CN113492282A - Welding positioning system based on three-axis robot - Google Patents
Welding positioning system based on three-axis robot Download PDFInfo
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- CN113492282A CN113492282A CN202110812033.6A CN202110812033A CN113492282A CN 113492282 A CN113492282 A CN 113492282A CN 202110812033 A CN202110812033 A CN 202110812033A CN 113492282 A CN113492282 A CN 113492282A
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- agv
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- axis robot
- welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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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
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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 discloses a welding positioning system based on a three-axis robot, which abandons the handling of a grab to a body-in-white product, uses an AGV to drive a body-in-white clamp to carry out station transmission, realizes process transfer, and can be matched with the same AGV according to body-in-white clamps of different vehicle types to finish the integration of multiple vehicle types; the product positioning holes of different vehicle types are different in position, three-direction large-stroke adjustment of the three-axis robot control positioning pin is added, and the integration of all passenger vehicles in the current market is met; and finally, in order to meet the full automatic production and the AGV cruising ability, a signal transmission detection unit and an AGV charging pile are added, so that the whole novel welding system can be controlled by a PLC, the cruising ability of the AGV is increased, and the full-day production is met.
Description
Technical Field
The invention relates to a welding positioning system based on a three-axis robot, which can be widely applied to a welding process of a body-in-white product in a welding workshop.
Background
The traditional automobile welding industry adopts a line body robot to carry out process transfer on white automobile body products, and the transfer mode is high in efficiency but cannot meet the current automobile market demand. At present, the vehicle type updating in the domestic automobile market is accelerated, so that the integration of the vehicle type in a wire body and the switching of multiple vehicle types become the most important consideration factors of a welding workshop.
At present, methods such as increasing a gripper stop station and the like are often adopted by a linear robot for the integration and switching of multiple vehicle types, but the method has higher requirements on the space of a workshop, and the vehicle type is often integrated due to space factors to bring higher cost input.
CN202110012597.1 discloses a welding fixture for automobiles, which comprises supporting legs, a fixing adjusting plate, a clamping plate, a side fixing clamp, an operation table, a supporting plate, wherein the top of the supporting leg is fixed on the lower surface of the supporting plate, the end of the supporting plate far away from the supporting leg is fixed with the operation table, the clamping plate is arranged in the fixing adjusting plate and movably connected, the pressing layer of the clamping plate can be pressed against the surface of an automobile component through the supporting range of a main frame, when the buffering body is deformed by external force, the pressing arc of the buffering body can be deformed according to the shape of the part to be pressed when the buffering body is pressed in an outer elastic layer, the pressing arc can be changed to be pressed against the surface of the automobile component when the automobile component is fixedly welded, the strip body in the buffering body can play a reverse supporting role on the outside pressing force, the approximate area of the joint part is supported, the inner bag in the pressing block can be pressed by force and can be pressed against the part of an object when the object is pressed, the buffer rebound protection function is realized.
CN201821698908.4 discloses a power-assisted lifting appliance for off-line of a welding assembly line, which comprises a lifting rod, wherein the top of the lifting rod is provided with a hanging plate, the bottom of the lifting rod is provided with a tooth socket, the outer wall of the lifting rod is sleeved with a rod sleeve, the inner wall of one side of the rod sleeve is provided with a roller, the outer wall of one side of the rod sleeve is provided with a suspension, the outer wall of one side of the suspension is fixedly connected with a fixed plate through a bolt, the bottom of the fixed plate is provided with a machine body, and the outer wall of one side of the machine body is fixedly connected with a second motor through a bolt, the lifting appliance can be hung at a workshop part through the suspension type lifting rod, so that the occupied space of a steel structure is reduced, the off-line of a workpiece can be conveniently hung and taken by the lifting appliance, in addition, the abrasion of the lifting appliance to the lifting rod in the moving process of hanging and taking the workpiece can be reduced, the stability of the moving after the workpiece is hung and the workpiece is ensured, and the influence of the resistance caused by gravity on the moving is reduced, the consumption of the motor on electric energy is reduced, and the service life of the motor is prolonged.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a welding positioning system based on a three-axis robot, which abandons the handling of a white body product by a gripping apparatus, uses an AGV to drive a white body fixture to carry out station transmission, realizes process transfer, and can match with the same AGV according to white body fixtures of different vehicle types to finish the integration of multiple vehicle types; the product positioning holes of different vehicle types are different in position, three-direction large-stroke adjustment of the three-axis robot control positioning pin is added, and the integration of all passenger vehicles in the current market is met; and finally, in order to meet the full automatic production and the AGV cruising ability, a signal transmission detection unit and an AGV charging pile are added, so that the whole novel welding system can be controlled by a PLC, the cruising ability of the AGV is increased, and the full-day production is met.
