CN107309587B - Tool for welding white car body by robot - Google Patents
Tool for welding white car body by robot Download PDFInfo
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- CN107309587B CN107309587B CN201710543840.6A CN201710543840A CN107309587B CN 107309587 B CN107309587 B CN 107309587B CN 201710543840 A CN201710543840 A CN 201710543840A CN 107309587 B CN107309587 B CN 107309587B
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- positioning
- seat
- clamping
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- trolley
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Abstract
The invention relates to the technical field of vehicle body welding equipment, in particular to a tool for robot welding of white vehicle bodies. The white car body positioning and conveying trolley comprises a base, a lifting device and a trolley used for white car body positioning and conveying, wherein a positioning and clamping device used for positioning and clamping the white car body is arranged on the base, the white car body is placed on the trolley, the trolley is supported on the lifting device, and the white car body enters or leaves the clamping position where the positioning and clamping device is located through lifting of the lifting device. The beneficial effects of the invention are as follows: the trolley and the lifting device are matched to realize the transportation and positioning of the white car body, and the white car body is sent to the appointed position, so that the robot can accurately weld the white car body, the positioning accuracy is improved, the labor intensity is reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of vehicle body welding equipment, in particular to a tool for adapting to a robot to weld white vehicle bodies of various vehicle types.
Background
At present, when welding white car body, the parts of the side wall and the periphery of the door opening of the floor, the side wall and the periphery of the front wind window, the rear part of the side wall and the top cover, the side wall and the rear vertical column, the top cover and the rear wall are all required to be connected, and the welding spots are many. For example, the welding point of a 700P model of a certain driver is 124 to 160 points, and the welding point of a VC46/61 model is 216 to 260 points; the welding spots are more, the welding size is large, and the traditional welding operation is that 6 large welding tongs and 6 150KVA hanging power frequency transformers are adopted, 2 workers are arranged on each side, one person is assisted to master the positions of the front welding tongs, and one person is used for operating the welding tongs to carry out manual spot welding. The repair welding station of the original welding operation adopts a hydraulic lifting operation table, the whole white car body and the conveying trolley fall together, manual spot welding is performed, and the trolley and the white car body do not need to be positioned accurately.
However, when the spot welding type white car body with multiple welding points and large size is adopted by the process and the equipment, the problems of high labor intensity, low production efficiency, no energy conservation, large welding spatter, burrs on the welding point surface, low precision of the welding type operation trolley, restricted automation and the like exist in manual spot welding.
At present, due to large production capacity of commercial car factories in China, professional factories are formed for feeding and processing when the white car body assembly is produced, the white car body welding assemblies of medium-sized cars and heavy-duty cars are often independent welding production lines, are conveyed by aerial self-propelled hoists, and are sometimes welded by adopting robot spot welding production lines. Some commercial car factories abroad have large production capacity and high labor cost, and the white body assemblies of medium-sized cars and heavy-duty cars are transported from total assembly to repair welding by a ground reciprocating rod and welded by a robot automatic production line to improve the production efficiency. However, at present, although the production efficiency is improved to a certain extent, the automatic welding equipment on the domestic and foreign automatic production lines still has some consistency differences on the conveying and positioning precision of the white car body of the commercial car and the quality of the produced products, and the production and processing cost is still very high due to single applicable car types.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a tooling for welding white car bodies by robots, which is used for solving the problems of difficult conveying and positioning, low processing precision, high labor intensity, low production efficiency and the like of white car bodies during welding in the prior art.
To achieve the above and other related objects, the present invention provides a tooling for welding a white car body by a robot, which comprises a base, a lifting device and a trolley for positioning and conveying the white car body, wherein the base is provided with a positioning and clamping device for positioning and clamping the white car body, the white car body is placed on the trolley, the trolley is supported on the lifting device, and the white car body is enabled to enter or leave the clamping position where the positioning and clamping device is located by lifting of the lifting device.
The beneficial effects of the invention are as follows: the trolley and the lifting device are matched to realize the transportation and positioning of the white car body, and the white car body is sent to the appointed position, so that the robot can accurately weld the white car body, the positioning accuracy is improved, the labor intensity is reduced, and the production efficiency is improved.
Further, the trolley comprises a beam assembly and longitudinal beam assemblies arranged on the left side and the right side of the beam assembly, a fine positioning seat matched and positioned with the positioning clamping device is arranged on the beam assembly, rear casters matched and positioned with the positioning clamping device are arranged on the longitudinal beam assembly, a front positioning supporting mechanism is arranged at the front end of the longitudinal beam assembly, and a rear positioning supporting mechanism is arranged at the rear end of the longitudinal beam assembly.
Further, two the front ends of longeron assembly pass through the front cross beam and connect, the bracing piece is installed to the rear end detachably of longeron assembly, set up the station of laying that is used for the bracing piece to lift down the back and lay on the longeron assembly, can select the installation dismantlement bracing piece according to different motorcycle types, set up and lay the station and avoid the bracing piece to misplace and lose when not using.
