CN110640777A - Trinity mechanical tongs of automobile-used aluminum alloy box - Google Patents

Trinity mechanical tongs of automobile-used aluminum alloy box Download PDF

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Publication number
CN110640777A
CN110640777A CN201911018158.0A CN201911018158A CN110640777A CN 110640777 A CN110640777 A CN 110640777A CN 201911018158 A CN201911018158 A CN 201911018158A CN 110640777 A CN110640777 A CN 110640777A
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CN
China
Prior art keywords
box body
aluminum alloy
unit
alloy box
grabbing
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Pending
Application number
CN201911018158.0A
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Chinese (zh)
Inventor
刘涛涛
徐慧升
邢俊克
李红亮
王小冬
王鹏飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qinhuangdao Xinyue Intelligent Equipment Co ltd
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Qinhuangdao Xinyue Intelligent Equipment Co ltd
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Priority to CN201911018158.0A priority Critical patent/CN110640777A/en
Publication of CN110640777A publication Critical patent/CN110640777A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
    • B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B05D3/02—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by baking
    • B05D3/0254—After-treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • 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
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

A three-in-one mechanical gripper for an aluminum alloy box body for a vehicle comprises a gripper reference frame, a box body grabbing unit, a fixture tool grabbing unit and a lower bottom plate grabbing unit; the box body grabbing unit comprises a rotary clamping cylinder, a supporting block, an X-axis limiting block and a Y-axis limiting block; in the grabbing process, the precision in the X direction is positioned by an X-axis limiting block, and the precision in the Y direction is ensured by a Y-axis limiting block; the rotary clamping cylinder tightly presses the aluminum alloy box body after grabbing the aluminum alloy box body, so that the aluminum alloy box body is firmly clamped; the fixture tool grabbing unit comprises four groups of mechanisms, a stroke cylinder, a stroke guide sliding rail sliding block group and a jacking cylinder; the middle of each two groups of stroke cylinders is provided with 1 jacking cylinder which can push and press along the Z-axis direction; the lower bottom plate grabbing unit is a vacuum adsorption mechanism and comprises an adsorption panel positioned on the cross beam. The gripper is simple and reasonable in structure, high in automation degree and strong in adaptability, and can well complete automatic production of the automobile aluminum alloy box body.

Description

Trinity mechanical tongs of automobile-used aluminum alloy box
Technical Field
The invention belongs to the technical field of new energy automobile part processing, and particularly relates to a three-in-one mechanical gripper for an automobile aluminum alloy box body, in particular to a three-in-one mechanical gripper capable of realizing gripping of the automobile aluminum alloy box body, a fixture tool and a box body lower bottom plate.
Background
With the development of society and the improvement of the quality of life level, automobiles become main transportation tools for people to go out, the market demand of the automobiles is huge, the quantity of the automobiles is kept increasing day by day, but with the deepening of environmental protection, technical progress and energy safety attention degree of all countries, the application of internal combustion engines consuming a large amount of fossil energy in the field of road transportation is gradually replaced by various power systems adopting other energy, and the new energy automobile industry taking electromotion as the technical background is developed. The main core of the new energy automobile is a battery system, and the manufacturing and production process of the aluminum alloy box body is particularly important. The aluminum alloy box body mainly comprises an aluminum frame and a lower bottom plate, and the frame is connected with the bottom plate in an arc welding mode. The traditional production process needs to use a manipulator to grab the clamp tool, the aluminum alloy box body and the box body upper cover plate step by step, the traditional robot gripper can only operate in a single function and can only clamp a single workpiece, one robot gripper is provided with one clamping jaw, the traditional robot gripper needs more robots, resources are wasted, and meanwhile, the whole production flow is delayed.
Disclosure of Invention
In order to solve the technical problem, the invention provides a three-in-one mechanical gripper for an aluminum alloy box body for a vehicle. The automatic production of the automobile aluminum alloy box body can be well completed.
The complete technical scheme of the invention comprises the following steps:
a three-in-one mechanical gripper for an aluminum alloy box body for a vehicle comprises a gripper reference frame, a box body grabbing unit, a fixture tool grabbing unit and a lower bottom plate grabbing unit;
the reference frame comprises two cross beams which are parallel to each other and a longitudinal beam which is vertical to the cross beams;
the box body grabbing unit comprises four groups of rotary clamping cylinders, supporting blocks, an X-axis limiting block and a Y-axis limiting block, and the four groups of box body grabbing units are symmetrically arranged at two ends of a longitudinal beam on two sides of a three-in-one mechanical gripper reference frame respectively; in the grabbing process, the precision in the X direction is positioned by an X-axis limiting block, and the precision in the Y direction is ensured by a Y-axis limiting block; the rotary clamping cylinder tightly presses the aluminum alloy box body after grabbing the aluminum alloy box body, so that the aluminum alloy box body is firmly clamped;
the fixture tool grabbing unit is positioned on the inner side of the box body grabbing unit and comprises four clamping mechanisms, a stroke cylinder for driving the clamping mechanisms to move, a stroke guide sliding rail sliding block set and two jacking cylinders; the front end of the card installing mechanism is provided with a clamping hand and a polyurethane pad for grabbing, the clamping hand and the polyurethane pad are arranged on a cross beam through stroke cylinders and stroke guide sliding rail sliding block sets, and the middle of each two groups of stroke cylinders is provided with 1 jacking cylinder capable of pushing and pressing along the Z-axis direction;
the lower base plate grabbing unit is a vacuum adsorption mechanism and comprises 6 adsorption panels positioned on the cross beam, and the positions of the 6 adsorption panels are arranged according to the gravity center position of the lower base plate.
The rotary pressing cylinder, the X-axis limiting block and the Y-axis limiting block are connected with the reference frame through the supporting plate and the high-precision pin positioning hole; the rotary compressing cylinder is connected with a T-shaped compressing block.
The three-in-one mechanical gripper for the automobile aluminum alloy box body can realize grabbing of the aluminum alloy box body, the tool fixture and the lower bottom plate.
The three-in-one mechanical gripper for the automobile aluminum alloy box body further comprises a robot connected with the reference frame.
The gripper reference frame is manufactured by welding a square tube and a steel plate and performing stress relief treatment, and then is obtained by one-step clamping processing.
