along the Y direction, and are preferably mounted on the X-direction movable beam 301 and the intermediate beam. Preferably, the bottom end of the movable connecting frame 300 is provided with a plurality of second profiling positioning blocks (not shown) for abutting against the top cover 1, each second profiling positioning block is annularly arranged along the circumferential direction of the movable connecting frame 300, and the lower surface of each second profiling positioning block is a curved surface with the same curvature as that of the corresponding top cover 1 at the abutting position; through setting up foretell second profile modeling locating piece, snatch and when transporting top cap 1, can perfect laminating with top cap 1, guarantee the positioning accuracy to top cap 1, improve the dress and weld the quality. Gaskets can be added and subtracted between each second profiling positioning block and the movable connecting frame 300 so as to adapt to the top cover 1 with different specifications and the assembly welding requirements under different working conditions. In this embodiment, the second profiling positioning blocks are preferably provided at the four corners of the articulated frame 300. Further, measurement reference holes are respectively provided near the four corners of the bottom end of the movable connection frame 300, and a coordinate system of a three-coordinate measuring instrument can be established by setting the measurement reference holes, so that the fitting object and the digital model can be calibrated by the three-coordinate measuring instrument.
With the structure of the flexible gripper optimized as shown in fig. 1 and 4, the movable connection unit includes a plurality of groups of universal movable assemblies 400, each group of universal movable assemblies 400 includes a mounting support 401 and a pair of universal balls 402 which are opposite up and down and are rotatably mounted in the mounting support 401, each mounting support 401 is fixed on the movable connection frame 300, and each pair of universal balls 402 is respectively abutted with the bottom end and the top end of the rigid connection frame 200. The movable connection frame 300 is connected with the rigid connection frame 200 through the movable connection unit, and the movable connection frame 300 can move upwards in the X direction and the Y direction relative to the rigid connection frame 200, so that the gripper can ensure higher top cover positioning accuracy on the premise of not considering welding repeatability errors of the white car body in the previous procedure. Further preferably, as shown in fig. 4, each of the mounting seats 401 includes an upper mounting plate, a lower mounting plate, and at least one side plate, each side plate is vertically disposed and connects the corresponding upper mounting plate and the lower mounting plate, and each pair of the universal balls 402 is respectively mounted on the corresponding upper mounting plate and the lower mounting plate; among the side plates, the plate surfaces of some side plates are parallel to the X direction, the plate surfaces of the other side plates are parallel to the Y direction, and each side plate is provided with an adjusting bolt 403 for abutting against a corresponding side beam of the rigid connection frame 200. The movable amount of the movable connecting frame 300 in the X direction and the Y direction can be controlled by matching the adjusting bolts 403, so that the positioning accuracy of the top cover 1 is further ensured. In this embodiment, a set of corner universal movable assemblies 400 are preferably disposed at the 4 corners of the rigid connection frame 200, and a plurality of sets of middle universal movable assemblies 400 may be further disposed, where each middle universal movable assembly 400 is disposed corresponding to the middle of two Y-direction side beams 202 (i.e., the upper and lower universal balls 402 thereof abut against the upper and lower end surfaces of the corresponding Y-direction side beams 202); the mounting support 401 of the corner universal movable assembly 400 comprises an X-direction side plate extending along the X direction of the plate surface and a Y-direction side plate extending along the Y direction of the plate surface, the mounting support 401 of the middle universal movable assembly 400 comprises X-direction side plates extending along the X direction of the plate surface, each X-direction side plate is provided with an adjusting bolt 403 in a penetrating way, and each Y-direction side plate is provided with an adjusting bolt 403 in the X direction in a penetrating way. The shims 203 may be added or subtracted at corresponding positions of the rigid connection frame 200 (preferably on the two Y-direction side beams 202), each upper universal ball 402 abuts against a corresponding shim, and the positioning accuracy of the top cover 1 is improved by adding or subtracting shims.