Further, preceding location supporting mechanism includes the fixing base connecting plate, the inboard of fixing base connecting plate is installed first car type and is fixed a position the fixing base before the first motorcycle type, is equipped with first locating pin on the fixing base before the first motorcycle type, the second car type is fixed a position the fixing base before the outside of fixing base connecting plate is installed, is equipped with the second locating pin on the fixing base before the second motorcycle type.
Further, back location supporting mechanism includes back location fixing base and back location crossbeam, be equipped with the location supporting seat behind first motorcycle type and the second motorcycle type on the back location crossbeam, be equipped with on the back location crossbeam with back location fixing base complex back location stand, in the back location stand stretches into back location fixing base to the upset switches the support location of adaptation different motorcycle types.
The beneficial effects of adopting the further scheme are as follows: preliminary positioning and placement of the white car body are realized through the trolley, and positioning and placement of white car bodies of different car types are adapted through a simple and reasonable structure, so that the application range of the car type is enlarged, and the positioning accuracy, the processing quality and the production efficiency are improved.
Further, the lifting device comprises a rectangular frame formed by connecting a left frame beam, a right frame beam, a front frame beam and a rear frame beam, a fine positioning device for positioning and clamping the trolley is arranged on the rectangular frame, and pre-positioning devices matched with the trolley are arranged on the left frame beam and the right frame beam; the lifting device further comprises a lifting power mechanism and a lifting guide mechanism, wherein the lifting power mechanism is connected with the rectangular frame, drives the rectangular frame to lift and guides through the lifting guide mechanism.
The beneficial effects of adopting the further scheme are as follows: the white car body on the trolley can be stably and accurately conveyed to the positioning and clamping device through the lifting device, and the positioning precision is improved.
Further, the pre-positioning device comprises a U-shaped groove for placing the trolley, two trapezoid limiting blocks are installed in the U-shaped groove, and the trolley is placed between the two trapezoid limiting blocks and is limited to move through the trapezoid limiting blocks; the fine positioning device comprises a clamping cylinder and a chuck matched with the trolley, wherein the clamping cylinder is arranged on the rectangular frame and drives the chuck to clamp the trolley.
Further, the positioning and clamping device comprises a first vehicle type front positioning seat, a first vehicle type rear positioning seat, a second vehicle type front positioning seat, a second vehicle type rear positioning seat and a second vehicle type front clamping seat which are arranged on the base, the first vehicle type rear positioning seat and the second vehicle type rear positioning seat are movably arranged on the guide rail of the base, and the first vehicle type rear positioning seat and the second vehicle type rear positioning seat are both provided with a turnover adjusting mechanism and a clamping mechanism.
Further, the turnover adjusting mechanism comprises an upper turnover positioning seat, a lower positioning seat and a turnover cylinder connected with the upper turnover positioning seat, the upper turnover positioning seat is rotationally connected with the lower positioning seat, two U-shaped supporting blocks are arranged on the upper turnover positioning seat, a lug matched with the U-shaped supporting blocks is arranged on the lower positioning seat, and the turnover cylinder drives the upper turnover positioning seat to turn over so that the U-shaped supporting blocks are clamped or withdrawn from the lug.
Further, the clamping mechanism comprises a double-connecting-rod mechanism, a rear locating pin, a clamping block and a clamping cylinder arranged on the overturning and adjusting mechanism, wherein the double-connecting-rod mechanism is connected with the clamping block, and the clamping cylinder is connected with the double-connecting-rod mechanism and drives the clamping block to operate and clamp a white car body positioned on the locating pin.
The beneficial effects of adopting the further scheme are as follows: the positioning clamping device realizes the accurate positioning clamping of the white car body, prepares for welding, improves the processing quality, and the first car type rear positioning seat and the second car type rear positioning seat both adopt a reversible movable structure, thereby being beneficial to adapting to the positioning placement of different car types and avoiding mutual interference when each part operates.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram showing the operation of the trolley, the lifting device and the positioning and clamping device according to the embodiment of the invention;
FIG. 3 is a schematic view showing the structure of a trolley according to an embodiment of the present invention;
FIG. 4 is a schematic view of a stringer assembly according to an embodiment of the present invention;
FIG. 5 is a schematic view of a beam assembly according to an embodiment of the present invention;
FIG. 6 is a schematic view of a rear positioning support mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic view of a front positioning support mechanism according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a lifting device according to an embodiment of the invention;
FIG. 9 is a schematic view of a positioning and clamping device according to an embodiment of the present invention;
FIG. 10 is a schematic view showing a partial structure of a rear seat of a first vehicle type according to an embodiment of the present invention;
FIG. 11 is a schematic view showing a structure of a rear seat of a second vehicle according to an embodiment of the present invention;
fig. 12 shows a cross-sectional view of a clamping mechanism according to an embodiment of the invention.
