CN113664486A - Intelligent assembling follow-up trolley for new energy automobile battery - Google Patents
Intelligent assembling follow-up trolley for new energy automobile battery Download PDFInfo
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- CN113664486A CN113664486A CN202010412702.6A CN202010412702A CN113664486A CN 113664486 A CN113664486 A CN 113664486A CN 202010412702 A CN202010412702 A CN 202010412702A CN 113664486 A CN113664486 A CN 113664486A
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- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
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- Automatic Assembly (AREA)
Abstract
The utility model provides a new energy automobile battery intelligence assembly retinue dolly, includes: the flexible walking trolley is arranged on the track, the holding tool positioning mechanism is arranged on the track, the at least one screwing robot is arranged on the holding tool positioning mechanism, the 2D vision intelligent camera is arranged on the 2D vision intelligent camera, the 3D vision intelligent camera is arranged on the 3D vision intelligent camera, and the controller is arranged on the track. The invention realizes the real full-automatic following assembly, the flexible floating platform technology breaks through, and the error problem caused by the trolley in the moving process is solved; the invention creates a brand new assembly mode of the new energy automobile battery, so that the automatic assembly of the battery of the automobile is realized without stopping the assembly of the battery, the assembly of the automobile chassis batteries with different specifications and models can be met, the assembly of the automobile chassis batteries is not stopped, and the accurate assembly of the battery relative to the automobile body is realized.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to an intelligent assembling follow-up trolley for a new energy automobile battery.
Background
With the reduction of petroleum resources and the serious pollution of atmospheric environment, the development of new energy automobiles is a necessary trend for the development of the automobile industry, various automobile manufacturers at home and abroad adjust the strategic guidance of the companies, expand the companies at a very high speed and arrange the vehicles on line at home, and the traditional automobile industry cannot keep pace with the development of the big times.
At present, in the assembly process of an automobile chassis battery, when an automobile body holding tool is hung and conveyed to a battery to be assembled and screwed down, an automobile main line stops and waits for the installation of the battery, so that the assembly of the battery cannot follow, and the production line is stopped and wasted.
Disclosure of Invention
The invention aims to design a new energy automobile battery intelligent assembly follow-up trolley, which effectively breaks through the technical bottlenecks of battery follow-up installation, error self-adaption real-time compensation and the like, breaks through the conventional technology, realizes the full-automatic installation of a battery of a new energy automobile under a non-stop state, forms an operation platform integrating automobile body holding tool suspension conveying and automobile body final assembly and robot follow-up assembly trolley.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a new energy automobile battery intelligence assembly retinue dolly, includes: a track; the flexible walking trolley is arranged on the track; it includes: the base is of a frame structure, and a groove structure capable of walking on the track is arranged in the center of the lower part of the base; the two Y-direction slide rails are respectively arranged on two sides of the upper end surface of the base frame and are arranged perpendicular to the rails; the bottom surface of the Y-direction movable base plate is connected with the upper end surface of the Y-direction sliding block; a groove is arranged in the center of the front part of the Y-direction movable substrate, and two Y-direction stop blocks are respectively and vertically arranged on two sides of the groove; a Y-direction mounting through hole is formed in the center of the Y-direction movable substrate, and X-direction stop blocks are respectively arranged on the Y-direction mounting through hole corresponding to the top surfaces of the Y-direction movable substrates on the two axial sides of the rail; the Y-direction adjusting cylinder consists of two first cylinders which are arranged in parallel and have opposite acting directions, the cylinder body of the Y-direction adjusting cylinder is fixed at the center of the front part of the base frame structure and is positioned in a groove at the center of the front part of the Y-direction movable substrate, and the end parts of piston rods of the first cylinders respectively correspond to two Y-direction stop blocks at two sides of the groove; the two X-direction sliding rails are arranged on two sides of the upper end surface of the Y-direction movable substrate in parallel and are arranged in parallel with the rails; the bottom surface of the X-direction movable base plate is connected with the upper end surface of the X-direction sliding block; an X-direction mounting through hole is formed in the center of the X-direction movable substrate corresponding to the Y-direction mounting through hole; four corners of the X-direction movable substrate are respectively provided with a universal ball, and a pair of guide holes and upper guide sleeves thereof are arranged at a diagonal position of the top surface of the X-direction movable substrate; the centers of two sides of the top surface of the X-direction movable base plate corresponding to the X direction are respectively provided with a rolling bearing in a protruding way; the X-direction adjusting cylinder body is fixed on the X-direction movable base plate