The automatic welding and assembling production line for the vehicle aluminum alloy box body adopting the mechanical gripper comprises a material feeding vehicle, an automatic coding unit, a friction stir welding unit, a coding NG vehicle, a mechanical arm and ground rail carrying unit, a deburring unit, a transfer frame, a full-automatic arc welding unit, a full-automatic feeding unit, a chip removing unit, a transfer table, a manual repair welding unit, a manual cleaning unit, a code scanning and inputting unit, a gluing unit, a curing table, automatic visual detection equipment, air tightness detection equipment, an automatic packaging area, a waste vehicle and a wood partition trolley unit;
the manipulator and the ground rail carrying unit are used for carrying and conveying raw materials on a production line and comprise two sections, and the middle sections are connected by a transfer frame; the automatic code printing unit and the friction stir welding unit are sequentially arranged at the right end of the material receiving trolley, and the code printing NG is arranged at one end of the manipulator and the ground rail carrying unit and is close to the automatic code printing unit and the friction stir welding unit;
the deburring unit is positioned at the other side of the mechanical arm and the ground rail carrying unit and is arranged opposite to the material receiving trolley,
the transfer material rack is positioned on the other side of the manipulator and the ground rail carrying unit and is adjacent to the deburring unit;
the full-automatic arc welding unit is positioned on one side of the manipulator and the ground rail carrying unit and is arranged adjacent to the incoming material vehicle;
the full-automatic arc welding machine comprises a full-automatic arc welding unit, a ground rail carrying unit, a full-automatic arc welding unit, a transfer material rack, a full-automatic feeding unit, a full-automatic scrap removing unit, a full-automatic arc welding unit, a transfer material rack and a conveying unit, wherein the full-automatic feeding unit and the scrap removing unit are respectively positioned;
the manual repair welding unit, the manual cleaning unit, the code scanning and inputting unit and the wood parting strip trolley are sequentially positioned on one side of the manipulator and the ground rail carrying unit;
the gluing unit, the curing table, the air tightness detection device and the automatic vision detection device are sequentially positioned on the other side of the manipulator and the ground rail carrying unit;
the waste vehicle is positioned on one side of the manipulator and the ground rail carrying unit and is arranged opposite to the automatic visual detection equipment;
and the automatic packaging area is positioned at the other end of the mechanical arm and the ground rail carrying unit.
Two transfer material racks and a transfer platform are arranged in the production line, so that the buffer of the production process is realized, and the production continuity is ensured.
The gluing unit adopts a robot to drive a glue gun, and the glue gun is provided with a glue pump to finish the sealant smearing process of the product. Meanwhile, a curing table is arranged for ensuring that the curing of the glue does not influence the production takt;
the automatic packaging area and the wood parting bead trolley realize the automatic packaging process of product production.
The full-automatic arc welding unit adopts a robot to drive a welding gun and is provided with an axis positioner, an automatic wire feeder and a workpiece positioning fixture, so that the full automation of an arc welding process is realized.
The method for automatically welding and assembling the automobile aluminum alloy box body by using the production line comprises the following steps:
the method comprises the following steps that an operator pushes a feeding trolley filled with product raw materials to a feeding area, if the feeding area detects the fed materials, the feeding trolley is positioned and clamped, the raw materials are conveyed to an automatic code printing unit by a manipulator and a ground rail conveying unit to print codes, whether the codes are printed successfully or not is automatically detected after the codes are printed, if the next procedure is successfully carried out, if the next procedure is not successful, the raw materials are conveyed to a code printing NG vehicle, and the procedure is repeated after manual repair;
after the automatic coding is successful, the manipulator and the ground rail carrying unit send the workpiece to the friction stir welding unit to complete the stirring welding of the workpiece, and after the friction welding, the manipulator sends the workpiece to the deburring unit to remove burrs on the workpiece due to burrs at the welding position; then, the workpiece is sent to a full-automatic arc welding unit by a mechanical arm to carry out CMT welding on the workpiece; after the welding is finished, the workpiece is sent to a full-automatic machining unit to be precisely machined; after the machining is finished, the scrap removing unit is used for cleaning the scraps of the workpiece;
after the cleaning of the scraps of the workpiece is finished, the workpiece is carried to a manual repair welding unit by a manipulator, the welding of the workpiece is manually self-checked, and the part needing repair welding is manually repaired; after repair welding, the workpiece is conveyed to a gluing unit for smearing the welding seam sealant, and then conveyed to a curing table for curing the sealant;
after the glue is solidified, the workpiece is sent to a manual cleaning unit for glue supplement and appearance cleaning;
after the working procedures are finished, the robot carries out air tightness detection on the workpiece by air tightness detection equipment and visual detection on whether machining hole positions and tooth sockets are qualified or not by automatic visual detection equipment; if the products are not qualified, the products are sent to a waste vehicle, and if the products are qualified, the products are sent to an automatic packaging area for packaging.
In a preferred embodiment, the invention also provides an aluminum alloy box arc welding fixture for a vehicle, which is adopted by the full-automatic arc welding unit and comprises the following components:
the device comprises a reference platform, 1X-direction centering clamping mechanism, 2Y-direction centering clamping mechanisms, 10Z-direction rotating clamping mechanisms and a supplied material detection switch, wherein the X-direction centering clamping mechanism is positioned in the center of the reference platform, the 2Y-direction centering clamping mechanisms are positioned on two sides of the X-direction centering clamping mechanism, and the centering clamping direction of the X-direction centering clamping mechanisms is vertical to that of the X-direction centering clamping mechanisms; the 10Z-direction centering and clamping mechanisms are distributed around the reference platform, and a small contact surface cushion block is arranged below each Z-direction rotating and clamping mechanism;
the X-direction centering and clamping mechanism and the Y-direction centering and clamping mechanism are respectively composed of a centering and clamping block, a centering finger cylinder, a pull rod guide bearing and a pull rod radial guide limiting block, the centering finger cylinder provides centering power, a pull rod connected with the centering finger cylinder penetrates through the pull rod guide bearing, the centering and clamping block is installed on the pull rod connected with the centering finger cylinder, the pull rod radial guide limiting block is located between the pull rod guide bearing and the centering and clamping block, and the pull rod guide bearing and the pull rod radial guide limiting block ensure the consistency of the movement direction of the centering and clamping block in the tightening process; in the process of centering and positioning the box body, the centering clamping block moves to clamp the box body;
the Z-direction rotary clamping mechanism consists of a rotary pressing cylinder, a cylinder mounting plate and a T-shaped pressing block, and the rotary pressing cylinder is connected with the reference platform through the cylinder mounting plate and a high-precision pin positioning hole; the rotary compressing cylinder is connected with the T-shaped compressing block and drives the T-shaped compressing block to compress the box body.