The purpose of the invention is realized by the following technical scheme, which is combined with the attached drawings:
a welding positioning system based on a three-axis robot comprises a body-in-white clamp unit 1, an AGV conveying unit 2, 4 three-axis robot positioning units 3 and a signal transmission detection unit 4; positioning the body-in-white product through the body-in-white clamp unit 1; the AGV conveying unit 2 is used for drawing the body-in-white clamp unit 1 to carry out station transmission, so that process transfer is realized, and the AGV logistics vehicle is charged in the welding process; the AGV conveying unit 2 is used for placing the body-in-white clamp unit 1 onto the three-axis robot positioning unit 3, and the three-axis robot positioning unit 3 is used for positioning and separating body-in-white products and realizing switching of different vehicle types; the body-in-white product is detected through the signal transmission detection unit 4, and the welding system is controlled through the PLC, so that the multi-vehicle type integration automatic welding is completed.
Further, the body-in-white clamp unit 1 comprises a clamp base 1-1, an AGV positioning assembly 1-2, a product positioning block 1-3, a product positioning pin 1-4, a guide assembly 1-5 and a clamping pin 1-6; a plurality of product positioning blocks 1-3 and product positioning pins 1-4 are respectively fixed on the fixture base 1-1 and used for positioning the body-in-white product; the guiding assembly 1-5 is fixed on one side of the clamp base 1-1 and used for guiding the AGV conveying unit 2; 2 AGV positioning assemblies 1-2 are diagonally arranged on the outer side of the clamp base 1-1 and are used for being matched with the AGV conveying unit 2 for positioning; and the clamping pins 1-6 are fixed on the outer side of the clamp base 1-1 and used for fixing the AGV conveying unit 2.
Further, the clamp base 1-1 is formed by welding a plurality of 40X40 square steel pipes.
Furthermore, gaskets are arranged between the product positioning pins 1-4 and the guide assemblies 1-5 and the white car body product.
Further, the AGV conveying unit 2 comprises an AGV logistics vehicle 2-1, an AGV frame 2-2, an AGV frame positioning pin 2-3, an AGV charging pile 2-4, a ground locking mechanism 2-5 and a guide wheel 2-6; an AGV frame 2-2 is fixed on the AGV logistics vehicle 2-1; an AGV frame positioning pin 2-3 is arranged on the AGV frame 2-2 and is used for being matched with the body-in-white clamp unit 1 for positioning; the ground locking mechanism 2-5 is fixed on the side face of the AGV logistics vehicle 2-1 and used for fixing the body-in-white clamp unit 1; the AGV charging piles 2-4 are arranged beside each welding station and used for charging the AGV logistics vehicles 2-1.
Furthermore, the ground locking mechanism 2-5 comprises a turnover cylinder and a clamping block, the clamping block is installed on the side face of the AGV logistics vehicle 2-1 through the turnover cylinder, and the turnover cylinder drives the clamping block to clamp the white vehicle body clamp unit 1.
Furthermore, the AGV logistics vehicle adopts a bidirectional idler wheel for traction, the running precision is within a range of + -2mm, and the AGV logistics vehicle has a 200mm lifting function.
Further, the 4 three-axis robot positioning units 3 are respectively arranged at four outer corners of the AGV conveying unit 2; the three-axis robot positioning unit 3 comprises a sliding table 3-2, a positioning pin 3-4 and 3 motors 3-1; the 3 motors 3-1 and the sliding table 3-2 realize three-way adjustment of the telescopic cylinder 3-3, and meanwhile, the telescopic cylinder 3-3 drives the positioning pins 3-4 to realize positioning separation of the body-in-white products.