at two sides of the X-direction mounting through hole, and the end parts of piston rods of the second cylinders respectively correspond to two X-direction stop blocks at two sides of the top surface of the Y-direction movable base plate; the floating platform is arranged above the X-direction movable base plate in parallel, the four corners of the bottom surface of the floating platform are respectively provided with a limiting block corresponding to the universal balls at the four corners of the X-direction movable base plate, and the middle part of the bottom surface of the limiting block is provided with a limiting groove matched with the universal balls; the center of two sides of the floating platform corresponding to the X direction is respectively provided with a waist-shaped hole which can be sleeved on the rolling bearing on the top surface of the X-direction movable substrate; a pair of first guide holes and inner guide sleeves thereof are arranged at the diagonal positions of the floating platform corresponding to the two guide holes arranged at the diagonal on the top surface of the X-direction movable substrate; a pair of second guide holes is formed in the other diagonal position of the floating platform; two Z to adjusting part, set up respectively in floating platform and X are to first guiding hole and guiding hole department that the movable base plate diagonal set up, Z includes to adjusting part: the cylinder body of the Z-direction adjusting cylinder is respectively and vertically arranged at two guide holes which are arranged at the bottom surface of the X-direction movable substrate in a diagonal line manner, and the piston rod of the Z-direction adjusting cylinder extends out of the guide holes; the Z-direction adjusting piece consists of a Z-direction adjusting block and a rod body which is vertical to the center of the bottom surface of the Z-direction adjusting block; the bottom surface of the Z-direction adjusting block is a conical surface, and the lower end of the rod body penetrates through a first guide hole of the floating platform and is connected with the end part of a piston rod of the Z-direction adjusting cylinder extending out of the guide hole of the X-direction movable substrate; the conical surface of the bottom surface of the Z-direction adjusting block is matched with the first guide hole of the floating platform, and the waist-shaped holes in the centers of two sides of the floating platform corresponding to the X direction are matched with the rolling bearings on the top surface of the X-direction movable substrate, so that the rotary floating adjustment around the Z direction is synchronously realized; the two adjusting connecting pieces are of T-shaped structures and comprise circular discs and connecting rods fixed in the centers of the bottom surfaces of the circular discs; the lower part of the connecting rod penetrates through second guide holes which are arranged on the floating platform in a diagonal mode and is connected to the top surface of the X-direction movable substrate; a plurality of universal balls are arranged on the bottom surface of the disc along the circumferential direction and contact with the top surface of the X-direction movable substrate; the encoder is arranged on one side edge of the X-direction movable substrate; the encoding ruler corresponds to the encoder and is arranged on one side edge of the Y-direction movable substrate to realize X-direction real-time position following detection and feedback; the locking device positioning mechanism comprises at least two locking device positioning components, which are arranged on two sides of the top surface of the floating platform, and the locking device positioning components comprise: the fixed upright post is vertically arranged on the top surface of the floating platform; the first lifting slide rail and the second lifting slide rail are arranged on the upper part of the fixed upright post; the mounting plate is arranged on the sliding block of the first lifting slide rail; the baffle is arranged on the sliding block of the second lifting slide rail and is connected with the mounting plate through a connecting plate; the cylinder body of the first lifting cylinder is fixed at the lower part of one side surface of the fixed upright post, and the end part of the piston rod of the first lifting cylinder is connected with the connecting plate; the cylinder body of the clamping cylinder is fixed on the mounting plate, and the piston rod of the clamping cylinder faces upwards; the first clamping block is arranged on the sliding block of the first lifting sliding rail, and the end part of a piston rod of the clamping cylinder is connected with the first clamping block; the second clamping block is arranged on the inner side face, opposite to the first clamping block, of the upper part of the baffle; one end of the third clamping block is connected to the side face of the upper part of the baffle, and the other end of the third clamping block is positioned on the side face of the fixed upright post; the buffer is arranged on the inner side surface of the connecting plate; the buffer stop block is arranged on the side surface of the fixed upright post above the buffer; the proximity switch is arranged on the side surface of the fixed upright post at one side of the buffering stop block; the at least one screwing robot is a six-axis robot with a screwing gun and is arranged on the top surface of the floating platform; the 2D vision intelligent camera is arranged above the center of one side of the floating platform in the X direction through a support; the 3D vision intelligent camera is arranged on the screwing robot; and the X direction adjusting cylinder, the Y direction adjusting cylinder, the Z direction adjusting cylinder, the encoder, the clamping cylinder, the screwing robot, the proximity switch, the 2D vision intelligent camera and the 3D vision intelligent camera are all connected with the controller.