The standard platform is manufactured by welding a square tube and a steel plate and is subjected to stress relief treatment, and then is subjected to one-time clamping processing.
1X direction centering clamping mechanism, 2Y direction centering clamping mechanism, 10Z direction rotary clamping mechanism and supplied materials detection switch all are connected through dowel, screw and reference platform.
The X-direction centering and clamping mechanism and the Y-direction centering and clamping mechanism transmit centering power through the pull rod; the pull rod carries out axial direction through pull rod direction bearing, is equipped with the step on the pull rod to realize radial direction and spacing through the cooperation between step and the pull rod radial direction stopper.
During the whole production and manufacturing process, each action of the arc welding fixture for the automobile aluminum alloy box body is controlled in an electric control mode.
In another preferred embodiment, the invention also provides a cooling floor gluing and assembling all-in-one machine used by the gluing unit, which comprises:
comprises a gluing splicing platform, a robot gluing mechanism and a compatible robot feeding mechanism,
the gluing splicing platform comprises an equipment main frame, a bottom plate moving and positioning gluing mechanism, a cold plate moving and positioning gluing mechanism and a bottom plate fixing gluing mechanism, wherein the bottom plate fixing gluing mechanism is fixed on the equipment main frame;
the robot gluing mechanism comprises a gluing robot, a glue pump and a glue gun;
compatible formula robot feed mechanism includes by feed robot and compatible formula material loading frock.
The gluing splicing platform further comprises a power transmission rack.
The gluing robot and the feeding robot are 6-axis robots.
Compatible formula material loading frock is including the vacuum chuck that is used for grabbing the material, vacuum chuck adopts multichannel vacuum to control respectively.
The number of the bottom plate mobile positioning gluing mechanisms is 4, the number of the cold plate mobile positioning gluing mechanisms is 4, and the number of the cold plate mobile positioning gluing mechanisms and the number of the bottom plate fixed gluing mechanisms are 1.
The bottom plate mobile positioning gluing mechanism and the cold plate mobile positioning gluing mechanism are structurally characterized in that: the device comprises a Y-direction positioning mechanism, an X-direction blocking mechanism, an X-direction correcting mechanism, a Z-direction positioning rotary clamping mechanism, a tool horizontal cushion block, a movable mounting platform and a gear transmission mechanism driven by a servo motor;
the X direction refers to the splicing direction of the cooling bottom plate of the battery box body, the Y direction refers to the horizontal direction perpendicular to the X direction, and the Y direction is perpendicular to both the X direction and the Y direction.
The bottom plate mobile positioning gluing mechanism and the cold plate mobile positioning gluing mechanism are connected with the equipment main frame through slide rail sliders and are driven by a servo system to output power.
In another preferred embodiment, the invention also provides a glue continuous curing device for the vehicle aluminum alloy box body for the curing platform, which comprises the following steps:
comprises a driving end, a conveying line body, a driven end, a baking shed, a feeding manipulator and a discharging manipulator,
the conveying line body is used for conveying a box body in curing, a driven end and a driving end are respectively positioned at two ends of the conveying line body, the feeding manipulator is positioned at one side of the driven end, the discharging manipulator is positioned at one side of the driving end, a baking shed is arranged on the conveying line body, the baking shed comprises a connecting part and a shed body, and a baking space for the curing box body to pass through is formed between the shed body and the conveying line body;
the conveying line body is spliced by adopting short square pipes, and the length of the conveying line body can be adjusted by increasing or decreasing the short square pipes;
the continuous glue spreading and curing device for the automobile aluminum alloy box body further comprises a chain, wherein the chain connects the driven end of the driving end and the conveying line into a whole, and a chain plate is connected onto the chain, so that the whole conveying surface is covered by the flat chain plate;
the height of the shed body can be freely adjusted.
In another preferred embodiment, the invention also provides another battery box two-component structural adhesive gluing and curing device adopted by the curing platform, which comprises a conveying and curing line, a curing clamp, an automatic gluing unit and a lower bottom plate material rest;
the conveying and curing line is a continuous closed-loop type circulating conveying mechanism, and a feeding station, a conveying station, a gluing station, a first jacking station, an assembling station, a plurality of curing stations and a second jacking station are sequentially arranged on the conveying and curing line;
the automatic gluing unit is positioned on a gluing station, and the lower bottom plate material rack is positioned on an assembling station
The curing fixture comprises a frame placing platform, a fixture frame body and a self-locking type manual pressing tool, wherein the fixture frame body is positioned on the frame placing platform, and the self-locking type manual pressing tool is distributed on the fixture frame body;
the feeding station, the transmission station and the curing station are two-way transmission stations with lifting functions, and the first jacking station and the second jacking station have workpiece jacking functions.
The transfer stations include a first transfer station and a second transfer station.
And the gluing station and the first jacking station only store one workpiece at the same time, and the next workpiece enters the gluing station from the second transmission station to carry out gluing operation after the operation of the first jacking station is finished.
The curing stations were 9 in total.
The conveying curing line is provided with 14 curing clamps in total and runs circularly.
Compared with the prior art, the three-in-one gripper for the robot has the advantages that: clamping in the Z direction is achieved by the clamping cylinder, the adjustable positioning blocks in the X direction and the Y direction are used for centering and positioning, the defect of insufficient repeated positioning accuracy of the fixture caused by the size error of the incoming material can be improved, the relative displacement of a product on the supporting block can be reduced by centering and positioning, and the damage to the surface of the product is reduced. Snatch to the fixture frock, Y direction's centering clamping mechanism, simple structure, vacancy is reserved to butt joint fixture frock that can be better, adopts the tight cylinder in top in the Z direction, and the tongs Y direction snatchs behind the fixture frock, and the tight cylinder in top compresses tightly the fixture frock downwards, realizes the step-up and the location of fixture frock, avoids pressing from both sides the in-process fixture frock and rocks and cause positioning error. For the grabbing of the lower bottom plate, the vacuum adsorption mechanism in the Z direction adopts a larger adsorption area, so that the lower bottom plate can be firmly adsorbed, the lower bottom plate is prevented from falling off, the lower bottom plate is prevented from being abraded in a vacuum adsorption mode, and the flatness of the lower bottom plate is ensured without deformation; meanwhile, the positioning blocks on the two sides meet the X and Y side precision of the lower bottom plate, and the lower bottom plate is stopped and stopped in an accurate positioning and conveying mode. The gripper is simple and reasonable in structure, high in automation degree and strong in adaptability, and can be reasonably compatible with a robot for automatically taking and placing the aluminum alloy box body, the lower bottom plate and the carrying fixture tool. And the method has the characteristics of high consistency and qualification rate of manufactured products, high production efficiency, space saving, reduction of the input cost of robots and the like, and can well complete the automatic production of the aluminum alloy box body for the vehicle.