11-12, the positioning pin driving assembly comprises a clamping cylinder 905 and a positioning pin driving cylinder 907, wherein the axial directions of the piston rods of the clamping cylinder 905 and the positioning pin driving cylinder 907 are vertical, the clamping cylinder 905 is mounted on the movable connecting frame 300 through a clamping cylinder support 901, the positioning pin driving cylinder 907 is mounted on a swing arm of the clamping cylinder 905 through a rotating support 906, a connecting plate 908 is fixed at the output end of the positioning pin driving cylinder 907, and the positioning pin 904 is mounted on the connecting plate 908 and is vertical in the axial direction. The positioning pin driving cylinder 907 is preferably a guide rod cylinder; the clamping cylinder 905 is commercially available and is conventional in the art, and the specific structure thereof is omitted herein; a stopper 903 may be further provided to control a swing stroke of the swing arm of the clamping cylinder 905, and the stopper 903 may be mounted on the swing frame 300 through a stopper support 902; the positioning pin 904 can be connected with the connecting plate 908 through the switching block 909, and the positioning pin 904 can realize the position adjustment in the X direction and the Y direction through adding and subtracting gaskets, so that the positioning precision is ensured. After the clamping cylinder 905 is closed in place, the positioning pin 904 is pushed into the front cross beam positioning hole by the positioning pin driving cylinder 907, and the X-direction positioning of the top cover 1 is completed.
Further optimizing the structure of the flexible gripper, as shown in fig. 9 and 10, the top cover positioning mechanism comprises a plurality of groups of top cover positioning assemblies 800 arranged on two Y-direction movable beams 302, and a plurality of groups of top cover positioning assemblies 800 are arranged on each Y-direction movable beam 302; each top cover positioning assembly 800 comprises an X-direction overturning edge clamping mechanism and a Z-direction overturning positioning clamping mechanism, the X-direction overturning edge clamping mechanism comprises a first swing arm cylinder 809 and an X-direction positioning block 804, the first swing arm cylinder 809 is mounted on the corresponding Y-direction movable beam 302 through a first cylinder seat 801, a cylinder piston rod of the first swing arm cylinder 809 is in an axial vertical direction, the X-direction positioning block 804 is mounted on a swing arm 803 of the first swing arm cylinder 809, and the X-direction positioning block 804 is provided with an abutting positioning surface for abutting against the top cover 1 and a corresponding side beam; the Z-direction overturning positioning and clamping mechanism comprises a second swing arm cylinder 808, a Z-direction positioning block 805 and a Z-direction clamping block 806, the second swing arm cylinder 808 is mounted on the corresponding Y-direction movable beam 302 through a second cylinder seat 802, the cylinder piston rod of the second swing arm cylinder 808 is axially in the vertical direction, the Z-direction clamping block 806 is mounted on the swing arm 807 of the second swing arm cylinder 808, the Z-direction positioning block 805 is mounted on the second cylinder seat 802, the Z-direction positioning block 805 is positioned right above the corresponding Z-direction clamping block 806 at intervals, and the lower surface of the Z-direction positioning block 805 and the upper surface of the Z-direction clamping block 806 are curved surfaces with the same curvature as that of the corresponding position of the top cover 1. The position of the X-direction positioning block 804 in the X-direction is adjustable, specifically, a gasket is added and subtracted between the X-direction positioning block and the swing arm 803 of the first swing arm cylinder 809; the position of the Z-direction positioning block 805 in the Z-direction is adjustable, specifically, a gasket is added or subtracted between the Z-direction positioning block and the second cylinder block 802; the position of the Z-direction clamping block 806 in the Z-direction is adjustable, specifically, the gasket is added and subtracted between the Z-direction clamping block and the swing arm 807 of the second swing arm cylinder 808. The first swing arm cylinder 809 drives the X-direction positioning block 804 to abut against the top cover 1 and the side edges of the corresponding side beams, so that the X-direction positioning of the top cover 1 is realized (the positioning accuracy of the top cover 1 can be further ensured by matching with the front beam positioning mechanism 900), or the determination of the relative positions of the top cover 1 and the beams in the X direction is realized; the second swing arm cylinder 808 drives the Z-direction clamping block 806 to act, so that the top cover 1 and the corresponding side cross beam are clamped between the Z-direction positioning block 805 and the Z-direction clamping block 806, and Z-direction positioning of the top cover 1 is completed.