Description of the part reference numerals
1. A base;
11. derailment prevention limit seat;
12. a guide rail;
2. a spot welding robot;
21. a first welding tongs;
22. a second welding tongs;
31. a longitudinal beam assembly;
311. front casters;
312. rear casters;
313. a placement station;
314. a castor connecting plate;
315. a rear pillar;
316. a rear end stringer;
317. front end stringers;
318. a front upright;
319. positioning a connecting plate;
32. a beam assembly;
321. a fine positioning seat;
322. a longitudinal beam connecting plate;
323. a middle cross beam;
324. a middle cross beam connecting plate;
33. a front positioning support mechanism;
331. a fixed seat connecting plate;
332. a first vehicle-type front positioning fixing seat;
333. a first positioning pin;
334. a second vehicle type front positioning fixing seat;
335. a second positioning pin;
34. a rear positioning support mechanism;
341. a rear positioning cross beam;
342. a rear positioning fixing seat;
343. rear positioning upright posts;
344. the first vehicle type rear positioning support seat;
345. the second vehicle type rear positioning support seat;
346. a trapezoid positioning block;
35. a support rod;
36. a front cross member;
41. a first vehicle-type front positioning seat;
42. a second vehicle type front positioning seat;
43. a second vehicle-type front clamping seat;
44. a first vehicle type rear positioning seat;
440. a clamping block;
441. a lower positioning seat;
442. the upper part of the positioning seat is overturned;
443. a clamping cylinder;
444. a turnover cylinder;
445. a double link mechanism;
446. a rear locating pin;
447. a pin shaft;
448 A U-shaped supporting block;
449. a bump;
45. a second vehicle type rear positioning seat;
451. positioning a base;
452 U-shaped guide grooves;
453. a plug pin;
454. a turnover cylinder;
455. a double link mechanism;
456. a rear locating pin;
457. a clamping cylinder;
458 A U-shaped supporting block;
459. a bump;
5. a lifting device;
51. a pre-positioning device;
511 A U-shaped groove;
512. a trapezoid limiting block;
52. a fine positioning device;
521. a chuck;
522. a clamping cylinder;
523. clamping a cylinder seat;
53. a lifting power mechanism;
54. a lifting guide mechanism;
55. a guide roller;
56. a front frame beam;
57. a right frame beam;
58. a rear frame beam;
59. left side frame beam.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.
The terms such as "upper", "lower", "left", "right", "middle" and "a" and the like are also used in the present specification for convenience of description, but are not intended to limit the scope of the present invention, and the relative changes or modifications thereof are not limited to essential changes in technical content, but are also regarded as the scope of the present invention.
Before describing embodiments of the present invention in detail, an application environment of the present invention will be described. The technology of the invention is mainly applied to the technical field of automobile production and manufacturing, in particular to the technical field of welding of white bodies of commercial vehicles. The invention solves the technical problems of multiple welding spots, single applicable vehicle type, high labor intensity, low welding efficiency, low positioning accuracy of the white vehicle body and the like in the traditional white vehicle body welding process.
As shown in fig. 1 and 2, the tooling for welding the white car body of the commercial car by the robot comprises a base 1, a lifting device and a trolley for positioning and conveying the white car body. The white car body is accurately sent to a designated position through the tooling, and automatic welding is achieved through the spot welding robot 2. The spot welding robot 2 is provided with a first welding tongs 21 and a second welding tongs 22, the base 1 is provided with a positioning and clamping device for positioning and clamping a white car body, the white car body is placed on a trolley, the trolley is supported on a lifting device, the lifting device is arranged on the base 1, and the white car body is enabled to enter or leave the clamping position where the positioning and clamping device is located through lifting of the lifting device. When the lifting device operates to drive the trolley to descend and enter the clamping position of the positioning and clamping device, the positioning and clamping device positions and clamps the white car body, then the spot welding robot 2 operates to realize welding operation, and after welding is completed, the lifting device operates to enable the trolley to ascend and drive the white car body to leave the clamping position of the positioning and clamping device.
The spot welding robot 2 automatically selects the first welding tongs 21 or the second welding tongs 22 to weld according to different welding positions of the side wall and the top cover of the white automobile body, the side wall and the rear wall, the top cover and the rear wall, the front windshield and the like according to different preset operating systems of the system. The first welding tongs 21 are small-sized X-shaped medium-frequency servo welding tongs, the second welding tongs 22 are large-sized C-shaped medium-frequency servo welding tongs, the medium-frequency (800-1000 HZ) servo welding tongs are used, energy is saved by 50% compared with the traditional power frequency (50 HZ) split type transformer spot welding tongs, welding spatter is hardly generated in the welding process, and the surface quality of a welding spot is good.