Drawings
FIG. 1 is a schematic view of the overall structure of an automatic welding and assembling production line for an aluminum alloy box body for a vehicle, which adopts the mechanical gripper of the invention.
FIG. 2 is a schematic view of the overall structure of an arc welding fixture for an aluminum alloy box for a vehicle.
FIG. 3 is a schematic structural diagram of a Y-direction clamping mechanism of an arc welding fixture for an aluminum alloy box for a vehicle.
FIG. 4 is a schematic structural diagram of a Z-direction clamping mechanism of an arc welding fixture for an aluminum alloy box for a vehicle.
Fig. 5 is a schematic view of the three-in-one mechanical gripper structure of the present invention.
Fig. 6a is a schematic diagram of a cooling bottom plate of a conventional aluminum alloy battery case.
Fig. 6b is a schematic diagram of the connection slot part of the cooling bottom plate of the battery box body.
Fig. 7 is an overall schematic diagram of the integrated machine for gluing and assembling the cooling bottom plate.
FIG. 8 is a schematic view of a gluing and splicing platform of the cooling bottom plate gluing and assembling all-in-one machine. Wherein (a) is a perspective view and (b) is a front view.
FIG. 9 is a schematic view of a robot gluing mechanism of the cooling bottom plate gluing and assembling all-in-one machine.
FIG. 10 is a schematic view of a compatible robot feeding mechanism of the integrated machine for gluing and assembling the cooling bottom plate. Wherein (a) is one angular view and (b) is another angular view.
Fig. 11 is a schematic diagram of a moving, positioning and gluing mechanism of a bottom plate of the gluing splicing platform. Wherein (a) is a perspective view and (b) is a front view.
FIG. 12 is a schematic view of the transmission mechanism of the mobile positioning glue coating mechanism.
FIG. 13 is a plan view of a continuous curing apparatus for aluminum alloy box body glue application.
FIG. 14 is a side view of an aluminum alloy box body gluing continuous curing device.
Fig. 15 is a structural diagram of a two-component structural adhesive coating and curing device.
FIG. 16 is a process flow diagram of a two-component structural adhesive coating and curing apparatus.
FIG. 17 is a view showing the structure of a structural adhesive curing jig.
Detailed Description
In order to make the technical means, the inventive features, the objectives and the effects of the invention easy to understand, the invention will be further described with reference to the accompanying drawings.
In the automatic production line of the automobile aluminum alloy box body, in the manipulator and ground rail carrying unit, the aluminum frame and the lower bottom plate of the aluminum alloy box body and various components need to be grabbed, the traditional production process needs to use the manipulator to grab the clamp tool, the aluminum alloy box body and the box body upper cover plate step by step, the traditional robot gripper can only be operated in a single function and can only clamp a single workpiece, one robot arm is provided with one type of clamping jaw, the traditional robot gripper has more requirements on the robot, resources are wasted, and meanwhile, the whole production flow is delayed.
Therefore, aiming at the requirements and the processing mode of the whole production line, the invention adopts a three-in-one robot gripper of a box body, a fixture tool and a lower bottom plate, the basic structure of which is shown in figure 5 and comprises a reference frame 202, a box body grabbing unit, a fixture tool grabbing unit and a lower bottom plate grabbing unit; the reference frame comprises two cross beams which are parallel to each other and a longitudinal beam which is vertical to the cross beams,
the box body grabbing unit mainly comprises a mechanism consisting of four groups of rotary clamping cylinders 201, a supporting block 209, an X-axis limiting block 211 and a Y-axis limiting block 210; wherein, these four groups mechanisms are installed respectively in the longeron both ends of trinity mechanical tongs benchmark frame both sides to in X direction and two orientations of Y axle respectively symmetric distribution, wherein be provided with supporting shoe 209 on the rotary clamping cylinder, X axle stopper 211 and Y axle stopper 210 set up on trinity mechanical tongs longeron, and mutually perpendicular. In the carrying process, the positioning precision of the box body is strictly controlled, the precision in the X direction is positioned by the X-axis limiting block 211, and the precision in the Y direction is ensured by the Y-axis limiting block 210; the rotary clamping cylinder 1 compresses the box body after grabbing the aluminum alloy box body, and the aluminum alloy box body is guaranteed to be firmly clamped on the gripper.
The fixture tool grabbing unit is positioned on the inner side of the box body grabbing unit and comprises four sets of clamping mechanisms 203, a stroke cylinder 204 for driving the clamping mechanisms to move, a stroke guide sliding rail and sliding block 208 structure and two jacking cylinders 205; the front end of the clamping mechanism comprises an L-shaped structure clamping hand and a polyurethane pad 207, the clamping hand is used for grabbing, a stroke guide sliding rail sliding block group 208 is arranged on a cross beam through a stroke cylinder 204, and 1 jacking cylinder is arranged between every two groups of stroke cylinders 204. In the grabbing process of the fixture tool, a clamping hand of the clamping mechanism 203 is opened through the stroke air cylinder 204, the clamping mechanism 203 ensures the displacement precision through the stroke sliding rail sliding block set 208, and the polyurethane pad 207 buffers the clamping force, so that the workpiece is prevented from being deformed and abraded. After the tool frame is mounted, the jacking cylinder 205 pushes the frame in the Z-axis direction, so that the tool frame is firmly positioned, and the degree of freedom in the Z-axis direction is limited. And stable and accurate clamping is realized.
The fixture tool grabbing unit is located on the beam, and comprises a vacuum adsorption mechanism 206 for grabbing the lower plate, the lower plate is sucked by a vacuum adsorption device 205, the lower plate is adsorbed by 6 adsorption panels according to the gravity center position of the lower plate, and the lower plate is firmly fixed on the adsorption device under the positioning and fixing effects. The purpose of adsorption and transportation is realized.
The design adaptability is strong, and the robot can be reasonably compatible with the aluminum alloy box, the lower bottom plate and the carrying fixture tool in an automatic taking and placing mode. And the method has the characteristics of high consistency and qualification rate of manufactured products, high production efficiency, space saving, reduction of the input cost of robots and the like, and can well complete the automatic production of the aluminum alloy box body for the vehicle.