Further optimizing the structure of the flexible gripper, the flexible gripper further comprises a spring stretching unit 500, and the specific structure is as follows: as shown in fig. 5 and 6, at least one spring adjusting screw 503 is vertically threaded on each Y-directional side beam 202, each spring adjusting screw 503 is fixedly connected with the corresponding Y-directional side beam 202 through a spring adjusting nut 504, each spring adjusting screw 503 is fixedly connected with a tension spring 502, the bottom end of each tension spring 502 is fixedly connected with a spring fixing seat 505, and each spring fixing seat 505 is mounted on the movable connecting frame 300 and located under the corresponding spring adjusting screw 503. The stretching force of each stretching spring 502 is adjusted through the matching of the spring adjusting nut 504 and the spring adjusting screw 503, so that the stretching force and the weight of the lower movable connecting frame 300 assembly are balanced, and the structural stability and the working reliability of the flexible gripper are ensured. Preferably, the number of the spring adjusting screws 503 on the two Y-direction side beams 202 is the same and the two Y-direction side beams are arranged in a one-to-one opposite way, so that the tensile forces of the springs on the two sides are balanced. The lower end of the extension spring 502 is connected with the spring fixing seat 505 through a pin shaft 506, and the upper end of the extension spring 502 is also connected with the spring adjusting screw 503 through a pin shaft 506. A support housing 501 may be further provided, the support housing 501 is mounted on the corresponding Y-side beam 202, the spring adjusting screw 503 is inserted into the top end of the support housing 501, and part of the spring adjusting screw 503 is accommodated in the support housing 501 and part of the spring adjusting screw is exposed out of the top end of the support housing 501 and is fixed with the support housing 501 by a spring adjusting nut 504; through setting up this support dustcoat 501, can satisfy the regulation space demand of spring adjusting screw 503, simultaneously, extension spring 502 and spring adjusting screw 503 etc. can accept in this support dustcoat 501, and pleasing to the eye and can protect equipment.
Continuing the structure of the flexible gripper, as shown in fig. 1 and 7, the movable locking unit comprises at least one set of locking assemblies 600, each locking assembly 600 comprises a locking pin 605 with an axial direction being a vertical direction and driving pieces 601 for driving the locking pin 605 to vertically lift, each driving piece 601 is mounted on the rigid connection frame 200, at least one locking hole 304 is arranged on the movable connection frame 300, and the number of the locking holes 304 is the same as that of the locking pins 605 and the locking holes are configured in a one-to-one correspondence manner. The driving member 601 preferably adopts an air cylinder, and the locking pin 605 is driven by the air cylinder to be inserted into the corresponding locking hole 304, so as to realize the fixed connection between the movable connecting frame 300 and the rigid connecting frame 200, that is, the movable locking unit is used for controlling the movable connecting frame 300 to move or not move; further, the rigid connection frame 200 may be provided with corresponding locking pin penetrating holes 204 (which may be provided on the locking pin penetrating plate 205 mounted on the rigid connection frame 200), and the locking pins 605 sequentially penetrate through the corresponding locking pin penetrating holes 204 and the corresponding locking holes 304 to realize the fixed connection between the movable connection frame 300 and the rigid connection frame 200, and the locking pin penetrating holes 204 may play a guiding role, and may further improve the stability of the locking state. The driving element 601 may be fixed on the rigid connection frame 200 through a first cylinder mounting plate 604 and a second cylinder mounting plate 602, where the first cylinder mounting plate 604 is fixedly connected with the rigid connection frame 200, the second cylinder mounting plate 602 is fixedly connected with the first cylinder mounting plate 604, the driving element 601 is mounted on the second cylinder mounting plate 602, the second cylinder mounting plate 602 is L-shaped, and includes a first plate body with a plate surface extending along the X direction and a second plate body with a plate surface extending along the Y direction, and the gasket 603 may be added or subtracted between the connection structures of the first plate body and the first cylinder mounting plate 604 and the gasket 603 may be added or subtracted between the connection structures of the second plate body and the driving element 601 to eliminate the assembly error.