Further, still include a fixed subassembly of automobile body location, it includes: the third lifting slide rail and the upper slide block thereof are arranged at the upper part of the fixed upright post and are opposite to the other side surface of the fixed upright post on which the buffering stop block is arranged; the mounting seat is arranged on the sliding block on the third lifting slide rail; the cylinder body of the second lifting cylinder is arranged at the lower part of the side surface of the fixed upright post below the third lifting slide rail, and the end part of the piston rod of the second lifting cylinder is connected with the mounting seat; the cylinder body of the positioning cylinder is fixed on the mounting seat, and the piston rod of the positioning cylinder is vertically upward; the fixing pin is arranged at the end part of the piston rod of the positioning cylinder; and the expansion sleeve is sleeved on the fixing pin.
Preferably, a fence and a guard plate are arranged outside the base.
Preferably, the track is a seven-axis ground track.
Preferably, the screwing robot is provided with two or four screwing robots symmetrically arranged on two sides of the top surface of the floating platform.
In the intelligent assembly traveling trolley for the new energy automobile battery, disclosed by the invention, the following steps are as follows:
the flexible walking trolley can realize real-time error compensation of the vehicle body holding tool, flexible floating in the X direction and the Y direction and flexible angle floating of an XY plane, the trolley is provided with the following coding ruler, a certain relative position of the trolley base frame and the floating platform can be kept, and the self-resetting and zero-returning functions of the floating platform can be realized when the trolley returns after following.
The clamp positioning mechanism can detect a vehicle body clamp in-place signal and compensate positive and negative flexibility error compensation of the Z direction when the clamp walks along the line body direction.
The robot of screwing up passes through six robots, 2D 3D vision intelligent camera and the cooperation of the rifle of screwing up, 2D vision intelligent camera at first scans the automobile body, carry out thick location to the automobile body, drive 3D vision intelligent camera by screwing up the robot again and scan on the battery bolt and obtain accurate deviation value and pass to the robot, six robots then under the guide of 2D 3D vision intelligent camera, drive and screw up the rifle and reach accurate bolt position, carry out the final tightening of battery construction bolt.
In the whole working process, the vehicle body holding tool is in a constantly walking state, and the flexible walking trolley moves along with the holding tool on the seven-axis ground rail.
Compared with the prior art, the invention has the advantages or positive effects that:
the flexible following assembly trolley for the new energy automobile battery realizes real full-automatic following assembly, breaks through the flexible floating platform technology, and solves the problem of errors caused in the movement process of the trolley.
The invention adopts an error self-adaptive real-time compensation technology to realize flexible floating of the vehicle body clamp X, Y in the direction of an angle and positive and negative compensation in the Z direction, breaks through the conventional technology, realizes full-automatic installation of a battery of a new energy vehicle in a non-stop state, greatly improves the production efficiency, and conforms to the development concept of modern precise production management and cost reduction of an automobile ecological chain.
The invention abandons the traditional manual assembly, realizes the intelligent and automatic assembly of the battery, reduces the labor cost and increases the production efficiency; and a new assembly mode of the new energy automobile battery is created, so that the automatic assembly of the battery of the automobile is realized without stopping the production line.