The present invention is mainly applied to a manipulator and a ground rail carrying unit thereof, as shown in fig. 1, wherein one end and two ends of the mechanical gripper are parallel to a raw material conveying direction in a production line, i.e., along a longer direction end point in the production line, or transverse direction, and one side, two sides, and left and right sides of the mechanical gripper are perpendicular to the raw material conveying direction in the production line, i.e., along a narrower direction in the production line, or longitudinal direction.
The invention provides an automatic welding and assembling production line and a production process of an aluminum alloy box body for a vehicle, which mainly comprise a feeding vehicle 1, an automatic coding unit 2, a friction stir welding unit 3, a coding NG vehicle 4, a deburring unit 6, a manipulator and ground rail carrying unit 5, a full-automatic arc welding unit 8, a full-automatic adding unit 9, a scrap removing unit 10, a manual repair welding unit 12, a manual cleaning unit 13, a code scanning and recording unit 14, a gluing unit 15, a curing table 16, a transfer table 11, a transfer frame 7, an automatic visual detection device 18, an airtight detection device 17, an automatic packaging area 21, a waste vehicle 20, a wood partition trolley 19 and other units, wherein 2 ground rail carrying robots are connected in series to complete the full automation of production and manufacturing of the aluminum alloy box body from feeding, production, detection, cleaning and packaging.
The manipulator and ground rail carrying unit 5 is used for carrying and conveying raw materials on a production line, the manipulator and ground rail carrying unit 5 is transversely arranged and comprises two sections, and the middle of the manipulator and ground rail carrying unit is connected by a transfer rack 11; the incoming material trolley 1 is positioned on one side of the manipulator and ground rail carrying unit 5 and can enter a feeding area of a production line, the feeding area is provided with a mechanism for positioning and clamping the incoming material trolley 1, the automatic code printing unit 2 and the friction stir welding unit 3 are sequentially positioned at the right end of the incoming material trolley, and the code printing NG trolley 4 is positioned at one end of the manipulator and ground rail carrying unit 5 and is close to the automatic code printing unit 2 and the friction stir welding unit 3;
the deburring unit 6 is positioned at the other side of the mechanical arm and ground rail conveying unit 5 and is arranged opposite to the material receiving vehicle 1,
the transfer material rack 7 is positioned on the other side of the manipulator and ground rail carrying unit 5 and is adjacent to the deburring unit 6;
the full-automatic arc welding unit 8 is positioned on one side of the manipulator and ground rail carrying unit 5 and is arranged adjacent to the material receiving vehicle 1;
the full-automatic arc welding machine comprises a full-automatic arc welding unit 8, a ground rail carrying unit 5, a full-automatic feeding unit 9, a full-automatic scrap removing unit 10, a full-automatic arc welding unit 8, a full-automatic arc welding unit and a full-automatic material transferring frame 7, wherein the full-automatic feeding unit 9 and the scrap removing unit 10 are respectively positioned at two sides;
the manual repair welding unit 12, the manual cleaning unit 13, the code scanning and inputting unit 14 and the wood parting strip trolley 19 are sequentially positioned on one side of the manipulator and the ground rail carrying unit 5;
the gluing unit 15, the curing table 16, the air tightness detection device 17 and the automatic vision detection device 18 are sequentially positioned at the other side of the manipulator and ground rail carrying unit 5;
the waste vehicle 20 is positioned on one side of the manipulator and ground rail carrying unit 5 and is arranged opposite to the automatic visual detection equipment 18;
the automatic packing area 21 is located at the other end of the robot and ground rail carrying unit 5.
The production line is provided with 2 transfer racks 7 and a transfer table 11, so that the buffer of the production process is realized, and the production continuity is ensured.
The gluing unit 15 adopts a robot to drive a glue gun, and the glue gun is provided with a glue pump to finish the procedure of smearing the sealant of the product. Meanwhile, a curing table is arranged for ensuring that the curing of the glue does not influence the production takt;
the automatic packaging area 21 and the wood parting bead trolley 21 realize the automatic packaging process of product production.
The full-automatic arc welding unit 8 adopts a robot to drive a welding gun and is provided with a 2-axis positioner, an automatic wire feeder and a workpiece positioning fixture, so that the full automation of an arc welding process is realized.
Specifically, the working steps of the invention are as follows:
firstly pushing a feeding trolley 1 filled with product raw materials to a feeding area by an operator, if the feeding area detects the fed materials, positioning and clamping the feeding trolley, sending the fed materials to an automatic code printing unit 2 by a mechanical arm and a ground rail carrying unit 5, automatically detecting whether the code printing is successful or not after the code printing, if the next procedure is successfully carried out, if the next procedure is unsuccessful, sending the coded materials to a code printing NG vehicle 4, and repeating the procedure after manual repair;
after the automatic coding is successful, the manipulator and the ground rail carrying unit 5 convey the workpiece to the friction stir welding unit 3 to complete the stirring welding of the workpiece, and after the friction welding, the manipulator conveys the workpiece to the deburring unit 6 to remove burrs on the workpiece due to burrs at the welding position; then, the workpiece is sent to a full-automatic arc welding unit 8 by a mechanical arm, and the workpiece is positioned and fixed by a fixture and then subjected to CMT welding; after the welding is finished, the workpiece is sent to a full-automatic machining unit 9 for accurate machining of the workpiece; after the machining is finished, the scrap removing unit 10 is used for cleaning the scraps of the workpiece;
after the cleaning of the scraps of the workpiece is finished, the workpiece is carried to the manual repair welding unit 12 by the manipulator, the welding of the workpiece is manually self-checked, and the manual repair welding is carried out on the part needing repair welding; and after repair welding, the workpiece is conveyed to the gluing unit 15 for smearing the welding seam sealant. Because the curing of the sealant takes time, the present invention provides a curing station 16 for continuous production.
After the glue is solidified, the workpiece is sent to a manual cleaning unit 13 for glue supplement and appearance cleaning;
after the above processes are finished, the robot carries out the air tightness detection of the workpiece by the air tightness detection device 17 and the visual detection of whether the machining hole position and the tooth socket are qualified or not by the automatic visual detection device 18; if the products are not qualified, the products are sent to a waste vehicle 20, and if the products are qualified, the products are sent to an automatic packaging area 21 for packaging.
The production line is distributed with 2 transfer racks 7 and one transfer table 11, so that the buffer of the production process is realized, and the production continuity is ensured.