As shown in fig. 2 to 5, the carriage includes a beam assembly 32, and longitudinal beam assemblies 31 are respectively mounted on left and right sides of the beam assembly 32. The beam assembly 32 comprises a middle beam 323, wherein the front end and the rear end of the middle beam 323 are respectively connected with the front beam and the rear beam, middle beam connecting plates 324 are arranged at the two ends of the middle beam 323, the middle beam connecting plates 324 are connected with the front beam or the rear beam through connecting plates, and the outer side faces of the connecting plates are processing faces and positioning references. The both ends of front beam and rear beam all are equipped with longeron connecting plate 322, and longeron connecting plate 322 and longeron assembly 31 are connected, and the lateral surface of longeron connecting plate 322 is the machined surface and fixes a position the benchmark. The beam assembly 32 is provided with a fine positioning seat 321 matched and positioned with the positioning and clamping device, the fine positioning seat 321 is of a V-shaped structure, the fine positioning seat 321 is fixed on the outer sides of the front beam and the rear beam through a connecting plate, and the outer side surface of the connecting plate is a processing surface and a positioning reference. The beam assembly 32 has a simple structure, ensures the connection and installation precision with the longitudinal beam assembly 31 and the matching precision with the positioning and clamping device, and meets the convenience of the manufacturing process.
As shown in fig. 2 to 5, the front ends of the two side member assemblies 31 are connected by a front cross member 36, and the front cross member 36 is provided with a protruding portion protruding forward, by which the trolley is prevented from striking the body-in-white on the adjacent trolley on the conveying line, and the workpiece is prevented from being damaged. The rear end detachably of longeron assembly 31 installs bracing piece 35, is equipped with the mounting hole on the longeron assembly 31, and bracing piece 35 inserts in the mounting hole alright support white automobile body, sets up the station 313 of laying that is used for bracing piece 35 to lift off the back of laying on the longeron assembly 31, when the white automobile body of processing motorcycle type is longer needs to be supported, just adorn bracing piece 35, if need not when just lift off, bracing piece 35 is U type structure, adopts U type structure to be convenient for lay, avoids simultaneously with the interference of the locating clamping device on the base 1. The longitudinal beam assembly 31 includes a front end longitudinal beam 317 and a rear end longitudinal beam 316, the front end longitudinal beam 317 and the rear end longitudinal beam 316 are connected by a front upright post 318, the front upright post 318 is of a U-shaped structure, and the front upright post 318 with the U-shaped structure is arranged to avoid a front positioning seat of a second vehicle type. A rear upright post 315 is arranged on the rear end longitudinal beam 316, a castor connecting plate 314 is arranged on the front upright post 318 and the rear upright post 315, a front castor 311 is arranged on the castor connecting plate 314 on the front upright post 318, and the front castor 311 is a universal wheel and used for steering; rear casters 312 are mounted on caster connection plates 314 on the rear posts 315, the rear casters 312 are cast iron wheels, and the rear casters 312 are used as positioning references for the trolley. The front end longitudinal beam 317 and the rear end longitudinal beam 316 are respectively provided with a positioning connecting plate 319 which is used for being connected with the cross beam assembly 32, the front positioning supporting mechanism 33 and the rear positioning supporting mechanism 34, the positioning connecting plate 319 and the caster connecting plate 314 are positioning references, the positioning connecting plate 319 and the caster connecting plate 314 are respectively provided with pin holes, positioning is carried out through the pin holes on the connecting plates, the corresponding parts are respectively connected, and the precision of connection assembly is improved. Compared with the traditional integral welding trolley, the trolley formed by assembling and connecting the datum planes of the longitudinal beam assembly 31 and the transverse beam assembly 32 has the manufacturing and positioning precision reaching +/-0.2 mm.
As shown in fig. 3, 6 and 7, the front end of the longitudinal beam assembly 31 is provided with a front positioning support mechanism 33, the rear end of the longitudinal beam assembly 31 is provided with a rear positioning support mechanism 34, and the front positioning support mechanism 33 and the rear positioning support mechanism 34 are connected with the longitudinal beam assembly 31 through a positioning connection plate 319. The front positioning support mechanism 33 includes a fixed seat connecting plate 331, a first vehicle type front positioning fixed seat 332 is mounted on the inner side of the fixed seat connecting plate 331, a first positioning pin 333 matched with the white vehicle body is arranged on the first vehicle type front positioning fixed seat 332, a U-shaped chamfer structure is arranged on the first vehicle type front positioning fixed seat 332, so that a longitudinal beam of the white vehicle body can fall into the fixed seat smoothly, preliminary positioning is performed, and then positioning is performed through the first positioning pin 333; the second motorcycle type front positioning fixing base 334 is installed in the outside of fixing base connecting plate 331, be equipped with second locating pin 335 on the second motorcycle type front positioning fixing base 334, the lateral surface of fixing connecting plate 331 is the vertical face that has the chamfer, set up the chamfer and be favorable to the preliminary spacing of longeron of white automobile body, then cooperate second locating pin 335 to realize the location of white automobile body, through adopting simple structure, reasonable overall arrangement, realize the accurate positioning to different motorcycle types white automobile body, installation easy operation is accurate, product processingquality has been improved.