Continuing the structure of the flexible gripper, as shown in the figure, the grabbing unit comprises a plurality of groups of sucker assemblies 700 circumferentially arranged along the movable connecting frame 300, each sucker assembly 700 comprises a sucker support 702, a sucker connecting rod 703, a sucker 706 and a first profiling positioning block 705, wherein the sucker supports 702 are mounted on the corresponding side parts of the movable connecting frame 300, the sucker connecting rods 703 are arranged on the sucker supports 702 in a penetrating manner (in order to facilitate the arrangement of the sucker connecting rods 703, a sucker bracket 701 can be arranged on the sucker supports 702, the sucker connecting rods 703 are arranged on the sucker brackets 701 in a penetrating manner), the sucker connecting rods 703 are provided with adjusting thread sections and are fixedly connected with the sucker supports 702 through sucker adjusting nuts, and the sucker 706 is mounted on the sucker connecting rods 703; each first profiling positioning block 705 is mounted on the corresponding sucker support 702 through a connecting seat 704 capable of adding and subtracting gaskets, the lower surface of each first profiling positioning block 705 is a positioning curved surface with the same curvature as that of the corresponding grabbing position of the top cover 1, each positioning curved surface is located below the corresponding sucker support 702 and above the lower surface of the corresponding sucker 706, and each first profiling positioning block 705 is in a horseshoe shape and is arranged around the corresponding sucker 706. The first profiling positioning block and the second profiling positioning block are both preferably made of nylon materials, so that the appearance surface of the top cover 1 is not damaged; the top cover 1 is grasped through the vacuum suction mode of the sucker 706, so that damage to the top cover 1 is avoided. By arranging the first profiling positioning block, on one hand, when the top cover 1 is grabbed and transported, the first profiling positioning block can be perfectly attached to the top cover 1, so that the positioning precision of the top cover 1 is ensured, and the assembly welding quality is improved; on the other hand, can play the cushioning effect when snatching, avoid causing the damage to top cap 1, it encircles sucking disc 706 setting moreover, and with sucking disc 706 cooperation can guarantee the snatch structural stability to top cap 1. Through the cooperation of the chuck adjusting nut and the chuck connecting rod 703, the Z-direction height of the chuck 706 can be adjusted to ensure the grabbing and positioning precision of the top cover 1.
Further, as one of the preferable aspects of the present embodiment, as shown in fig. 1, 3, 13 and 14, the flexible gripper for welding the top cover of the body-in-white further includes a gripper centering member 303 for cooperating with the placement table centering member 21 on the top cover fine positioning placement table 2 and capable of sliding vertically with respect to the placement table centering member 21, the gripper centering member 303 is mounted on the movable connection frame 300 through a centering member bracket, and the gripper centering member 303 is a slide plate or a slide groove. The gripper pair positioning piece 303 is matched with the placing table pair positioning piece 21, so that reference is provided for the transfer robot to debug the track to require vertical material taking, the debugging difficulty is reduced, the convenience for recovering the robot track is improved, and the transfer robot is ensured to transfer the top cover 1 from the top cover fine positioning placing table 2 to the white car body position in a vertical state. In this embodiment, the above mentioned gripper centering member 303 is a sliding plate, which is preferably mounted on one of the X-direction movable beams 301 of the movable connection frame 300, one end of the gripper far away from the X-direction movable beam 301 has two sliding surfaces perpendicular to the X-direction, both sliding surfaces extend along the vertical direction, and the end surface of the gripper can also be a sliding surface, the end surface is preferably disposed obliquely up and down, and the distance between the upper end of the gripper and the X-direction movable beam 301 is greater than the distance between the lower end of the gripper and the X-direction movable beam 301, so that a buffering process exists when the gripper grips the top cover 1, thereby avoiding damage to the top cover 1.