Further, the signal transmission detection unit 4 comprises a valve island 4-1, a photoelectric switch 4-2 and an RFID device 4-3; the electric signals of all the cylinders and the detection signals of the photoelectric switch 4-2 are integrated through the valve island 4-1, and the photoelectric switch 4-2 is used for detecting whether a body-in-white product exists on the body-in-white clamp unit 1; and the RFID equipment 4-3 is used for reading the vehicle type information and uploading the PLC.
The invention has the following beneficial effects:
the invention provides a welding positioning system based on a three-axis robot, which abandons the transportation of a white car body product by a gripping apparatus, and uses an AGV to drive a white car body clamp to carry out station transmission, thereby realizing process transfer.
Meanwhile, the body-in-white clamps of different vehicle types can be matched with the same AGV, and the integration of multiple vehicle types is completed.
Because the product locating hole positions of different motorcycle types are different, the three-direction large-stroke adjustment of the three-axis robot control locating pin is added, and the integration of all passenger cars in the current market is met.
And finally, in order to meet the full automatic production and the AGV cruising ability, a signal transmission detection unit and an AGV charging pile are added, so that the whole novel welding system can be controlled by a PLC, the cruising ability of the AGV is increased, and the full-day production is met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a diagram of a three-axis robot-based welding positioning system according to the present invention;
FIG. 2 is a block diagram of a body-in-white clamp unit according to the present invention;
FIG. 3 is a bottom view of the body-in-white clamp unit of the present invention;
FIG. 4 is a block diagram of an AGV transport unit according to the present invention;
FIG. 5 is a block diagram of a three axis robot positioning unit of the present invention;
in the figure:
1-body-in-white clamp unit; 2-an AGV conveying unit; 3-a three-axis robot positioning unit; 4-a signal transfer detection unit;
1-1-a fixture base; 1-2-an AGV positioning assembly; 1-3-a product positioning block; 1-4-product locating pins; 1-5-a guide assembly; 1-6-a clamp pin;
2-1-AGV logistics vehicle; 2-2-AGV frame; 2-3-AGV frame locating pins; 2-4-AGV charging pile; 2-5-ground locking mechanism; 2-6-guide wheel;
3-1-motor; 3-2-slipway; 3-3-telescopic cylinder; 3-4-positioning pins;
4-1-valve island; 4-2-photoelectric switch; 4-3-RFID device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The invention provides a welding positioning system based on a three-axis robot, which comprises a body-in-white clamp unit 1, an AGV conveying unit 2, a three-axis robot positioning unit 3 and a signal transmission detection unit 4. Positioning the body-in-white product through the body-in-white clamp unit 1; the AGV conveying unit 2 is used for drawing the body-in-white clamp unit 1 to carry out station transmission, so that process transfer is realized, and the AGV logistics vehicle is charged in the welding process; the AGV conveying unit 2 is used for placing the body-in-white clamp unit 1 onto the three-axis robot positioning unit 3, and the three-axis robot positioning unit 3 is used for positioning and separating body-in-white products and realizing switching of different vehicle types; the body-in-white product is detected through the signal transmission detection unit 4, and the welding system is controlled through the PLC, so that the multi-vehicle type integration automatic welding is completed.
Further, the body-in-white clamp unit 1 comprises a clamp base 1-1, an AGV positioning assembly 1-2, a product positioning block 1-3, a product positioning pin 1-4, a guide assembly 1-5 and a clamping pin 1-6; a plurality of product positioning blocks 1-3 and product positioning pins 1-4 are respectively fixed on the fixture base 1-1 and used for positioning the body-in-white product and determining the accurate position of the body-in-white product relative to the fixture; the guiding assembly 1-5 is fixed on one side of the clamp base 1-1 and used for guiding the AGV conveying unit 2; the 2 AGV positioning assemblies 1-2 are diagonally arranged on the outer side of the clamp base 1-1 and are used for being matched with the AGV conveying units 2 to determine the accurate positions of the body-in-white clamp units 1 and the AGV conveying units 2; and the clamping pins 1-6 are fixed on the outer side of the clamp base 1-1 and used for fixing the AGV conveying unit 2. The AGV positioning assemblies 1-2 are matched with AGV frame positioning pins 2-3 of the AGV conveying unit 2, and the accurate positions of the body-in-white clamp unit 1 and the AGV conveying unit 2 are determined; the guiding assemblies 1-5 facilitate the AGV to enter the station, and the accurate position of the clamp is fixed by matching the clamping pins 1-6 with the ground locking mechanisms 2-5 of the AGV conveying unit 2, so that the stability of the clamp in the welding process is ensured.