The invention can meet the assembly of automobile chassis batteries with different specifications and models, realizes the assembly of the automobile chassis batteries without stopping the assembly line, and ensures that the assembly of the batteries follows the main line.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a perspective view of the flexible walking trolley in the embodiment of the present invention;
FIG. 3 is a perspective view of the flexible walking trolley (with the fence removed) in an embodiment of the present invention;
FIG. 4 is an exploded perspective view of the flexible walking trolley (fence removed) of the embodiment of the present invention 1;
FIG. 5 is an exploded perspective view of the flexible walking vehicle (fence removed) of the embodiment of the present invention, FIG. 2;
FIG. 6 is an exploded perspective view of the flexible walking trolley (fence removed) in the embodiment of the present invention, FIG. 3;
FIG. 7 is a perspective view of a positioning mechanism of a clamp of the present invention in an embodiment of the present invention 1;
FIG. 8 is a perspective view of a positioning mechanism of a clamp in an embodiment of the present invention 2;
fig. 9 is a perspective view of a tightening robot in an embodiment of the present invention.
Detailed Description
Referring to fig. 1 to 9, the intelligent assembling follow-up trolley for the new energy automobile battery comprises:
a rail 100;
the flexible walking trolley 200 is arranged on the track 100; it includes:
the base 1 is a frame structure, and a groove structure 101 capable of walking on the rail 100 is arranged in the center of the lower part of the base;
the two Y-direction slide rails 2 and 2' and the Y-direction slide blocks thereon are respectively arranged at two sides of the upper end face of the frame of the base 1 and are vertically arranged with the track 100;
a Y-direction movable base plate 3, the bottom surface of which is connected with the upper end surfaces of the Y-direction sliding blocks 2 and 2'; a groove 31 is arranged in the center of the front part of the Y-direction movable substrate 3, and Y-direction stoppers 32 and 32' are respectively vertically arranged on two sides of the groove 31; a Y-direction mounting through hole 33 is arranged at the center of the Y-direction movable substrate 3, and X-direction stoppers 34 and 34' are respectively arranged on the top surfaces of the Y-direction movable substrates 31 at the two sides of the Y-direction mounting through hole 33 in the axial direction of the rail 100;
a Y-direction adjusting cylinder 4 which is composed of two first cylinders 41 and 42 which are arranged in parallel and have opposite action directions, wherein the cylinder body of the Y-direction adjusting cylinder 4 is fixed at the front center of the frame structure of the base 1 and is positioned in a groove 31 at the front center of the Y-direction movable substrate 3, and the end parts of piston rods of the first cylinders 41 and 42 respectively correspond to two Y-direction stoppers 32 and 32' at two sides of the groove 31;
the two X-direction slide rails 5 and 5' and the X-direction slide blocks thereon are arranged on two sides of the upper end surface of the Y-direction movable substrate 3 in parallel and are arranged in parallel with the rail 100;
an X-direction movable substrate 6, the bottom surface of which is connected with the upper end surface of the X-direction slide block; an X-direction mounting through hole 61 is arranged at the center of the X-direction movable substrate 6 corresponding to the Y-direction mounting through hole 33; the four corners of the X-direction movable base plate 6 are respectively provided with a universal ball 62, 62 ', and a pair of guide holes 63, 63' and an upper guide sleeve thereof are arranged at a diagonal position of the top surface of the X-direction movable base plate 6; the centers of two sides of the top surface of the X-direction movable base plate 6 corresponding to the X direction are respectively provided with a rolling bearing 64 and a rolling bearing 64' in a protruding way;
the X-direction adjusting cylinder 7 consists of two second cylinders 71 and 72 which are arranged in parallel and have opposite action directions, is positioned in the X-direction mounting through hole 61 in the center of the X-direction movable substrate 6, the cylinder body of the X-direction adjusting cylinder 7 is fixed on the X-direction movable substrate 6 at two sides of the X-direction mounting through hole 61, and the end parts of piston rods of the second cylinders 71 and 72 respectively correspond to two X-direction stoppers 34 and 34' at two sides of the top surface of the Y-direction movable substrate 3;
the floating platform 8 is arranged above the X-direction movable base plate 6 in parallel, the four corners of the bottom surface of the floating platform 8 are provided with limit blocks 81 and 81 'corresponding to the universal balls 62 and 62' at the four corners of the X-direction movable base plate 6 respectively, and the middle parts of the bottom surfaces of the limit blocks 81 and 81 'are provided with limit grooves matched with the universal balls 62 and 62'; the center of the floating platform 8 corresponding to the two sides in the X direction is respectively provided with a waist-shaped hole 82 and 82 'which can be sleeved on the rolling bearings 64 and 64' on the top surface of the X-direction movable substrate 6; a pair of first guide holes 83 and 83 'and inner guide sleeves thereof are arranged at the diagonal positions of the floating platform 8 corresponding to the two guide holes 63 and 63' diagonally arranged on the top surface of the X-direction movable substrate 6; a pair of second guide holes 84 and 84' are arranged at the other diagonal position of the floating platform 8;