Example two
Referring to fig. 13 and 14, an embodiment of the present invention relates to a conveying system for a top cover of a body-in-white, which includes a top cover precise positioning and placing table 2, a carrying robot and a top cover gripper, wherein the top cover gripper adopts the flexible gripper for welding the top cover of the body-in-white provided in the first embodiment, the specific structure of the flexible gripper is not described herein, and the carrying robot is connected with the carrying connection structure. Preferably, the top cover fine positioning placing table 2 is provided with a placing table counter-element 21 in sliding fit with the gripper counter-element 303, the placing table counter-element 21 is correspondingly arranged according to the structure of the gripper counter-element 303, if the gripper counter-element 303 is a sliding plate, the placing table counter-element 21 is of a sliding groove structure, if the gripper counter-element 303 is of a sliding groove structure, and if the placing table counter-element 21 is correspondingly of a sliding plate.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (9)
1. A white automobile body top cap dress welds with flexible tongs which characterized in that: the movable locking device comprises a rigid connection frame, a movable connection unit, a positioning unit, a movable locking unit for controlling the movable state of the movable connection frame and a grabbing unit for grabbing a top cover, wherein a carrying connection structure for being connected with a carrying robot is arranged on the rigid connection frame, the rigid connection frame is positioned above the movable connection frame, and the grabbing unit is arranged on the movable connection frame;
the carrying connection structure adopts a quick-change disc, and the tool side of the quick-change disc is connected with the rigid connection frame;
the movable connecting unit comprises a plurality of groups of universal movable assemblies, each group of universal movable assemblies comprises a mounting support and a pair of universal balls which are vertically opposite and are rotatably mounted in the mounting support, each mounting support is fixed on the movable connecting frame, and each pair of universal balls is respectively abutted with the bottom end and the top end of the rigid connecting frame;
the positioning unit comprises a front cross beam positioning mechanism and a top cover positioning mechanism for clamping and fixing the top cover on the white vehicle body, the front cross beam positioning mechanism comprises a positioning pin and a positioning pin driving assembly for driving the positioning pin to be inserted into a front cross beam positioning hole or pulled out of the front cross beam positioning hole, and the positioning pin driving assembly and the top cover positioning mechanism are both arranged on the movable connecting frame;
the movable connecting frame comprises two X-direction movable beams which are configured to be parallel to the length direction of the side wall groove of the white body and two Y-direction movable beams which are perpendicular to the X-direction movable beams; the top cover positioning mechanism comprises a plurality of groups of top cover positioning assemblies arranged on two Y-direction movable beams, and a plurality of groups of top cover positioning assemblies are arranged on each Y-direction movable beam;
each top cover positioning assembly comprises an X-direction overturning edge clamping mechanism and a Z-direction overturning positioning clamping mechanism, the X-direction overturning edge clamping mechanism comprises a first swing arm cylinder and an X-direction positioning block, the first swing arm cylinder is mounted on the corresponding Y-direction movable beam through a first cylinder seat, a cylinder piston rod of the first swing arm cylinder is axially in a vertical direction, the X-direction positioning block is mounted on a swing arm of the first swing arm cylinder, and the X-direction positioning block is provided with an abutting positioning surface for abutting against the top cover and the corresponding side cross beam; the Z-direction overturning positioning clamping mechanism comprises a second swing arm cylinder, a Z-direction positioning block and a Z-direction clamping block, the second swing arm cylinder is installed on the corresponding Y-direction movable beam through a second cylinder seat, the axial direction of a cylinder piston rod of the second swing arm cylinder is in the vertical direction, the Z-direction clamping block is installed on a swing arm of the second swing arm cylinder, the Z-direction positioning block is installed on the second cylinder seat, the Z-direction positioning block is located right above the corresponding Z-direction clamping block at intervals, and the lower surface of the Z-direction positioning block and the upper surface of the Z-direction clamping block are curved surfaces with the same curvature as the curvature of the corresponding position of the top cover.
2. The flexible grip for body-in-white roof fitting welding of claim 1, wherein: the rigid connection frame comprises two X-direction side beams and two Y-direction side beams, wherein the two X-direction side beams are configured to be parallel to the length direction of a side wall groove of a white car body, and the two Y-direction side beams are perpendicular to the X-direction side beams;
each mounting support comprises an upper mounting plate, a lower mounting plate and at least one side plate, each side plate is vertically arranged and connected with the corresponding upper mounting plate and lower mounting plate, and each pair of universal balls are respectively mounted on the corresponding upper mounting plate and lower mounting plate; and the plate surfaces of part of the side plates are parallel to the X direction, the plate surfaces of the other side plates are parallel to the Y direction, and each side plate is penetrated with an adjusting bolt for abutting against the corresponding side beam of the rigid connection frame.
3. The flexible grip for body-in-white roof fitting welding of claim 1, wherein: the locating pin drive assembly comprises a clamping cylinder and a locating pin drive cylinder, the axial directions of piston rods of the clamping cylinder and the locating pin drive cylinder are vertical, the clamping cylinder is installed on the movable connecting frame through a clamping cylinder support, the locating pin drive cylinder is installed on a swing arm of the clamping cylinder through a rotating support, the output end of the locating pin drive cylinder is fixed with a connecting plate, and the locating pin is installed on the connecting plate and is vertical in the axial direction.