In addition, in the above-mentioned production line, full-automatic arc welding unit 8 is connected with the bottom plate of automobile-used aluminum alloy box and is adopted the arc welding mode to be connected, and when above-mentioned part welding, because the product welding point is many, traditional manual welding production efficiency is low, traditional fixture repeated positioning accuracy is not high, hold-down mechanism is complicated, does not possess the condition of cooperation automatic weld process, and because the welding deformation volume of aluminum alloy is big, traditional fixture clamp force is not enough, the work piece atress is inhomogeneous, can not satisfy the requirement to product dimensional tolerance and geometric tolerances. In a preferred embodiment of the present invention, an arc welding fixture for aluminum alloy boxes for vehicles is designed, and the fixture is used for fixing a workpiece and then welding the workpiece, and the fixture has the structure as shown in fig. 2-4, and mainly comprises: the device comprises a reference platform 101, wherein small contact surface cushion blocks 103, 1X-direction centering clamping mechanism 105, 2Y-direction centering clamping mechanisms 104, 10Z-direction rotating clamping mechanisms 102 uniformly distributed around a product and a supplied material detection switch 106 are distributed below each Z-direction rotating clamping mechanism, the reference platform is manufactured by welding a square pipe and a steel plate and is subjected to stress relief treatment, and then the platform is clamped and processed at one time, so that the high flatness of the platform is ensured, and the pin holes of the platform have high positioning accuracy; all the other mechanisms are connected with the reference platform through positioning pins and screws. As shown in FIG. 3, the X, Y-direction centering and clamping mechanism has the same basic principle and is composed of a finger cylinder, a pull rod, a linear bearing, a centering block and the like.
Specifically, the idea of the design is that the peripheral frame and the bottom panel of the aluminum alloy box product need to be connected by arc welding, and the air tightness needs to be strictly controlled, so that the phenomenon of air leakage cannot occur; on the other hand, because the product has many welding points and a large demand, automatic welding is required to improve the production efficiency and the consistency of the product. Since there is a certain error in the incoming material size of the product, the positioning accuracy of the conventional X, Y-direction single-edge normalization method is poor, so that the incoming material size error is attenuated by adopting centering positioning as shown in fig. 3.
Because the product can deform in a free state, and the deformation is difficult to control due to special materials in the welding process, the product needs to be firmly pressed by external downward pressure to control the deformation of the product, the Z-direction rotary pressing mechanism shown in FIG. 4 comprises a rotary pressing cylinder 121, a cylinder mounting plate 122 and a T-shaped pressing block 123, and can provide a large downward pressing force; as shown in fig. 2, 10 mechanisms shown in fig. 5 which are uniformly distributed can well press the periphery of a product downwards, firmly control the workpiece, and have a good effect of preventing the product from deforming during welding.
As shown in fig. 3, the centering and positioning in the Y direction includes a centering clamping block 141, a centering finger cylinder 142, a pull rod guide bearing 143, and a pull rod radial guide limiting block 144, the centering finger cylinder 142 provides centering power, and the pull rod guide bearing 143 and the pull rod radial guide limiting block 144 ensure the consistency of the movement direction of the centering clamping block 141 in the tightening process; during the centering and positioning process of the workpiece, the two centering clamping blocks 141 move and clamp simultaneously.
In the using process, a robot or a worker puts a workpiece into the fixture shown in fig. 2, the centering mechanisms in the X, Y direction clamp simultaneously after the detection switch 106 detects the fed material, and then the centering mechanisms are pressed down simultaneously by 10 pressing mechanisms in the Z direction to firmly fix the workpiece. Because hold-down mechanism has the advantages of big compression force, small volume, simple structure and the like, the welding point of the workpiece can be completely exposed, and a robot can be adopted to drive a welding gun to automatically weld during welding, thereby improving the consistency and the production efficiency of arc welding of the workpiece. After the arc welding is finished and the workpiece is cooled, 10 pressing mechanisms in the Z direction are opened simultaneously and automatically, then the centering positioning in the X, Y direction is opened simultaneously, and the workpiece is removed by a robot or a human.
The designed arc welding clamp for the aluminum alloy box body for the vehicle is simple and reasonable in structure and high in automation degree, and the arc welding clamp for the aluminum alloy box body for the vehicle is compatible with the arc welding clamp for taking and placing materials manually or automatically by a robot. The method has the characteristics of high consistency and qualification rate of manufactured products, high production efficiency and the like, and can well complete the automatic production of the aluminum alloy box body for the vehicle.
In addition, since the battery emits a large amount of heat during the use process, a cooling water system of the box is indispensable and is also commonly called as a cooling bottom plate in the field, such as a cooling bottom plate of a battery box in the prior art shown in fig. 6, which is composed of 9 small plates, including 5 a-type bottom plates and 4B-type cold plates which are adjacent in sequence. Every platelet all connects through the sticky mode as shown in fig. 6b, and every preparation a cooling bottom plate all needs 8 positions to carry out the rubber coating, splices after the rubber coating at every turn, and needs to accomplish the concatenation before the gel initial set, and relative displacement appears in two platelets that do not allow the rubber coating position after the concatenation before the initial set, and this process technology is complicated, loaded down with trivial details, and the deviation of concatenation and gluing appears easily. Therefore, it is necessary to automate the process and produce the product efficiently.
In a preferred embodiment, the gluing unit disclosed by the invention aims at the problems, and through a full-automatic feeding, gluing and splicing unit design, the multiple processes of incoming material positioning, gluing, translation splicing and the like of the bottom plate are integrated into a whole, so that the automation degree is high, the production efficiency is high, and the labor cost is greatly reduced; the basic structure of the gluing unit is now described as follows: as shown in fig. 7-12, the gluing unit mainly includes three major parts, namely a gluing splicing platform 301, a robot gluing mechanism 302, a compatible robot feeding mechanism 303, and the like.
Specifically, the gluing splicing platform comprises an equipment main frame 344, wherein the equipment main frame is provided with 4 bottom plate moving and positioning gluing mechanisms 341, 4 cold plate moving and positioning gluing mechanisms 342, 1 bottom plate fixing gluing mechanism 343 and a power transmission rack 345. Wherein, 1 bottom plate fixed glue coating mechanism 343 is fixed on the equipment main frame 344 by the fixed L type support.