As shown in fig. 3 and 6, the rear positioning support mechanism 34 includes a rear positioning fixing seat 342 and a rear positioning beam 341, a first vehicle type rear positioning support seat 344 and a second vehicle type rear positioning support seat 345 are disposed on the rear positioning beam 341, a rear positioning upright post 343 matched with the rear positioning fixing seat 342 is disposed on the rear positioning upright post 343, a trapezoid positioning block 346 and a long round hole are disposed on the rear positioning upright post 343, one side of the rear positioning fixing seat 342 is opened, when the rear positioning upright post 343 vertically extends into the rear positioning fixing seat 342, the rear positioning upright post 343 is connected with the rear positioning fixing seat 342 through a pin shaft passing through the long round hole, and the trapezoid positioning support seat 344 is located in a working state through a trapezoid opening at the top end of the trapezoid positioning block 346 and the rear positioning fixing seat 342 in a matched manner. When the white car body of another car type is required to be processed, the rear positioning upright post 343 is turned over by 90 degrees, so that the rear positioning support seat 345 of the second car type faces upwards and is in a working state, and the arc chamfer is arranged at the sharp angle of the lower end of the rear positioning upright post 343, thereby being beneficial to turning operation and reducing component wear. The overturning positioning precision of the rear positioning support mechanism 34 is ensured through the trapezoid positioning blocks 346, the rear positioning support mechanism 34 of the structure is simple in structure, the overturning switching operation is convenient, the support positioning of different vehicle types is facilitated, and the application range is wide.
As shown in fig. 2 and 8, the lifting device 5 comprises a rectangular frame formed by connecting a left frame beam 59, a right frame beam 57, a front frame beam 56 and a rear frame beam 58, and further comprises a lifting power mechanism 53 and a lifting guide mechanism 54, wherein the lifting power mechanism 53 is connected with the rectangular frame, and the lifting power mechanism 53 drives the rectangular frame to lift and guide the rectangular frame through the lifting guide mechanism 54. Guide rollers 55 are arranged on the front frame beam 56 and the rear frame beam 58, the guide rollers 55 are matched with the positioning and clamping device, the rectangular frame is lifted along the positioning and clamping device, and the lifting operation stability is further improved through the guide rollers 55 when the rectangular frame is lifted. In the invention, the lifting power mechanism 53 can adopt a power mechanism such as a hydraulic cylinder, an air cylinder and the like which can drive the trolley to vertically lift and move, and the lifting guide mechanism 54 is a guide pillar. The rectangular frame is provided with a fine positioning device 52 for positioning and clamping the trolley, and the left frame beam 59 and the right frame beam 57 are provided with a pre-positioning device 51 matched with the trolley. The left frame beam 59 and the right frame beam 57 are respectively provided with a pre-positioning device 51, the pre-positioning devices 51 comprise U-shaped grooves 511 for mounting the front casters 311 and the rear casters 312, the widths of the U-shaped grooves 511 differ from the widths of the front casters 311 and the rear casters 312 by 2mm, two trapezoid limiting blocks 512 are mounted in each U-shaped groove, the inner sides of the two trapezoid limiting blocks 512 in the same U-shaped groove are of isosceles structures, namely the inclined angles of the inner sides of the two trapezoid limiting blocks 512 are the same, so that the trolley can be accurately positioned; the outsides of two trapezoidal limiting blocks 512 in the same U-shaped groove can be isosceles structures, and also can be isosceles structures, namely the inclination angles of the outer side surfaces of two trapezoidal limiting blocks 512 can be the same or different, and the inclination angles of the outer side surfaces of two trapezoidal limiting blocks 512 can be selected and set according to requirements, so that labor is saved when a trolley is pushed to enter or exit, and the trolley is kept to run stably. The front castor 311 and the rear castor 312 are placed between two trapezoid stoppers 512, and the trolley is pre-positioned in the length direction of the U-shaped groove 511 by the trapezoid stoppers 512. The precise positioning device 52 comprises a clamping cylinder seat 523, a clamping cylinder 522 and a chuck 521 which is matched with the precise positioning seat 321 in a structure, wherein the clamping cylinder seat 523 is arranged on a rectangular frame, the clamping cylinder 522 is arranged on the clamping cylinder seat 523 and is connected with the chuck 521, and the clamping cylinder 522 drives the chuck 521 to operate to bear against the precise positioning seat 321, so that the trolley is fixed by clamping, and precise positioning of the trolley is realized.