4. The flexible grip for body-in-white roof fitting welding of claim 1, wherein: the rigid connection frame comprises two X-direction side beams and two Y-direction side beams, wherein the two X-direction side beams are configured to be parallel to the length direction of a side wall groove of a white car body, and the two Y-direction side beams are perpendicular to the X-direction side beams;
each Y-direction side beam is vertically penetrated with at least one spring adjusting screw rod, each spring adjusting screw rod is fixedly connected with the corresponding Y-direction side beam through a spring adjusting nut, each spring adjusting screw rod is fixedly connected with a tension spring, the bottom end of each tension spring is fixedly connected with a spring fixing seat, and each spring fixing seat is mounted on the movable connecting frame and located under the corresponding spring adjusting screw rod.
5. The flexible grip for body-in-white roof fitting welding of claim 1, wherein: the movable locking unit comprises at least one group of locking assemblies, each locking assembly comprises locking pins in the vertical direction in the axial direction and driving parts for driving the locking pins to vertically lift, each driving part is mounted on the rigid connection frame, at least one locking hole is formed in the movable connection frame, and the number of the locking holes is the same as that of the locking pins and the locking holes are in one-to-one correspondence configuration.
6. The flexible grip for body-in-white roof fitting welding of claim 1, wherein: the grabbing unit comprises a plurality of groups of sucker assemblies which are annularly arranged along the circumferential direction of the movable connecting frame, each sucker assembly comprises a sucker support, a sucker connecting rod, a sucker and a first profiling positioning block, wherein the sucker supports are arranged on the corresponding side parts of the movable connecting frame, the sucker connecting rods penetrate through the sucker supports, the sucker connecting rods are provided with adjusting thread sections and are fixedly connected with the sucker supports through sucker adjusting nuts, and the suckers are arranged on the sucker connecting rods;
each first profiling positioning block is installed on the corresponding sucker support through a connecting seat capable of adding and subtracting gaskets, the lower surface of each first profiling positioning block is a positioning curved surface with the same curvature as that of the corresponding grabbing position of the top cover, each positioning curved surface is located below the corresponding sucker support and above the corresponding sucker lower surface, and each first profiling positioning block is U-shaped and surrounds the corresponding sucker.
7. The flexible grip for body-in-white roof fitting welding of claim 1, wherein: the bottom of the movable connecting frame is provided with a plurality of second profiling positioning blocks used for being abutted against the top cover, each second profiling positioning block is annularly arranged along the circumferential direction of the movable connecting frame, and the lower surface of each second profiling positioning block is a curved surface with the same curvature as that of the corresponding top cover abutted against position.
8. The flexible grip for body-in-white roof fitting welding according to any one of claims 1 to 7, characterized in that: still including being used for with the top cap fine positioning of peripheral hardware place bench to the piece cooperation and can be for this place bench to the vertically gliding tongs to the piece, the tongs to the piece through to the piece support mount in swing joint frame is last, the tongs is slide or spout to the piece.
9. The utility model provides a white automobile body top cap conveying system, includes top cap fine positioning place platform, transfer robot and top cap tongs, its characterized in that: the flexible grip for welding the body-in-white top cover is adopted by the top cover grip, and the carrying robot is connected with the carrying connecting structure.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| CN107175408B true CN107175408B (en) | 2023-05-05 |
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| CN108161304B (en) * | 2017-12-27 | 2019-09-20 | 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 |
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| CN109014752B (en) * | 2018-10-31 | 2020-06-23 | 安徽江淮汽车集团股份有限公司 | Positioning mechanism for top cover of vehicle body |
| CN112109091B (en) * | 2019-08-30 | 2023-01-03 | 上汽通用五菱汽车股份有限公司 | Automatic on-line system and method for vehicle body parts |
| 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 |
| CN112108792B (en) * | 2019-12-31 | 2024-06-14 | 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 |
| CN112792836B (en) * | 2021-03-01 | 2022-08-23 | 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 |
| 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 |
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