two Z-direction adjusting assemblies 9 and 9 ' respectively disposed at the first guiding holes 83 and 83 ' and the guiding holes 63 and 63 ' diagonally disposed on the floating platform 8 and the X-direction movable substrate 6, wherein the Z-direction adjusting assembly 9 (taking the Z-direction adjusting assembly 9 as an example, the same applies below) comprises:
a Z-direction adjusting cylinder 91, the cylinder body of which is respectively vertically arranged at two guide holes 63 arranged diagonally on the bottom surface of the X-direction movable substrate 6, and the piston rod of which extends out of the guide holes 63;
the Z-direction adjusting piece 92 consists of a Z-direction adjusting block 921 and a rod body 922 vertical to the center of the bottom surface of the Z-direction adjusting block; the bottom surface of the Z-direction adjusting block 921 is a conical surface, and the lower end of the rod body 922 passes through the first guide hole 83 of the floating platform 8 to be connected with the end part of the piston rod of the Z-direction adjusting cylinder 92 extending out from the guide hole 63 of the X-direction movable substrate 6; the conical surface of the bottom surface of the Z-direction adjusting block 92 is matched with the first guide hole 83 of the floating platform 8, and the waist-shaped holes 82 in the centers of two sides of the floating platform 8 corresponding to the X direction are matched with the rolling bearings 64 on the top surface of the X-direction movable substrate 6 to synchronously realize rotation floating adjustment around the Z direction;
two adjusting connectors 93, 93', the adjusting connector 93 (taking the adjusting connector 93 as an example, the same below) is a T-shaped structure, and comprises a circular disc 931 and a connecting rod 932 fixed at the center of the bottom surface thereof; the lower part of the connecting rod 932 passes through the second guiding holes 84 arranged diagonally on the floating platform 8 and is connected with the top surface of the X-direction movable substrate 6; a plurality of universal balls 933 are arranged on the bottom surface of the disc 931 along the circumferential direction, and the universal balls 933 contact with the top surface of the X-direction movable substrate 6;
an encoder 10 disposed on one side of the X-direction movable substrate 6;
the encoding scale 11 corresponds to the encoder 10 and is arranged on one side edge of the Y-direction movable substrate 3;
the clamp positioning mechanism 300 includes at least two clamp positioning components 12, 12' disposed on two sides of the top surface of the floating platform 8, and the clamp positioning component 12 (taking the clamp positioning component 12 as an example, the same applies below) includes:
the fixed upright column 121 is vertically arranged on the top surface of the floating platform 8;
the first lifting slide rail 122, the second lifting slide rail 122, 122 'and the upper slide block thereof, the two lifting slide rails 122, 122' are respectively arranged on two opposite side surfaces of the upper part 121 of the fixed upright post;
a mounting plate 123 disposed on the slider of the first lifting slide rail 122;
a baffle 124, which is disposed on the slider of the second lifting slide rail 122' and is connected to the mounting plate 123 by a connecting plate 125;
a first lifting cylinder 126, the cylinder body of which is fixed to the lower portion of one side of the fixed upright 121, and the end of the piston rod of which is connected to the connecting plate 125;
a clamping cylinder 127, the cylinder body of which is fixed on the mounting plate 123 and the piston rod of which is upward;
the first clamping block 128 is arranged on the sliding block of the first lifting slide rail 122, and the end part of the piston rod of the clamping cylinder 127 is connected with the first clamping block 128;
a second clamping block 128' provided on an inner side surface of the upper portion of the baffle plate 124 opposite to the first clamping block 128;
a third clamping block 128 "having one end connected to the side of the upper portion of the baffle 124 and the other end located at the side of the fixed upright 121;
a buffer 129 provided on an inner surface of the connection plate 125;
a buffer stop block 1291 arranged on the side surface of the fixed upright 121 above the buffer 129;
a proximity switch 1292 disposed on a side surface of the fixed column 121 on one side of the buffering stopper 1291;
at least one tightening robot 400, which is a six-axis robot with a tightening gun 401, disposed on the top surface of the floating platform 8;
the 2D visual detection intelligent camera 500 is arranged above the center of one side of the floating platform 8 in the X direction through a support;
a 3D vision detection smart camera 600 disposed on the tightening robot 400;
and the X-direction adjusting cylinder, the Y-direction adjusting cylinder, the Z-direction adjusting cylinder, the encoder, the clamping cylinder, the screwing robot, the proximity switch, the 2D vision intelligent camera and the 3D vision intelligent camera are all connected with the controller (not shown in the figure).