As shown in fig. 2, 10 and 11, the positioning and clamping device includes a first-vehicle-type front positioning seat 41, a first-vehicle-type rear positioning seat 44, a second-vehicle-type front positioning seat 42, a second-vehicle-type rear positioning seat 45 and a second-vehicle-type front clamping seat 43 mounted on the base 1. The base 1 is provided with a guide rail 12, the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 are movably arranged on the guide rail 12, and the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 can be movably adjusted along the guide rail 12 so as to adapt to single-row and one-row half vehicle type switching, or when the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 are not used, the positions of the first vehicle type rear positioning seat and the second vehicle type rear positioning seat can be moved to avoid other working parts. The base 1 is provided with an anti-derailment limit seat 11 for limiting the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 to be separated from the guide rail 12. The U-shaped guide grooves 452 matched with the guide rollers 55 are formed in the front positioning seat 41 of the first vehicle type and the rear positioning seat 45 of the second vehicle type, so that no matter what type of vehicle body in white is conveyed by the trolley, the trolley can stably lift, and the positioning accuracy of the vehicle body in white is improved to +/-1 mm by the aid of the cooperation of the U-shaped guide grooves and the guide rollers. The first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 are respectively provided with a turnover adjusting mechanism and a clamping mechanism, and the turnover adjusting mechanism enables the first vehicle type rear positioning seat or the second vehicle type rear positioning seat to be capable of being turned, adjusted and reduced in height so as to avoid the trolley. The structure of the turnover adjusting mechanisms of the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 is the same, and the turnover adjusting mechanisms are arranged, so that when the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 are in an unoperated state, the heights of the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 can be turned over and reduced, and interference with other parts is avoided; the structure of the clamping mechanism of the first vehicle type rear positioning seat 44 and the second vehicle type rear positioning seat 45 is the same, and positioning and clamping of the white vehicle body are realized through the clamping mechanism. As shown in fig. 10, the turnover adjusting mechanism of the first rear positioning seat 44 of the vehicle type includes an upper turnover positioning seat 442, a lower positioning seat 441 and a turnover cylinder 444 connected with the upper turnover positioning seat 442, the upper turnover positioning seat 442 is rotationally connected with the lower positioning seat 441 through a pin 447, two U-shaped supporting blocks 448 are arranged on the upper turnover positioning seat 442, a bump 449 matched with the U-shaped supporting blocks 448 is arranged on the lower positioning seat 441, the turnover cylinder 444 is mounted on the lower positioning seat 441, the turnover cylinder 444 is connected with the upper turnover positioning seat 442, the turnover cylinder 444 drives the upper turnover positioning seat 442 to turn around the pin 447 so that the U-shaped supporting blocks 448 clamp the bumps 449 or withdraw from the bumps 449, when the turnover U-shaped supporting blocks 448 leave the bumps 449, the height of the first rear positioning seat 44 of the vehicle type is reduced, and when the turnover U-shaped supporting blocks 448 and the bumps 449 are matched and clamped, the first rear positioning seat 44 is in a working state. 2-point 6-face positioning is formed through the U-shaped supporting blocks 448 and the protruding blocks 449, and left-right swinging of the overturning and adjusting mechanism is avoided, so that positioning accuracy of the first vehicle type rear positioning seat 44 is guaranteed. The clamping mechanism comprises a double-link mechanism 445, a rear locating pin 446, a clamping block 440 and a clamping cylinder 443 arranged on the turnover adjusting mechanism, one end of the double-link mechanism 445 is hinged with the clamping block 440, the other end of the double-link mechanism 445 is hinged with the clamping cylinder 443, the two clamping blocks 440 are arranged in a crossed manner and are hinged together, and the clamping cylinder 443 drives the clamping block 440 to operate and clamp a white car body positioned on the locating pin 446; when the white car body positioning device works, the clamping cylinder 443 drives the clamping block 440 to extend out of the positioning pin 446 through the descending of the double-link mechanism 445 to be in an open state, the white car body falls onto the rear positioning pin 446 to be positioned, and the clamping cylinder 443 drives the clamping block 440 to close the white car body on the clamping positioning pin 446 through the ascending of the double-link mechanism 445, so that the white car body positioning and clamping are realized. As shown in fig. 11, the second vehicle type rear positioning seat 45 comprises a positioning base 451, the positioning base 451 is mounted on the guide rail 12 and moves along the guide rail 12, the positioning base 451 is positioned by matching a bolt 453 with different positioning holes in the moving process of the positioning base 451, a U-shaped guide groove 452 matched with the guide roller 55 is formed in the second vehicle type rear positioning seat 45, and the guide roller 55 slides along the U-shaped guide groove 452. The turnover adjusting mechanism at the upper part of the second vehicle type rear positioning seat 45 comprises a turnover cylinder 454, a U-shaped supporting block 458, a lug 459 and other parts; the clamping mechanism comprises a rear locating pin 456, a clamping cylinder 457, a double-link mechanism 455 and other components; the turnover adjusting mechanism and the clamping mechanism of the second vehicle type rear positioning seat 45 are the same as those of the first vehicle type rear positioning seat 44 in structure and working principle, turnover adjustment is performed through the turnover adjusting mechanism, positioning and clamping of the white vehicle body are achieved through the clamping mechanism, and repeated description is omitted here. Wherein, be equipped with guide rail 12 and anticreep rail limit seat 11 on the positioning base 451 of positioning base 45 behind the second motorcycle type, this guide rail sets up perpendicularly with the guide rail of positioning base 451 bottom to realize that positioning base 45 behind the second motorcycle type can reciprocate, the adjustment scope is wider, is convenient for dodge other parts.