In 4 bottom plate mobile location rubber coating mechanisms 341 and 4 cold drawing mobile location rubber coating mechanisms 342, in 8 mobile location rubber coating mechanisms in total, wherein every mechanism all by Y direction positioning mechanism 371, X direction block mechanism 373, X direction mechanism 375 that reforms, the rotatory clamping mechanism 377 of Z direction location, frock horizontal cushion block 374, removal mounting platform 372 constitutes by gear drive 376 that servo motor drove. The 8 mobile positioning glue coating mechanisms are connected with the main frame 344 of the equipment through slide rail sliders, and power output is performed through gears driven by a servo system. Work pieces driven by 8 movable mounting platforms in the working process are gradually closed to the fixed platform along the X direction after being coated with glue.
The specific transmission mode is as shown in fig. 12, all the mobile positioning gluing mechanism platforms 391 are connected with slide rails fixed on the gluing splicing platform through high-precision guide sliders 393 to realize the guide of the workpiece in the X-direction of translation, and the transmission system drives a high-precision gear rack 392 through a servo motor to complete the translation of each bottom plate in the X-direction. The cold plate moving and positioning gluing mechanism 342 and the bottom plate fixing and gluing mechanism 343 adopt the same mechanism mode in the accurate positioning of products, and the only difference lies in that the bottom plate fixing and gluing mechanism does not need a certain amount of workpieces, so the bottom plate fixing and gluing mechanism is directly installed on the frame body of the gluing splicing platform, and the servo transmission mechanism is reduced.
The robot glue applying mechanism is composed of a 6-axis robot 351, a glue gun 352 and a glue pump 503. After the robot feeding mechanism finishes all incoming material feeding processes, all bottom plates on the gluing splicing platform are in an open state, the 6-axis robot of the gluing mechanism 2 drives the glue gun to finish gluing of the fixed bottom plate and the cold plate closest to the fixed bottom plate, then the two plates are spliced under the driving of the movable mounting platform, the two plates do not move any more before all the processes are finished, meanwhile, the gluing robot finishes gluing between the second cold plate and the third bottom plate, the third bottom plate approaches to the two plates for splicing, the first three plates do not move any more before all the processes are finished after the completion, and the actions are analogized by the fact that.
The compatible robot feeding mechanism consists of a 6-axis robot 361 and a compatible feeding tool 362, the compatible feeding tool is provided with a sucker frame 364 and a vacuum sucker 363, and a complete cooling bottom plate consists of 9 plates, so that manual feeding is very complicated, and the shapes of the plates are not the same, therefore, the designed compatible feeding tool is provided with a compatible gripper which grips the bottom plate through the vacuum sucker and is controlled by two or more independent vacuum systems, when the feeding of the bottom plate is completed, a first set of vacuum system is opened, and a second set of vacuum system is closed; when the feeding of the cooling plate is finished, the second set of vacuum system is started, and the first set is closed; therefore, one set of gripping apparatus is realized, and the gripping apparatus is compatible with the gripping of bottom plates with various shapes.
In the use, accomplish the material loading work of all bottom plates and cold drawing by compatible formula robot feed mechanism, all mobile location rubber coating mechanisms of rubber coating concatenation platform this moment are in and open the position, each mobile location rubber coating mechanism of material loading completion at every turn carries out X, Y, Z three orientation chucking to the work piece, treat that all incoming material location all accomplish after, begin to carry out the work that the robot rubber coating mechanism described, after above-mentioned process is accomplished, carry out the initial set to the glue, the initial set time is after, the location chucking mechanism of X, Y, Z three orientation of all platforms opens, a complete cooling plate rubber coating concatenation process is accomplished.
In the production line, the curing table 16 is arranged for ensuring that the curing of the glue does not affect the production rhythm, and because the existing box body needs certain curing time no matter for bonding structural glue or sealant, the curing time needed by the performances of the glues with different performances is different, and some glues even need initial setting time of 90 minutes. In a preferred embodiment, the curing station may further employ a glue-coating continuous curing structure device, which is mainly composed of a driving end 404, a conveying line body 402, a driven end 401, a baking booth 403, a feeding manipulator 406 and a discharging manipulator 405, as shown in fig. 13-14.
The conveying line body 402 is used for conveying a box body in curing, the driven end 401 and the driving end 404 are respectively located at two ends of the conveying line body 402, the feeding manipulator 406 is located on one side of the driven end 401, the discharging manipulator 405 is located on one side of the driving end 44, a baking shed 403 is arranged on the conveying line body 402, the baking shed comprises a connecting component 421 connected with the conveying line body 402 and a shed body 422, and a baking space 423 for the curing box body to pass through is arranged between the shed body and the conveying line body 402.
In the curing process, the feeding manipulator 406 takes and places the box to be cured, which is coated with the glue, to a curing workpiece station on one side of the driven end 401 of the conveyor line body 402, and then the driving motor of the driving end 404 drives the shaft of the driving end 404 to rotate so as to drive the shaft of the driven end 401, so as to drive the chain plate to move from the driven end 401 to the driving end 404, so that the workpiece enters the next station, enters the baking shed 403 for curing, and then when the station to be cured workpiece is empty, the feeding manipulator 406 carries out loading on the box to be cured, and so on. The workpiece is removed by the unloading robot 405 after the workpiece reaches the solidification completion zone.
At present, the production tact of the box body of the aluminum alloy production line is 6-8 minutes, and six minutes are taken as calculation, one box body to be solidified is placed in every 6 minutes, as shown in fig. 1, the line body shown can simultaneously contain 13 assemblies, namely the time of each solidification box body on the line body is 12 × 6 ═ 72 minutes. During continuous production, the line body can ensure that the curing time is 72 minutes and can meet the production beat of 6 minutes. The continuous automatic production of the glue curing of the box body is realized.
The design can meet the current all aluminum alloy box gluing and curing process. In the use process, the baking temperature can be freely set or the baking function can be started or not according to the curing process of different glues; according to the initial setting time of different glues, the gluing process and the box body structure, the length of the wire body can be freely designed, and workpieces can be stacked in a pile for overlong initial setting time, so that the workpiece capacity of the wire body is increased. The curing time can be prolonged without increasing the production cycle time by only raising the baking booth 422 properly.
In addition, in the production process of the production line, some box bodies need two-component glue, so in another preferred embodiment, the curing table can also adopt a two-component structural glue gluing and curing mechanism, as shown in fig. 15-17, which comprises a conveying curing line 521, a curing fixture 522, an automatic gluing unit 523 and a lower plate frame 524.
Specifically, a two-component structural adhesive is coated on a workpiece frame, then a lower bottom plate is buckled on the frame, the two are bonded and cured through the structural adhesive, and in the curing process, a required workpiece does not generate relative displacement and cannot generate large deformation; the initial setting time is about 1 hour.