Further, still include a fixed subassembly 13 of automobile body location, it includes:
the third lifting slide rail 131 and the upper slide block thereof are arranged at the upper part of the fixed upright 121, and the other side surface of the fixed upright 121, on which the buffering stop block 1291 is oppositely arranged, is provided with a buffer stop block 1291;
a mounting seat 132 provided on the slider of the third lifting slide rail 131;
a second lifting cylinder 133, the cylinder of which is disposed at the lower part of the side surface of the fixed upright 121 below the third lifting slide rail 131, and the end of the piston rod of which is connected to the mounting seat 132;
a positioning cylinder 134, the cylinder body of which is fixed on the mounting seat 132, and the piston rod of which is vertically upward;
a fixing pin 135 provided at a piston rod end of the positioning cylinder 134;
an expansion sleeve 136 sleeved on the fixing pin 135;
the first lifting cylinder and the second lifting cylinder and the positioning cylinder are connected with the controller.
Preferably, a fence and a guard plate 14 are further arranged outside the base 1.
Preferably, the track 100 is a seven-axis ground track.
Preferably, the tightening robots 400 are provided with two or four tightening robots, and are symmetrically arranged on two sides of the top surface of the floating platform 8.
The invention relates to a working process of a new energy automobile battery intelligent assembly traveling trolley, which comprises the following steps:
after the holding tool positioning mechanism detects that the vehicle body holding tool is in place, the clamping cylinder clamps the holding tool, and meanwhile, the flexible walking trolley floating platform is used for self-adaptive real-time error compensation of the vehicle body holding tool, so that the flexible walking trolley and the vehicle body holding tool are kept in a relatively static state in the following process;
the method comprises the following steps that a 2D vision intelligent camera shoots part of features of a car body, the XY initial position of a battery is calculated, the offset is given to a robot, and the robot is screwed down to adjust the 3D scanning position of a bolt according to the offset of the 2D vision intelligent camera;
after the 3D vision intelligent camera finishes scanning, the calculated position deviation information is sent to the robot, and meanwhile, the screwing robot drives the screwing gun to move to a screwing position to finally screw the bolt;
after all the bolts are screwed, the following positioning mechanism retracts to separate from the positioning of the vehicle body holding tool, meanwhile, the floating platform of the flexible walking trolley is self-reset, and the flexible walking trolley moves to the beginning end of the seven-axis orbit to wait for the circulation of the next vehicle.
The invention creates an operation platform integrating the car body holding tool suspension conveying, car body assembly and robot following assembly trolley, which enlarges the car assembly space utilization, reduces waste, seeks car bottom battery assembly flexibility, improves the space matching of the car industry chain, and ensures the car bottom assembly to be continuously and synchronously cooperated.