The working process is as follows: when the white car body of the first car type is processed, the white car body is placed on the trolley, the placement and the positioning of the white car body are realized through the cooperation of the first car type front positioning fixing seat 332, the first positioning pin 333 and the first car type rear positioning supporting seat 344, then the lifting device is lifted and adjusted to be flush with the track on the ground, the trolley is enabled to move to the preset positioning device 51 of the lifting device 5, then the fine positioning device 52 clamps the fine positioning seat 321 on the trolley to realize the fine positioning of the trolley, then the lifting device 52 drives the trolley to descend so that the white car body falls on the first car type front positioning seat 41 and the first car type rear positioning seat 44, the trolley continues to descend for a certain distance so as to ensure that the white car body completely falls on the first car type front positioning seat 41 and the first car type rear positioning seat 44, but simultaneously, the top of the first positioning pin 333 with the conical structure still remains in the longitudinal beam hole of the floor of the white car body so as to ensure that the white car body can be accurately driven to lift up and leave the positioning and clamping device when the trolley ascends after the welding is completed, the white car body completely falls onto the first front positioning seat 41 and the first rear positioning seat 44 of the car body, the first front positioning seat 41 and the first rear positioning seat 44 of the car body clamp the white car body, then the welding operation is completed through the spot welding robot 2, the first front positioning seat 41 and the first rear positioning seat 44 of the car body loosen the white car body after the welding is completed, and the trolley ascends to drive the white car body to leave the positioning and clamping device. When the white car body of the second car type is processed, the supporting rod 35 is assembled, the positioning and supporting mechanism 34 is turned over and adjusted to enable the positioning and supporting seat 345 of the second car type to be in a working state, the white car body is placed on the trolley, the placing and positioning of the white car body are realized through the cooperation of the front positioning and fixing seat 334 of the second car type, the second positioning pin 335, the positioning and supporting seat 345 of the second car type and the supporting rod 35, then the lifting device is lifted and adjusted to be flush with the track of the ground, the trolley is moved to the pre-positioning device 51 of the lifting device 5 to realize the pre-positioning, then the fine positioning device 52 clamps the fine positioning seat 321 on the trolley to realize the fine positioning of the trolley, then the lifting device 52 drives the trolley to descend so that the white car body falls onto the front positioning seat 42 of the second car type and the rear positioning seat 45 of the second car type, the trolley continuously descends for a certain distance to ensure that the white car body falls onto the second car type front positioning seat 42 and the second car type rear positioning seat 45 completely, but meanwhile the top of the second positioning pin 335 with the conical structure is still remained in the white car body floor longitudinal beam hole, after the white car body falls onto the second car type front positioning seat 42 and the second car type rear positioning seat 45 completely, the second car type front positioning seat 42, the second car type front clamping seat 43 and the second car type rear positioning seat 45 clamp the white car body, then the welding operation is finished through the spot welding robot 2, after the welding is finished, the second car type front positioning seat 42, the second car type front clamping seat 43 and the second car type rear positioning seat 45 loosen the white car body, and the trolley ascends to drive the white car body to leave the positioning clamping device.