As mentioned above, the conveying curing line is a continuous closed loop type circulating conveying mechanism, and four corners adopt bidirectional conveying stations with lifting. A solidification fixture of design, including fixture support body 541, frame put platform 543 and 8 artifical tools 542 that compress tightly of self-locking type, the frame is put the platform through carrying into the frame, after frame after the rubber coating and lower plate frame assembly, by the artifical tool 542 chucking that compresses tightly of self-locking type. The work of solidification chucking of work piece can be accomplished well.
The empty curing fixture connects a frame to a material receiving station 501 for receiving materials, the material receiving station 501 has a bidirectional transmission function, the materials pass through a first transmission station 502 and a second transmission station 503 to a gluing station 504, the gluing station 504 is automatically coated with structural glue by a manipulator, the glue is coated to a first jacking station 505, the jacking station 505 is provided with a workpiece jacking device, a workpiece can be freely rotated manually and sent to an assembling station 506 after being jacked, and an operator assembles a lower bottom plate and the glued frame at the assembling station 506 and clamps the lower bottom plate and the glued frame by using the fixture. And then the workpiece enters a curing time, sequentially passes through an assembly station 506, namely a first curing station, a second curing station 507, a third curing station 508, a fourth curing station 509, a fifth curing station 510, a sixth curing station 511, a seventh curing station 512, an eighth curing station 513 and a ninth curing station 514, and as the beat of the single-block assembly is 8 minutes, the curing time is 9 × 8 × 72 minutes, when the workpiece is transferred to the second jacking station 515, the workpiece is jacked up, a clamping mechanism of the fixture is manually loosened, finally, the workpiece reaches a material receiving station 501 through a third transmission station 516, the cured workpiece is taken away, and the rest of the curing fixture is left empty.
The feeding station 501, the second transmission station 503, the fourth curing station 509 and the sixth curing station 511 on the conveying line are bidirectional transmission stations with lifting function, and the first jacking station 505 and the second jacking station 515 have a workpiece jacking function; the gluing station 504 and the first jacking station 505 only store one workpiece at the same time, and after the operation of the first jacking station 505 is finished, the next workpiece can enter the gluing station 504 from the second transmission station 503 to carry out gluing work; the conveying line has 14 curing clamps in total and circularly circulates.
The automobile aluminum alloy box body glue solidifying process is reasonable in design and layout, convenient to produce, capable of meeting production requirements of the process, high in automation degree, high in consistency and qualification rate of manufactured products, high in production efficiency and the like, and capable of well completing a glue solidifying process of the automobile aluminum alloy box body.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention. The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (5)

1. A three-in-one mechanical gripper for an aluminum alloy box body for a vehicle is characterized by comprising a gripper reference frame, a box body grabbing unit, a fixture tool grabbing unit and a lower bottom plate grabbing unit;
the reference frame comprises two cross beams which are parallel to each other and a longitudinal beam which is vertical to the cross beams;
the box body grabbing unit comprises four groups of rotary clamping cylinders, supporting blocks, an X-axis limiting block and a Y-axis limiting block, and the four groups of box body grabbing units are symmetrically arranged at two ends of a longitudinal beam on two sides of a three-in-one mechanical gripper reference frame respectively; in the grabbing process, the precision in the X direction is positioned by an X-axis limiting block, and the precision in the Y direction is ensured by a Y-axis limiting block; the rotary clamping cylinder tightly presses the aluminum alloy box body after grabbing the aluminum alloy box body, so that the aluminum alloy box body is firmly clamped;
the fixture tool grabbing unit is positioned on the inner side of the box body grabbing unit and comprises four clamping mechanisms, a stroke cylinder for driving the clamping mechanisms to move, a stroke guide sliding rail sliding block set and two jacking cylinders; the front end of the card installing mechanism is provided with a clamping hand and a polyurethane pad for grabbing, the clamping hand and the polyurethane pad are arranged on a cross beam through stroke cylinders and stroke guide sliding rail sliding block sets, and the middle of each two groups of stroke cylinders is provided with 1 jacking cylinder capable of pushing and pressing along the Z-axis direction;
the lower base plate grabbing unit is a vacuum adsorption mechanism and comprises 6 adsorption panels positioned on the cross beam, and the positions of the 6 adsorption panels are arranged according to the gravity center position of the lower base plate.
2. The three-in-one mechanical gripper for the automobile aluminum alloy box body according to claim 1, wherein the rotary pressing cylinder, the X-axis limiting block and the Y-axis limiting block are connected with the reference frame through a supporting plate and a high-precision pin positioning hole; the rotary compressing cylinder is connected with a T-shaped compressing block.
3. The three-in-one mechanical gripper for the automobile aluminum alloy box body as claimed in claim 1, wherein the three-in-one mechanical gripper for the automobile aluminum alloy box body can grip the aluminum alloy box body, the tooling fixture and the lower base plate.
4. The three-in-one mechanical gripper for the automobile aluminum alloy box body as claimed in claim 1, further comprising a robot connected with the reference frame.
5. The three-in-one mechanical gripper for the automobile aluminum alloy box body according to claim 1, wherein the gripper reference frame is manufactured by welding a square tube and a steel plate, is subjected to stress relief treatment, and is subjected to one-step clamping processing.
CN201911018158.0A 2019-10-24 2019-10-24 Trinity mechanical tongs of automobile-used aluminum alloy box Pending CN110640777A (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112371800A (en) * 2020-11-30 2021-02-19 华人运通(江苏)技术有限公司 Stacking part grabbing system and grabbing method
CN113787344A (en) * 2021-07-29 2021-12-14 埃夫特智能装备股份有限公司 Telescopic machine frame welding and polishing production line and production process thereof
DE102020208447A1 (en) 2020-07-06 2022-01-13 Volkswagen Aktiengesellschaft Modular system for producing different clamping frame variants, shell station for motor vehicles and method for operating a shell station

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020208447A1 (en) 2020-07-06 2022-01-13 Volkswagen Aktiengesellschaft Modular system for producing different clamping frame variants, shell station for motor vehicles and method for operating a shell station
CN112371800A (en) * 2020-11-30 2021-02-19 华人运通(江苏)技术有限公司 Stacking part grabbing system and grabbing method
CN113787344A (en) * 2021-07-29 2021-12-14 埃夫特智能装备股份有限公司 Telescopic machine frame welding and polishing production line and production process thereof

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