Claims (5)
1. The utility model provides a new energy automobile battery intelligence assembly retinue dolly which characterized in that includes:
a track;
the flexible walking trolley is arranged on the track; it includes:
the base is of a frame structure, and a groove structure capable of walking on the track is arranged in the center of the lower part of the base;
the two Y-direction slide rails are respectively arranged on two sides of the upper end surface of the base frame and are arranged perpendicular to the horizontal direction of the rails;
the bottom surface of the Y-direction movable base plate is connected with the upper end surface of the Y-direction sliding block; a groove is arranged in the center of the front part of the Y-direction movable substrate, and two Y-direction stop blocks are respectively and vertically arranged on two sides of the groove; a Y-direction mounting through hole is formed in the center of the Y-direction movable substrate, and X-direction stop blocks are respectively arranged on the Y-direction mounting through hole corresponding to the top surfaces of the Y-direction movable substrates on the two axial sides of the rail;
the Y-direction adjusting cylinder consists of two first cylinders which are arranged in parallel and have opposite acting directions, the cylinder body of the Y-direction adjusting cylinder is fixed at the center of the front part of the base frame structure and is positioned in a groove at the center of the front part of the Y-direction movable substrate, and the end parts of piston rods of the first cylinders respectively correspond to two Y-direction stop blocks at two sides of the groove;
the two X-direction sliding rails are arranged on two sides of the upper end surface of the Y-direction movable substrate in parallel and are arranged in parallel with the rails;
the bottom surface of the X-direction movable base plate is connected with the upper end surface of the X-direction sliding block; an X-direction mounting through hole is formed in the center of the X-direction movable substrate corresponding to the Y-direction mounting through hole; four corners of the X-direction movable substrate are respectively provided with a universal ball, and a pair of guide holes and upper guide sleeves thereof are arranged at a diagonal position of the top surface of the X-direction movable substrate; the centers of two sides of the top surface of the X-direction movable base plate corresponding to the X direction are respectively provided with a rolling bearing in a protruding way;
the X-direction adjusting cylinder body is fixed on the X-direction movable base plate at two sides of the X-direction mounting through hole, and the end parts of piston rods of the second cylinders respectively correspond to two X-direction stop blocks at two sides of the top surface of the Y-direction movable base plate;
the floating platform is arranged above the X-direction movable base plate in parallel, the four corners of the bottom surface of the floating platform are respectively provided with a limiting block corresponding to the universal balls at the four corners of the X-direction movable base plate, and the middle part of the bottom surface of the limiting block is provided with a limiting groove matched with the universal balls; the center of two sides of the floating platform corresponding to the X direction is respectively provided with a waist-shaped hole which can be sleeved on the rolling bearing on the top surface of the X-direction movable substrate; a pair of first guide holes and inner guide sleeves thereof are arranged at the diagonal positions of the floating platform corresponding to the two guide holes arranged at the diagonal on the top surface of the X-direction movable substrate; a pair of second guide holes is formed in the other diagonal position of the floating platform;
two Z to adjusting part, set up respectively in floating platform and X are to first guiding hole and guiding hole department that the movable base plate diagonal set up, Z includes to adjusting part:
the cylinder body of the Z-direction adjusting cylinder is respectively and vertically arranged at two guide holes which are arranged at the bottom surface of the X-direction movable substrate in a diagonal line manner, and the piston rod of the Z-direction adjusting cylinder extends out of the guide holes;
the Z-direction adjusting piece consists of a Z-direction adjusting block and a rod body which is vertical to the center of the bottom surface of the Z-direction adjusting block; the bottom surface of the Z-direction adjusting block is a conical surface, and the lower end of the rod body penetrates through a first guide hole of the floating platform and is connected with the end part of a piston rod of the Z-direction adjusting cylinder extending out of the guide hole of the X-direction movable substrate; the conical surface of the bottom surface of the Z-direction adjusting block is matched with the first guide hole of the floating platform, and the waist-shaped holes in the centers of two sides of the floating platform corresponding to the X direction are matched with the rolling bearings on the top surface of the X-direction movable substrate, so that the rotary floating adjustment around the Z direction is synchronously realized;
the two adjusting connecting pieces are of T-shaped structures and comprise circular discs and connecting rods fixed in the centers of the bottom surfaces of the circular discs; the lower part of the connecting rod penetrates through second guide holes which are arranged on the floating platform in a diagonal mode and is connected to the top surface of the X-direction movable substrate; a plurality of universal balls are arranged on the bottom surface of the disc along the circumferential direction and contact with the top surface of the X-direction movable substrate;