According to the welding tool, the white car body is conveyed through the high-precision trolley, the white car body is lifted through the high-precision lifting device, and the white car body is positioned and clamped through the positioning and clamping device, so that accurate conveying and positioning of the white car body are guaranteed, and preparation is made for automatic spot welding of a spot welding robot. The welding fixture is reasonable and reliable in structure, overcomes the defects that the traditional welding equipment or fixture is difficult to adapt to the sharing of multiple vehicles and the automatic welding of a single station, and is high in precision and wide in application range. The components of the trolley are connected by adopting pin hole positioning, the lifting device slides through the guide post, and the overturning and adjusting mechanism of each positioning seat is blocked by the two U-shaped supporting blocks and the convex blocks, so that the positioning precision of the welding fixture is high, the automatic processing is realized, the labor intensity is reduced, the production efficiency is improved, and the welding fixture is energy-saving and environment-friendly.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (5)
1. A frock for robot welding white automobile body, its characterized in that: the white car body positioning and conveying device comprises a base, a lifting device and a trolley for white car body positioning and conveying, wherein a positioning and clamping device for positioning and clamping the white car body is arranged on the base;
the lifting device comprises a rectangular frame formed by connecting a left frame beam, a right frame beam, a front frame beam and a rear frame beam, a fine positioning device for positioning and clamping a trolley is arranged on the rectangular frame, a pre-positioning device matched with the trolley is arranged on the left frame beam and the right frame beam, guide rollers are arranged on the front frame beam and the rear frame beam, and the guide rollers are matched with the positioning and clamping device and lift along the positioning and clamping device; the lifting device further comprises a lifting power mechanism and a lifting guide mechanism, wherein the lifting power mechanism is connected with the rectangular frame, drives the rectangular frame to lift and guides through the lifting guide mechanism; the positioning device comprises a U-shaped groove for placing the trolley, two trapezoid limiting blocks are installed in the U-shaped groove, and the trolley is placed between the two trapezoid limiting blocks and is limited to move by the trapezoid limiting blocks; the fine positioning device comprises a clamping cylinder and a chuck matched with the trolley, wherein the clamping cylinder is arranged on the rectangular frame and drives the chuck to clamp the trolley;
the positioning and clamping device comprises a first vehicle type front positioning seat, a first vehicle type rear positioning seat, a second vehicle type front positioning seat, a second vehicle type rear positioning seat and a second vehicle type front clamping seat which are arranged on a base, wherein the first vehicle type rear positioning seat and the second vehicle type rear positioning seat are movably arranged on a guide rail of the base, and the first vehicle type rear positioning seat and the second vehicle type rear positioning seat are respectively provided with a turnover adjusting mechanism and a clamping mechanism; the turnover adjusting mechanism comprises an upper turnover positioning seat, a lower positioning seat and a turnover cylinder connected with the upper turnover positioning seat, wherein the upper turnover positioning seat is rotationally connected with the lower positioning seat, two U-shaped supporting blocks are arranged on the upper turnover positioning seat, a lug matched with the U-shaped supporting blocks is arranged on the lower positioning seat, and the turnover cylinder drives the upper turnover positioning seat to turn over so that the U-shaped supporting blocks are clamped or withdrawn from the lug; the clamping mechanism comprises a double-connecting-rod mechanism, a rear locating pin, a clamping block and a clamping cylinder arranged on the overturning and adjusting mechanism, wherein the double-connecting-rod mechanism is connected with the clamping block, and the clamping cylinder is connected with the double-connecting-rod mechanism and drives the clamping block to operate and clamp a white car body positioned on the locating pin.
2. A tooling for robotic welding of body-in-white as defined in claim 1, wherein: the trolley comprises a beam assembly and longitudinal beam assemblies arranged on the left side and the right side of the beam assembly, a fine positioning seat matched and positioned with a positioning and clamping device is arranged on the beam assembly, rear casters matched and positioned with the positioning and clamping device are arranged on the longitudinal beam assembly, a front positioning and supporting mechanism is arranged at the front end of the longitudinal beam assembly, and a rear positioning and supporting mechanism is arranged at the rear end of the longitudinal beam assembly.
3. A tooling for robotic welding of body-in-white as defined in claim 2, wherein: the front ends of the two longitudinal beam assemblies are connected through a front cross beam, the rear ends of the longitudinal beam assemblies are detachably provided with supporting rods, and the longitudinal beam assemblies are provided with placing stations for placing the supporting rods after being detached.
4. A tooling for robotic welding of body-in-white as defined in claim 2, wherein: the front positioning support mechanism comprises a fixed seat connecting plate, a first vehicle type front positioning fixed seat is mounted on the inner side of the fixed seat connecting plate, a first positioning pin is arranged on the first vehicle type front positioning fixed seat, a second vehicle type front positioning fixed seat is mounted on the outer side of the fixed seat connecting plate, and a second positioning pin is arranged on the second vehicle type front positioning fixed seat.
5. A tooling for robotic welding of body-in-white as defined in claim 2, wherein: the rear positioning support mechanism comprises a rear positioning fixing seat and a rear positioning cross beam, a first vehicle type rear positioning support seat and a second vehicle type rear positioning support seat are arranged on the rear positioning cross beam, a rear positioning stand column matched with the rear positioning fixing seat is arranged on the rear positioning cross beam, and the rear positioning stand column stretches into the rear positioning fixing seat and is turned over to switch support positioning adapting to different vehicle types.
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| CN201710543840.6A CN107309587B (en) | 2017-07-05 | 2017-07-05 | Tool for welding white car body by robot |
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| CN201710543840.6A CN107309587B (en) | 2017-07-05 | 2017-07-05 | Tool for welding white car body by robot |
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| CN107877046B (en) * | 2017-11-15 | 2023-11-28 | 上海鑫燕隆汽车装备制造有限公司 | Manual trolley for white car body welding production line |
| CN107838621B (en) * | 2017-11-15 | 2023-11-28 | 上海鑫燕隆汽车装备制造有限公司 | Line up-down sliding table unit for white car body welding production line |
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