Furthermore, the clamp base 1-1 is formed by welding a plurality of 40X40 square steel pipes, so that the weight of the clamp is greatly reduced.
Furthermore, gaskets are arranged between the product positioning pins 1-4 and the guide assemblies 1-5 and the white car body product.
Further, the AGV conveying unit 2 comprises an AGV logistics vehicle 2-1, an AGV frame 2-2, an AGV frame positioning pin 2-3, an AGV charging pile 2-4, a ground locking mechanism 2-5 and a guide wheel 2-6; an AGV frame 2-2 is fixed on the AGV logistics vehicle 2-1, and an AGV frame positioning pin 2-3 is installed on the AGV frame 2-2 and used for matching with an AGV positioning component 1-2 of the body-in-white clamp unit 1; the ground locking mechanism 2-5 is fixed on the side face of the AGV logistics vehicle 2-1 and used for fixing the body-in-white clamp unit 1; the AGV charging piles 2-4 are arranged beside each welding station and used for charging the AGV logistics vehicles 2-1, and the automatic charging function within the welding time is met.
Furthermore, the ground locking mechanism 2-5 comprises a turnover cylinder and a clamping block, the clamping block is installed on the side face of the AGV logistics vehicle 2-1 through the turnover cylinder, the turnover cylinder drives the clamping block to clamp the clamping pins 1-6 of the body-in-white clamp unit 1, the position of the body-in-white clamp is fixed at a station, and welding quality is guaranteed.
Furthermore, the AGV logistics vehicle adopts a bidirectional idler wheel for traction, the running precision is within a range of + -2mm, and the AGV logistics vehicle has a 200mm lifting function.
Furthermore, the 4 three-axis robot positioning units 3 are respectively arranged at four outer corners of the AGV conveying unit 2; the three-axis robot positioning unit 3 comprises a sliding table 3-2, a positioning pin 3-4 and 3 motors 3-1; the 3 motors 3-1 and the sliding table 3-2 realize three-way adjustment of the telescopic cylinder 3-3, and meanwhile, the telescopic cylinder 3-3 drives the positioning pins 3-4 to realize positioning separation of the body-in-white products. The switching and integrating functions of different multi-vehicle types are realized through the random switching of the 4 three-axis robot positioning units 3 in the stroke of 200 mm.
Further, the signal transmission detection unit 4 comprises a valve island 4-1, a photoelectric switch 4-2 and an RFID device 4-3; the electric signals of all the cylinders and the detection signals of the photoelectric switch 4-2 are integrated through the valve island 4-1, and the photoelectric switch 4-2 is used for detecting whether a product exists on the body-in-white clamp unit 1 or not; the RFID equipment 4-3 reads the RFID code on the clamp base through the reading head to identify the vehicle type information, including serial numbers, vehicle type specific information, other state positions and the like, uploads the vehicle type information to the PLC, sends the vehicle type information to the robot through the PLC for welding control through different program numbers, and judges whether the vehicle type has other processes according to the other state position information.
Examples
A welding positioning system based on a three-axis robot realizes full-day cruising automatic welding production through a body-in-white clamp unit 1, an AGV conveying unit 2, a three-axis robot positioning unit 3 and a signal transmission detection unit 4.
The body-in-white clamp unit 1 determines the relative precision position of a body-in-white product through positioning the body-in-white product, and mainly comprises a base 1-1, an AGV positioning assembly 1-2, a product positioning block 1-3, a product positioning pin 1-4, a guide assembly 1-5, a clamping pin 1-6 and the like. Through the light weight processing of the base 1-1, the AGV load cost is reduced, and the fitting degree of the product positioning blocks 1-3 and the product positioning pins 1-4 is guaranteed by adjusting parts such as gaskets. The guiding assemblies 1-5 are used for facilitating the AGV to enter the station, and meanwhile, the clamping pins 1-6 are matched to fix the clamp, so that the displacement of the product in the welding process is avoided.