the encoder is arranged on one side edge of the X-direction movable substrate;
the coding ruler corresponds to the encoder and is arranged on one side edge of the Y-direction movable substrate;
the locking device positioning mechanism comprises at least two locking device positioning components, which are arranged on two sides of the top surface of the floating platform, and the locking device positioning components comprise:
the fixed upright post is vertically arranged on the top surface of the floating platform;
the first lifting slide rail and the second lifting slide rail are arranged on the upper part of the fixed upright post;
the mounting plate is arranged on the sliding block of the first lifting slide rail;
the baffle is arranged on the sliding block of the second lifting slide rail and is connected with the mounting plate through a connecting plate;
the cylinder body of the first lifting cylinder is fixed at the lower part of one side surface of the fixed upright post, and the end part of the piston rod of the first lifting cylinder is connected with the connecting plate;
the cylinder body of the clamping cylinder is fixed on the mounting plate, and the piston rod of the clamping cylinder faces upwards;
the first clamping block is arranged on the sliding block of the first lifting sliding rail, and the end part of a piston rod of the clamping cylinder is connected with the first clamping block;
the second clamping block is arranged on the inner side face, opposite to the first clamping block, of the upper part of the baffle;
one end of the third clamping block is connected to the side surface of the upper part of the baffle, and the other end of the third clamping block is positioned on the side surface of the upright post;
the buffer is arranged on the inner side surface of the connecting plate;
the buffer stop block is arranged on the side surface of the fixed upright post above the buffer;
the proximity switch is arranged on the side surface of the upright post at one side of the buffering stop block;
the at least one tightening robot is a six-axis robot with a tightening gun and is arranged on the top surface of the floating platform;
the 2D vision intelligent camera is arranged above the center of one side of the floating platform in the X direction through a support;
the 3D vision intelligent camera is arranged on the screwing robot;
and the X direction adjusting cylinder, the Y direction adjusting cylinder, the Z direction adjusting cylinder, the encoder, the clamping cylinder, the screwing robot, the proximity switch, the 2D vision intelligent camera and the 3D vision intelligent camera are all connected with the controller.
2. The intelligent assembling follow-up trolley for the new energy automobile battery as claimed in claim 1, further comprising a body positioning and fixing component, which comprises:
the third lifting slide rail and the upper slide block thereof are arranged at the upper part of the fixed upright post and are opposite to the other side surface of the fixed upright post on which the buffering stop block is arranged;
the mounting seat is arranged on the sliding block on the third lifting slide rail;
the cylinder body of the second lifting cylinder is arranged at the lower part of the side surface of the fixed upright post below the third lifting slide rail, and the end part of the piston rod of the second lifting cylinder is connected with the mounting seat;
the cylinder body of the positioning cylinder is fixed on the mounting seat, and the piston rod of the positioning cylinder is vertically upward;
the fixing pin is arranged at the end part of the piston rod of the positioning cylinder;
the expansion sleeve is sleeved on the fixing pin;
the first lifting cylinder, the second lifting cylinder and the positioning cylinder are connected with the controller.
3. The intelligent assembling follow-up trolley for the new energy automobile battery as claimed in claim 1, wherein a fence and a guard plate are further arranged outside the base.
4. The intelligent assembling follow-up trolley for the new energy automobile battery as claimed in claim 1, wherein two or four screwing robots are arranged symmetrically on two sides of the top surface of the floating platform.
5. The intelligent assembling follow-up trolley for the new energy automobile battery as claimed in claim 1, wherein the rail is a seven-axis ground rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010412702.6A CN113664486A (en) | 2020-05-15 | 2020-05-15 | Intelligent assembling follow-up trolley for new energy automobile battery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010412702.6A CN113664486A (en) | 2020-05-15 | 2020-05-15 | Intelligent assembling follow-up trolley for new energy automobile battery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113664486A true CN113664486A (en) | 2021-11-19 |
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ID=78537606
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010412702.6A Pending CN113664486A (en) | 2020-05-15 | 2020-05-15 | Intelligent assembling follow-up trolley for new energy automobile battery |
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| Country | Link |
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| CN (1) | CN113664486A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533479A (en) * | 2022-10-31 | 2022-12-30 | 江苏高倍智能装备有限公司 | Processing device capable of being dragged and running along with line |
-
2020
- 2020-05-15 CN CN202010412702.6A patent/CN113664486A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115533479A (en) * | 2022-10-31 | 2022-12-30 | 江苏高倍智能装备有限公司 | Processing device capable of being dragged and running along with line |
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