The AGV conveying unit 2 has the function of drawing a clamp to a designated station to realize process transfer. The AGV conveying unit 2 mainly comprises an AGV logistics vehicle 2-1, an AGV frame 2-2, an AGV frame positioning pin 2-3, an AGV charging pile 2-4, a ground locking mechanism 2-5, a guide wheel 2-6 and the like. The AGV logistics vehicle 2-1 adopts a bidirectional idler wheel for traction, the running precision is within a range of +/-2 mm, the utilization rate of equipment is improved, and meanwhile, the positioning precision is also improved in the station transmission process. Possess 200mm simultaneously and lift the function, can put into the white automobile body product on the anchor clamps and descend to three-axis robot positioning unit 2 on. The AGV charging pile equipped with each station charges the AGV logistics vehicle 2-1 in the welding process, and the cruising ability of the AGV logistics vehicle is guaranteed. The ground locking mechanism 2-5 utilizes two overturning cylinders to drive the clamping blocks to clamp the clamping pins 1-6, so as to fix the position of the body-in-white clamp on the station and ensure the welding quality.
The three-axis robot positioning unit 3 has the function of realizing space adjustment by driving the telescopic cylinder 3-2 and the positioning pin 3-3 through four three-axis robots. Wherein the three-axis robot realizes the three-way adjustment of the telescopic cylinder 3-3 through the three motors 3-1 and the sliding table 3-2, and the range of the stroke position is adjusted to be 200 mm. Meanwhile, the telescopic cylinder 3-3 drives the positioning pin 3-4 to realize positioning and separation of the body-in-white products. The four three-axis robots are switched at will, so that the switching and integration functions of different multi-vehicle types are realized.
The transmission detection unit 4 has the function of realizing the full-automatic production of the positioning system and can be matched with an order production mode to track orders. The transmission detection unit 4 comprises a valve island 4-1, a photoelectric switch 4-2 and an RFID device 4-3. And the valve island 4-1 is used for integrating a circuit and an air circuit, so that the automatic opening and closing of the air cylinder are realized. And detecting the body-in-white product by using the photoelectric switch 4-2, and judging whether the position of the product at the current station is in place. And the RFID equipment 4-3 is used for reading the RFID information code, the serial number, the vehicle type information and the state character in the information code are sent to the PLC, the PLC judges the type of the information code and triggers different welding program numbers of the robot, and automatic welding of multiple vehicle types is realized.
The invention greatly improves the space utilization rate and can realize the automatic production of the welding fixture.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (9)
1. A welding positioning system based on a three-axis robot is characterized by comprising a body-in-white clamp unit (1), an AGV conveying unit (2), 4 three-axis robot positioning units (3) and a signal transmission detection unit (4); positioning a body-in-white product through a body-in-white clamp unit (1); an AGV conveying unit (2) is used for drawing a body-in-white clamp unit (1) to carry out station transmission, so that process transfer is realized, and charging of an AGV logistics vehicle is carried out in the welding process; the AGV conveying unit (2) puts the body-in-white clamp unit (1) on the three-axis robot positioning unit (3), and the three-axis robot positioning unit (3) positions and separates body-in-white products and realizes switching of different vehicle types; the body-in-white product is detected through the signal transmission detection unit (4), and the welding system is controlled through the PLC, so that the multi-vehicle type integration automatic welding is completed.
2. The welding positioning system based on the three-axis robot is characterized in that the body-in-white clamp unit (1) comprises a clamp base (1-1), an AGV positioning assembly (1-2), a product positioning block (1-3), a product positioning pin (1-4), a guiding assembly (1-5) and a clamping pin (1-6); a plurality of product positioning blocks (1-3) and product positioning pins (1-4) are respectively fixed on the clamp base (1-1) and are used for positioning the body-in-white product; the guiding assembly (1-5) is fixed on one side of the clamp base (1-1) and used for guiding the AGV conveying unit (2); the 2 AGV positioning assemblies (1-2) are diagonally arranged on the outer side of the clamp base (1-1) and are used for being matched with the AGV conveying unit (2) for positioning; the clamping pins (1-6) are fixed on the outer side of the clamp base (1-1) and used for fixing the AGV conveying unit (2).
3. The welding positioning system based on the three-axis robot as claimed in claim 2, characterized in that the fixture base (1-1) is formed by welding a plurality of 40X40 square steel pipes.
4. The welding positioning system based on the three-axis robot as claimed in claim 2, characterized in that gaskets are arranged between the product positioning pins (1-4) and the guide assemblies (1-5) and the body-in-white product.
5. The welding positioning system based on the three-axis robot is characterized in that the AGV conveying unit (2) comprises an AGV logistics vehicle (2-1), an AGV frame (2-2), an AGV frame positioning pin (2-3), an AGV charging pile (2-4), a ground locking mechanism (2-5) and a guide wheel (2-6); the AGV frame (2-2) is fixed on the AGV logistics vehicle (2-1); an AGV frame positioning pin (2-3) is arranged on the AGV frame (2-2) and is used for being matched with the body-in-white clamp unit (1) for positioning; the ground locking mechanism (2-5) is fixed on the side surface of the AGV logistics vehicle (2-1) and used for fixing the body-in-white clamp unit (1); the AGV charging piles (2-4) are arranged beside each welding station and used for charging the AGV logistics vehicles (2-1).
6. The welding positioning system based on the three-axis robot is characterized in that the ground locking mechanism (2-5) comprises a turnover cylinder and a clamping block, the clamping block is installed on the side face of the AGV logistics vehicle (2-1) through the turnover cylinder, and the turnover cylinder drives the clamping block to clamp the body-in-white clamp unit (1).
7. The welding positioning system based on the three-axis robot as claimed in claim 5, wherein the AGV logistics vehicle adopts a bidirectional idler wheel for traction, the running precision is within + -2mm, and the AGV logistics vehicle has a 200mm lifting function.
8. The welding positioning system based on the three-axis robot as claimed in claim 5, characterized in that said 4 three-axis robot positioning units (3) are respectively arranged at four outer corners of the AGV conveying unit (2); the three-axis robot positioning unit (3) comprises a sliding table (3-2), a positioning pin (3-4) and 3 motors (3-1); the three-way adjustment of the telescopic cylinder (3-3) is realized by the 3 motors (3-1) and the sliding table (3-2), and meanwhile, the telescopic cylinder (3-3) drives the positioning pin (3-4) to realize the positioning separation of the body-in-white product.
9. The welding positioning system based on the three-axis robot as claimed in claim 1, characterized in that the signal transmission detection unit (4) comprises a valve island (4-1), a photoelectric switch (4-2), an RFID device (4-3); the electric signals of all cylinders and the detection signals of the photoelectric switch (4-2) are integrated through the valve island (4-1), and the photoelectric switch (4-2) is used for detecting whether a body-in-white product exists on the body-in-white clamp unit (1); and the RFID equipment (4-3) is used for reading the vehicle type information and uploading the PLC.
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| CN202110812033.6A CN113492282B (en) | 2021-07-19 | 2021-07-19 | Welding positioning system based on three-axis robot |
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| CN202110812033.6A CN113492282B (en) | 2021-07-19 | 2021-07-19 | Welding positioning system based on three-axis robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571143A (en) * | 2022-02-21 | 2022-06-03 | 中国第一汽车股份有限公司 | Roller bed anchor clamps based on NC multi-vehicle type mixed flow |
| CN114589423A (en) * | 2022-02-21 | 2022-06-07 | 中国第一汽车股份有限公司 | Preceding cabin welds dress production line based on three-dimensional storehouse and AGV anchor clamps |
| CN114644199A (en) * | 2022-03-18 | 2022-06-21 | 上汽通用五菱汽车股份有限公司 | Intelligent flexible vehicle body mixed flow conveying positioning system and positioning method thereof |
| CN114833517A (en) * | 2022-04-21 | 2022-08-02 | 中国第一汽车股份有限公司 | Welding position equips based on AGV transmission |
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| CN114833517A (en) * | 2022-04-21 | 2022-08-02 | 中国第一汽车股份有限公司 | Welding position equips based on AGV transmission |
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